urdf.h

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/*
 * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <RBDyn/Joint.h>
#include <RBDyn/MultiBody.h>
#include <RBDyn/MultiBodyConfig.h>
#include <RBDyn/MultiBodyGraph.h>
#include <RBDyn/parsers/common.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <boost/variant.hpp>
 
#include <Eigen/Core>
#include <string>
 
namespace tinyxml2
{
class XMLElement;
}
 
namespace rbd
{
 
namespace parsers
{
 
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);
 
} // namespace parsers
 
} // namespace rbd