DART  6.7.3
urdf_world_parser.hpp
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34 
35 /* Author: A. Huaman */
36 /* @date 2013/06/20 */
37 
38 #pragma once
39 
40 #include <string>
41 
42 #include <urdf_model/model.h>
43 #include <urdf_model/pose.h>
44 #include <urdf_model/twist.h>
45 #include <urdf_world/world.h>
46 
47 #include "dart/common/Uri.hpp"
49 #include "dart/utils/urdf/BackwardCompatibility.hpp"
50 
51 namespace dart {
52 namespace utils {
53 namespace urdf_parsing {
54 
57 class Entity
58 {
59 public:
60 
61  Entity() = default;
62 
64  Entity(const urdf::Entity& urdfEntity);
65 
66  urdf_shared_ptr<urdf::ModelInterface> model;
67  urdf::Pose origin;
68  urdf::Twist twist;
69 
71 
72 };
73 
74 class World
75 {
76 public:
77 
78  std::string name;
79  std::vector<Entity> models;
80 };
81 
82 std::shared_ptr<World> parseWorldURDF(const std::string &xml_string,
83  const dart::common::Uri& _baseUri, const common::ResourceRetrieverPtr& retriever);
84 
85 } // namespace urdf_parsing
86 } // namespace utils
87 } // namespace dart
We need a customized version of the Entity class, because we need to keep track of a Skeleton's uri i...
Definition: urdf_world_parser.hpp:58
urdf::Twist twist
Definition: urdf_world_parser.hpp:68
urdf_shared_ptr< urdf::ModelInterface > model
Definition: urdf_world_parser.hpp:66
urdf::Pose origin
Definition: urdf_world_parser.hpp:67
dart::common::Uri uri
Definition: urdf_world_parser.hpp:70
Definition: urdf_world_parser.hpp:75
std::string name
Definition: urdf_world_parser.hpp:78
std::vector< Entity > models
Definition: urdf_world_parser.hpp:79
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition: ResourceRetriever.hpp:76
std::shared_ptr< World > parseWorldURDF(const std::string &_xml_string, const dart::common::Uri &_baseUri, const common::ResourceRetrieverPtr &retriever)
@function parseWorldURDF
Definition: urdf_world_parser.cpp:109
Definition: BulletCollisionDetector.cpp:63
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition: Uri.hpp:87