3b9b803683
Parse and use colors from URDF file (single rgba color per link, not per visual) Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof' btHashMap, add const Value* operator[] remove a few more obsolete btMultiBody methods (on the non-multi-dof path) fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill) Add mention to Jakub Stepien for his work on btMultiBody
48 lines
2.1 KiB
C++
48 lines
2.1 KiB
C++
#ifndef URDF_IMPORTER_INTERFACE_H
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#define URDF_IMPORTER_INTERFACE_H
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#include <string>
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include "URDFJointTypes.h"
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class URDFImporterInterface
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{
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public:
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virtual ~URDFImporterInterface() {}
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virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
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virtual const char* getPathPrefix()=0;
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///return >=0 for the root link index, -1 if there is no root link
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virtual int getRootLinkIndex() const = 0;
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///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
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virtual std::string getLinkName(int linkIndex) const =0;
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/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
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virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
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virtual std::string getJointName(int linkIndex) const = 0;
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//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
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virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
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///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
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virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;
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virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const =0;
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///quick hack: need to rethink the API/dependencies of this
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
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};
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#endif //URDF_IMPORTER_INTERFACE_H
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