8 #ifndef URDFCONVERTER_H_ 9 #define URDFCONVERTER_H_ 12 #include <KrisLibrary/math3d/primitives.h> 13 #include "Modeling/Robot.h" 14 #include "urdf_link.h" 20 URDFLinkNode(std::shared_ptr<urdf::Link>& link,
int index,
int index_parent);
21 void GetTransformations();
22 void GetGeometryProperty(
bool useVisGeom=
false);
24 std::shared_ptr<urdf::Link> link;
27 RigidTransform T_link_to_inertia;
28 RigidTransform T_link_to_inertia_inverse;
29 RigidTransform T_link_to_visgeom;
30 RigidTransform T_link_to_colgeom;
31 RigidTransform T_parent;
42 static int GetLinkIndexfromName(
string name,
const vector<string> linknames);
44 static void DFSLinkTree(
URDFLinkNode& root, vector<URDFLinkNode>& linkNodes);
45 static void setJointforNodes(vector< std::shared_ptr<urdf::Joint> >& joints, vector<URDFLinkNode>& linkNodes);
47 static void QuatToRotationMat(
const Vector4& aa, Matrix3& mat);
48 static void processTParentTransformations(vector<URDFLinkNode>& linkNodes);
51 static string packageRootPath;
53 static bool useVisGeom;
Definition: URDFConverter.h:18
Definition: URDFConverter.h:40
Type
Definition: Robot.h:24
Definition: urdf_link.h:159
Definition: urdf_joint.h:169