urdf2gazebo::URDF2Gazebo Class Reference

#include <parser_urdf.hh>

Public Member Functions
	URDF2Gazebo ()
	~URDF2Gazebo ()
void	addKeyValue (TiXmlElement *elem, const std::string &key, const std::string &value)
	append key value pair to the end of the xml element
void	addTransform (TiXmlElement *elem, const ::gazebo::math::Pose &transform)
	append transform (pose) to the end of the xml element
gazebo::math::Pose	copyPose (urdf::Pose pose)
	reduced fixed joints: utility to copy between urdf::Pose and math::Pose
urdf::Pose	copyPose (gazebo::math::Pose pose)
	reduced fixed joints: utility to copy between urdf::Pose and math::Pose
void	createCollision (TiXmlElement *elem, const urdf::Link *link, urdf::Collision *collision, std::string old_link_name=std::string(""))
	create SDF Collision block based on URDF
void	createCollisions (TiXmlElement *elem, const urdf::Link *link)
	create collision blocks from urdf collisions
void	createGeometry (TiXmlElement *elem, urdf::Geometry *geometry)
	create SDF geometry block based on URDF
void	createInertial (TiXmlElement *elem, const urdf::Link *link)
	create SDF Inertial block based on URDF
void	createJoint (TiXmlElement *root, const urdf::Link *link, gazebo::math::Pose &currentTransform)
	create SDF Joint block based on URDF
void	createLink (TiXmlElement *root, const urdf::Link *link, gazebo::math::Pose &currentTransform)
	create SDF Link block based on URDF
void	createSDF (TiXmlElement *root, const urdf::Link *link, const gazebo::math::Pose &transform)
	create SDF from URDF link
void	createVisual (TiXmlElement *elem, const urdf::Link *link, urdf::Visual *visual, std::string old_link_name=std::string(""))
	create SDF Visual block based on URDF
void	createVisuals (TiXmlElement *elem, const urdf::Link *link)
	create visual blocks from urdf visuals
std::string	getGeometryBoundingBox (urdf::Geometry *geometry, double *sizeVals)
std::string	getKeyValueAsString (TiXmlElement *elem)
	get value from <key value="..."> pair and return it as string
TiXmlDocument	initModelDoc (TiXmlDocument *_xmlDoc)
TiXmlDocument	initModelFile (std::string filename)
TiXmlDocument	initModelString (std::string urdf_str)
TiXmlDocument	initModelString (std::string urdf_str, bool _enforce_limits)
void	insertGazeboExtensionCollision (TiXmlElement *elem, std::string link_name)
	insert extensions into collision geoms
void	insertGazeboExtensionJoint (TiXmlElement *elem, std::string joint_name)
	insert extensions into joints
void	insertGazeboExtensionLink (TiXmlElement *elem, std::string link_name)
	insert extensions into links
void	insertGazeboExtensionRobot (TiXmlElement *elem)
	insert extensions into model
void	insertGazeboExtensionVisual (TiXmlElement *elem, std::string link_name)
	insert extensions into visuals
gazebo::math::Pose	inverseTransformToParentFrame (gazebo::math::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
	reduced fixed joints: transform to parent frame
void	listGazeboExtensions ()
	list extensions for debugging
void	listGazeboExtensions (std::string reference)
	list extensions for debugging
void	parseGazeboExtension (TiXmlDocument &urdf_xml)
	things that do not belong in urdf but should be mapped into sdf
urdf::Vector3	parseVector3 (TiXmlNode *key, double scale=1.0)
	parser xml for vector 3
void	printCollisionGroups (urdf::Link *link)
	print collision groups for debugging purposes
void	printMass (urdf::Link *link)
	print mass for link for debugging
void	printMass (std::string link_name, dMass mass)
	print mass for link for debugging
void	reduceCollisionsToParent (urdf::Link *link)
	reduce fixed joints: lump collisions to parent link
void	reduceCollisionToParent (urdf::Link *link, std::string group_name, urdf::Collision *collision)
	reduce fixed joints: lump collision when reducing fixed joints
void	reduceFixedJoints (TiXmlElement *root, urdf::Link *link)
	reduce fixed joints by lumping inertial, visual and
void	reduceGazeboExtensionContactSensorFrameReplace (std::vector< TiXmlElement * >::iterator blob_it, urdf::Link *link)
	reduced fixed joints: apply appropriate frame updates in urdf extensions when doing fixed joint reduction
void	reduceGazeboExtensionFrameReplace (GazeboExtension *ge, urdf::Link *link)
	reduced fixed joints: apply appropriate frame updates in urdf extensions when doing fixed joint reduction
void	reduceGazeboExtensionGripperFrameReplace (std::vector< TiXmlElement * >::iterator blob_it, urdf::Link *link)
	reduced fixed joints: apply appropriate frame updates in gripper inside urdf extensions when doing fixed joint reduction
void	reduceGazeboExtensionJointFrameReplace (std::vector< TiXmlElement * >::iterator blob_it, urdf::Link *link)
	reduced fixed joints: apply appropriate frame updates in joint inside urdf extensions when doing fixed joint reduction
void	reduceGazeboExtensionPluginFrameReplace (std::vector< TiXmlElement * >::iterator blob_it, urdf::Link *link, std::string plugin_name, std::string element_name, gazebo::math::Pose reduction_transform)
	reduced fixed joints: apply appropriate frame updates in plugins inside urdf extensions when doing fixed joint reduction
void	reduceGazeboExtensionProjectorFrameReplace (std::vector< TiXmlElement * >::iterator blob_it, urdf::Link *link)
	reduced fixed joints: apply appropriate frame updates in projector inside urdf extensions when doing fixed joint reduction
void	reduceGazeboExtensionProjectorTransformReduction (std::vector< TiXmlElement * >::iterator blob_it, gazebo::math::Pose reduction_transform)
	reduced fixed joints: apply transform reduction for projectors in extensions when doing fixed joint reduction
void	reduceGazeboExtensionSensorTransformReduction (std::vector< TiXmlElement * >::iterator blob_it, gazebo::math::Pose reduction_transform)
	reduced fixed joints: apply transform reduction for ray sensors in extensions when doing fixed joint reduction
void	reduceGazeboExtensionsTransformReduction (GazeboExtension *ge)
	reduced fixed joints: apply transform reduction to extensions when doing fixed joint reduction
void	reduceGazeboExtensionToParent (urdf::Link *link)
	reduced fixed joints: apply appropriate updates to urdf extensions when doing fixed joint reduction
void	reduceInertialToParent (urdf::Link *link)
	reduce fixed joints: lump inertial to parent link
void	reduceJointsToParent (urdf::Link *link)
	reduce fixed joints: lump joints to parent link
void	reduceVisualsToParent (urdf::Link *link)
	reduce fixed joints: lump visuals to parent link
void	reduceVisualToParent (urdf::Link *link, std::string group_name, urdf::Visual *visual)
	reduce fixed joints: lump visuals when reducing fixed joints
urdf::Pose	transformToParentFrame (urdf::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
	reduced fixed joints: transform to parent frame
gazebo::math::Pose	transformToParentFrame (gazebo::math::Pose transform_in_link_frame, urdf::Pose parent_to_link_transform)
	reduced fixed joints: transform to parent frame
gazebo::math::Pose	transformToParentFrame (gazebo::math::Pose transform_in_link_frame, gazebo::math::Pose parent_to_link_transform)
	reduced fixed joints: transform to parent frame
std::string	values2str (unsigned int count, const double *values)
	convert values to string
std::string	vector32str (const urdf::Vector3 vector)
	convert Vector3 to string

Public Attributes
std::map< std::string, std::vector< GazeboExtension * > >	gazebo_extensions_

Constructor & Destructor Documentation

urdf2gazebo::URDF2Gazebo::URDF2Gazebo

(

)

urdf2gazebo::URDF2Gazebo::~URDF2Gazebo

(

)

Member Function Documentation

void urdf2gazebo::URDF2Gazebo::addKeyValue	(	TiXmlElement *	elem,
		const std::string &	key,
		const std::string &	value
	)

append key value pair to the end of the xml element

void urdf2gazebo::URDF2Gazebo::addTransform	(	TiXmlElement *	elem,
		const ::gazebo::math::Pose &	transform
	)

append transform (pose) to the end of the xml element

gazebo::math::Pose urdf2gazebo::URDF2Gazebo::copyPose

(

urdf::Pose

pose

)

reduced fixed joints: utility to copy between urdf::Pose and math::Pose

urdf::Pose urdf2gazebo::URDF2Gazebo::copyPose

(

gazebo::math::Pose

pose

)

reduced fixed joints: utility to copy between urdf::Pose and math::Pose

void urdf2gazebo::URDF2Gazebo::createCollision	(	TiXmlElement *	elem,
		const urdf::Link *	link,
		urdf::Collision *	collision,
		std::string	old_link_name = std::string("")
	)

create SDF Collision block based on URDF

void urdf2gazebo::URDF2Gazebo::createCollisions	(	TiXmlElement *	elem,
		const urdf::Link *	link
	)

create collision blocks from urdf collisions

void urdf2gazebo::URDF2Gazebo::createGeometry	(	TiXmlElement *	elem,
		urdf::Geometry *	geometry
	)

create SDF geometry block based on URDF

void urdf2gazebo::URDF2Gazebo::createInertial	(	TiXmlElement *	elem,
		const urdf::Link *	link
	)

create SDF Inertial block based on URDF

void urdf2gazebo::URDF2Gazebo::createJoint	(	TiXmlElement *	root,
		const urdf::Link *	link,
		gazebo::math::Pose &	currentTransform
	)

create SDF Joint block based on URDF

void urdf2gazebo::URDF2Gazebo::createLink	(	TiXmlElement *	root,
		const urdf::Link *	link,
		gazebo::math::Pose &	currentTransform
	)

create SDF Link block based on URDF

void urdf2gazebo::URDF2Gazebo::createSDF	(	TiXmlElement *	root,
		const urdf::Link *	link,
		const gazebo::math::Pose &	transform
	)

create SDF from URDF link

void urdf2gazebo::URDF2Gazebo::createVisual	(	TiXmlElement *	elem,
		const urdf::Link *	link,
		urdf::Visual *	visual,
		std::string	old_link_name = std::string("")
	)

create SDF Visual block based on URDF

void urdf2gazebo::URDF2Gazebo::createVisuals	(	TiXmlElement *	elem,
		const urdf::Link *	link
	)

create visual blocks from urdf visuals

std::string urdf2gazebo::URDF2Gazebo::getGeometryBoundingBox	(	urdf::Geometry *	geometry,
		double *	sizeVals
	)

std::string urdf2gazebo::URDF2Gazebo::getKeyValueAsString

(

TiXmlElement *

elem

)

get value from <key value="..."> pair and return it as string

TiXmlDocument urdf2gazebo::URDF2Gazebo::initModelDoc

(

TiXmlDocument *

_xmlDoc

)

TiXmlDocument urdf2gazebo::URDF2Gazebo::initModelFile

(

std::string

filename

)

TiXmlDocument urdf2gazebo::URDF2Gazebo::initModelString

(

std::string

urdf_str

)

TiXmlDocument urdf2gazebo::URDF2Gazebo::initModelString	(	std::string	urdf_str,
		bool	_enforce_limits
	)

void urdf2gazebo::URDF2Gazebo::insertGazeboExtensionCollision	(	TiXmlElement *	elem,
		std::string	link_name
	)

insert extensions into collision geoms

void urdf2gazebo::URDF2Gazebo::insertGazeboExtensionJoint	(	TiXmlElement *	elem,
		std::string	joint_name
	)

insert extensions into joints

void urdf2gazebo::URDF2Gazebo::insertGazeboExtensionLink	(	TiXmlElement *	elem,
		std::string	link_name
	)

insert extensions into links

void urdf2gazebo::URDF2Gazebo::insertGazeboExtensionRobot

(

TiXmlElement *

elem

)

insert extensions into model

void urdf2gazebo::URDF2Gazebo::insertGazeboExtensionVisual	(	TiXmlElement *	elem,
		std::string	link_name
	)

insert extensions into visuals

gazebo::math::Pose urdf2gazebo::URDF2Gazebo::inverseTransformToParentFrame	(	gazebo::math::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

reduced fixed joints: transform to parent frame

void urdf2gazebo::URDF2Gazebo::listGazeboExtensions

(

)

list extensions for debugging

void urdf2gazebo::URDF2Gazebo::listGazeboExtensions

(

std::string

reference

)

list extensions for debugging

void urdf2gazebo::URDF2Gazebo::parseGazeboExtension

(

TiXmlDocument &

urdf_xml

)

things that do not belong in urdf but should be mapped into sdf

Todo:

: do this using sdf definitions, not hard coded stuff

urdf::Vector3 urdf2gazebo::URDF2Gazebo::parseVector3	(	TiXmlNode *	key,
		double	scale = 1.0
	)

parser xml for vector 3

void urdf2gazebo::URDF2Gazebo::printCollisionGroups

(

urdf::Link *

link

)

print collision groups for debugging purposes

void urdf2gazebo::URDF2Gazebo::printMass

(

urdf::Link *

link

)

print mass for link for debugging

void urdf2gazebo::URDF2Gazebo::printMass	(	std::string	link_name,
		dMass	mass
	)

print mass for link for debugging

void urdf2gazebo::URDF2Gazebo::reduceCollisionsToParent

(

urdf::Link *

link

)

reduce fixed joints: lump collisions to parent link

void urdf2gazebo::URDF2Gazebo::reduceCollisionToParent	(	urdf::Link *	link,
		std::string	group_name,
		urdf::Collision *	collision
	)

reduce fixed joints: lump collision when reducing fixed joints

void urdf2gazebo::URDF2Gazebo::reduceFixedJoints	(	TiXmlElement *	root,
		urdf::Link *	link
	)

reduce fixed joints by lumping inertial, visual and

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionContactSensorFrameReplace	(	std::vector< TiXmlElement * >::iterator	blob_it,
		urdf::Link *	link
	)

reduced fixed joints: apply appropriate frame updates in urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionFrameReplace	(	GazeboExtension *	ge,
		urdf::Link *	link
	)

reduced fixed joints: apply appropriate frame updates in urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionGripperFrameReplace	(	std::vector< TiXmlElement * >::iterator	blob_it,
		urdf::Link *	link
	)

reduced fixed joints: apply appropriate frame updates in gripper inside urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionJointFrameReplace	(	std::vector< TiXmlElement * >::iterator	blob_it,
		urdf::Link *	link
	)

reduced fixed joints: apply appropriate frame updates in joint inside urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionPluginFrameReplace	(	std::vector< TiXmlElement * >::iterator	blob_it,
		urdf::Link *	link,
		std::string	plugin_name,
		std::string	element_name,
		gazebo::math::Pose	reduction_transform
	)

reduced fixed joints: apply appropriate frame updates in plugins inside urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionProjectorFrameReplace	(	std::vector< TiXmlElement * >::iterator	blob_it,
		urdf::Link *	link
	)

reduced fixed joints: apply appropriate frame updates in projector inside urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionProjectorTransformReduction	(	std::vector< TiXmlElement * >::iterator	blob_it,
		gazebo::math::Pose	reduction_transform
	)

reduced fixed joints: apply transform reduction for projectors in extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionSensorTransformReduction	(	std::vector< TiXmlElement * >::iterator	blob_it,
		gazebo::math::Pose	reduction_transform
	)

reduced fixed joints: apply transform reduction for ray sensors in extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionsTransformReduction

(

GazeboExtension *

ge

)

reduced fixed joints: apply transform reduction to extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceGazeboExtensionToParent

(

urdf::Link *

link

)

reduced fixed joints: apply appropriate updates to urdf extensions when doing fixed joint reduction

void urdf2gazebo::URDF2Gazebo::reduceInertialToParent

(

urdf::Link *

link

)

reduce fixed joints: lump inertial to parent link

void urdf2gazebo::URDF2Gazebo::reduceJointsToParent

(

urdf::Link *

link

)

reduce fixed joints: lump joints to parent link

void urdf2gazebo::URDF2Gazebo::reduceVisualsToParent

(

urdf::Link *

link

)

reduce fixed joints: lump visuals to parent link

void urdf2gazebo::URDF2Gazebo::reduceVisualToParent	(	urdf::Link *	link,
		std::string	group_name,
		urdf::Visual *	visual
	)

reduce fixed joints: lump visuals when reducing fixed joints

urdf::Pose urdf2gazebo::URDF2Gazebo::transformToParentFrame	(	urdf::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

reduced fixed joints: transform to parent frame

gazebo::math::Pose urdf2gazebo::URDF2Gazebo::transformToParentFrame	(	gazebo::math::Pose	transform_in_link_frame,
		urdf::Pose	parent_to_link_transform
	)

reduced fixed joints: transform to parent frame

gazebo::math::Pose urdf2gazebo::URDF2Gazebo::transformToParentFrame	(	gazebo::math::Pose	transform_in_link_frame,
		gazebo::math::Pose	parent_to_link_transform
	)

reduced fixed joints: transform to parent frame

std::string urdf2gazebo::URDF2Gazebo::values2str	(	unsigned int	count,
		const double *	values
	)

convert values to string

std::string urdf2gazebo::URDF2Gazebo::vector32str

(

const urdf::Vector3

vector

)

convert Vector3 to string

Member Data Documentation

std::map<std::string, std::vector<GazeboExtension*> > urdf2gazebo::URDF2Gazebo::gazebo_extensions_

---

The documentation for this class was generated from the following file:

• parser_urdf.hh