robowflex::darts::IO Namespace Reference

Functions
void	addPackage (const std::string &package)
	Add a ROS package to Dart's searchable index. Looks up package with rospack. More...
void	addPackage (const std::string &package, const std::string &location)
	Add a ROS package to Dart's searchable index. More...
bool	loadURDF (Robot &robot, const std::string &urdf)
	Loads a URDF at urdf into a robot. More...
std::string	getPackageFile (const std::string &uri)
	Get the filename for a package URI using Dart's lookup. More...

Function Documentation

addPackage() [1/2]

void robowflex::darts::IO::addPackage

(

const std::string &

package

)

Add a ROS package to Dart's searchable index. Looks up package with rospack.

Parameters

[in]

package

Package name

Definition at line 15 of file robowflex_dart/src/io.cpp.

{
    const auto path = robowflex::IO::resolvePackage("package://" + package);
    if (not path.empty())
        addPackage(package, path);
}

addPackage() [2/2]

void robowflex::darts::IO::addPackage	(	const std::string &	package,
		const std::string &	location
	)

Add a ROS package to Dart's searchable index.

Parameters

[in]	package	Package name
[in]	location	Directory of package

Definition at line 22 of file robowflex_dart/src/io.cpp.

{
    URDF.addPackageDirectory(package, location);
    PACKAGE.addPackageDirectory(package, location);
}

getPackageFile()

std::string robowflex::darts::IO::getPackageFile

(

const std::string &

uri

)

Get the filename for a package URI using Dart's lookup.

Parameters

[in]

uri

URI to lookup.

Returns

Path to file.

Definition at line 51 of file robowflex_dart/src/io.cpp.

{
    std::string file = robowflex::IO::resolvePackage(uri);
    if (file.empty())
        file = PACKAGE.getFilePath(uri);
 
    return file;
}

loadURDF()

bool robowflex::darts::IO::loadURDF	(	Robot &	robot,
		const std::string &	urdf
	)

Loads a URDF at urdf into a robot.

Parameters

[out]	robot	Robot to load URDF in.
[in]	urdf	URDF location.

Returns

True on success, false on failure.

Definition at line 28 of file robowflex_dart/src/io.cpp.

{
    // Pre-load URDF and extract all relevant ROS packages
    const auto &file = IO::getPackageFile(urdf);
    const auto &text = robowflex::IO::loadXMLToString(file);
 
    const auto packages = robowflex::IO::findPackageURIs(text);
    for (const auto &package : packages)
        IO::addPackage(package);
 
    auto skeleton = URDF.parseSkeletonString(text, "");
    if (not skeleton)
        return false;
 
    skeleton->setSelfCollisionCheck(true);
 
    for (auto *joint : skeleton->getJoints())
        joint->setPositionLimitEnforced(true);
 
    robot.setSkeleton(skeleton);
    return true;
}