Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Humanoid Path Planner
hpp-rbprm-corba
Commits
bcf587c8
Commit
bcf587c8
authored
May 20, 2020
by
Pierre Fernbach
Browse files
loadFullBodyModel now take only a urdfName and srdfName as input
parent
8f543eae
Changes
3
Hide whitespace changes
Inline
Side-by-side
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @
bcf587c8
...
...
@@ -70,23 +70,22 @@ module hpp
in
string
urdfSuffix
,
in
string
srdfSuffix
)
raises
(
Error
)
;
///
Load
fullbody
robot
model
///
///
Create
a
RbprmFullBody
object
///
The
device
automatically
has
an
anchor
joint
called
"base_joint"
as
///
root
joint
.
///
\
param
trunkRobotName
the
name
of
the
robot
trunk
used
for
collision
.
///
///
\
param
robotName
Name
of
the
robot
that
is
constructed
,
///
\
param
rootJointType
type
of
root
joint
among
"anchor"
,
"freeflyer"
,
///
"planar"
,
///
\
param
packageName
Name
of
the
ROS
package
containing
the
model
,
///
\
param
modelName
Name
of
the
package
containing
the
model
///
\
param
urdfSuffix
suffix
for
urdf
file
,
///
\
param
urdfName
name
of
the
urdf
file
.
It
may
contain
///
"file://"
,
or
"package://"
prefixes
.
///
\
param
srdfName
name
of
the
srdf
file
.
It
may
contain
///
"file://"
,
or
"package://"
prefixes
.
///
///
The
ros
url
are
built
as
follows
:
///
"package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
///
"package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"
///
void
loadFullBodyRobot
(
in
string
trunkRobotName
,
in
string
rootJointType
,
in
string
packageName
,
in
string
modelName
,
in
string
urdfSuffix
,
in
string
srdfSuffix
,
in
string
selectedProblem
)
void
loadFullBodyRobot
(
in
string
robotName
,
in
string
rootJointType
,
in
string
urdfName
,
in
string
srdfName
,
in
string
selectedProblem
)
raises
(
Error
)
;
///
Create
a
RbprmFullBody
object
...
...
src/rbprmbuilder.impl.cc
View file @
bcf587c8
...
...
@@ -118,13 +118,17 @@ void RbprmBuilder::loadRobotCompleteModel(const char* robotName, const char* roo
}
}
void
RbprmBuilder
::
loadFullBodyRobot
(
const
char
*
robotName
,
const
char
*
rootJointType
,
const
char
*
packageName
,
const
char
*
modelName
,
const
char
*
urdfSuffix
,
const
char
*
srdfSuffix
,
void
RbprmBuilder
::
loadFullBodyRobot
(
const
char
*
robotName
,
const
char
*
rootJointType
,
const
char
*
urdfName
,
const
char
*
srdfName
,
const
char
*
selectedProblem
)
throw
(
hpp
::
Error
)
{
try
{
hpp
::
pinocchio
::
DevicePtr_t
device
=
pinocchio
::
Device
::
create
(
robotName
);
hpp
::
pinocchio
::
urdf
::
loadRobotModel
(
device
,
std
::
string
(
rootJointType
),
std
::
string
(
packageName
),
std
::
string
(
modelName
),
std
::
string
(
urdfSuffix
),
std
::
string
(
srdfSuffix
));
hpp
::
pinocchio
::
urdf
::
loadModel
(
device
,
0
,
""
,
std
::
string
(
rootJointType
),
std
::
string
(
urdfName
),
std
::
string
(
srdfName
));
std
::
string
name
(
selectedProblem
);
fullBodyLoaded_
=
true
;
fullBodyMap_
.
map_
[
name
]
=
rbprm
::
RbPrmFullBody
::
create
(
device
);
...
...
src/rbprmbuilder.impl.hh
View file @
bcf587c8
...
...
@@ -165,8 +165,10 @@ class RbprmBuilder : public virtual POA_hpp::corbaserver::rbprm::RbprmBuilder {
const
char
*
modelName
,
const
char
*
urdfSuffix
,
const
char
*
srdfSuffix
)
throw
(
hpp
::
Error
);
virtual
void
loadFullBodyRobot
(
const
char
*
robotName
,
const
char
*
rootJointType
,
const
char
*
packageName
,
const
char
*
modelName
,
const
char
*
urdfSuffix
,
const
char
*
srdfSuffix
,
virtual
void
loadFullBodyRobot
(
const
char
*
robotName
,
const
char
*
rootJointType
,
const
char
*
urdfName
,
const
char
*
srdfName
,
const
char
*
selectedProblem
)
throw
(
hpp
::
Error
);
virtual
void
loadFullBodyRobotFromExistingRobot
()
throw
(
hpp
::
Error
);
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment