visual.cpp File Reference

Parse visual from xml string. More...

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

Functions
tesseract::scene_graph::Visual::Ptr	tesseract::urdf::parseVisual (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, std::unordered_map< std::string, tesseract::scene_graph::Material::Ptr > &available_materials)
tinyxml2::XMLElement *	tesseract::urdf::writeVisual (const std::shared_ptr< const tesseract::scene_graph::Visual > &visual, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &link_name, int id)
	writeVisual Write one visual geometry object to URDF XML

Detailed Description

Parse visual 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

writeVisual()

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

writeVisual Write one visual geometry object to URDF XML

Parameters

visual	Visual 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 distinguishing between multiple geometries on the same link.

Returns

An XML element representing the collision object in URDF format.