esp::physics::URDFImporter class

#include <esp/physics/URDFImporter.h>

Derived classes

class BulletURDFImporter

Derived importer class for loading URDF into Bullet physics.

Constructors, destructors, conversion operators

URDFImporter(esp::assets::ResourceManager& resourceManager) explicit

~URDFImporter() defaulted virtual

Public functions

auto loadURDF(const esp::metadata::attributes::ArticulatedObjectAttributes::ptr& artObjAttributes, bool forceReload = false) -> bool

Sets the activeModel_ for the importer. If new or forceReload, parse a URDF file and cache the resulting model. Note: when applying uniform scaling to a 3D model consider scale^3 mass scaling to approximate uniform density.

auto getModel() const -> std::shared_ptr<metadata::URDF::Model> virtual

void setFixedBase(bool fixedBase)

auto getFixedBase() -> bool

auto getBodyName() const -> std::string virtual

auto getRootLinkIndex() const -> int virtual

void getLinkChildIndices(int linkIndex, std::vector<int>& childLinkIndices) const virtual

auto getLinkContactInfo(int linkIndex, metadata::URDF::LinkContactInfo& contactInfo) const -> bool virtual

auto getJointInfo(int linkIndex, Magnum::Matrix4& parent2joint, Magnum::Matrix4& linkTransformInWorld, Magnum::Vector3& jointAxisInJointSpace, int& jointType, float& jointLowerLimit, float& jointUpperLimit, float& jointDamping, float& jointFriction) const -> bool virtual

auto getJointInfo2(int linkIndex, Magnum::Matrix4& parent2joint, Magnum::Matrix4& linkTransformInWorld, Magnum::Vector3& jointAxisInJointSpace, int& jointType, float& jointLowerLimit, float& jointUpperLimit, float& jointDamping, float& jointFriction, float& jointMaxForce, float& jointMaxVelocity) const -> bool virtual

void getMassAndInertia(int linkIndex, float& mass, Magnum::Vector3& localInertiaDiagonal, Magnum::Matrix4& inertialFrame) const virtual

void getMassAndInertia2(int linkIndex, float& mass, Magnum::Vector3& localInertiaDiagonal, Magnum::Matrix4& inertialFrame) const virtual

auto getCachedModelKeys() -> std::vector<std::string>

collect and return a list of cached model keys (filepaths)

void importURDFAssets()

Load/import any required render and collision assets for the acrive metadata::URDF::Model before instantiating it.

Public variables

int flags

importer model conversion flags

Protected variables

metadata::URDF::Parser urdfParser_

esp::assets::ResourceManager& resourceManager_

std::map<std::string, std::shared_ptr<metadata::URDF::Model>> modelCache_

cache parsed URDF models by filename

std::shared_ptr<metadata::URDF::Model> activeModel_

Function documentation

Variable documentation