cuikurdf2world.cpp File Reference

Introduction

Main body of the cuikurdf2world application. This application reads URDFs (universal robot description files) and generates a world file from them. In this way we can take advantage of all the URDF defined by the ROS community.

Note that to keed the number of dependencies low, we do not use the ROS utilities to parse the URDF files but we directly pase them using a XML parsing tool (the tinyxml2 library). This means that future modifications/extensions on the URDF format might not be captured by this tool (altough it can be easily adapted).

Only the links and joints in the URDFs are considered (no dynamical parameters, etc).

This is coded in cpp to use the tinyxml library.

Todo:

Integrate the urdf2world into ROS to use all the ROS tools. However, this means that the application would require a full ROS installation.

Definition in file cuikurdf2world.cpp.

Functions
double	correctAngle (double a)
	Correct the angles given in the URDF. More...
void	GetTransform (THTransform *t, bool err, XMLElement *element)
	Determines the transform for a node. More...
XMLElement *	FindFirstElement (char *label, XMLNode **child, XMLNode *node)
	Finds the first element with a particular label in the list of child nodes. More...
XMLElement *	FindNextElement (char *label, XMLNode **child)
	Continues a search over the set of child nodes. More...
int	main (int argc, char **arg)
	Main body of the cuikurdf2world application. More...

Function Documentation

correctAngle()

double correctAngle

(

double

a

)

Angles in the URDF are typically given with low precision. This function tries to correct these angles (basically set the angle to PI when the given angle is very close to PI and similar corrections).

Parameters

a	The input angle.

Returns

The corrected angle.

Definition at line 121 of file cuikurdf2world.cpp.

References M_PI, M_PI_2, and PI2PI.

Referenced by GetTransform().

GetTransform()

void GetTransform	(	THTransform *	t,
		bool	err,
		XMLElement *	element
	)

Determines the homogeneous transform from the origin/rpy attributes of a node.

Parameters

t	The transform to define.
err	true if an error has to be raised if the origin or the rpy fields are missing.
element	The element to process.

Definition at line 147 of file cuikurdf2world.cpp.

References correctAngle(), Error(), HTransformIdentity(), HTransformProduct(), HTransformTxyz(), and HTransformYawPitchRoll().

Referenced by main().

FindFirstElement()

XMLElement * FindFirstElement	(	char *	label,
		XMLNode **	child,
		XMLNode *	node
	)

Finds the first element with a particular label in the list of child nodes. We loop over the children of the node searching for an element with the given label.

Parameters

label	The label of the element to search.
child	The node for the element. This is used for subsequent searches (see FindNextElement).
node	The parent node.

Returns

A pointer to the element or NULL if the element is not found.

Definition at line 184 of file cuikurdf2world.cpp.

Referenced by main().

FindNextElement()

XMLElement * FindNextElement	(	char *	label,
		XMLNode **	child
	)

Continues the search started with FindFirstElement or with a previous call to FindNextElement.

Parameters

label	The label from the element to search.
child	The child node where the start the search.

Returns

A pointer to the element or NULL if the element is not found.

Definition at line 203 of file cuikurdf2world.cpp.

Referenced by main().

main()

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikurdf2world application.

Use:

• cuikurdf2world package_path problem_name.urdf [output.world]

where

• package_path path to the root of the ROS package.
• problem_name.urdf the URDF file to read (relative to the package path).
• output.world is the name of the world file to create. This parameter is optional.

The .urdf extension is optional.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuikurdf2world command itself and its arguments).
arg	Strings with the arguments.

Returns

EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 245 of file cuikurdf2world.cpp.

References AddBody2Link(), AddJoint2World(), AddLink2World(), CreateFileName(), DECOR_SHAPE, DefineNormalVector(), DeleteFileName(), DeleteInterval(), DeleteJoint(), DeleteLink(), DeletePolyhedron(), DeleteWorld(), Error(), FALSE, FindFirstElement(), FindNextElement(), GetFileFullName(), GetTransform(), GetWorldLink(), GetWorldLinkID(), GetWorldNJoints(), HIDDEN_SHAPE, HTransformApply(), HTransformIdentity(), HTransformProduct(), HTransformSetElement(), INF, InitLink(), InitPolyhedronFromFile(), InitWorld(), NEW, NewBox(), NewColor(), NewCylinder(), NewFixJoint(), NewFreeJoint(), NewInterval(), NewPrismaticJoint(), NewRevoluteJoint(), NewSphere(), NO_UINT, NoCheckAllCollisions(), PrintWorld(), REP_JOINTS, TransformPolyhedron(), TRUE, and URDF_EXT.