Namespaces
	detail

Classes
class	CatkinResourceRetriever
	Retreive resources specified by 'package://' URIs. More...

Functions
dart::dynamics::SkeletonPtr	readKinbodyString (const std::string &kinBodyString, const dart::common::Uri &baseUri="", const dart::common::ResourceRetrieverPtr &retriever=nullptr)
	Read skeleton from a string of OpenRAVE's custom XML format. More...

dart::dynamics::SkeletonPtr	readKinbody (const dart::common::Uri &kinBodyUri, const dart::common::ResourceRetrieverPtr &retriever=nullptr)
	Read skeleton from a file of OpenRAVE's custom XML format. More...

void	saveTrajectory (const aikido::trajectory::Spline &trajectory, const std::string &savePath)
	Serializes a spline trajectory to YAML. More...

aikido::trajectory::UniqueSplinePtr	loadSplineTrajectory (const std::string &trajPath, const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr &metaSkeletonStateSpace)
	Deserializes a spline trajectory from YAML. More...

dart::dynamics::SkeletonPtr	loadSkeletonFromURDF (const dart::common::ResourceRetrieverPtr &retriever, const dart::common::Uri &uri, const Eigen::Isometry3d &transform=Eigen::Isometry3d::Identity())
	Load a DART Skeleton from a URDF and set its pose. More...

YAML::Node	loadYAML (const dart::common::Uri &yamlUri, const dart::common::ResourceRetrieverPtr &retriever)
	Retrieves and read all data from a YAML file. More...

Function Documentation

◆ loadSkeletonFromURDF()

dart::dynamics::SkeletonPtr aikido::io::loadSkeletonFromURDF	(	const dart::common::ResourceRetrieverPtr &	retriever,
		const dart::common::Uri &	uri,
		const Eigen::Isometry3d &	transform = `Eigen::Isometry3d::Identity()`
	)

Load a DART Skeleton from a URDF and set its pose.

Parameters

[in]	retriever	DART retriever to resolve the URI
[in]	uri	URI to the object URDF
[in]	transform	Initial transform for the Skeleton

Returns: the created Skeleton

◆ loadSplineTrajectory()

aikido::trajectory::UniqueSplinePtr aikido::io::loadSplineTrajectory	(	const std::string &	trajPath,
		const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr &	metaSkeletonStateSpace
	)

Deserializes a spline trajectory from YAML.

Parameters

[in]	trajPath	Spline trajectory
[in]	metaSkeletonStateSpace	MetaskeletonStateSpace for the trajectory

Returns: Loaded spline trajectory

◆ loadYAML()

YAML::Node aikido::io::loadYAML	(	const dart::common::Uri &	yamlUri,
		const dart::common::ResourceRetrieverPtr &	retriever
	)

Retrieves and read all data from a YAML file.

Parameters

[in]	yamlUri	URI for a YAML file
[in]	retriever	Resource retriever to retrieve yamlUri

Returns: root YAML::Node of the document

◆ readKinbody()

dart::dynamics::SkeletonPtr aikido::io::readKinbody	(	const dart::common::Uri &	kinBodyUri,
		const dart::common::ResourceRetrieverPtr &	retriever = `nullptr`
	)

Read skeleton from a file of OpenRAVE's custom XML format.

This function only parses a subset of the format assuming only one body node in a kinbody file.

The detail of the format can be found at: http://openrave.programmingvision.com/wiki/index.php/Format:XML.

Parameters

[in]	kinBodyUri	The URI to a KinBody file. If the URI scheme is not file (i.e., file://), a relevant ResourceRetriever should be passed to retrieve the KinBody file.
[in]	retriever	A DART retriever for the URI to a KinBody. The retriever is also used to read the mesh URI in the KinBody file. If nullptr is passed, this function uses a local file resource retriever which only can parse absolute file paths or file URIs (e.g., file://path/to/local/file.kinbody.xml).

Returns: The parsed DART skeleton; returns nullptr on failure.

See also: readKinbodyString

◆ readKinbodyString()

dart::dynamics::SkeletonPtr aikido::io::readKinbodyString	(	const std::string &	kinBodyString,
		const dart::common::Uri &	baseUri = `""`,
		const dart::common::ResourceRetrieverPtr &	retriever = `nullptr`
	)

Read skeleton from a string of OpenRAVE's custom XML format.

This function only parses a subset of the format assuming only one body node in a kinbody file.

The following are the available fields that this parser can read.

kinbody - attributes: name
  body - attributes: name
    geom - attributes: name, type* (none, box, sphere, trimesh, cylinder),
           render
      data* (or collision) - file* scale [for trimesh] (see below for the
                             detail)
      extents* - 3 float [for box]
      height* - float [for cylinder]
      radius* - float [for cylinder and sphere]
      render - file* scale (see below for the detail)

Elements marked with * are required.

"<render>", "<data>", or "<collision>" contain the relative path to a mesh file and optionally a single float (for all three axes) or three float's (for the x, y, and z-axes) for the scale.

Example forms: "<Render>my/mesh/file.stl<Render>" "<Render>my/mesh/file.stl 0.25<Render> " "<Render>my/mesh/file.stl 0.25 0.5 2.0<Render>"

If the scale is not provided then (1, 1, 1) is used by default.

The detail of the format can be found at: http://openrave.programmingvision.com/wiki/index.php/Format:XML.

Parameters

[in]	kinBodyString	The KinBody XML string.
[in]	baseUri	The base URI of the mesh files in the KinBody XML string. If an empty URI, which is the default, is passed, the mesh URIs in the KinBody XML string should be absolute URIs or paths.
[in]	retriever	A DART retriever for the mesh URIs in the KinBody XML string. If nullptr is passed, this function uses a local file resource retriever which only can parse absolute file paths or file URIs (e.g., file://path/to/local/file.kinbody.xml).

Returns: The parsed DART skeleton; returns nullptr on failure.

See also: readKinbody

◆ saveTrajectory()

void aikido::io::saveTrajectory	(	const aikido::trajectory::Spline &	trajectory,
		const std::string &	savePath
	)

Serializes a spline trajectory to YAML.

Parameters

[in]	trajectory	Spline trajectory
[in]	savePath	save path for the trajectory yaml file

Namespaces

Classes

Functions

Function Documentation

◆ loadSkeletonFromURDF()

◆ loadSplineTrajectory()

◆ loadYAML()

◆ readKinbody()

◆ readKinbodyString()

◆ saveTrajectory()