42 lines
1.3 KiB
C++
42 lines
1.3 KiB
C++
#ifndef MY_URDF_IMPORTER_H
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#define MY_URDF_IMPORTER_H
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#include "URDFImporterInterface.h"
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#include <vector> //temp, replace by btAlignedObjectArray
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#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
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class MyURDFImporter : public URDFImporterInterface
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{
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struct MyURDFInternalData* m_data;
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public:
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MyURDFImporter(my_shared_ptr<urdf::ModelInterface> robot,struct GUIHelperInterface* helper);
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virtual ~MyURDFImporter();
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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, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;
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virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) 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 //MY_URDF_IMPORTER_H
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