cuikworld2sdf.cpp File Reference

Introduction

Main body of the cuikworld2sdf application. This application reads the information in a world file and generates an equivalent SDF file.

SDF files are the input files for Gazebo. See the SDF format specification for more details.

This application is our first attempt to interface the CuikPackages with Gazebo. The idea is to obtain nicer mechanisms simulations, including dynamical aspects. Beside the generation of SDF files, we would also need to implement a cuikgazeboplayer (i.e., a way to command gazefo robots from the cuik outputs).

Note that we implement a world2sdf and not a world2urdf. This is because the urdf is a severily liminted format which can not handle kinematic loops, the fundamental construction in the CuikSuite. Here you have a very nice argument about why to use the SDF format instead of the URDF one.

CAUTION: This application is in development and not tested at all yet (we need to install Gazebo to test it properly). Up to now, links seems to be correctly exported but conversion of joints is still to be tested.

Todo:

Test the generation of sdf joints from cuik joints.

Todo:

Implement the generation of sdf sph-sph and sph-prs-sph joints.

Todo:

Implement the cuikgazeboplayer. Probably as a trivial ROS node moving different degrees of freedom.

Definition in file cuikworld2sdf.cpp.

Functions
void	body2SDF (char *path, char *folder, char *linkName, XMLDocument *sdf, XMLElement *link, unsigned int j, Tpolyhedron *b)
	Generates the sdf code for a given body. More...
XMLElement *	jointHeader2SDF (unsigned int id, char *pName, char *cName, XMLElement *model, XMLDocument *sdf)
	Defines the header of a joint in sdf. More...
void	axis2SDF (char *label, double *p1, double *p2, boolean parentFrame, THTransform *tp, THTransform *tc, THTransform *tj, double ve, double ef, double fr, double da, boolean limited, Tinterval *range, XMLDocument *sdf, XMLElement *joint)
	Generates the sdf code for a given joint axis. More...
int	main (int argc, char **arg)
	Main body of the cuikworld2sdf application. More...

Function Documentation

body2SDF()

void body2SDF	(	char *	path,
		char *	folder,
		char *	linkName,
		XMLDocument *	sdf,
		XMLElement *	link,
		unsigned int	j,
		Tpolyhedron *	b
	)

Generates the sdf code for a given body in a link (might be a static link, i.e., the world).

Parameters

path	Path of the sdf file being generated.
folder	Folder where files are stored (typically, the last part of the path).
linkName	Name of the link being generated (might be world).
sdf	The sdf document being generated.
link	The link element being generated.
j	The identifier of the body in the link.
b	The body to be processed.

Definition at line 139 of file cuikworld2sdf.cpp.

References CreateFileName(), CYLINDER, DeleteFileName(), DifferenceVector(), EMPTY_BODY, Error(), GetBlue(), GetFileFullName(), GetGreen(), GetPolyhedronCenter(), GetPolyhedronColor(), GetPolyhedronDefiningPoint(), GetPolyhedronRadius(), GetPolyhedronStatus(), GetPolyhedronType(), GetRed(), GetYawPitchRoll(), HIDDEN_SHAPE, HTransformGetElement(), HTransformProduct(), HTransformRy(), HTransformTz(), HTransformX2Vect(), LINE, M_PI_2, Norm(), Normalize(), OFF, SEGMENTS, SPHERE, SumVector(), and WriteDAEMesh().

Referenced by main().

jointHeader2SDF()

XMLElement * jointHeader2SDF	(	unsigned int	id,
		char *	pName,
		char *	cName,
		XMLElement *	model,
		XMLDocument *	sdf
	)

Adds the header of a joint definition in sdf.

Parameters

id	The identifier of the joint.
pName	Name of the parent link.
cName	Name of the child link.
model	The sdf model being defined.
sdf	The sdf document being defined.

Returns

The joint defined.

Definition at line 279 of file cuikworld2sdf.cpp.

Referenced by main().

axis2SDF()

void axis2SDF	(	char *	label,
		double *	p1,
		double *	p2,
		boolean	parentFrame,
		THTransform *	tp,
		THTransform *	tc,
		THTransform *	tj,
		double	ve,
		double	ef,
		double	fr,
		double	da,
		boolean	limited,
		Tinterval *	range,
		XMLDocument *	sdf,
		XMLElement *	joint
	)

Generates the sdf code for a given joint axis (used in revolute, prismatic, universal joints)

Parameters

label	Name of the axis: axis or axis2.
p1	First point defining the axis.
p2	Second point defining the axis.
parentFrame	TRUE if the axis is defined in the paren frame.
tp	Transform giving the pose of the parent link.
tc	Transform giving the pose of the child link.
tj	Transform giving the joint location.
ve	Maximum velocity of the joint.
ef	Maximum effort of the joint.
fr	Friction of the joint.
da	Damping of the joint.
limited	True for joints with limits.
range	If the joint is limited, the corresponding range.
sdf	The sdf document bein generated.
joint	The joint element being generated.

Definition at line 301 of file cuikworld2sdf.cpp.

References DifferenceVector(), GetYawPitchRoll(), HTransformGetElement(), HTransformInverse(), HTransformProduct(), INF, LowerLimit(), Normalize(), and UpperLimit().

Referenced by main().

main()

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikworld2sdf application.

Use:

• cuikworld2sdf world_filename.world folder [sdf_filename.sdf]

where

• world_filename Name of the world file to translate.
• folder Folder where to store the generated sdf and related files.
• sdf_filename.sdf Name of the SDF file to generate. If not given, the world filename with extension .sdf is used.

The .world and .sdf extensions are optional.

The idea is to generate all the files in a given folder that can be moved/linked to/from the gazebo model directory (typically .gazebo/models).

Example of use:

• bin/cuikworld2sdf examples/Jaco/jaco sdf

Then open the sdf/jaco.sdf in gazebo.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuikworld2sdf 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 430 of file cuikworld2sdf.cpp.

References axis2SDF(), body2SDF(), CreateFileName(), DeleteFileName(), DeleteLinkTransforms(), DeleteParameters(), DeleteWorld(), Error(), FALSE, FIX_JOINT, FREE_JOINT, GetFileFullName(), GetFileName(), GetFilePath(), GetJointDamping(), GetJointEffort(), GetJointFrame(), GetJointFriction(), GetJointPoint(), GetJointRange(), GetJointSecondRange(), GetJointType(), GetJointVelocity(), GetLinkBody(), GetLinkConfExtension(), GetLinkInertialFrame(), GetLinkInertiaMatrix(), GetLinkMass(), GetLinkName(), GetLinkTransformsFromSolutionPoint(), GetLinkType(), GetWorldJoint(), GetWorldLink(), GetWorldNJoints(), GetWorldNLinks(), GetWorldNObstacles(), GetWorldNumSystemVariables(), GetWorldObstacle(), GetWorldObstacleName(), GetYawPitchRoll(), HTransformAcumTrans(), HTransformApplyRot(), HTransformCopy(), HTransformGetElement(), InitParametersFromFile(), InitWorldFromFile(), JointFrom(), JointFromID(), jointHeader2SDF(), JointTo(), JointToID(), LimitedJoint(), LINK_DeformX, LINK_NoRot, LINK_PrismaticX, LinkNBodies(), NEW, PARAM_EXT, PRS_JOINT, ReadOneSample(), REV_JOINT, SDF_EXT, SPH_JOINT, SPH_SPH_LOW_JOINT, SPH_SPH_UP_JOINT, SumVector(), TRUE, and UNV_JOINT.