cuikurdf2world.cpp
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224 XMLNode *linkNode,*jointNode,*partNode,*geomNode,*materialNode,*bodyNode,*colorNode,*parentNode,*childNode;
634 fprintf(stderr," where <package path> is folder with the ROS package files (relative to the current directory).\n");
636 fprintf(stderr," <ouput> is the optional name for the world file to create (relative to the current directory).\n");
#define REP_JOINTS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:60 void HTransformApply(double *p_in, double *p_out, THTransform *t) Multiply a homogeneous transform and a vector. Definition: htransform.c:782 void HTransformTxyz(double tx, double ty, double tz, THTransform *t) Constructor. Definition: htransform.c:146 void PrintWorld(char *fname, int argc, char **arg, Tworld *w) Prints the world. Definition: world.c:3902 Data structure to hold the information about the name of a file. Definition: filename.h:271 A homgeneous transform in R^3. Definition of the Tfilename type and the associated functions. void NewSphere(double r, double *center, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:1020 void HTransformYawPitchRoll(double a, double b, double c, THTransform *t) Defines a rotation matrix from the yaw, pitch, and roll parameters. Definition: htransform.c:625 void NewBox(double xl, double yl, double zl, double xu, double yu, double zu, Tcolor *c, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:946 void NoCheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Desactivates all the possible collision between links and links and obstacles. Definition: world.c:2119 CBLAS_INLINE void HTransformProduct(THTransform *t1, THTransform *t2, THTransform *t3) Product of two homogeneous transforms. Definition: htransform.c:410 Definition of the Tworld type and the associated functions. Error and warning functions. void NewFreeJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, Tjoint *j) Constructor. Definition: joint.c:93 XMLElement * FindNextElement(char *label, XMLNode **child) Continues a search over the set of child nodes. Definition: cuikurdf2world.cpp:150 unsigned int AddLink2World(Tlink *l, boolean object, Tworld *w) Adds a link to the mechanism in the world. Definition: world.c:1383 Definitions of constants and macros used in several parts of the cuik library. Definition of the Tjoint type and the associated functions. void NewRevoluteJoint(unsigned int id, unsigned int r, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, boolean hasLimits, Tinterval *range, double **rPoints, boolean avoidLimits, double avoidLimitsWeight, Tjoint *coupled, Tjoint *j) Constructor. Definition: joint.c:124 Definition of the TCuikSystem type and the associated functions. void CreateFileName(char *path, char *name, char *suffix, char *ext, Tfilename *fn) Constructor. Definition: filename.c:22 void NewCylinder(double r, double *p1, double *p2, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:1044 Definition of the THTransform type and the associated functions. unsigned int AddJoint2World(Tjoint *j, Tworld *w) Adds a joint to the mechanism in the world. Definition: world.c:1436 void InitPolyhedronFromFile(Tfilename *fname, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:727 void NewFixJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, THTransform *t, Tjoint *j) Constructor. Definition: joint.c:102 char * GetFileFullName(Tfilename *fn) Gets the file full name (paht+name+extension). Definition: filename.c:151 XMLElement * FindFirstElement(char *label, XMLNode **child, XMLNode *node) Finds the first element with a particular label in the list of child nodes. Definition: cuikurdf2world.cpp:131 Definition of the Tpolyhedron type and the associated functions. Definition of the Tcolor type and the associated functions. #define NO_UINT Used to denote an identifier that has not been initialized. Definition: defines.h:435 unsigned int GetWorldLinkID(char *linkName, Tworld *w) Gets the identifier of a link from its name. Definition: world.c:1832 double correctAngle(double a) Correct the angles given in the URDF. Definition: cuikurdf2world.cpp:77 Tlink * GetWorldLink(unsigned int linkID, Tworld *w) Gets a link from its identifier. Definition: world.c:1842 unsigned int GetWorldNJoints(Tworld *w) Gets the number of joints in the mechanism included in the world. Definition: world.c:1857 void HTransformSetElement(unsigned int i, unsigned int j, double v, THTransform *t) Sets an element in a homogeneous transform. Definition: htransform.c:312 void DefineNormalVector(double *v, double *n) Defines a unitary vector normal to a given vector. Definition: geom.c:571 Definition of the Tlink type and the associated functions. void TransformPolyhedron(THTransform *t, Tpolyhedron *p) Applies a homogenoeus transform to a polyhedron. Definition: polyhedron.c:1321 Definition of the Tparameters type and the associated functions. int main(int argc, char **arg) Main body of the cuikurdf2world application. Definition: cuikurdf2world.cpp:190 void NewPrismaticJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, Tinterval *range, boolean avoidLimits, double avoidLimitsWeight, Tjoint *j) Constructor. Definition: joint.c:533 |
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