Description

URDF input file parser.

#include <ChParserURDF.h>

Classes
class	CustomProcessor
	Class to be used as a callback interface for custom processing of the URDF XML string. More...

Public Types
enum	ActuationType { ActuationType::POSITION, ActuationType::SPEED, ActuationType::FORCE }
	Motor actuation types. More...

enum	MeshCollisionType { MeshCollisionType::TRIANGLE_MESH, MeshCollisionType::CONVEX_HULL, MeshCollisionType::NODE_CLOUD }
	Collision type for meshes. More...

Public Member Functions
	ChParserURDF (const std::string &filename)
	Construct a Chrono parser for the specified URDF file.

const std::string &	GetFilename () const
	Get access to the URDF filename.

const std::string &	GetXMLstring () const
	Get access to the raw XML string in the provided URDF file.

const std::string &	GetModelName () const
	Get the URDF model name.

const urdf::ModelInterfaceSharedPtr &	GetModelTree () const
	Get the URDF model tree.

void	PrintModelBodyTree ()
	Print the body tree in parsed URDF file.

void	PrintModelBodies ()
	Print the list of bodies in parsed URDF file.

void	PrintModelJoints ()
	Print the list of joints in parsed URDF file.

void	SetRootInitPose (const ChFrame<> &init_pose)
	Set the initial pose of the model (root link).

void	SetJointActuationType (const std::string &joint_name, ActuationType actuation_type)
	Set the specified joint as actuated, using the specified actuation type. More...

void	SetAllJointsActuationType (ActuationType actuation_type)
	Set all candidate joints in the URDF model as actuated, using the specified actuation type. More...

void	SetBodyMeshCollisionType (const std::string &body_name, MeshCollisionType collision_type)
	Set the collision type for mesh collision (default: TRIMESH). More...

void	SetAllBodiesMeshCollisinoType (MeshCollisionType collision_type)
	Set the collision type for all bodies with mesh collision shapes (default: TRIMESH).

void	SetDefaultContactMaterial (const ChContactMaterialData &mat_data)
	Set default contact material properties. More...

void	SetBodyContactMaterial (const std::string &body_name, const ChContactMaterialData &mat_data)
	Set contact material properties for the specified body. More...

void	EnableCollisionVisualization ()
	Enable visualization of collision shapes (default: visualization shapes).

void	PopulateSystem (ChSystem &sys)
	Create the Chrono model in the given system from the parsed URDF model.

void	PrintChronoBodies ()
	Print the list of Chrono bodies generated fropm parsed URDF file. More...

void	PrintChronoJoints ()
	Print the list of Chrono joints generated from parsed URDF file. More...

std::shared_ptr< ChBodyAuxRef >	GetRootChBody () const
	Get the root body of the Chrono model. More...

std::shared_ptr< ChBody >	GetChBody (const std::string &name) const
	Get the body with specified name in the Chrono model. More...

std::shared_ptr< ChLinkBase >	GetChLink (const std::string &name) const
	Get the joint with specified name in the Chrono model. More...

std::shared_ptr< ChLinkMotor >	GetChMotor (const std::string &name) const
	Get the motor with specified name in the Chrono model. More...

ChAABB	GetVisualizationBoundingBox () const
	Get the axis aligned bounding box (AABB) of all robot visualization models.

ChAABB	GetCollisionBoundingBox () const
	Get the axis aligned bounding box (AABB) of all robot collision models. More...

void	SetMotorFunction (const std::string &motor_name, const std::shared_ptr< ChFunction > function)
	Set the actuation function for the specified Chrono motor. More...

std::shared_ptr< tinyxml2::XMLDocument >	CustomProcess (const std::string &key, std::shared_ptr< CustomProcessor > callback)
	Scan the URDF XML for all objects of the specified key and execute the Process() function of the provided callback object. More...

Member Enumeration Documentation

◆ ActuationType

enum chrono::parsers::ChParserURDF::ActuationType

strong

Motor actuation types.

Enumerator
POSITION	position (if linear motor) or angle (if rotation motor)
SPEED	linear speed (if linear motor) or angular speed (if rotation motor)
FORCE	force (if linear motor) or torque (if rotation motor)

◆ MeshCollisionType

enum chrono::parsers::ChParserURDF::MeshCollisionType

strong

Collision type for meshes.

Enumerator
TRIANGLE_MESH	use the triangular mesh itself
CONVEX_HULL	use the convex hull of the trimesh
NODE_CLOUD	use spheres at mesh vertices

Member Function Documentation

◆ CustomProcess()

std::shared_ptr< tinyxml2::XMLDocument > chrono::parsers::ChParserURDF::CustomProcess	(	const std::string &	key,
		std::shared_ptr< CustomProcessor >	callback
	)

Scan the URDF XML for all objects of the specified key and execute the Process() function of the provided callback object.

Only direct children of the "robot" element in the input URDF are processed. The XML document may be augmented as the processed XML document is returned.

◆ GetChBody()

std::shared_ptr< ChBody > chrono::parsers::ChParserURDF::GetChBody ( const std::string & name ) const

Get the body with specified name in the Chrono model.

This function must be called after PopulateSystem.

◆ GetChLink()

std::shared_ptr< ChLinkBase > chrono::parsers::ChParserURDF::GetChLink ( const std::string & name ) const

Get the joint with specified name in the Chrono model.

This function must be called after PopulateSystem.

◆ GetChMotor()

std::shared_ptr< ChLinkMotor > chrono::parsers::ChParserURDF::GetChMotor ( const std::string & name ) const

Get the motor with specified name in the Chrono model.

This function must be called after PopulateSystem.

◆ GetCollisionBoundingBox()

ChAABB chrono::parsers::ChParserURDF::GetCollisionBoundingBox ( ) const

inline

Get the axis aligned bounding box (AABB) of all robot collision models.

Note that an updated collision AABB is available only after system initialization.

◆ GetRootChBody()

std::shared_ptr< ChBodyAuxRef > chrono::parsers::ChParserURDF::GetRootChBody ( ) const

Get the root body of the Chrono model.

This function must be called after PopulateSystem.

◆ PrintChronoBodies()

void chrono::parsers::ChParserURDF::PrintChronoBodies ( )

Print the list of Chrono bodies generated fropm parsed URDF file.

This list is populated only after a call to PopulateSystem().

◆ PrintChronoJoints()

void chrono::parsers::ChParserURDF::PrintChronoJoints ( )

Print the list of Chrono joints generated from parsed URDF file.

This list is populated only after a call to PopulateSystem().

◆ SetAllJointsActuationType()

void chrono::parsers::ChParserURDF::SetAllJointsActuationType ( ActuationType actuation_type )

Set all candidate joints in the URDF model as actuated, using the specified actuation type.

This function has no effect for joints other than Revolute, Continuous, or Prismatic.

◆ SetBodyContactMaterial()

void chrono::parsers::ChParserURDF::SetBodyContactMaterial	(	const std::string &	body_name,
		const ChContactMaterialData &	mat_data
	)

Set contact material properties for the specified body.

Bodies for which this function is not explictly called are constructed with the default contact material.

◆ SetBodyMeshCollisionType()

void chrono::parsers::ChParserURDF::SetBodyMeshCollisionType	(	const std::string &	body_name,
		MeshCollisionType	collision_type
	)

Set the collision type for mesh collision (default: TRIMESH).

This is interpreted only if the specified body has a mesh collision shape.

◆ SetDefaultContactMaterial()

void chrono::parsers::ChParserURDF::SetDefaultContactMaterial ( const ChContactMaterialData & mat_data )

Set default contact material properties.

All bodies for which SetBodyContactMaterial was not explicitly called will be constructed with this contact material for all their collision shapes.

◆ SetJointActuationType()

void chrono::parsers::ChParserURDF::SetJointActuationType	(	const std::string &	joint_name,
		ActuationType	actuation_type
	)

Set the specified joint as actuated, using the specified actuation type.

By default, all URDF joints are translated into Chrono kinematic joints. Joints marked as actuated will be translated to Chrono motors (with same kinematics as the corresponding passive joint). This function has no effect for joints other than Revolute, Continuous, or Prismatic.

◆ SetMotorFunction()

void chrono::parsers::ChParserURDF::SetMotorFunction	(	const std::string &	motor_name,
		const std::shared_ptr< ChFunction >	function
	)

Set the actuation function for the specified Chrono motor.

The return value of this function has different meaning, depending on the type of motor, and can represent a position, angle, linear speed, angular speed, force, or torque. No action is taken if a joint with the specified does not exist or if it was not marked as actuated. This function must be called after PopulateSystem.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_parsers/ChParserURDF.h
/builds/uwsbel/chrono/src/chrono_parsers/ChParserURDF.cpp

Description

Classes

Public Types

Public Member Functions

Member Enumeration Documentation

◆ ActuationType

◆ MeshCollisionType

Member Function Documentation

◆ CustomProcess()

◆ GetChBody()

◆ GetChLink()

◆ GetChMotor()

◆ GetCollisionBoundingBox()

◆ GetRootChBody()

◆ PrintChronoBodies()

◆ PrintChronoJoints()

◆ SetAllJointsActuationType()

◆ SetBodyContactMaterial()

◆ SetBodyMeshCollisionType()

◆ SetDefaultContactMaterial()

◆ SetJointActuationType()

◆ SetMotorFunction()