esp::metadata::URDF::Model class

#include <esp/metadata/URDFParser.h>

Constructors, destructors, conversion operators

Model() defaulted

Public functions

auto m_rootTransformInWorld(Magnum::Math::IdentityInitT) -> Magnum::Matrix4

world transform of the object root if provided

void printKinematicChain() const

auto getLink(const std::string& linkName) const -> std::shared_ptr<Link>

Get a link provided its name.

auto getLink(int linkIndex) const -> std::shared_ptr<Link>

Get a link provided its index.

auto getJoint(int linkIndex) const -> std::shared_ptr<Joint>

Get a parent joint of a link provided the link index.

void setGlobalScaling(float scaling)

Set global scaling and re-scale an existing model. Modifies various internal parameters.

auto getGlobalScaling() const -> float

Get the currently configured global model scaling.

void setMassScaling(float massScaling)

Set scaling for mass from initial values configured in URDF. Modifies various internal parameters.

auto getMassScaling() const -> float

Get the currently configured mass scaling of the model.

void setRenderAsset(Cr::Containers::Optional<std::string> renderAsset)

Set the path to the render asset to attach to this URDF model.

auto getRenderAsset() const -> Cr::Containers::Optional<std::string>

Get the path to the render asset to attach to this URDF model.

void setSemanticId(int semanticId)

Set the semantic ID of the URDF model.

auto getSemanticId() const -> int

Get the semantic ID of this URDF model.

void setRenderLinkVisualShapes(bool renderLinkVisualShapes)

Set hint to render articulated object primitives even if a render asset is present.

auto getRenderLinkVisualShapes() const -> bool

Get hint to render articulated object visual shapes as defined in the URDF even if a render asset/skin is present.

void setModelInitAttributes(metadata::attributes::ArticulatedObjectAttributes::ptr artObjAttributes)

This function will set the metadata::attributes::ArticulatedObjectAttributes used to create this model.

auto getUserConfiguration() const -> std::shared_ptr<core::config::Configuration>

Gets a smart pointer reference to a copy of the user-specified configuration data from a config file. Habitat does not parse or process this data, but it will be available to the user via python bindings for each object.

auto getInitializationAttributes() const -> std::shared_ptr<metadata::attributes::ArticulatedObjectAttributes>

Get a copy of the template used to initialize this object.

Public variables

std::string m_name

name of the articulated object or robot

std::string m_sourceFile

source file this model was built from (e.g. the .urdf file)

std::map<std::string, std::shared_ptr<Material>> m_materials

map of names to materials

std::map<std::string, std::shared_ptr<Link>> m_links

map of names to links

std::map<int, std::string> m_linkIndicesToNames

map of link indices to names

std::map<std::string, std::shared_ptr<Joint>> m_joints

map of names to joints

std::vector<std::shared_ptr<Link>> m_rootLinks

list of root links (usually 1)

bool m_overrideFixedBase

Protected functions

void scaleShape(Shape& shape, float scale)

Scale the transformation and parameters of a Shape.

Protected variables

metadata::attributes::ArticulatedObjectAttributes::ptr initializationAttributes_

Json-based attributes defining characteristics of this model not specified in the source XML/URDF. Primarily to support default user-defined attributes. This data is read in from a json file with the same base name as the source XML/URDF for this model but the extension ".ao_config.json".

float m_globalScaling

float m_massScaling

Mass scaling of the model's Link inertias.

Cr::Containers::Optional<std::string> m_renderAsset

Path to a render asset associated with this articulated object.

int m_semanticId

Semantic ID of this model.

bool m_renderLinkVisualShapes

Function documentation

Variable documentation