- Aldebaran documentation |
- C++ Libraries |
- index

libalmath 2.8.7.4

- Main Page
- Related Pages
- Modules
- Namespaces
- Classes
- Files

- File List
- File Members

All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
urdfrigidbodysystemtraverser.h
Go to the documentation of this file.
1 /*
2 * Copyright 2015 Aldebaran. All rights reserved.
3 *
4 */
5
6 #ifndef LIB_ALMATH_SCENEGRAPH_URDFRIGIDBODYSYSTEMTRAVERSER_H
7 #define LIB_ALMATH_SCENEGRAPH_URDFRIGIDBODYSYSTEMTRAVERSER_H
8
9 #include <almath/api.h>
10 #include <almath/scenegraph/urdf.h>
11 #include <almath/scenegraph/rigidbodysystembuilder.h>
12 #include <iosfwd>
13
14 namespace AL {
15 namespace Math {
16 // Walk an URDF kinematic tree calling the provided builder.
17 //
18 // notes:
19 // * will add an implicit free floating root joint
20 // * will modify pt.
21 // * will stop exploring a branch when a massless non-fixed link is reached.
22 ALMATH_API void buildRigidBodySystemFromUrdf(
23 RigidBodySystemBuilder::Interface<double> &builder, urdf::ptree &pt,
24 bool remove_root_joint = false, bool make_continuous_joints_fixed = false);
25
26 ALMATH_API void buildRigidBodySystemFromUrdf(
27 RigidBodySystemBuilder::Interface<double> &builder, std::istream &is,
28 bool remove_root_joint = false, bool make_continuous_joints_fixed = false);
29 }
30 }
31 #endif
AL::Math::buildRigidBodySystemFromUrdf
ALMATH_API void buildRigidBodySystemFromUrdf(RigidBodySystemBuilder::Interface< double > &builder, urdf::ptree &pt, bool remove_root_joint=false, bool make_continuous_joints_fixed=false)
AL::urdf::ptree
boost::property_tree::ptree ptree
Definition: urdf.h:60
urdf.h
rigidbodysystembuilder.h