Functions
void	AddRobotFromSDFInWorldFrame (const std::string &sdf_filename, const DrakeJoint::FloatingBaseType floating_base_type, RigidBodyTree *tree)
	Adds a SDF model to a rigid body system. More...

void	AddRobotFromSDF (const std::string &sdf_filename, const DrakeJoint::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame > weld_to_frame, RigidBodyTree *tree)
	Adds a SDF model to a rigid body system. More...

Function Documentation

DRAKERBM_EXPORT void AddRobotFromSDF	(	const std::string &	sdf_filename,
		const DrakeJoint::FloatingBaseType	floating_base_type,
		std::shared_ptr< RigidBodyFrame >	weld_to_frame,
		RigidBodyTree *	tree
	)

Adds a SDF model to a rigid body system.

Parameters

[in]	urdf_filename	The URDF file containing the model to be added.
[in]	package_map	A map of ROS package names to their paths. These are the packages to search through when finding files referenced in the URDF.
[in]	floating_base_type	The type of joint that connects the model's root to the existing rigid body tree.
[in]	weld_to_frame	The frame to which to connect the new model.
[out]	tree	The rigid body tree to which to add the model.

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DRAKERBM_EXPORT void AddRobotFromSDFInWorldFrame	(	const std::string &	sdf_filename,
		const DrakeJoint::FloatingBaseType	floating_base_type,
		RigidBodyTree *	tree
	)

Adds a SDF model to a rigid body system.

The model's frame is equal to the world's coordinate frame.

Parameters

[in]	urdf_filename	The URDF file containing the model to be added.
[in]	package_map	A map of ROS package names to their paths. These are the packages to search through when finding files referenced in the URDF.
[in]	floating_base_type	The type of joint that connects the model's root to the existing rigid body tree.
[out]	tree	The rigid body tree to which to add the model.

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Functions