Drake
drake::parsers::sdf Namespace Reference

Functions

ModelInstanceIdTable AddModelInstancesFromSdfFileToWorld (const string &filename, const FloatingBaseType floating_base_type, RigidBodyTree< double > *tree)
 
ModelInstanceIdTable AddModelInstancesFromSdfFileToWorldSearchingInRosPackages (const string &filename, const PackageMap &package_map, const FloatingBaseType floating_base_type, RigidBodyTree< double > *tree)
 
ModelInstanceIdTable AddModelInstancesFromSdfFile (const string &filename, const FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 
ModelInstanceIdTable AddModelInstancesFromSdfFileSearchingInRosPackages (const string &filename, const PackageMap &package_map, const FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 
ModelInstanceIdTable AddModelInstancesFromSdfString (const string &sdf_string, const FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 
ModelInstanceIdTable AddModelInstancesFromSdfStringSearchingInRosPackages (const string &sdf_string, const PackageMap &package_map, const FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 
ModelInstanceIdTable AddModelInstancesFromSdfFileToWorld (const std::string &filename, const drake::multibody::joints::FloatingBaseType floating_base_type, RigidBodyTree< double > *tree)
 Adds the model or models defined within an SDF file to a rigid body tree. More...
 
ModelInstanceIdTable AddModelInstancesFromSdfFileToWorldSearchingInRosPackages (const std::string &filename, const PackageMap &package_map, const drake::multibody::joints::FloatingBaseType floating_base_type, RigidBodyTree< double > *tree)
 Adds the model or models defined within an SDF file to a rigid body tree. More...
 
ModelInstanceIdTable AddModelInstancesFromSdfFile (const std::string &filename, const drake::multibody::joints::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 Adds the model or models defined within an SDF file to a rigid body tree. More...
 
ModelInstanceIdTable AddModelInstancesFromSdfFileSearchingInRosPackages (const std::string &filename, const PackageMap &package_map, const drake::multibody::joints::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 Adds the model or models defined within an SDF file to tree. More...
 
ModelInstanceIdTable AddModelInstancesFromSdfString (const std::string &sdf_string, const drake::multibody::joints::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 Adds the model or models defined within an SDF description to tree. More...
 
ModelInstanceIdTable AddModelInstancesFromSdfStringSearchingInRosPackages (const std::string &sdf_string, const PackageMap &package_map, const drake::multibody::joints::FloatingBaseType floating_base_type, std::shared_ptr< RigidBodyFrame< double >> weld_to_frame, RigidBodyTree< double > *tree)
 Adds the model or models defined within an SDF description to tree. More...
 

Function Documentation

ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFile ( const std::string &  filename,
const drake::multibody::joints::FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

Adds the model or models defined within an SDF file to a rigid body tree.

One instance of each model is added.

This method can only be used with SDF models that either (1) do not use package:// to reference modeling resources like mesh files, or (2) only reference packages that are defined up the directory tree relative to filename. SDF files that contain package:// references to do not meet these requirements should instead use AddModelInstancesFromSdfFileSearchingInRosPackages().

Parameters
[in]filenameThe name of the SDF file containing the model to be added.
[in]floating_base_typeThe type of joint that connects the model's root to the existing rigid body tree.
[in]weld_to_frameThe frame to which to connect the new model.
[out]treeThe rigid body tree to which to add the model.
Returns
A table mapping the names of the models whose instances were just added to the RigidBodyTree to their instance IDs, which are unique within the RigidBodyTree.
ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFile ( const string &  filename,
const FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

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ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFileSearchingInRosPackages ( const std::string &  filename,
const PackageMap package_map,
const drake::multibody::joints::FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

Adds the model or models defined within an SDF file to tree.

One instance of each model is added.

This method has input parameter package_map. This parameter is only necessary if the SDF contains models that reference meshes and other modeling resources using package://. If the models in the SDF do not use package://, or if the package can be found by crawling up the directory tree, the SDF could instead be loaded using AddModelInstancesFromSdfFile().

Parameters
[in]filenameThe name of the SDF file containing the model to be added.
[in]package_mapA map of ROS package names to their paths. These are the packages to search through when finding files referenced in the SDF.
[in]floating_base_typeThe type of joint that connects the model's root to the existing rigid body tree.
[in]weld_to_frameThe frame to which to connect the new model.
[out]treeThe rigid body tree to which to add the model.
Returns
A table mapping the names of the models whose instances were just added to the RigidBodyTree to their instance IDs, which are unique within the RigidBodyTree.
ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFileSearchingInRosPackages ( const string &  filename,
const PackageMap package_map,
const FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

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ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFileToWorld ( const std::string &  filename,
const drake::multibody::joints::FloatingBaseType  floating_base_type,
RigidBodyTree< double > *  tree 
)

Adds the model or models defined within an SDF file to a rigid body tree.

One instance of each model is added. The models in the SDF are assumed to be described in the world frame.

This method can only be used with SDF models that either (1) do not use package:// to reference modeling resources like mesh files, or (2) only reference packages that are defined up the directory tree relative to filename. SDF files that contain package:// references to do not meet these requirements should instead use AddModelInstancesFromSdfFileToWorldSearchingInRosPackages().

Parameters
[in]filenameThe name of the SDF file containing the model to be added.
[in]floating_base_typeThe type of joint that connects the model's root to the existing rigid body tree.
[out]treeThe rigid body tree to which to add the model.
Returns
A table mapping the names of the models whose instances were just added to the RigidBodyTree to their instance IDs, which are unique within the RigidBodyTree.
ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFileToWorld ( const string &  filename,
const FloatingBaseType  floating_base_type,
RigidBodyTree< double > *  tree 
)

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ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFileToWorldSearchingInRosPackages ( const std::string &  filename,
const PackageMap package_map,
const drake::multibody::joints::FloatingBaseType  floating_base_type,
RigidBodyTree< double > *  tree 
)

Adds the model or models defined within an SDF file to a rigid body tree.

One instance of each model is added. The models in the SDF are assumed to be described in the world frame.

This method has input parameter package_map. This parameter is only necessary if the SDF contains models that reference meshes and other modeling resources using package://. If the models in the SDF do not use package://, or if the package can be found by crawling up the directory tree, the SDF could instead be loaded using AddModelInstancesFromSdfFileToWorld().

Parameters
[in]filenameThe name of the SDF file containing the model to be added.
[in]package_mapA map of ROS package names to their paths. These are the packages to search through when finding files referenced in the SDF.
[in]floating_base_typeThe type of joint that connects the model's root to the existing rigid body tree.
[out]treeThe rigid body tree to which to add the model.
Returns
A table mapping the names of the models whose instances were just added to the RigidBodyTree to their instance IDs, which are unique within the RigidBodyTree.
ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfFileToWorldSearchingInRosPackages ( const string &  filename,
const PackageMap package_map,
const FloatingBaseType  floating_base_type,
RigidBodyTree< double > *  tree 
)

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ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfString ( const std::string &  sdf_string,
const drake::multibody::joints::FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

Adds the model or models defined within an SDF description to tree.

One instance of each model is added.

This method can only be used with SDF models that either (1) do not use package:// to reference modeling resources like mesh files, or (2) only reference packages that are defined up the directory tree relative to filename. SDF files that contain package:// references to do not meet these requirements should instead use AddModelInstancesFromSdfStringSearchingInRosPackages().

Parameters
[in]sdf_stringThe SDF description of one or more models.
[in]floating_base_typeThe type of joint that connects the model's root to the existing rigid body tree.
[in]weld_to_frameThe frame to which to connect the new model.
[out]treeThe rigid body tree to which to add the model.
Returns
A table mapping the names of the models whose instances were just added to the RigidBodyTree to their instance IDs, which are unique within the RigidBodyTree.
ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfString ( const string &  sdf_string,
const FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

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ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfStringSearchingInRosPackages ( const std::string &  sdf_string,
const PackageMap package_map,
const drake::multibody::joints::FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

Adds the model or models defined within an SDF description to tree.

One instance of each model is added.

This method has input parameter package_map. This parameter is only necessary if the SDF contains models that reference meshes and other modeling resources using package://. If the models in the SDF do not use package://, or if the package can be found by crawling up the directory tree, the SDF could instead be loaded using AddModelInstancesFromSdfFile().

Parameters
[in]sdf_stringThe SDF description of one or more models.
[in]package_mapA map of ROS package names to their paths. These are the packages to search through when finding files referenced in the SDF.
[in]floating_base_typeThe type of joint that connects the model's root to the existing rigid body tree.
[in]weld_to_frameThe frame to which to connect the new model.
[out]treeThe rigid body tree to which to add the model.
Returns
A table mapping the names of the models whose instances were just added to the RigidBodyTree to their instance IDs, which are unique within the RigidBodyTree.
ModelInstanceIdTable drake::parsers::sdf::AddModelInstancesFromSdfStringSearchingInRosPackages ( const string &  sdf_string,
const PackageMap package_map,
const FloatingBaseType  floating_base_type,
std::shared_ptr< RigidBodyFrame< double >>  weld_to_frame,
RigidBodyTree< double > *  tree 
)

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