drake::parsers::urdf Namespace Reference

Functions
void	AddRobotFromURDFString (const std::string &urdf_string, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
void	AddRobotFromURDFString (const string &urdf_string, PackageMap &package_map, RigidBodyTree *tree)
void	AddRobotFromURDFString (const std::string &urdf_string, const std::string &root_dir, const DrakeJoint::FloatingBaseType floating_base_type, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
void	AddRobotFromURDFString (const std::string &urdf_string, PackageMap &package_map, const std::string &root_dir, const DrakeJoint::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame > weld_to_frame, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
void	AddRobotFromURDF (const std::string &urdf_filename, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
void	AddRobotFromURDF (const std::string &urdf_filename, const DrakeJoint::FloatingBaseType floating_base_type, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
void	AddRobotFromURDF (const std::string &urdf_filename, const DrakeJoint::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame > weld_to_frame, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
void	AddRobotFromURDF (const string &urdf_filename, PackageMap &package_map, const DrakeJoint::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame > weld_to_frame, RigidBodyTree *tree)
std::shared_ptr< RigidBodyFrame >	MakeRigidBodyFrameFromURDFNode (const RigidBodyTree &tree, const tinyxml2::XMLElement &link, const tinyxml2::XMLElement *pose, const std::string &name)
	Manufactures a RigidBodyFrame from the given URDF link and pose XML nodes. More...
DRAKERBM_EXPORT void	AddRobotFromURDFString (const std::string &urdf_string, std::map< std::string, std::string > &package_map, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...
DRAKERBM_EXPORT void	AddRobotFromURDF (const std::string &urdf_filename, std::map< std::string, std::string > &package_map, const DrakeJoint::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame > weld_to_frame, RigidBodyTree *tree)
	Adds a URDF model to a rigid body system. More...

Function Documentation

DRAKERBM_EXPORT void drake::parsers::urdf::AddRobotFromURDF	(	const std::string &	urdf_filename,
		std::map< std::string, std::string > &	package_map,
		const DrakeJoint::FloatingBaseType	floating_base_type,
		std::shared_ptr< RigidBodyFrame >	weld_to_frame,
		RigidBodyTree *	tree
	)

Adds a URDF model to a rigid body system.

The model is connected to the world via a joint of type DrakeJoint::ROLLPITCHYAW joint. 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.
[in]	weld_to_frame	The frame to which to connect the new model.
[out]	tree	The RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

DRAKERBM_EXPORT void AddRobotFromURDF	(	const std::string &	urdf_filename,
		RigidBodyTree *	tree
	)

Adds a URDF model to a rigid body system.

The model is connected to the world via a joint of type DrakeJoint::ROLLPITCHYAW joint. 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.
[out]	tree	The RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

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

Adds a URDF model to a rigid body system.

The model is connected to the world via a joint of type DrakeJoint::ROLLPITCHYAW joint. 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]	floating_base_type	The type of joint that connects the model's root to the existing rigid body tree.
[out]	tree	The RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

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

Adds a URDF model to a rigid body system.

The model is connected to the world via a joint of type DrakeJoint::ROLLPITCHYAW joint. 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]	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 RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

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void drake::parsers::urdf::AddRobotFromURDF	(	const string &	urdf_filename,
		PackageMap &	package_map,
		const DrakeJoint::FloatingBaseType	floating_base_type,
		std::shared_ptr< RigidBodyFrame >	weld_to_frame,
		RigidBodyTree *	tree
	)

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DRAKERBM_EXPORT void drake::parsers::urdf::AddRobotFromURDFString	(	const std::string &	urdf_string,
		std::map< std::string, std::string > &	package_map,
		RigidBodyTree *	tree
	)

Adds a URDF model to a rigid body system.

The model is connected to the world via a joint of type DrakeJoint::ROLLPITCHYAW joint. The model's frame is equal to the world's coordinate frame.

Parameters

[in]	urdf_string	The URDF description of the model to be added to tree.
[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.
[out]	tree	The RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

DRAKERBM_EXPORT void AddRobotFromURDFString	(	const std::string &	urdf_string,
		RigidBodyTree *	tree
	)

Adds a URDF model to a rigid body system.

The model is connected to the world via a joint of type DrakeJoint::ROLLPITCHYAW joint. The model's frame is equal to the world's coordinate frame.

Parameters

[in]	urdf_string	The URDF description of the model to be added to tree.
[out]	tree	The RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

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void drake::parsers::urdf::AddRobotFromURDFString	(	const string &	urdf_string,
		PackageMap &	package_map,
		RigidBodyTree *	tree
	)

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DRAKERBM_EXPORT void AddRobotFromURDFString	(	const std::string &	urdf_string,
		const std::string &	root_dir,
		const DrakeJoint::FloatingBaseType	floating_base_type,
		RigidBodyTree *	tree
	)

Adds a URDF model to a rigid body system.

Parameters

[in]	urdf_string	The URDF description of the model to be added to tree.
[in]	root_dir	The root directory in which to search for files mentioned 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 RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

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DRAKERBM_EXPORT void AddRobotFromURDFString	(	const std::string &	urdf_string,
		PackageMap &	package_map,
		const std::string &	root_dir,
		const DrakeJoint::FloatingBaseType	floating_base_type,
		std::shared_ptr< RigidBodyFrame >	weld_to_frame,
		RigidBodyTree *	tree
	)

Adds a URDF model to a rigid body system.

Parameters

[in]	urdf_string	The URDF description of the model to be added to tree.
[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]	root_dir	The root directory in which to search for files mentioned 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 RigidBodyTree to which to add the model. A std::runtime_error is thrown if the pointer is null.

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DRAKERBM_EXPORT std::shared_ptr< RigidBodyFrame > MakeRigidBodyFrameFromURDFNode	(	const RigidBodyTree &	tree,
		const tinyxml2::XMLElement &	link,
		const tinyxml2::XMLElement *	pose,
		const std::string &	name
	)

Manufactures a RigidBodyFrame from the given URDF link and pose XML nodes.

The link name must exist in the given model. Otherwise, a runtime error is thrown.

Parameters

[in]	tree	The rigid body tree that holds the rigid body to which the new RigidBodyFrame is attached.
[in]	link	The URDF XML node describing the rigid body to which the new RigidBodyFrame is attached.
[in]	pose	The URDF XML node describing the pose of the new RigidBodyFrame in the frame of the rigid body to which it is attached. If this is nullptr, a pose of zero (i.e., identity transform) is used.
[in]	name	The name of the new RigidBodyFrame.

Returns

The new RigidBodyFrame.

Exceptions

std::runtime_error

if the rigid body to which the new RigidBodyFrame is attached is not found.

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