#include <smurf.h>

Public Member Functions
	SMURF (lib_manager::LibManager *theManager)

	~SMURF ()

int	getLibVersion () const

const std::string	getLibName () const

	CREATE_MODULE_INFO ()

void	createModel (bool fixed)

unsigned int	parseURDF (std::string filename)

unsigned int	load ()

void	addConfigMap (configmaps::ConfigMap &config)

std::string	getRobotname ()

virtual sim::SimEntity *	createEntity (const configmaps::ConfigMap &config)

void	init ()

void	reset ()

void	update (mars::interfaces::sReal time_ms)

Public Member Functions inherited from mars::interfaces::MarsPluginTemplate
	MarsPluginTemplate (lib_manager::LibManager *theManager, std::string libName)

	~MarsPluginTemplate ()

Public Member Functions inherited from lib_manager::LibInterface
	LibInterface (LibManager *theManager)

virtual	~LibInterface (void)

ModuleInfo	getModuleInfo () const

virtual void	newLibLoaded (const std::string &libName)

virtual void	createModuleInfo (void)

Public Member Functions inherited from mars::interfaces::PluginInterface
	PluginInterface (ControlCenter *control)

virtual	~PluginInterface (void)

virtual void	handleError (void)

virtual void	getSomeData (void *data)

Public Member Functions inherited from mars::entity_generation::EntityFactoryInterface
	EntityFactoryInterface (const std::string type)

virtual	~EntityFactoryInterface (void)

virtual std::string	getType ()

Public Attributes
std::vector< configmaps::ConfigMap >	materialList

std::vector< configmaps::ConfigMap >	nodeList

std::vector< configmaps::ConfigMap >	jointList

std::vector< configmaps::ConfigMap >	motorList

std::vector< configmaps::ConfigMap >	sensorList

std::vector< configmaps::ConfigMap >	controllerList

std::vector< configmaps::ConfigMap >	graphicList

std::vector< configmaps::ConfigMap >	lightList

Private Member Functions
void	handleURI (configmaps::ConfigMap *map, std::string uri)

void	handleURIs (configmaps::ConfigMap *map)

void	getSensorIDList (configmaps::ConfigMap *map)

void	translateLink (urdf::LinkSharedPtr link, bool fixed)

void	translateJoint (urdf::LinkSharedPtr childlink)

void	createMaterial (const urdf::MaterialSharedPtr material)

void	createOrigin (const urdf::LinkSharedPtr &link, bool fixed)

void	createInertial (const urdf::LinkSharedPtr &link)

void	createVisual (const urdf::VisualSharedPtr &visual, bool fixed)

void	createCollision (const urdf::CollisionSharedPtr &collision, bool fixed)

void	addEmptyVisualToNode (configmaps::ConfigMap *map)

void	addEmptyCollisionToNode (configmaps::ConfigMap *map)

void	createEmptyVisualMaterial ()

void	createOriginMaterial ()

urdf::Pose	getGlobalPose (const urdf::LinkSharedPtr &link)

void	calculatePose (configmaps::ConfigMap *map, const urdf::LinkSharedPtr &link)

void	convertPose (const urdf::Pose &pose, const urdf::Pose &toPose, utils::Vector v, utils::Quaternion q)

void	poseToVectorAndQuaternion (const urdf::Pose &pose, utils::Vector v, utils::Quaternion q)

bool	isEqualPos (const urdf::Pose &p1, const urdf::Pose p2)

bool	isNullPos (const urdf::Pose &p)

unsigned int	loadMaterial (configmaps::ConfigMap config)

unsigned int	loadNode (configmaps::ConfigMap config)

unsigned int	loadJoint (configmaps::ConfigMap config)

unsigned int	loadMotor (configmaps::ConfigMap config)

interfaces::BaseSensor *	loadSensor (configmaps::ConfigMap config)

unsigned int	loadController (configmaps::ConfigMap config)

unsigned int	loadGraphic (configmaps::ConfigMap config)

unsigned int	loadLight (configmaps::ConfigMap config)

Private Attributes
int	groupID

unsigned int	mapIndex

unsigned long	nextNodeID

unsigned long	nextGroupID

unsigned long	currentNodeID

unsigned long	nextJointID

unsigned long	nextMaterialID

unsigned long	nextMotorID

unsigned long	nextSensorID

unsigned long	nextControllerID

std::map< std::string, unsigned long >	linkIDMap

std::map< std::string, unsigned long >	nodeIDMap

std::map< std::string, unsigned long >	jointIDMap

std::map< std::string, unsigned long >	sensorIDMap

std::map< std::string, unsigned long >	motorIDMap

std::map< std::string, interfaces::MaterialData >	materialMap

std::map< std::string, std::string >	visualNameMap

std::map< std::string, std::string >	collisionNameMap

std::string	tmpPath

configmaps::ConfigMap	debugMap

configmaps::ConfigMap	entityconfig

std::string	robotname

urdf::ModelInterfaceSharedPtr	model

sim::SimEntity *	entity

Additional Inherited Members
Protected Attributes inherited from mars::interfaces::MarsPluginTemplate
std::string	configPath

std::string	resourcesPath

Protected Attributes inherited from lib_manager::LibInterface
LibManager *	libManager

ModuleInfo	moduleInfo

Protected Attributes inherited from mars::interfaces::PluginInterface
ControlCenter *	control

Protected Attributes inherited from mars::entity_generation::EntityFactoryInterface
std::string	type

Detailed Description

Definition at line 50 of file smurf.h.

Constructor & Destructor Documentation

◆ SMURF()

mars::smurf::SMURF::SMURF ( lib_manager::LibManager * theManager )

Definition at line 65 of file smurf.cpp.

◆ ~SMURF()

mars::smurf::SMURF::~SMURF ( )

Definition at line 76 of file smurf.cpp.

Member Function Documentation

◆ addConfigMap()

void mars::smurf::SMURF::addConfigMap ( configmaps::ConfigMap & config )

Definition at line 244 of file smurf.cpp.

◆ addEmptyCollisionToNode()

void mars::smurf::SMURF::addEmptyCollisionToNode ( configmaps::ConfigMap * map )

private

Definition at line 547 of file smurf.cpp.

◆ addEmptyVisualToNode()

void mars::smurf::SMURF::addEmptyVisualToNode ( configmaps::ConfigMap * map )

private

Definition at line 541 of file smurf.cpp.

◆ calculatePose()

void mars::smurf::SMURF::calculatePose	(	configmaps::ConfigMap *	map,
		const urdf::LinkSharedPtr &	link
	)

private

◆ convertPose()

void mars::smurf::SMURF::convertPose	(	const urdf::Pose &	pose,
		const urdf::Pose &	toPose,
		utils::Vector *	v,
		utils::Quaternion *	q
	)

private

Definition at line 439 of file smurf.cpp.

◆ CREATE_MODULE_INFO()

mars::smurf::SMURF::CREATE_MODULE_INFO ( )

◆ createCollision()

void mars::smurf::SMURF::createCollision	(	const urdf::CollisionSharedPtr &	collision,
		bool	fixed = `false`
	)

private

Definition at line 654 of file smurf.cpp.

◆ createEmptyVisualMaterial()

void mars::smurf::SMURF::createEmptyVisualMaterial ( )

private

Definition at line 504 of file smurf.cpp.

◆ createEntity()

sim::SimEntity * mars::smurf::SMURF::createEntity ( const configmaps::ConfigMap & config )

virtual

Implements mars::entity_generation::EntityFactoryInterface.

Definition at line 184 of file smurf.cpp.

◆ createInertial()

void mars::smurf::SMURF::createInertial ( const urdf::LinkSharedPtr & link )

private

Definition at line 600 of file smurf.cpp.

◆ createMaterial()

void mars::smurf::SMURF::createMaterial ( const urdf::MaterialSharedPtr material )

private

Definition at line 907 of file smurf.cpp.

◆ createModel()

void mars::smurf::SMURF::createModel ( bool fixed = false )

Returns: 0 on error.

Definition at line 939 of file smurf.cpp.

◆ createOrigin()

void mars::smurf::SMURF::createOrigin	(	const urdf::LinkSharedPtr &	link,
		bool	fixed
	)

private

Definition at line 554 of file smurf.cpp.

◆ createOriginMaterial()

void mars::smurf::SMURF::createOriginMaterial ( )

private

Definition at line 522 of file smurf.cpp.

◆ createVisual()

void mars::smurf::SMURF::createVisual	(	const urdf::VisualSharedPtr &	visual,
		bool	fixed = `false`
	)

private

Definition at line 727 of file smurf.cpp.

◆ getGlobalPose()

urdf::Pose mars::smurf::SMURF::getGlobalPose ( const urdf::LinkSharedPtr & link )

private

Definition at line 892 of file smurf.cpp.

◆ getLibName()

const std::string mars::smurf::SMURF::getLibName ( ) const

inlinevirtual

Implements lib_manager::LibInterface.

Definition at line 59 of file smurf.h.

◆ getLibVersion()

int mars::smurf::SMURF::getLibVersion ( ) const

inlinevirtual

Implements lib_manager::LibInterface.

Definition at line 58 of file smurf.h.

◆ getRobotname()

std::string mars::smurf::SMURF::getRobotname ( )

Definition at line 1194 of file smurf.cpp.

◆ getSensorIDList()

void mars::smurf::SMURF::getSensorIDList ( configmaps::ConfigMap * map )

private

Definition at line 151 of file smurf.cpp.

◆ handleURI()

void mars::smurf::SMURF::handleURI	(	configmaps::ConfigMap *	map,
		std::string	uri
	)

private

Definition at line 125 of file smurf.cpp.

◆ handleURIs()

void mars::smurf::SMURF::handleURIs ( configmaps::ConfigMap * map )

private

Definition at line 131 of file smurf.cpp.

◆ init()

void mars::smurf::SMURF::init ( void )

virtual

Implements mars::interfaces::PluginInterface.

Definition at line 79 of file smurf.cpp.

◆ isEqualPos()

bool mars::smurf::SMURF::isEqualPos	(	const urdf::Pose &	p1,
		const urdf::Pose	p2
	)

private

Definition at line 464 of file smurf.cpp.

◆ isNullPos()

bool mars::smurf::SMURF::isNullPos ( const urdf::Pose & p )

private

Definition at line 484 of file smurf.cpp.

◆ load()

unsigned int mars::smurf::SMURF::load ( )

Definition at line 955 of file smurf.cpp.

◆ loadController()

unsigned int mars::smurf::SMURF::loadController ( configmaps::ConfigMap config )

private

Definition at line 1173 of file smurf.cpp.

◆ loadGraphic()

unsigned int mars::smurf::SMURF::loadGraphic ( configmaps::ConfigMap config )

private

Definition at line 1146 of file smurf.cpp.

◆ loadJoint()

unsigned int mars::smurf::SMURF::loadJoint ( configmaps::ConfigMap config )

private

Definition at line 1090 of file smurf.cpp.

◆ loadLight()

unsigned int mars::smurf::SMURF::loadLight ( configmaps::ConfigMap config )

private

Definition at line 1161 of file smurf.cpp.

◆ loadMaterial()

unsigned int mars::smurf::SMURF::loadMaterial ( configmaps::ConfigMap config )

private

Definition at line 1082 of file smurf.cpp.

◆ loadMotor()

unsigned int mars::smurf::SMURF::loadMotor ( configmaps::ConfigMap config )

private

Definition at line 1112 of file smurf.cpp.

◆ loadNode()

unsigned int mars::smurf::SMURF::loadNode ( configmaps::ConfigMap config )

private

Definition at line 1007 of file smurf.cpp.

◆ loadSensor()

BaseSensor * mars::smurf::SMURF::loadSensor ( configmaps::ConfigMap config )

private

Definition at line 1135 of file smurf.cpp.

◆ parseURDF()

unsigned int mars::smurf::SMURF::parseURDF ( std::string filename )

Definition at line 926 of file smurf.cpp.

◆ poseToVectorAndQuaternion()

void mars::smurf::SMURF::poseToVectorAndQuaternion	(	const urdf::Pose &	pose,
		utils::Vector *	v,
		utils::Quaternion *	q
	)

private

Definition at line 457 of file smurf.cpp.

◆ reset()

void mars::smurf::SMURF::reset ( void )

virtual

Implements mars::interfaces::PluginInterface.

Definition at line 85 of file smurf.cpp.

◆ translateJoint()

void mars::smurf::SMURF::translateJoint ( urdf::LinkSharedPtr childlink )

private

Definition at line 844 of file smurf.cpp.

◆ translateLink()

void mars::smurf::SMURF::translateLink	(	urdf::LinkSharedPtr	link,
		bool	fixed = `false`
	)

private

Definition at line 804 of file smurf.cpp.

◆ update()

void mars::smurf::SMURF::update ( mars::interfaces::sReal time_ms )

virtual

Implements mars::interfaces::PluginInterface.

Definition at line 122 of file smurf.cpp.

Member Data Documentation

◆ collisionNameMap

std::map<std::string, std::string> mars::smurf::SMURF::collisionNameMap

private

Definition at line 105 of file smurf.h.

◆ controllerList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::controllerList

Definition at line 84 of file smurf.h.

◆ currentNodeID

unsigned long mars::smurf::SMURF::currentNodeID

private

Definition at line 93 of file smurf.h.

◆ debugMap

configmaps::ConfigMap mars::smurf::SMURF::debugMap

private

Definition at line 108 of file smurf.h.

◆ entity

sim::SimEntity* mars::smurf::SMURF::entity

private

Definition at line 112 of file smurf.h.

◆ entityconfig

configmaps::ConfigMap mars::smurf::SMURF::entityconfig

private

Definition at line 109 of file smurf.h.

◆ graphicList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::graphicList

Definition at line 85 of file smurf.h.

◆ groupID

int mars::smurf::SMURF::groupID

private

Definition at line 89 of file smurf.h.

◆ jointIDMap

std::map<std::string, unsigned long> mars::smurf::SMURF::jointIDMap

private

Definition at line 101 of file smurf.h.

◆ jointList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::jointList

Definition at line 81 of file smurf.h.

◆ lightList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::lightList

Definition at line 86 of file smurf.h.

◆ linkIDMap

std::map<std::string, unsigned long> mars::smurf::SMURF::linkIDMap

private

Definition at line 99 of file smurf.h.

◆ mapIndex

unsigned int mars::smurf::SMURF::mapIndex

private

Definition at line 90 of file smurf.h.

◆ materialList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::materialList

Definition at line 79 of file smurf.h.

◆ materialMap

std::map<std::string, interfaces::MaterialData> mars::smurf::SMURF::materialMap

private

Definition at line 104 of file smurf.h.

◆ model

urdf::ModelInterfaceSharedPtr mars::smurf::SMURF::model

private

Definition at line 111 of file smurf.h.

◆ motorIDMap

std::map<std::string, unsigned long> mars::smurf::SMURF::motorIDMap

private

Definition at line 103 of file smurf.h.

◆ motorList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::motorList

Definition at line 82 of file smurf.h.

◆ nextControllerID

unsigned long mars::smurf::SMURF::nextControllerID

private

Definition at line 98 of file smurf.h.

◆ nextGroupID

unsigned long mars::smurf::SMURF::nextGroupID

private

Definition at line 92 of file smurf.h.

◆ nextJointID

unsigned long mars::smurf::SMURF::nextJointID

private

Definition at line 94 of file smurf.h.

◆ nextMaterialID

unsigned long mars::smurf::SMURF::nextMaterialID

private

Definition at line 95 of file smurf.h.

◆ nextMotorID

unsigned long mars::smurf::SMURF::nextMotorID

private

Definition at line 96 of file smurf.h.

◆ nextNodeID

unsigned long mars::smurf::SMURF::nextNodeID

private

Definition at line 91 of file smurf.h.

◆ nextSensorID

unsigned long mars::smurf::SMURF::nextSensorID

private

Definition at line 97 of file smurf.h.

◆ nodeIDMap

std::map<std::string, unsigned long> mars::smurf::SMURF::nodeIDMap

private

Definition at line 100 of file smurf.h.

◆ nodeList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::nodeList

Definition at line 80 of file smurf.h.

◆ robotname

std::string mars::smurf::SMURF::robotname

private

Definition at line 110 of file smurf.h.

◆ sensorIDMap

std::map<std::string, unsigned long> mars::smurf::SMURF::sensorIDMap

private

Definition at line 102 of file smurf.h.

◆ sensorList

std::vector<configmaps::ConfigMap> mars::smurf::SMURF::sensorList

Definition at line 83 of file smurf.h.

◆ tmpPath

std::string mars::smurf::SMURF::tmpPath

private

Definition at line 106 of file smurf.h.

◆ visualNameMap

std::map<std::string, std::string> mars::smurf::SMURF::visualNameMap

private

Definition at line 105 of file smurf.h.

The documentation for this class was generated from the following files:

/Developer/bob-learning-dev/simulation/mars/entity_generation/smurf/src/smurf.h
/Developer/bob-learning-dev/simulation/mars/entity_generation/smurf/src/smurf.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SMURF()

◆ ~SMURF()

Member Function Documentation

◆ addConfigMap()

◆ addEmptyCollisionToNode()

◆ addEmptyVisualToNode()

◆ calculatePose()

◆ convertPose()

◆ CREATE_MODULE_INFO()

◆ createCollision()

◆ createEmptyVisualMaterial()

◆ createEntity()

◆ createInertial()

◆ createMaterial()

◆ createModel()

◆ createOrigin()

◆ createOriginMaterial()

◆ createVisual()

◆ getGlobalPose()

◆ getLibName()

◆ getLibVersion()

◆ getRobotname()

◆ getSensorIDList()

◆ handleURI()

◆ handleURIs()

◆ init()

◆ isEqualPos()

◆ isNullPos()

◆ load()

◆ loadController()

◆ loadGraphic()

◆ loadJoint()

◆ loadLight()

◆ loadMaterial()

◆ loadMotor()

◆ loadNode()

◆ loadSensor()

◆ parseURDF()

◆ poseToVectorAndQuaternion()

◆ reset()

◆ translateJoint()

◆ translateLink()

◆ update()

Member Data Documentation

◆ collisionNameMap

◆ controllerList

◆ currentNodeID

◆ debugMap

◆ entity

◆ entityconfig

◆ graphicList

◆ groupID

◆ jointIDMap

◆ jointList

◆ lightList

◆ linkIDMap

◆ mapIndex

◆ materialList

◆ materialMap

◆ model

◆ motorIDMap

◆ motorList

◆ nextControllerID

◆ nextGroupID

◆ nextJointID

◆ nextMaterialID

◆ nextMotorID

◆ nextNodeID

◆ nextSensorID

◆ nodeIDMap

◆ nodeList

◆ robotname

◆ sensorIDMap