public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
@Override public void mutateLinkForModel(GeneralizedSDFRobotModel model, SDFLinkHolder linkHolder) { if(this.jointMap.getModelName().equals(model.getName())) { switch(linkHolder.getName()) { case "hokuyo_link": modifyHokuyoInertia(linkHolder); break; default: break; } } }
@Override public ArrayList<CollisionMeshDescription> getCollisionObjects(String name) { // TODO: SDF collision stuff to RobotDescription collision stuff. for(SDFLinkHolder linkHolder : rootLinks) { if(linkHolder.getName().equals(name)) { SDFGraphics3DObject sdfGraphics3DObject = new SDFGraphics3DObject(linkHolder.getCollisions(), resourceDirectories); ArrayList<CollisionMeshDescription> collisionMeshDescriptions = new ArrayList<CollisionMeshDescription>(); //TODO: Figure out and add the collision meshes... return collisionMeshDescriptions; } } SDFGraphics3DObject sdfGraphics3DObject = new SDFGraphics3DObject(joints.get(name).getChildLinkHolder().getCollisions(), resourceDirectories); CollisionMeshDescription collisionMeshDescription = new CollisionMeshDescription(); ArrayList<CollisionMeshDescription> collisionMeshDescriptions = new ArrayList<CollisionMeshDescription>(); //TODO: Figure out and add the collision meshes... return collisionMeshDescriptions; }
@Override public Graphics3DObject getGraphicsObject(String name) { for(SDFLinkHolder linkHolder : rootLinks) { if(linkHolder.getName().equals(name)) { return new SDFGraphics3DObject(linkHolder.getVisuals(), resourceDirectories); } } SDFJointHolder joint = joints.get(name); RigidBodyTransform visualTransform = new RigidBodyTransform(); visualTransform.setRotation(joint.getLinkRotation()); return new SDFGraphics3DObject(joint.getChildLinkHolder().getVisuals(), resourceDirectories, visualTransform); }
switch (linkHolder.getName())
IMUSensorDescription imuMount = new IMUSensorDescription(child.getName() + "_" + sdfSensor.getName(), linkToSensorInZUp);
Quaternion orientation = new Quaternion(); generalizedSDFRobotModel.getTransformToRoot().get(orientation, offset); FloatingJointDescription rootJointDescription = new FloatingJointDescription(rootLink.getName());
private LinkDescription createLinkDescription(SDFLinkHolder link, RigidBodyTransform rotationTransform, boolean useCollisionMeshes) LinkDescription scsLink = new LinkDescription(link.getName()); PrintTools.warn(this, "Could not load visuals for link " + link.getName() + "! Using an empty LinkGraphicsDescription.");