diff --git a/doxygen/HEAD/RBDyn.doxytag b/doxygen/HEAD/RBDyn.doxytag index 0fd8c117..7c69de7b 100644 --- a/doxygen/HEAD/RBDyn.doxytag +++ b/doxygen/HEAD/RBDyn.doxytag @@ -2725,13 +2725,6 @@ a2478d0669f7728dad10f127c3a4b755d - - double - scale - structrbd_1_1parsers_1_1Geometry_1_1Mesh.html - a395f98c8af6825996e850a9742aea6e3 - - rbd::MultiBody diff --git a/doxygen/HEAD/common_8h_source.html b/doxygen/HEAD/common_8h_source.html index 9e7efe8c..45fcd4a6 100644 --- a/doxygen/HEAD/common_8h_source.html +++ b/doxygen/HEAD/common_8h_source.html @@ -118,255 +118,253 @@
43 public:
44  struct Mesh
45  {
-
46  Mesh() : scaleV(Eigen::Vector3d::Ones()), scale(1) {}
+
46  Mesh() : scaleV(Eigen::Vector3d::Ones()) {}
47  std::string filename;
48  Eigen::Vector3d scaleV;
-
49  double scale;
-
50  };
-
51  struct Box
-
52  {
-
53  Box() : size(Eigen::Vector3d::Zero()) {}
-
54  Eigen::Vector3d size;
-
55  };
-
56  struct Cylinder
-
57  {
-
58  Cylinder() : radius(0.), length(0.) {}
-
59  double radius;
-
60  double length;
-
61  };
-
62  struct Sphere
-
63  {
-
64  Sphere() : radius(0.) {}
-
65  double radius;
-
66  };
-
67 
-
76  struct Superellipsoid
-
77  {
-
78  Superellipsoid() : size(Eigen::Vector3d::Zero()), epsilon1(1), epsilon2(1) {}
-
79  Eigen::Vector3d size;
-
80  double epsilon1, epsilon2;
-
81  };
-
82 
-
83  enum Type
-
84  {
-
85  BOX,
-
86  CYLINDER,
-
87  SPHERE,
-
88  MESH,
-
89  SUPERELLIPSOID,
-
90  UNKNOWN
-
91  };
-
92  Type type;
-
93  using Data = boost::variant<Box, Cylinder, Mesh, Sphere, Superellipsoid>;
-
94  Data data;
-
95 
-
96  Geometry() : type(UNKNOWN) {}
-
97 };
-
98 
-
106 struct RBDYN_PARSERS_DLLAPI Material
-
107 {
-
108  struct Color
-
109  {
-
110  double r;
-
111  double g;
-
112  double b;
-
113  double a;
-
114  };
-
115  struct Texture
-
116  {
-
117  std::string filename;
-
118  };
-
119 
-
120  enum class Type
-
121  {
-
122  NONE,
-
123  COLOR,
-
124  TEXTURE
-
125  };
-
126  Type type;
-
127  using Data = boost::variant<Color, Texture>;
-
128  Data data;
-
129 
-
130  Material() : type(Type::NONE) {}
-
131 };
-
132 
-
133 struct RBDYN_PARSERS_DLLAPI Visual
-
134 {
-
135  std::string name;
-
136  sva::PTransformd origin;
-
137  Geometry geometry;
-
138  Material material;
-
139 };
-
140 
-
142 struct RBDYN_PARSERS_DLLAPI ParserParameters
-
143 {
-
145  bool fixed_ = true;
-
146 
-
153  std::vector<std::string> filtered_links_ = {};
-
154 
-
162  bool remove_filtered_links_ = true;
-
163 
-
165  bool transform_inertia_ = true;
-
166 
-
168  std::string base_link_ = "";
-
169 
-
174  bool remove_virtual_links_ = false;
-
175 
-
177  std::string spherical_suffix_ = "_spherical";
-
178 
-
180  inline ParserParameters & fixed(bool fixed) noexcept
-
181  {
-
182  fixed_ = fixed;
-
183  return *this;
-
184  }
-
185 
-
187  inline ParserParameters & filtered_links(const std::vector<std::string> & links) noexcept
-
188  {
-
189  filtered_links_ = links;
-
190  return *this;
-
191  }
-
192 
-
194  inline ParserParameters & remove_filtered_links(bool value) noexcept
-
195  {
-
196  remove_filtered_links_ = value;
-
197  return *this;
-
198  }
-
199 
-
201  inline ParserParameters & transform_inertia(bool value) noexcept
-
202  {
-
203  transform_inertia_ = value;
-
204  return *this;
-
205  }
-
206 
-
208  inline ParserParameters & base_link(const std::string & link) noexcept
-
209  {
-
210  base_link_ = link;
-
211  return *this;
-
212  }
-
213 
-
215  inline ParserParameters & remove_virtual_links(bool value) noexcept
-
216  {
-
217  remove_virtual_links_ = value;
-
218  return *this;
-
219  }
-
220 
-
222  inline ParserParameters & spherical_suffix(const std::string & suffix) noexcept
-
223  {
-
224  spherical_suffix_ = suffix;
-
225  return *this;
-
226  }
-
227 };
-
228 
-
229 struct RBDYN_PARSERS_DLLAPI ParserResult
-
230 {
-
231  rbd::MultiBody mb;
-
232  rbd::MultiBodyConfig mbc;
-
233  rbd::MultiBodyGraph mbg;
-
234  Limits limits;
-
235  std::map<std::string, std::vector<Visual>> visual;
-
236  std::map<std::string, std::vector<Visual>> collision;
-
237  std::string name;
-
238 };
-
239 
-
244 RBDYN_PARSERS_DLLAPI ParserResult from_file(const std::string & file_path,
-
245  bool fixed = true,
-
246  const std::vector<std::string> & filtered_links = {},
-
247  bool transform_inertia = true,
-
248  const std::string & base_link = "",
-
249  bool with_virtual_links = true,
-
250  const std::string spherical_suffix = "_spherical");
-
251 
-
257 RBDYN_PARSERS_DLLAPI ParserResult from_file(const std::string & file_path, const ParserParameters & params);
-
258 
-
266 RBDYN_PARSERS_DLLAPI std::string prefix_path(const std::string & path);
-
267 
-
268 } // namespace parsers
-
269 
-
270 } // namespace rbd
+
49  };
+
50  struct Box
+
51  {
+
52  Box() : size(Eigen::Vector3d::Zero()) {}
+
53  Eigen::Vector3d size;
+
54  };
+
55  struct Cylinder
+
56  {
+
57  Cylinder() : radius(0.), length(0.) {}
+
58  double radius;
+
59  double length;
+
60  };
+
61  struct Sphere
+
62  {
+
63  Sphere() : radius(0.) {}
+
64  double radius;
+
65  };
+
66 
+
75  struct Superellipsoid
+
76  {
+
77  Superellipsoid() : size(Eigen::Vector3d::Zero()), epsilon1(1), epsilon2(1) {}
+
78  Eigen::Vector3d size;
+
79  double epsilon1, epsilon2;
+
80  };
+
81 
+
82  enum Type
+
83  {
+
84  BOX,
+
85  CYLINDER,
+
86  SPHERE,
+
87  MESH,
+
88  SUPERELLIPSOID,
+
89  UNKNOWN
+
90  };
+
91  Type type;
+
92  using Data = boost::variant<Box, Cylinder, Mesh, Sphere, Superellipsoid>;
+
93  Data data;
+
94 
+
95  Geometry() : type(UNKNOWN) {}
+
96 };
+
97 
+
105 struct RBDYN_PARSERS_DLLAPI Material
+
106 {
+
107  struct Color
+
108  {
+
109  double r;
+
110  double g;
+
111  double b;
+
112  double a;
+
113  };
+
114  struct Texture
+
115  {
+
116  std::string filename;
+
117  };
+
118 
+
119  enum class Type
+
120  {
+
121  NONE,
+
122  COLOR,
+
123  TEXTURE
+
124  };
+
125  Type type;
+
126  using Data = boost::variant<Color, Texture>;
+
127  Data data;
+
128 
+
129  Material() : type(Type::NONE) {}
+
130 };
+
131 
+
132 struct RBDYN_PARSERS_DLLAPI Visual
+
133 {
+
134  std::string name;
+
135  sva::PTransformd origin;
+
136  Geometry geometry;
+
137  Material material;
+
138 };
+
139 
+
141 struct RBDYN_PARSERS_DLLAPI ParserParameters
+
142 {
+
144  bool fixed_ = true;
+
145 
+
152  std::vector<std::string> filtered_links_ = {};
+
153 
+
161  bool remove_filtered_links_ = true;
+
162 
+
164  bool transform_inertia_ = true;
+
165 
+
167  std::string base_link_ = "";
+
168 
+
173  bool remove_virtual_links_ = false;
+
174 
+
176  std::string spherical_suffix_ = "_spherical";
+
177 
+
179  inline ParserParameters & fixed(bool fixed) noexcept
+
180  {
+
181  fixed_ = fixed;
+
182  return *this;
+
183  }
+
184 
+
186  inline ParserParameters & filtered_links(const std::vector<std::string> & links) noexcept
+
187  {
+
188  filtered_links_ = links;
+
189  return *this;
+
190  }
+
191 
+
193  inline ParserParameters & remove_filtered_links(bool value) noexcept
+
194  {
+
195  remove_filtered_links_ = value;
+
196  return *this;
+
197  }
+
198 
+
200  inline ParserParameters & transform_inertia(bool value) noexcept
+
201  {
+
202  transform_inertia_ = value;
+
203  return *this;
+
204  }
+
205 
+
207  inline ParserParameters & base_link(const std::string & link) noexcept
+
208  {
+
209  base_link_ = link;
+
210  return *this;
+
211  }
+
212 
+
214  inline ParserParameters & remove_virtual_links(bool value) noexcept
+
215  {
+
216  remove_virtual_links_ = value;
+
217  return *this;
+
218  }
+
219 
+
221  inline ParserParameters & spherical_suffix(const std::string & suffix) noexcept
+
222  {
+
223  spherical_suffix_ = suffix;
+
224  return *this;
+
225  }
+
226 };
+
227 
+
228 struct RBDYN_PARSERS_DLLAPI ParserResult
+
229 {
+
230  rbd::MultiBody mb;
+
231  rbd::MultiBodyConfig mbc;
+
232  rbd::MultiBodyGraph mbg;
+
233  Limits limits;
+
234  std::map<std::string, std::vector<Visual>> visual;
+
235  std::map<std::string, std::vector<Visual>> collision;
+
236  std::string name;
+
237 };
+
238 
+
243 RBDYN_PARSERS_DLLAPI ParserResult from_file(const std::string & file_path,
+
244  bool fixed = true,
+
245  const std::vector<std::string> & filtered_links = {},
+
246  bool transform_inertia = true,
+
247  const std::string & base_link = "",
+
248  bool with_virtual_links = true,
+
249  const std::string spherical_suffix = "_spherical");
+
250 
+
256 RBDYN_PARSERS_DLLAPI ParserResult from_file(const std::string & file_path, const ParserParameters & params);
+
257 
+
265 RBDYN_PARSERS_DLLAPI std::string prefix_path(const std::string & path);
+
266 
+
267 } // namespace parsers
+
268 
+
269 } // namespace rbd
-
rbd::parsers::Geometry::Cylinder::Cylinder
Cylinder()
Definition: common.h:58
-
rbd::parsers::Material::Color::g
double g
Definition: common.h:111
-
rbd::parsers::Geometry::Superellipsoid::Superellipsoid
Superellipsoid()
Definition: common.h:78
-
rbd::parsers::Visual::name
std::string name
Definition: common.h:135
+
rbd::parsers::Geometry::Cylinder::Cylinder
Cylinder()
Definition: common.h:57
+
rbd::parsers::Material::Color::g
double g
Definition: common.h:110
+
rbd::parsers::Geometry::Superellipsoid::Superellipsoid
Superellipsoid()
Definition: common.h:77
+
rbd::parsers::Visual::name
std::string name
Definition: common.h:134
rbd::parsers::Geometry
Definition: common.h:41
-
rbd::parsers::Geometry::Box
Definition: common.h:51
-
rbd::parsers::Geometry::BOX
@ BOX
Definition: common.h:85
-
rbd::parsers::Geometry::Cylinder::length
double length
Definition: common.h:60
-
rbd::parsers::Geometry::Superellipsoid::epsilon2
double epsilon2
Definition: common.h:80
+
rbd::parsers::Geometry::Box
Definition: common.h:50
+
rbd::parsers::Geometry::BOX
@ BOX
Definition: common.h:84
+
rbd::parsers::Geometry::Cylinder::length
double length
Definition: common.h:59
+
rbd::parsers::Geometry::Superellipsoid::epsilon2
double epsilon2
Definition: common.h:79
rbd::parsers::Limits::velocity
std::map< std::string, std::vector< double > > velocity
Definition: common.h:37
-
rbd::parsers::Material::Color
Definition: common.h:108
-
rbd::parsers::ParserResult::mbg
rbd::MultiBodyGraph mbg
Definition: common.h:233
-
rbd::parsers::Visual::material
Material material
Definition: common.h:138
-
rbd::parsers::ParserResult::name
std::string name
Definition: common.h:237
+
rbd::parsers::Material::Color
Definition: common.h:107
+
rbd::parsers::ParserResult::mbg
rbd::MultiBodyGraph mbg
Definition: common.h:232
+
rbd::parsers::Visual::material
Material material
Definition: common.h:137
+
rbd::parsers::ParserResult::name
std::string name
Definition: common.h:236
rbd::parsers::Limits
Definition: common.h:32
-
rbd::parsers::Geometry::Superellipsoid::size
Eigen::Vector3d size
Definition: common.h:79
-
rbd::parsers::Geometry::Box::size
Eigen::Vector3d size
Definition: common.h:54
-
rbd::parsers::ParserParameters::remove_virtual_links
ParserParameters & remove_virtual_links(bool value) noexcept
Definition: common.h:215
-
rbd::parsers::ParserParameters::remove_filtered_links
ParserParameters & remove_filtered_links(bool value) noexcept
Definition: common.h:194
-
rbd::parsers::Geometry::MESH
@ MESH
Definition: common.h:88
+
rbd::parsers::Geometry::Superellipsoid::size
Eigen::Vector3d size
Definition: common.h:78
+
rbd::parsers::Geometry::Box::size
Eigen::Vector3d size
Definition: common.h:53
+
rbd::parsers::ParserParameters::remove_virtual_links
ParserParameters & remove_virtual_links(bool value) noexcept
Definition: common.h:214
+
rbd::parsers::ParserParameters::remove_filtered_links
ParserParameters & remove_filtered_links(bool value) noexcept
Definition: common.h:193
+
rbd::parsers::Geometry::MESH
@ MESH
Definition: common.h:87
rbd::parsers::Geometry::Mesh::scaleV
Eigen::Vector3d scaleV
Definition: common.h:48
-
rbd::parsers::Geometry::Sphere::radius
double radius
Definition: common.h:65
-
rbd::parsers::Visual::origin
sva::PTransformd origin
Definition: common.h:136
-
rbd::parsers::ParserParameters::spherical_suffix
ParserParameters & spherical_suffix(const std::string &suffix) noexcept
Definition: common.h:222
+
rbd::parsers::Geometry::Sphere::radius
double radius
Definition: common.h:64
+
rbd::parsers::Visual::origin
sva::PTransformd origin
Definition: common.h:135
+
rbd::parsers::ParserParameters::spherical_suffix
ParserParameters & spherical_suffix(const std::string &suffix) noexcept
Definition: common.h:221
rbd::MultiBody
Definition: MultiBody.h:29
rbd::parsers::ParserInput::File
@ File
-
rbd::parsers::Material::Color::b
double b
Definition: common.h:112
-
rbd::parsers::ParserResult::limits
Limits limits
Definition: common.h:234
+
rbd::parsers::Material::Color::b
double b
Definition: common.h:111
+
rbd::parsers::ParserResult::limits
Limits limits
Definition: common.h:233
Joint.h
rbd::parsers::Geometry::Mesh::filename
std::string filename
Definition: common.h:47
-
rbd::parsers::Material::Data
boost::variant< Color, Texture > Data
Definition: common.h:127
+
rbd::parsers::Material::Data
boost::variant< Color, Texture > Data
Definition: common.h:126
rbd::parsers::from_file
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.
rbd::parsers::prefix_path
RBDYN_PARSERS_DLLAPI std::string prefix_path(const std::string &path)
Ensures that a path is prefixed by either package:// or file://.
-
rbd::parsers::Material::Material
Material()
Definition: common.h:130
+
rbd::parsers::Material::Material
Material()
Definition: common.h:129
rbd::parsers::Limits::torque
std::map< std::string, std::vector< double > > torque
Definition: common.h:38
-
rbd::parsers::ParserResult
Definition: common.h:229
+
rbd::parsers::ParserResult
Definition: common.h:228
RBDYN_PARSERS_DLLAPI
#define RBDYN_PARSERS_DLLAPI
Definition: api.h:43
-
rbd::parsers::Geometry::Box::Box
Box()
Definition: common.h:53
-
rbd::parsers::Geometry::Superellipsoid
A Superellipsoid can approximate primitive shapes as boxes, cylinders and pyrimids while remaining st...
Definition: common.h:76
-
rbd::parsers::Geometry::Sphere
Definition: common.h:62
-
rbd::parsers::Material::Color::a
double a
Definition: common.h:113
+
rbd::parsers::Geometry::Box::Box
Box()
Definition: common.h:52
+
rbd::parsers::Geometry::Superellipsoid
A Superellipsoid can approximate primitive shapes as boxes, cylinders and pyrimids while remaining st...
Definition: common.h:75
+
rbd::parsers::Geometry::Sphere
Definition: common.h:61
+
rbd::parsers::Material::Color::a
double a
Definition: common.h:112
MultiBodyConfig.h
-
rbd::parsers::ParserResult::mb
rbd::MultiBody mb
Definition: common.h:231
-
rbd::parsers::Material
Definition: common.h:106
+
rbd::parsers::ParserResult::mb
rbd::MultiBody mb
Definition: common.h:230
+
rbd::parsers::Material
Definition: common.h:105
rbd::MultiBodyGraph
Definition: MultiBodyGraph.h:32
-
rbd::parsers::Geometry::Data
boost::variant< Box, Cylinder, Mesh, Sphere, Superellipsoid > Data
Definition: common.h:93
-
rbd::parsers::Geometry::Sphere::Sphere
Sphere()
Definition: common.h:64
-
rbd::parsers::Material::Texture
Definition: common.h:115
+
rbd::parsers::Geometry::Data
boost::variant< Box, Cylinder, Mesh, Sphere, Superellipsoid > Data
Definition: common.h:92
+
rbd::parsers::Geometry::Sphere::Sphere
Sphere()
Definition: common.h:63
+
rbd::parsers::Material::Texture
Definition: common.h:114
rbd::parsers::Limits::lower
std::map< std::string, std::vector< double > > lower
Definition: common.h:35
-
rbd::parsers::ParserParameters::transform_inertia
ParserParameters & transform_inertia(bool value) noexcept
Definition: common.h:201
-
rbd::parsers::Geometry::type
Type type
Definition: common.h:92
+
rbd::parsers::ParserParameters::transform_inertia
ParserParameters & transform_inertia(bool value) noexcept
Definition: common.h:200
+
rbd::parsers::Geometry::type
Type type
Definition: common.h:91
rbd
Definition: common.h:20
rbd::parsers::Geometry::Mesh
Definition: common.h:44
-
rbd::parsers::Geometry::Cylinder
Definition: common.h:56
+
rbd::parsers::Geometry::Cylinder
Definition: common.h:55
MultiBodyGraph.h
-
rbd::parsers::ParserParameters::fixed
ParserParameters & fixed(bool fixed) noexcept
Definition: common.h:180
+
rbd::parsers::ParserParameters::fixed
ParserParameters & fixed(bool fixed) noexcept
Definition: common.h:179
rbd::MultiBodyConfig
Definition: MultiBodyConfig.h:23
MultiBody.h
-
rbd::parsers::Geometry::SUPERELLIPSOID
@ SUPERELLIPSOID
Definition: common.h:89
-
rbd::parsers::ParserParameters::base_link
ParserParameters & base_link(const std::string &link) noexcept
Definition: common.h:208
-
rbd::parsers::Material::data
Data data
Definition: common.h:128
-
rbd::parsers::Geometry::data
Data data
Definition: common.h:94
-
rbd::parsers::ParserResult::mbc
rbd::MultiBodyConfig mbc
Definition: common.h:232
-
rbd::parsers::ParserParameters
Definition: common.h:142
-
rbd::parsers::Visual::geometry
Geometry geometry
Definition: common.h:137
-
rbd::parsers::Material::Texture::filename
std::string filename
Definition: common.h:117
+
rbd::parsers::Geometry::SUPERELLIPSOID
@ SUPERELLIPSOID
Definition: common.h:88
+
rbd::parsers::ParserParameters::base_link
ParserParameters & base_link(const std::string &link) noexcept
Definition: common.h:207
+
rbd::parsers::Material::data
Data data
Definition: common.h:127
+
rbd::parsers::Geometry::data
Data data
Definition: common.h:93
+
rbd::parsers::ParserResult::mbc
rbd::MultiBodyConfig mbc
Definition: common.h:231
+
rbd::parsers::ParserParameters
Definition: common.h:141
+
rbd::parsers::Visual::geometry
Geometry geometry
Definition: common.h:136
+
rbd::parsers::Material::Texture::filename
std::string filename
Definition: common.h:116
rbd::parsers::ParserInput
ParserInput
Definition: common.h:26
-
rbd::parsers::Geometry::Mesh::scale
double scale
Definition: common.h:49
rbd::parsers::Geometry::Mesh::Mesh
Mesh()
Definition: common.h:46
-
rbd::parsers::ParserParameters::filtered_links
ParserParameters & filtered_links(const std::vector< std::string > &links) noexcept
Definition: common.h:187
-
rbd::parsers::Geometry::Geometry
Geometry()
Definition: common.h:96
+
rbd::parsers::ParserParameters::filtered_links
ParserParameters & filtered_links(const std::vector< std::string > &links) noexcept
Definition: common.h:186
+
rbd::parsers::Geometry::Geometry
Geometry()
Definition: common.h:95
rbd::parsers::ParserInput::Description
@ Description
-
rbd::parsers::Visual
Definition: common.h:133
-
rbd::parsers::Material::Color::r
double r
Definition: common.h:110
-
rbd::parsers::Geometry::SPHERE
@ SPHERE
Definition: common.h:87
-
rbd::parsers::Geometry::Type
Type
Definition: common.h:83
-
rbd::parsers::Material::type
Type type
Definition: common.h:126
-
rbd::parsers::ParserResult::collision
std::map< std::string, std::vector< Visual > > collision
Definition: common.h:236
-
rbd::parsers::Geometry::Cylinder::radius
double radius
Definition: common.h:59
-
rbd::parsers::Material::Type
Type
Definition: common.h:120
-
rbd::parsers::Geometry::CYLINDER
@ CYLINDER
Definition: common.h:86
-
rbd::parsers::ParserResult::visual
std::map< std::string, std::vector< Visual > > visual
Definition: common.h:235
+
rbd::parsers::Visual
Definition: common.h:132
+
rbd::parsers::Material::Color::r
double r
Definition: common.h:109
+
rbd::parsers::Geometry::SPHERE
@ SPHERE
Definition: common.h:86
+
rbd::parsers::Geometry::Type
Type
Definition: common.h:82
+
rbd::parsers::Material::type
Type type
Definition: common.h:125
+
rbd::parsers::ParserResult::collision
std::map< std::string, std::vector< Visual > > collision
Definition: common.h:235
+
rbd::parsers::Geometry::Cylinder::radius
double radius
Definition: common.h:58
+
rbd::parsers::Material::Type
Type
Definition: common.h:119
+
rbd::parsers::Geometry::CYLINDER
@ CYLINDER
Definition: common.h:85
+
rbd::parsers::ParserResult::visual
std::map< std::string, std::vector< Visual > > visual
Definition: common.h:234
rbd::parsers::Limits::upper
std::map< std::string, std::vector< double > > upper
Definition: common.h:36
api.h
diff --git a/doxygen/HEAD/functions_d.html b/doxygen/HEAD/functions_d.html index 89b0234a..b7bcd02a 100644 --- a/doxygen/HEAD/functions_d.html +++ b/doxygen/HEAD/functions_d.html @@ -72,18 +72,18 @@
Here is a list of all class members with links to the classes they belong to:

- d -