Drake
generate_urdf.h
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1 #pragma once
2 
3 #include <string>
4 
7 
8 namespace drake {
9 namespace maliput {
10 namespace utility {
11 
12 /// Generates a URDF file which models the road surface of an api::RoadGeometry.
13 ///
14 /// @param road_geometry the api::RoadGeometry to model
15 /// @param dirpath directory component of the output pathnames
16 /// @param fileroot root of the filename component of the output pathnames
17 /// @param features parameters for constructing the mesh
18 ///
19 /// GenerateUrdfFile() actually produces three files:
20 /// - [@p dirpath]/[@p fileroot].urdf the URDF file, which is little more
21 /// than a wrapper for an OBJ file;
22 /// - [@p dirpath]/[@p fileroot].obj a Wavefront OBJ file containing the
23 /// visual mesh which models the surface;
24 /// - [@p dirpath]/[@p fileroot].mtl a Wavefront MTL file describing
25 /// the materials referenced by the OBJ file.
26 ///
27 /// The produced mesh covers the area within the lane-bounds of every
28 /// api::Lane in the RoadGeometry.
29 void GenerateUrdfFile(const api::RoadGeometry* road_geometry,
30  const std::string& dirpath,
31  const std::string& fileroot,
32  const ObjFeatures& features);
33 
34 } // namespace utility
35 } // namespace maliput
36 } // namespace drake
Definition: generate_obj.cc:24
Definition: automotive_demo.cc:88
void GenerateUrdfFile(const api::RoadGeometry *road_geometry, const std::string &dirpath, const std::string &fileroot, const ObjFeatures &features)
Generates a URDF file which models the road surface of an api::RoadGeometry.
Definition: generate_urdf.cc:14