collision.cpp File Reference

Parse collision from xml string. More...

#include <tesseract/common/macros.h>
#include <stdexcept>
#include <Eigen/Geometry>
#include <tesseract/common/utils.h>
#include <tinyxml2.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/scene_graph/link.h>
#include <tesseract/geometry/geometry.h>
#include <tesseract/urdf/collision.h>
#include <tesseract/urdf/geometry.h>
#include <tesseract/urdf/origin.h>

Functions
std::shared_ptr< tesseract::scene_graph::Collision >	tesseract::urdf::parseCollision (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, bool make_convex_meshes)
	Parse xml element collision.
tinyxml2::XMLElement *	tesseract::urdf::writeCollision (const std::shared_ptr< const tesseract::scene_graph::Collision > &collision, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &link_name, int id)
	writeCollision Write collision object to URDF XML

Detailed Description

Parse collision from xml string.

Author

Levi Armstrong

Date

September 1, 2019

Copyright

Copyright (c) 2019, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

parseCollision()

tesseract::scene_graph::Collision::Ptr tesseract::urdf::parseCollision	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator,
		bool	make_convex_meshes
	)

Parse xml element collision.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
make_convex_meshes	Flag to indicate if the meshes should be converted to convex hulls

Returns

A Collision object

writeCollision()

tinyxml2::XMLElement * tesseract::urdf::writeCollision	(	const std::shared_ptr< const tesseract::scene_graph::Collision > &	collision,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	link_name,
		int	id = -1
	)

writeCollision Write collision object to URDF XML

Parameters

collision	Collision object to be written
doc	XML Document to which XML will belong
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
link_name	Name of link to which collision object is attached
id	If set, this ID will be appended to the geometry name for saving to distinguish between multiple collision geometries on the same link.

Returns

An XML element representing the collision object in URDF format.