48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
#ifndef ROS_URDF_IMPORTER_H
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#define ROS_URDF_IMPORTER_H
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#include "URDFImporterInterface.h"
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class ROSURDFImporter : public URDFImporterInterface
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{
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struct ROSURDFInternalData* m_data;
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public:
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ROSURDFImporter(struct GUIHelperInterface* guiHelper);
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virtual ~ROSURDFImporter();
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// Note that forceFixedBase is ignored in this implementation.
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
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virtual const char* getPathPrefix();
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void printTree(); //for debugging
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virtual int getRootLinkIndex() const;
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virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
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virtual std::string getLinkName(int linkIndex) const;
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virtual std::string getJointName(int linkIndex) const;
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virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
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virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit,btScalar& jointDamping, btScalar& jointFriction) const;
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virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
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};
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#endif //ROS_URDF_IMPORTER_H
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