parser.hpp File Reference

Contains various functions for parsing URDF files and strings to create a tinyrobotics model. More...

#include <tinyxml2.h>
#include "math.hpp"
#include "model.hpp"

Go to the source code of this file.

Functions
template<typename Scalar >
Eigen::Matrix< Scalar, 3, 1 >	tinyrobotics::vec_from_string (const std::string &vector_str)
	Get Eigen3 vector from a URDF vector element.
template<typename Scalar >
Eigen::Matrix< Scalar, 3, 3 >	tinyrobotics::rot_from_string (const std::string &rotation_str)
	Get Eigen3 rotation from a URDF rpy string.
template<typename Scalar >
Eigen::Transform< Scalar, 3, Eigen::Isometry >	tinyrobotics::transform_from_xml (tinyxml2::XMLElement *xml)
	Get the Eigen3 transform from a URDF xml element.
template<typename Scalar >
Eigen::Matrix< Scalar, 6, 6 >	tinyrobotics::spatial_transform_from_xml (tinyxml2::XMLElement *xml)
	Get the spatial transform from a URDF xml element.
const char *	tinyrobotics::get_parent_link_name (tinyxml2::XMLElement *c)
	Get the name of the link's parent link.
template<typename Scalar >
Link< Scalar >	tinyrobotics::link_from_xml (tinyxml2::XMLElement *xml)
	Construct a Link from a URDF xml element.
template<typename Scalar >
Joint< Scalar >	tinyrobotics::joint_from_xml (tinyxml2::XMLElement *xml)
	Construct a new Joint object from a URDF file description.
template<typename Scalar , int nq>
void	tinyrobotics::init_link_tree (Model< Scalar, nq > &model, std::vector< Joint< Scalar > > &joints)
	Initialize the link tree in the model.
template<typename Scalar , int nq>
void	tinyrobotics::init_dynamics (Model< Scalar, nq > &model)
	Updates dynamic links with any fixed joints associated with them, and updates the indices of the dynamic links and their parents.
template<typename Scalar , int nq>
Model< Scalar, nq >	tinyrobotics::import_urdf (const std::string &path_to_urdf)
	Construct a new Model object from URDF file description.

Detailed Description

Contains various functions for parsing URDF files and strings to create a tinyrobotics model.

Function Documentation

get_parent_link_name()

const char * tinyrobotics::get_parent_link_name ( tinyxml2::XMLElement *  c )

inline

Get the name of the link's parent link.

Parameters

xml	The XML element containing the link description

Returns

The name of the link's parent link.

import_urdf()

template<typename Scalar , int nq>

Model< Scalar, nq > tinyrobotics::import_urdf

(

const std::string &

path_to_urdf

)

Construct a new Model object from URDF file description.

Parameters

xml_string

The XML string of the URDF file.

Returns

The URDF parsed Model object.

init_dynamics()

template<typename Scalar , int nq>

void tinyrobotics::init_dynamics

(

Model< Scalar, nq > &

model

)

Updates dynamic links with any fixed joints associated with them, and updates the indices of the dynamic links and their parents.

Parameters

model

Tinyrobtics model.

Template Parameters

Scalar	Scalar type of the model.
nq	Number of configuration coordinates (degrees of freedom).

init_link_tree()

template<typename Scalar , int nq>

void tinyrobotics::init_link_tree	(	Model< Scalar, nq > &	model,
		std::vector< Joint< Scalar > > &	joints
	)

Initialize the link tree in the model.

Parameters

model

Tinyrobtics model.

Template Parameters

Scalar	Scalar type of the model.
nq	Number of configuration coordinates (degrees of freedom).

joint_from_xml()

template<typename Scalar >

Joint< Scalar > tinyrobotics::joint_from_xml

(

tinyxml2::XMLElement *

xml

)

Construct a new Joint object from a URDF file description.

Parameters

xml	The XML element containing the joint description

Returns

The Joint object

link_from_xml()

template<typename Scalar >

Link< Scalar > tinyrobotics::link_from_xml

(

tinyxml2::XMLElement *

xml

)

Construct a Link from a URDF xml element.

Parameters

xml	The XML element containing the link description

Returns

The Link object

rot_from_string()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 3 > tinyrobotics::rot_from_string

(

const std::string &

rotation_str

)

Get Eigen3 rotation from a URDF rpy string.

Parameters

rotation_str

The rpy string

Returns

A 3x3 Eigen3 rotation matrix

spatial_transform_from_xml()

template<typename Scalar >

Eigen::Matrix< Scalar, 6, 6 > tinyrobotics::spatial_transform_from_xml

(

tinyxml2::XMLElement *

xml

)

Get the spatial transform from a URDF xml element.

Parameters

xml	The XML element

Returns

A spatial transform

transform_from_xml()

template<typename Scalar >

Eigen::Transform< Scalar, 3, Eigen::Isometry > tinyrobotics::transform_from_xml

(

tinyxml2::XMLElement *

xml

)

Get the Eigen3 transform from a URDF xml element.

Parameters

xml	The XML element

Returns

A Eigen3 affine transform

vec_from_string()

template<typename Scalar >

Eigen::Matrix< Scalar, 3, 1 > tinyrobotics::vec_from_string

(

const std::string &

vector_str

)

Get Eigen3 vector from a URDF vector element.

Parameters

vector_str

The vector string

Returns

A 3x1 Eigen3 vector