Functions
std::shared_ptr< tesseract_geometry::Box >	parseBox (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml box element. More...

tinyxml2::XMLElement *	writeBox (const std::shared_ptr< const tesseract_geometry::Box > &box, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_scene_graph::JointCalibration >	parseCalibration (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml calibration element. More...

tinyxml2::XMLElement *	writeCalibration (const std::shared_ptr< const tesseract_scene_graph::JointCalibration > &calibration, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_geometry::Capsule >	parseCapsule (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml capsule element. More...

tinyxml2::XMLElement *	writeCapsule (const std::shared_ptr< const tesseract_geometry::Capsule > &capsule, tinyxml2::XMLDocument &doc)

std::vector< std::shared_ptr< tesseract_scene_graph::Collision > >	parseCollision (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, int version)
	Parse xml element collision. More...

tinyxml2::XMLElement *	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 More...

std::shared_ptr< tesseract_geometry::Cone >	parseCone (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml cone element. More...

tinyxml2::XMLElement *	writeCone (const std::shared_ptr< const tesseract_geometry::Cone > &cone, tinyxml2::XMLDocument &doc)

std::vector< std::shared_ptr< tesseract_geometry::ConvexMesh > >	parseConvexMesh (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, int version)
	Parse xml element convex_mesh. More...

tinyxml2::XMLElement *	writeConvexMesh (const std::shared_ptr< const tesseract_geometry::ConvexMesh > &mesh, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeConvexMesh Write convex mesh to URDF XML. This is non-standard URDF / tesseract-exclusive More...

std::shared_ptr< tesseract_geometry::Cylinder >	parseCylinder (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml cylinder element. More...

tinyxml2::XMLElement *	writeCylinder (const std::shared_ptr< const tesseract_geometry::Cylinder > &cylinder, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_scene_graph::JointDynamics >	parseDynamics (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml dynamics element. More...

tinyxml2::XMLElement *	writeDynamics (const std::shared_ptr< const tesseract_scene_graph::JointDynamics > &dynamics, tinyxml2::XMLDocument &doc)

std::vector< std::shared_ptr< tesseract_geometry::Geometry > >	parseGeometry (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, int version)
	Parse xml element geometry. More...

tinyxml2::XMLElement *	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 More...

std::shared_ptr< tesseract_scene_graph::Inertial >	parseInertial (const tinyxml2::XMLElement *xml_element, int version)
	Parse xml element inertial. More...

tinyxml2::XMLElement *	writeInertial (const std::shared_ptr< const tesseract_scene_graph::Inertial > &inertial, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_scene_graph::Joint >	parseJoint (const tinyxml2::XMLElement *xml_element, int version)
	Parse xml element joint. More...

tinyxml2::XMLElement *	writeJoint (const std::shared_ptr< const tesseract_scene_graph::Joint > &joint, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_scene_graph::JointLimits >	parseLimits (const tinyxml2::XMLElement *xml_element, int version)
	Parse xml element limits. More...

tinyxml2::XMLElement *	writeLimits (const std::shared_ptr< const tesseract_scene_graph::JointLimits > &limits, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_scene_graph::Link >	parseLink (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material > > &available_materials, int version)
	Parse xml element link. More...

tinyxml2::XMLElement *	writeLink (const std::shared_ptr< const tesseract_scene_graph::Link > &link, tinyxml2::XMLDocument &doc, const std::string &package_path)
	writeLink Write a link to URDF XML More...

std::shared_ptr< tesseract_scene_graph::Material >	parseMaterial (const tinyxml2::XMLElement *xml_element, std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material > > &available_materials, bool allow_anonymous, int version)
	Parse xml element material. More...

tinyxml2::XMLElement *	writeMaterial (const std::shared_ptr< const tesseract_scene_graph::Material > &material, tinyxml2::XMLDocument &doc)

std::vector< std::shared_ptr< tesseract_geometry::Mesh > >	parseMesh (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, int version)
	Parse xml element mesh. More...

tinyxml2::XMLElement *	writeMesh (const std::shared_ptr< const tesseract_geometry::Mesh > &mesh, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeMesh Write a mesh to URDF XML and PLY file More...

std::shared_ptr< tesseract_scene_graph::JointMimic >	parseMimic (const tinyxml2::XMLElement *xml_element, int version)
	Parse xml element mimic. More...

tinyxml2::XMLElement *	writeMimic (const std::shared_ptr< const tesseract_scene_graph::JointMimic > &mimic, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_geometry::Octree >	parseOctomap (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, int version)
	Parse xml element octomap. More...

tinyxml2::XMLElement *	writeOctomap (const std::shared_ptr< const tesseract_geometry::Octree > &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive More...

std::shared_ptr< tesseract_geometry::Octree >	parseOctree (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, tesseract_geometry::Octree::SubType shape_type, bool prune, int version)
	Parse xml element octree. More...

tinyxml2::XMLElement *	writeOctree (const std::shared_ptr< const tesseract_geometry::Octree > &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeOctree Write octree out to file, and generate appropriate xml More...

Eigen::Isometry3d	parseOrigin (const tinyxml2::XMLElement *xml_element, int version)
	Parse xml element origin. More...

tinyxml2::XMLElement *	writeOrigin (const Eigen::Isometry3d &origin, tinyxml2::XMLDocument &doc)

std::shared_ptr< tesseract_geometry::Octree >	parsePointCloud (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, tesseract_geometry::Octree::SubType shape_type, bool prune, int version)
	Parse xml element point_cloud. More...

std::shared_ptr< tesseract_scene_graph::JointSafety >	parseSafetyController (const tinyxml2::XMLElement *xml_element, int version)
	Parse xml element safety_controller. More...

tinyxml2::XMLElement *	writeSafetyController (const std::shared_ptr< const tesseract_scene_graph::JointSafety > &safety, tinyxml2::XMLDocument &doc)

std::vector< std::shared_ptr< tesseract_geometry::SDFMesh > >	parseSDFMesh (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, bool visual, int version)
	Parse xml element sdf_mesh. More...

tinyxml2::XMLElement *	writeSDFMesh (const std::shared_ptr< const tesseract_geometry::SDFMesh > &sdf_mesh, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeSDFMesh Write SDF Mesh to URDF XML. This is non-standard URDF / tesseract-exclusive More...

std::shared_ptr< tesseract_geometry::Sphere >	parseSphere (const tinyxml2::XMLElement *xml_element, int version)
	Parse a xml sphere element. More...

tinyxml2::XMLElement *	writeSphere (const std::shared_ptr< const tesseract_geometry::Sphere > &sphere, tinyxml2::XMLDocument &doc)

tesseract_scene_graph::SceneGraph::UPtr	parseURDFString (const std::string &urdf_xml_string, const tesseract_common::ResourceLocator &locator)
	Parse a URDF string into a Tesseract Scene Graph. More...

tesseract_scene_graph::SceneGraph::UPtr	parseURDFFile (const std::string &path, const tesseract_common::ResourceLocator &locator)
	Parse a URDF file into a Tesseract Scene Graph. More...

void	writeURDFFile (const tesseract_scene_graph::SceneGraph::ConstPtr &sg, const std::string &package_path, const std::string &urdf_name="")

std::string	toString (const double &float_value, int precision=3)

std::string	trailingSlash (const std::string &path)

std::string	noTrailingSlash (const std::string &path)

std::string	noLeadingSlash (const std::string &filename)

std::string	makeURDFFilePath (const std::string &package_path, const std::string &filename)

void	writeMeshToFile (const std::shared_ptr< const tesseract_geometry::PolygonMesh > &mesh, const std::string &filepath)

std::vector< std::shared_ptr< tesseract_scene_graph::Visual > >	parseVisual (const tinyxml2::XMLElement *xml_element, const tesseract_common::ResourceLocator &locator, std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material > > &available_materials, int version)
	Parse xml element visual. More...

tinyxml2::XMLElement *	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 More...

Function Documentation

◆ makeURDFFilePath()

std::string tesseract_urdf::makeURDFFilePath	(	const std::string &	package_path,
		const std::string &	filename
	)

◆ noLeadingSlash()

std::string tesseract_urdf::noLeadingSlash ( const std::string & filename )

◆ noTrailingSlash()

std::string tesseract_urdf::noTrailingSlash ( const std::string & path )

◆ parseBox()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Box::Ptr tesseract_urdf::parseBox	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml box element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Box

◆ parseCalibration()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::JointCalibration::Ptr tesseract_urdf::parseCalibration	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml calibration element.

Parameters

xml_element The xml element

Returns: Tesseract JointCalibration

◆ parseCapsule()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Capsule::Ptr tesseract_urdf::parseCapsule	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml capsule element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Capsule

◆ parseCollision()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract_scene_graph::Collision::Ptr > tesseract_urdf::parseCollision	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		int	version
	)

Parse xml element collision.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
version	The version number

Returns: A vector tesseract_scene_graph Collision objects

◆ parseCone()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Cone::Ptr tesseract_urdf::parseCone	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml cone element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Cone

◆ parseConvexMesh()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract_geometry::ConvexMesh::Ptr > tesseract_urdf::parseConvexMesh	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		int	version
	)

Parse xml element convex_mesh.

Parameters

xml_element	The xml element
locator	The Tesseract resource
visual	Indicate if it visual
version	The version number

Returns: A Tesseract Geometry ConvexMesh

◆ parseCylinder()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Cylinder::Ptr tesseract_urdf::parseCylinder	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml cylinder element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Cylinder

◆ parseDynamics()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::JointDynamics::Ptr tesseract_urdf::parseDynamics	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml dynamics element.

Parameters

xml_element The xml element

Returns: Tesseract JointDynamics

◆ parseGeometry()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract_geometry::Geometry::Ptr > tesseract_urdf::parseGeometry	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		int	version
	)

Parse xml element geometry.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns: A Tesseract Geometry

◆ parseInertial()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::Inertial::Ptr tesseract_urdf::parseInertial	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse xml element inertial.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract Inertial

◆ parseJoint()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::Joint::Ptr tesseract_urdf::parseJoint	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse xml element joint.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract Joint

◆ parseLimits()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::JointLimits::Ptr tesseract_urdf::parseLimits	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse xml element limits.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract JointLimits

◆ parseLink()

std::shared_ptr< tesseract_scene_graph::Link > tesseract_urdf::parseLink	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material > > &	available_materials,
		int	version
	)

Parse xml element link.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
available_materials	The current available materials
version	The version number

Returns: A Tesseract Link

◆ parseMaterial()

std::shared_ptr< tesseract_scene_graph::Material > tesseract_urdf::parseMaterial	(	const tinyxml2::XMLElement *	xml_element,
		std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material > > &	available_materials,
		bool	allow_anonymous,
		int	version
	)

Parse xml element material.

Parameters

xml_element	The xml element
available_materials	The current available materials
allow_anonymous	Indicate if anonymouse materials are allowed
version	The version number

Returns: A Tesseract Material

◆ parseMesh()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract_geometry::Mesh::Ptr > tesseract_urdf::parseMesh	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		int	version
	)

Parse xml element mesh.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns: A vector of Tesseract Meshes

◆ parseMimic()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::JointMimic::Ptr tesseract_urdf::parseMimic	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse xml element mimic.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract JointMimic

◆ parseOctomap()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Octree::Ptr tesseract_urdf::parseOctomap	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		int	version
	)

Parse xml element octomap.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns: A Tesseract Geometry Octree

◆ parseOctree()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Octree::Ptr tesseract_urdf::parseOctree	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		tesseract_geometry::Octree::SubType	shape_type,
		bool	prune,
		int	version
	)

Parse xml element octree.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
shape_type	The collision/visual shape type to use
prune	Indicate if the octree should be pruned

Returns: A Tesseract Geometry Octree

◆ parseOrigin()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP Eigen::Isometry3d tesseract_urdf::parseOrigin	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse xml element origin.

Parameters

xml_element	The xml element
version	The version number

Returns: A Eigen::Isometry3d

◆ parsePointCloud()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Octree::Ptr tesseract_urdf::parsePointCloud	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		tesseract_geometry::Octree::SubType	shape_type,
		bool	prune,
		int	version
	)

Parse xml element point_cloud.

Parameters

xml_element	The xml element
locator	The Tesseract locator
shape_type	The collision/visual geometry to use
prune	Indicate if the octree should be pruned
version	The version number

Returns: A Tesseract Geometry Octree

◆ parseSafetyController()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_scene_graph::JointSafety::Ptr tesseract_urdf::parseSafetyController	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse xml element safety_controller.

Parameters

xml_element	The xml element
version	The version number

Returns: A Tesseract JointSafety

◆ parseSDFMesh()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP std::vector< tesseract_geometry::SDFMesh::Ptr > tesseract_urdf::parseSDFMesh	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		bool	visual,
		int	version
	)

Parse xml element sdf_mesh.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns: A vector of Tesseract SDFMeshes

◆ parseSphere()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP tesseract_geometry::Sphere::Ptr tesseract_urdf::parseSphere	(	const tinyxml2::XMLElement *	xml_element,
		int	version
	)

Parse a xml sphere element.

Parameters

xml_element The xml element

Returns: Tesseract Geometry Sphere

◆ parseURDFFile()

tesseract_scene_graph::SceneGraph::UPtr tesseract_urdf::parseURDFFile	(	const std::string &	path,
		const tesseract_common::ResourceLocator &	locator
	)

Parse a URDF file into a Tesseract Scene Graph.

Parameters

URDF	file path
The	resource locator function

Exceptions

std::nested_exception Thrown if error occurs during parsing. Use printNestedException to print contents of the nested exception.

Returns: Tesseract Scene Graph, nullptr if failed to parse URDF

◆ parseURDFString()

tesseract_scene_graph::SceneGraph::UPtr tesseract_urdf::parseURDFString	(	const std::string &	urdf_xml_string,
		const tesseract_common::ResourceLocator &	locator
	)

Parse a URDF string into a Tesseract Scene Graph.

Parameters

urdf_xml_string	URDF xml string
locator	The resource locator function

Exceptions

std::nested_exception Thrown if error occurs during parsing. Use printNestedException to print contents of the nested exception.

Returns: Tesseract Scene Graph, nullptr if failed to parse URDF

◆ parseVisual()

std::vector< std::shared_ptr< tesseract_scene_graph::Visual > > tesseract_urdf::parseVisual	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract_common::ResourceLocator &	locator,
		std::unordered_map< std::string, std::shared_ptr< tesseract_scene_graph::Material > > &	available_materials,
		int	version
	)

Parse xml element visual.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
version	The version number

Returns: A vector tesseract_scene_graph Visual objects

◆ toString()

std::string tesseract_urdf::toString	(	const double &	float_value,
		int	precision = `3`
	)

◆ trailingSlash()

std::string tesseract_urdf::trailingSlash ( const std::string & path )

◆ writeBox()

tinyxml2::XMLElement * tesseract_urdf::writeBox	(	const std::shared_ptr< const tesseract_geometry::Box > &	box,
		tinyxml2::XMLDocument &	doc
	)

◆ writeCalibration()

tinyxml2::XMLElement * tesseract_urdf::writeCalibration	(	const std::shared_ptr< const tesseract_scene_graph::JointCalibration > &	calibration,
		tinyxml2::XMLDocument &	doc
	)

◆ writeCapsule()

tinyxml2::XMLElement * tesseract_urdf::writeCapsule	(	const std::shared_ptr< const tesseract_geometry::Capsule > &	capsule,
		tinyxml2::XMLDocument &	doc
	)

◆ 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.

◆ writeCone()

tinyxml2::XMLElement * tesseract_urdf::writeCone	(	const std::shared_ptr< const tesseract_geometry::Cone > &	cone,
		tinyxml2::XMLDocument &	doc
	)

◆ writeConvexMesh()

tinyxml2::XMLElement * tesseract_urdf::writeConvexMesh	(	const std::shared_ptr< const tesseract_geometry::ConvexMesh > &	mesh,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeConvexMesh Write convex mesh to URDF XML. This is non-standard URDF / tesseract-exclusive

Parameters

mesh	Mesh 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	Desired file location. If package_path is set, this should be relative to the package. If not, this should be an absolute path.

Returns: XML element representing the convex mesh object in URDF format.

◆ writeCylinder()

tinyxml2::XMLElement * tesseract_urdf::writeCylinder	(	const std::shared_ptr< const tesseract_geometry::Cylinder > &	cylinder,
		tinyxml2::XMLDocument &	doc
	)

◆ writeDynamics()

tinyxml2::XMLElement * tesseract_urdf::writeDynamics	(	const std::shared_ptr< const tesseract_scene_graph::JointDynamics > &	dynamics,
		tinyxml2::XMLDocument &	doc
	)

◆ 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.

◆ writeInertial()

tinyxml2::XMLElement * tesseract_urdf::writeInertial	(	const std::shared_ptr< const tesseract_scene_graph::Inertial > &	inertial,
		tinyxml2::XMLDocument &	doc
	)

◆ writeJoint()

tinyxml2::XMLElement * tesseract_urdf::writeJoint	(	const std::shared_ptr< const tesseract_scene_graph::Joint > &	joint,
		tinyxml2::XMLDocument &	doc
	)

◆ writeLimits()

tinyxml2::XMLElement * tesseract_urdf::writeLimits	(	const std::shared_ptr< const tesseract_scene_graph::JointLimits > &	limits,
		tinyxml2::XMLDocument &	doc
	)

◆ writeLink()

tinyxml2::XMLElement * tesseract_urdf::writeLink	(	const std::shared_ptr< const tesseract_scene_graph::Link > &	link,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path
	)

writeLink Write a link to URDF XML

Parameters

link	Link object to be written
doc	XML Document to which element 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.

Returns: XML element representing link in URDF format

◆ writeMaterial()

tinyxml2::XMLElement * tesseract_urdf::writeMaterial	(	const std::shared_ptr< const tesseract_scene_graph::Material > &	material,
		tinyxml2::XMLDocument &	doc
	)

◆ writeMesh()

tinyxml2::XMLElement * tesseract_urdf::writeMesh	(	const std::shared_ptr< const tesseract_geometry::Mesh > &	mesh,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeMesh Write a mesh to URDF XML and PLY file

Parameters

mesh	Mesh to be saved out and described in XML
doc	XML Document to manage generated XML
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	Desired file location. If package_path is set, this should be relative to the package, If not, this should be an absolute path

Returns: XML element representing the mesh object in URDF format.

◆ writeMeshToFile()

void tesseract_urdf::writeMeshToFile	(	const std::shared_ptr< const tesseract_geometry::PolygonMesh > &	mesh,
		const std::string &	filepath
	)

◆ writeMimic()

tinyxml2::XMLElement * tesseract_urdf::writeMimic	(	const std::shared_ptr< const tesseract_scene_graph::JointMimic > &	mimic,
		tinyxml2::XMLDocument &	doc
	)

◆ writeOctomap()

tinyxml2::XMLElement * tesseract_urdf::writeOctomap	(	const std::shared_ptr< const tesseract_geometry::Octree > &	octree,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive

Parameters

octree	Octomap to be written to XML
doc	XML document to manage generated xml
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	Desired file location. If package_path is set, this should be relative to the package. Otherwise, this should be an absolute path.

Returns: XML element representing the octomap object in URDF Format

◆ writeOctree()

tinyxml2::XMLElement * tesseract_urdf::writeOctree	(	const std::shared_ptr< const tesseract_geometry::Octree > &	octree,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeOctree Write octree out to file, and generate appropriate xml

Parameters

octree	The geometry element containing octree data
doc	The XML document to which to add the xml data
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	Desired filename relative to the working directory ("octree.ot" or "collision/octree.ot")

Returns: An XML element containing information on the saved file.

◆ writeOrigin()

tinyxml2::XMLElement * tesseract_urdf::writeOrigin	(	const Eigen::Isometry3d &	origin,
		tinyxml2::XMLDocument &	doc
	)

◆ writeSafetyController()

tinyxml2::XMLElement * tesseract_urdf::writeSafetyController	(	const std::shared_ptr< const tesseract_scene_graph::JointSafety > &	safety,
		tinyxml2::XMLDocument &	doc
	)

◆ writeSDFMesh()

tinyxml2::XMLElement * tesseract_urdf::writeSDFMesh	(	const std::shared_ptr< const tesseract_geometry::SDFMesh > &	sdf_mesh,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeSDFMesh Write SDF Mesh to URDF XML. This is non-standard URDF / tesseract-exclusive

Parameters

sdf_mesh	Mesh to be written
doc	XML Document to manage generated XML
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	Desired file location. If package_path is set, this should be relative to the package. Otherwise, this should be an absolute path

Returns: XML element representing the sdf mesh object in URDF format

◆ writeSphere()

tinyxml2::XMLElement * tesseract_urdf::writeSphere	(	const std::shared_ptr< const tesseract_geometry::Sphere > &	sphere,
		tinyxml2::XMLDocument &	doc
	)

◆ writeURDFFile()

void tesseract_urdf::writeURDFFile	(	const tesseract_scene_graph::SceneGraph::ConstPtr &	sg,
		const std::string &	package_path,
		const std::string &	urdf_name = `""`
	)

◆ 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.

Functions

Function Documentation

◆ makeURDFFilePath()

◆ noLeadingSlash()

◆ noTrailingSlash()

◆ parseBox()

◆ parseCalibration()

◆ parseCapsule()

◆ parseCollision()

◆ parseCone()

◆ parseConvexMesh()

◆ parseCylinder()

◆ parseDynamics()

◆ parseGeometry()

◆ parseInertial()

◆ parseJoint()

◆ parseLimits()

◆ parseLink()

◆ parseMaterial()

◆ parseMesh()

◆ parseMimic()

◆ parseOctomap()

◆ parseOctree()

◆ parseOrigin()

◆ parsePointCloud()

◆ parseSafetyController()

◆ parseSDFMesh()

◆ parseSphere()

◆ parseURDFFile()

◆ parseURDFString()

◆ parseVisual()

◆ toString()

◆ trailingSlash()

◆ writeBox()

◆ writeCalibration()

◆ writeCapsule()

◆ writeCollision()

◆ writeCone()

◆ writeConvexMesh()

◆ writeCylinder()

◆ writeDynamics()

◆ writeGeometry()

◆ writeInertial()

◆ writeJoint()

◆ writeLimits()

◆ writeLink()

◆ writeMaterial()

◆ writeMesh()

◆ writeMeshToFile()

◆ writeMimic()

◆ writeOctomap()

◆ writeOctree()

◆ writeOrigin()

◆ writeSafetyController()

◆ writeSDFMesh()

◆ writeSphere()

◆ writeURDFFile()

◆ writeVisual()