Classes
struct	Geometry

struct	Limits

struct	Material

struct	ParserParameters

struct	ParserResult

class	RBDynFromYAML

struct	Visual

Enumerations
enum	ParserInput { ParserInput::File, ParserInput::Description }

Functions
RBDYN_PARSERS_DLLAPI ParserResult	from_file (const std::string &file_path, bool fixed=true, const std::vector< std::string > &filtered_links={}, bool transform_inertia=true, const std::string &base_link="", bool with_virtual_links=true, const std::string spherical_suffix="_spherical")
	Checks the file extension and parses it as URDF or YAML accordingly. More...

RBDYN_PARSERS_DLLAPI ParserResult	from_file (const std::string &file_path, const ParserParameters &params)
	Checks the file extension and parses it as URDF or YAML accordingly. More...

RBDYN_PARSERS_DLLAPI std::string	prefix_path (const std::string &path)
	Ensures that a path is prefixed by either package:// or file://. More...

RBDYN_PARSERS_DLLAPI std::vector< double >	attrToList (const tinyxml2::XMLElement &dom, const std::string &attr, const std::vector< double > &def={})

RBDYN_PARSERS_DLLAPI Eigen::Vector3d	attrToVector (const tinyxml2::XMLElement &dom, const std::string &attr, const Eigen::Vector3d &def=Eigen::Vector3d(0, 0, 0))

RBDYN_PARSERS_DLLAPI ParserResult	from_urdf (const std::string &content, bool fixed=true, const std::vector< std::string > &filteredLinksIn={}, bool transformInertia=true, const std::string &baseLinkIn="", bool withVirtualLinks=true, const std::string &sphericalSuffix="_spherical")

RBDYN_PARSERS_DLLAPI ParserResult	from_urdf_file (const std::string &file_path, bool fixed=true, const std::vector< std::string > &filteredLinksIn={}, bool transformInertia=true, const std::string &baseLinkIn="", bool withVirtualLinks=true, const std::string &sphericalSuffix="_spherical")

RBDYN_PARSERS_DLLAPI ParserResult	from_urdf (const std::string &content, const ParserParameters &params)

RBDYN_PARSERS_DLLAPI ParserResult	from_urdf_file (const std::string &file_path, const ParserParameters &params)

RBDYN_PARSERS_DLLAPI std::string	to_urdf (const ParserResult &res)

RBDYN_PARSERS_DLLAPI ParserResult	from_yaml (const std::string &content, bool fixed=true, const std::vector< std::string > &filteredLinksIn={}, bool transformInertia=true, const std::string &baseLinkIn="", bool withVirtualLinks=true, const std::string &sphericalSuffix="_spherical")

RBDYN_PARSERS_DLLAPI ParserResult	from_yaml_file (const std::string &file_path, bool fixed=true, const std::vector< std::string > &filteredLinksIn={}, bool transformInertia=true, const std::string &baseLinkIn="", bool withVirtualLinks=true, const std::string &sphericalSuffix="_spherical")

RBDYN_PARSERS_DLLAPI ParserResult	from_yaml (const std::string &content, const ParserParameters &params)

RBDYN_PARSERS_DLLAPI ParserResult	from_yaml_file (const std::string &file_path, const ParserParameters &params)

RBDYN_PARSERS_DLLAPI std::string	to_yaml (const ParserResult &res)

Enumeration Type Documentation

◆ ParserInput

enum rbd::parsers::ParserInput

strong

Enumerator
File
Description

Function Documentation

◆ attrToList()

RBDYN_PARSERS_DLLAPI std::vector<double> rbd::parsers::attrToList	(	const tinyxml2::XMLElement &	dom,
		const std::string &	attr,
		const std::vector< double > &	def = `{}`
	)

◆ attrToVector()

RBDYN_PARSERS_DLLAPI Eigen::Vector3d rbd::parsers::attrToVector	(	const tinyxml2::XMLElement &	dom,
		const std::string &	attr,
		const Eigen::Vector3d &	def = `Eigen::Vector3d(0, 0, 0)`
	)

◆ from_file() [1/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_file	(	const std::string &	file_path,
		bool	fixed = `true`,
		const std::vector< std::string > &	filtered_links = `{}`,
		bool	transform_inertia = `true`,
		const std::string &	base_link = `""`,
		bool	with_virtual_links = `true`,
		const std::string	spherical_suffix = `"_spherical"`
	)

Checks the file extension and parses it as URDF or YAML accordingly.

Parameters

file_path Path to the file to parse

Returns: ParserResult The parsing result

◆ from_file() [2/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_file	(	const std::string &	file_path,
		const ParserParameters &	params
	)

Checks the file extension and parses it as URDF or YAML accordingly.

Parameters

file_path	Path to the file to parse
params	Parser parameters

Returns: ParserResult The parsing result

◆ from_urdf() [1/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_urdf	(	const std::string &	content,
		bool	fixed = `true`,
		const std::vector< std::string > &	filteredLinksIn = `{}`,
		bool	transformInertia = `true`,
		const std::string &	baseLinkIn = `""`,
		bool	withVirtualLinks = `true`,
		const std::string &	sphericalSuffix = `"_spherical"`
	)

◆ from_urdf() [2/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_urdf	(	const std::string &	content,
		const ParserParameters &	params
	)

◆ from_urdf_file() [1/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_urdf_file	(	const std::string &	file_path,
		bool	fixed = `true`,
		const std::vector< std::string > &	filteredLinksIn = `{}`,
		bool	transformInertia = `true`,
		const std::string &	baseLinkIn = `""`,
		bool	withVirtualLinks = `true`,
		const std::string &	sphericalSuffix = `"_spherical"`
	)

◆ from_urdf_file() [2/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_urdf_file	(	const std::string &	file_path,
		const ParserParameters &	params
	)

◆ from_yaml() [1/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_yaml	(	const std::string &	content,
		bool	fixed = `true`,
		const std::vector< std::string > &	filteredLinksIn = `{}`,
		bool	transformInertia = `true`,
		const std::string &	baseLinkIn = `""`,
		bool	withVirtualLinks = `true`,
		const std::string &	sphericalSuffix = `"_spherical"`
	)

◆ from_yaml() [2/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_yaml	(	const std::string &	content,
		const ParserParameters &	params
	)

◆ from_yaml_file() [1/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_yaml_file	(	const std::string &	file_path,
		bool	fixed = `true`,
		const std::vector< std::string > &	filteredLinksIn = `{}`,
		bool	transformInertia = `true`,
		const std::string &	baseLinkIn = `""`,
		bool	withVirtualLinks = `true`,
		const std::string &	sphericalSuffix = `"_spherical"`
	)

◆ from_yaml_file() [2/2]

RBDYN_PARSERS_DLLAPI ParserResult rbd::parsers::from_yaml_file	(	const std::string &	file_path,
		const ParserParameters &	params
	)

◆ prefix_path()

RBDYN_PARSERS_DLLAPI std::string rbd::parsers::prefix_path ( const std::string & path )

Ensures that a path is prefixed by either package:// or file://.

Some ROS tools (such as rviz) require even local paths to be explicitely prefixed. Thus

If a path is already prefixed by file:// or package://, leave it unchanged.
If a path has no prefix, assume it is a local path and add the file:// prefix

◆ to_urdf()

RBDYN_PARSERS_DLLAPI std::string rbd::parsers::to_urdf ( const ParserResult & res )

◆ to_yaml()

RBDYN_PARSERS_DLLAPI std::string rbd::parsers::to_yaml ( const ParserResult & res )

Classes

Enumerations

Functions