geometry.cpp File Reference

Parse geometry from XML string. More...

#include <tesseract/common/macros.h>
#include <stdexcept>
#include <Eigen/Geometry>
#include <tinyxml2.h>
#include <tesseract/collision/common.h>
#include <tesseract/collision/bullet/convex_hull_utils.h>
#include <tesseract/geometry/geometries.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/urdf/box.h>
#include <tesseract/urdf/cylinder.h>
#include <tesseract/urdf/cone.h>
#include <tesseract/urdf/capsule.h>
#include <tesseract/urdf/geometry.h>
#include <tesseract/urdf/mesh.h>
#include <tesseract/urdf/octomap.h>
#include <tesseract/urdf/sdf_mesh.h>
#include <tesseract/urdf/sphere.h>

Functions
std::shared_ptr< tesseract::geometry::Geometry >	tesseract::urdf::parseGeometry (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, bool visual, bool make_convex_meshes)
	Parse xml element geometry.
tinyxml2::XMLElement *	tesseract::urdf::writeGeometry (const std::shared_ptr< const tesseract::geometry::Geometry > &geometry, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeGeometry Write geometry to URDF XML

Detailed Description

Parse geometry 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

parseGeometry()

tesseract::geometry::Geometry::Ptr tesseract::urdf::parseGeometry	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator,
		bool	visual,
		bool	make_convex_meshes
	)

Parse xml element geometry.

Parameters

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

Returns

A Tesseract Geometry

writeGeometry()

tinyxml2::XMLElement * tesseract::urdf::writeGeometry	(	const std::shared_ptr< const tesseract::geometry::Geometry > &	geometry,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeGeometry Write geometry to URDF XML

Parameters

geometry	Geometry 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.
filename	The desired filename. The extension will be added according to geometry type. If package_path is set, this should be relative to the package (e.g. "collision/link1_geometry"). If package_path is not set, this should be an absolute path (e.g. "/tmp/link1_geometry")

Returns

xml element representing the geometry in URDF format.