gcop_urdf Namespace Reference

Classes
class	Color
class	Vector3
class	Rotation
class	Pose
class	JointDynamics
class	JointLimits
class	JointSafety
	Parameters for Joint Safety Controllers. More...
class	JointCalibration
class	JointMimic
class	Joint
class	Geometry
class	Sphere
class	Box
class	Cylinder
class	Mesh
class	Material
class	Inertial
class	Visual
class	Collision
class	Link
class	ModelInterface
Functions
	bulletmbsgenerator (const string &xml_string, gcop::Matrix4d &gposei_root, string type,)
	mbsgenerator (const std::string &xml_string, gcop::Matrix4d &gposei_root, std::string type="FLOATBASE")
boost::shared_ptr< ModelInterface >	parseURDF (const std::string &xml_string)
void	transformtoprincipal (boost::shared_ptr< Link > link)
void	combineinertia (boost::shared_ptr< Link > clink, boost::shared_ptr< Link > plink, Pose posec_p)
void	assign (boost::shared_ptr< const Link > link, boost::shared_ptr< Link > parentlink, Pose cumpose)
void	aggregate (boost::shared_ptr< const Link > link, boost::shared_ptr< Link > parentlink, Pose cumpose)
gcop::Matrix4d	diffpose (Pose &posej_p, Pose &posei_p)
void	walkTree (boost::shared_ptr< Link > link, int level, int &index, boost::shared_ptr< gcop::Mbs > mbs)

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Function Documentation

void gcop_urdf::aggregate	(	boost::shared_ptr< const Link >	link,
		boost::shared_ptr< Link >	parentlink,
		Pose	cumpose
	)

Referenced by bulletmbsgenerator().

void gcop_urdf::assign	(	boost::shared_ptr< const Link >	link,
		boost::shared_ptr< Link >	parentlink,
		Pose	cumpose
	)

Referenced by bulletmbsgenerator().

gcop_urdf::bulletmbsgenerator	(	const string &	xml_string,
		gcop::Matrix4d &	gposei_root,
		string	type
	)

References aggregate(), assign(), gcop_urdf::Pose::clear(), gcop::SE3::Instance(), parseURDF(), gcop::SE3::quatxyz2g(), transformtoprincipal(), and walkTree().

void gcop_urdf::combineinertia	(	boost::shared_ptr< Link >	clink,
		boost::shared_ptr< Link >	plink,
		Pose	posec_p
	)

gcop::Matrix4d gcop_urdf::diffpose	(	Pose &	posej_p,
		Pose &	posei_p
	)

boost::shared_ptr< gcop::Mbs > gcop_urdf::mbsgenerator	(	const std::string &	xml_string,
		gcop::Matrix4d &	gposei_root,
		std::string	type = "FLOATBASE"
	)

boost::shared_ptr<ModelInterface> gcop_urdf::parseURDF

(

const std::string &

xml_string

)

Referenced by bulletmbsgenerator().

void gcop_urdf::transformtoprincipal

(

boost::shared_ptr< Link >

link

)

Referenced by bulletmbsgenerator().

void gcop_urdf::walkTree	(	boost::shared_ptr< Link >	link,
		int	level,
		int &	index,
		boost::shared_ptr< gcop::Mbs >	mbs
	)

Referenced by bulletmbsgenerator().