Parser Class Reference

Detailed Description

Parses SDF and URDF input files into a MultibodyPlant and (optionally) a SceneGraph.

#include <drake/multibody/parsing/parser.h>

Public Member Functions
	Parser (MultibodyPlant< double > *plant, geometry::SceneGraph< double > *scene_graph=nullptr)
	Creates a Parser that adds models to the given plant and (optionally) scene_graph. More...
PackageMap &	package_map ()
	Gets a mutable reference to the PackageMap used by this parser. More...
std::vector< ModelInstanceIndex >	AddAllModelsFromFile (const std::string &file_name)
	Parses the SDF or URDF file named in file_name and adds all of its model(s) to plant. More...
ModelInstanceIndex	AddModelFromFile (const std::string &file_name, const std::string &model_name={})
	Parses the SDF or URDF file named in file_name and adds one model to plant. More...
Does not allow copy, move, or assignment
	Parser (const Parser &)=delete
Parser &	operator= (const Parser &)=delete
	Parser (Parser &&)=delete
Parser &	operator= (Parser &&)=delete

Constructor & Destructor Documentation

Parser() [1/3]

Parser ( const Parser &  )

delete

Parser() [2/3]

Parser ( Parser &&  )

delete

Parser() [3/3]

Parser ( MultibodyPlant< double > *  plant, geometry::SceneGraph< double > *  scene_graph = nullptr  )

explicit

Creates a Parser that adds models to the given plant and (optionally) scene_graph.

Parameters

plant	A pointer to a mutable MultibodyPlant object to which parsed model(s) will be added; plant->is_finalized() must remain false for as long as the plant is in used by this.
scene_graph	A pointer to a mutable SceneGraph object used for geometry registration (either to model visual or contact geometry). May be nullptr.

Member Function Documentation

AddAllModelsFromFile()

std::vector< ModelInstanceIndex > AddAllModelsFromFile

(

const std::string &

file_name

)

Parses the SDF or URDF file named in file_name and adds all of its model(s) to plant.

SDF files may contain multiple <model> elements. New model instances will be added to plant for each <model> tag in the file.

URDF files contain a single <robot> element. Only a single model instance will be added to plant.

Parameters

file_name

The name of the SDF or URDF file to be parsed. The file type will be inferred from the extension.

Returns

The set of model instance indices for the newly added models.

Exceptions

std::exception

in case of errors.

AddModelFromFile()

ModelInstanceIndex AddModelFromFile	(	const std::string &	file_name,
		const std::string &	model_name = {}
	)

Parses the SDF or URDF file named in file_name and adds one model to plant.

It is an error to call this using an SDF file with more than one <model> element.

Parameters

file_name	The name of the SDF or URDF file to be parsed. The file type will be inferred from the extension.
model_name	The name given to the newly created instance of this model. If empty, the "name" attribute from the <model> or <robot> tag will be used.

Returns

The instance index for the newly added model.

Exceptions

std::exception

in case of errors.

operator=() [1/2]

Parser& operator= ( Parser &&  )

delete

operator=() [2/2]

Parser& operator= ( const Parser &  )

delete

package_map()

PackageMap& package_map

(

)

Gets a mutable reference to the PackageMap used by this parser.

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The documentation for this class was generated from the following files:

• drake/multibody/parsing/parser.h
• drake/multibody/parsing/parser.cc