public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName) { removeVisualFromWorld(modelName); return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName); }
private void addForceSensorsIncludingDescendants(SDFJointHolder joint, JointNameMap jointNameMap) { addForceSensor(joint, jointNameMap); for (SDFJointHolder child : joint.getChildLinkHolder().getChildren()) { addForceSensorsIncludingDescendants(child, jointNameMap); } }
public SDFModelVisual(GeneralizedSDFRobotModel generalizedSDFRobotModel, boolean useCollisionMeshes) { resourceDirectories = generalizedSDFRobotModel.getResourceDirectories(); ArrayList<SDFLinkHolder> rootLinks = generalizedSDFRobotModel.getRootLinks(); RigidBodyTransform modelTransform = generalizedSDFRobotModel.getTransformToRoot(); for(SDFLinkHolder link : rootLinks) { recursivelyAddLinks(link, modelTransform, useCollisionMeshes); } }
@Override public RobotDescription createRobot() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, null, useCollisionMeshes); return description; }
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
private RobotDescription createRobotDescription() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel(); RobotDescriptionFromSDFLoader descriptionLoader = new RobotDescriptionFromSDFLoader(); RobotDescription robotDescription = descriptionLoader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, contactPointParameters, useCollisionMeshes); return robotDescription; }
public RobotDescription loadRobotDescriptionFromSDF(String modelName, InputStream inputStream, List<String> resourceDirectories, SDFDescriptionMutator mutator, JointNameMap jointNameMap, ContactPointDefinitionHolder contactPointHolder, boolean useCollisionMeshes) { GeneralizedSDFRobotModel generalizedSDFRobotModel = loadSDFFile(modelName, inputStream, resourceDirectories, mutator); return loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointNameMap, contactPointHolder, useCollisionMeshes); }
public RobotDescription loadRobotDescriptionFromSDF(GeneralizedSDFRobotModel generalizedSDFRobotModel, JointNameMap jointNameMap, boolean useShapeCollision) { this.useShapeCollision = useShapeCollision; return loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointNameMap, null, false); }
public SDFLogModelProvider(SDFParameters sdfParameters) { this(sdfParameters.getSdfModelName(), sdfParameters.getSdfAsInputStream(), sdfParameters.getResourceDirectories()); }
public void addContactSensor(String sensorName, String parentJointName, ContactSensorType type) { SDFContactSensor sdfContactSensor = new SDFContactSensor(sensorName, parentJointName, type); joints.get(parentJointName).addContactSensor(sdfContactSensor); }
public void addForceSensor(String sensorName, String parentJointName, RigidBodyTransform transformToParentJoint) { SDFForceSensor sdfForceSensor = new SDFForceSensor(sensorName, transformToParentJoint); if(joints.get(parentJointName) != null) joints.get(parentJointName).addForceSensor(sdfForceSensor); }
public static void main(String[] args) { new SdfToMaxXML(); } }
public RobotDescription createRobotDescription(JointNameMap jointNameMap, ContactPointDefinitionHolder contactDefinition) { boolean useCollisionMeshes = false; return createRobotDescription(jointNameMap, contactDefinition, useCollisionMeshes); }
@Override public RobotDescription createRobot() { boolean useCollisionMeshes = false; GeneralizedSDFRobotModel generalizedSDFRobotModel = createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName); RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader(); RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, useCollisionMeshes); return description; }
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }
public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName) { GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName); SDFLinkHolder rootLink = model.getRootLinks().get(0); recursivelyAddLinks(rootLink.getName(), rootLink); }
public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName) { removeVisualFromWorld(modelName); return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName); }
public SDFLogModelProvider(SDFParameters sdfParameters) { this(sdfParameters.getSdfModelName(), sdfParameters.getSdfAsInputStream(), sdfParameters.getResourceDirectories()); }