esp/metadata/URDFParser.h file

Storage classes for articulated object metadata and URDF file parsing functionality. Struct esp::metadata::URDF::MaterialColor, struct esp::metadata::URDF::Material, enum esp::metadata::URDF::JointTypes, enum esp::metadata::URDF::GeomTypes, struct esp::metadata::URDF::Geometry, struct esp::metadata::URDF::Shape, struct esp::metadata::URDF::VisualShape, enum esp::metadata::URDF::CollisionFlags, struct esp::metadata::URDF::CollisionShape, struct esp::metadata::URDF::Inertia, struct esp::metadata::URDF::Joint, enum esp::metadata::URDF::LinkContactFlags, struct esp::metadata::URDF::LinkContactInfo, struct esp::metadata::URDF::Link, class esp::metadata::URDF::Model, class esp::metadata::URDF::Parser.

Namespaces

namespace tinyxml2

namespace esp

Root namespace.

namespace esp::metadata

Metadata management.

namespace esp::metadata::URDF

URDF parsing library.

Classes

struct esp::metadata::URDF::MaterialColor

struct esp::metadata::URDF::Material

Storage for metadata defining override materials for visual shapes.

struct esp::metadata::URDF::Geometry

struct esp::metadata::URDF::Shape

Stores general properties of any shape.

struct esp::metadata::URDF::VisualShape

Parsed from a URDF link visual shape (<visual>)

struct esp::metadata::URDF::CollisionShape

Parsed from a URDF link collision shape (<collision>)

struct esp::metadata::URDF::Inertia

struct esp::metadata::URDF::Joint

Parsed from a URDF joint (<joint>), connects two links.

struct esp::metadata::URDF::LinkContactInfo

struct esp::metadata::URDF::Link

class esp::metadata::URDF::Model

class esp::metadata::URDF::Parser

Functional class for parsing URDF files into a URDF::Model representation.

Enums

enum JointTypes { RevoluteJoint = 1, PrismaticJoint, ContinuousJoint, FloatingJoint, PlanarJoint, FixedJoint, SphericalJoint }

Defines Various types of supported joints.

enum GeomTypes { GEOM_SPHERE = 2, GEOM_BOX, GEOM_CYLINDER, GEOM_MESH, GEOM_PLANE, GEOM_CAPSULE, GEOM_UNKNOWN }

Defines various types of supported geometry.

enum CollisionFlags { HAS_COLLISION_GROUP = 1, HAS_COLLISION_MASK = 2 }

Defines some collision shape flags.

enum LinkContactFlags { CONTACT_HAS_LATERAL_FRICTION = 1, CONTACT_HAS_INERTIA_SCALING = 2, CONTACT_HAS_CONTACT_CFM = 4, CONTACT_HAS_CONTACT_ERP = 8, CONTACT_HAS_STIFFNESS_DAMPING = 16, CONTACT_HAS_ROLLING_FRICTION = 32, CONTACT_HAS_SPINNING_FRICTION = 64, CONTACT_HAS_RESTITUTION = 128, CONTACT_HAS_FRICTION_ANCHOR = 256 }

Contact info cached for links, but not currently used.