ModelLoader class
#include <iDynTree/ModelLoader.h>
Helper class to load a model from a generic format.
Unless the methods for loading a model with an explicit serialization are used, the default joint serialization of the model loaded will be a "normalized" joint serialization based on the default base link, see the iDynTree::createModelWithNormalizedJointNumbering function for more details.
Constructor/Destructor
- ModelLoader()
- Constructor.
- ~ModelLoader()
Model loading and definition methods
This methods are used to load the structure of your model.
- auto parsingOptions() const -> const ModelParserOptions&
- void setParsingOptions(const ModelParserOptions& options)
- auto loadModelFromString(const std::string& modelString, const std::string& filetype = "urdf", const std::vector<std::string>& packageDirs = {}) -> bool
- Load the model of the robot from a string.
- auto loadModelFromFile(const std::string& filename, const std::string& filetype = "urdf", const std::vector<std::string>& packageDirs = {}) -> bool
- Load the model of the robot from an external file.
- auto loadReducedModelFromFullModel(const Model& fullModel, const std::vector<std::string>& consideredJoints, const std::string filetype = "") -> bool
- Load reduced model from another model, specifyng only the desired joints in the model.
- auto loadReducedModelFromString(const std::string modelString, const std::vector<std::string>& consideredJoints, const std::string filetype = "", const std::vector<std::string>& packageDirs = {}) -> bool
- Load reduced model from string, specifyng only the desired joints in the model.
- auto loadReducedModelFromFile(const std::string filename, const std::vector<std::string>& consideredJoints, const std::string filetype = "", const std::vector<std::string>& packageDirs = {}) -> bool
- Load reduced model from file, specifyng only the desired joints in the model.
- auto loadReducedModelFromFullModel(const Model& fullModel, const std::vector<std::string>& consideredJoints, const std::unordered_map<std::string, std::vector<double>>& removedJointPositions, const std::string filetype = "") -> bool
- Load reduced model from another model, specifyng only the desired joints in the model.
- auto loadReducedModelFromFullModel(const Model& fullModel, const std::vector<std::string>& consideredJoints, const std::unordered_map<std::string, double>& removedJointPositions, const std::string filetype = "") -> bool
- Load reduced model from another model, specifyng only the desired joints in the model.
- auto loadReducedModelFromString(const std::string modelString, const std::vector<std::string>& consideredJoints, const std::unordered_map<std::string, std::vector<double>>& removedJointPositions, const std::string filetype = "", const std::vector<std::string>& packageDirs = {}) -> bool
- Load reduced model from string, specifyng only the desired joints in the model.
- auto loadReducedModelFromString(const std::string modelString, const std::vector<std::string>& consideredJoints, const std::unordered_map<std::string, double>& removedJointPositions, const std::string filetype = "", const std::vector<std::string>& packageDirs = {}) -> bool
- Load reduced model from string, specifyng only the desired joints in the model.
- auto loadReducedModelFromFile(const std::string filename, const std::vector<std::string>& consideredJoints, const std::unordered_map<std::string, std::vector<double>>& removedJointPositions, const std::string filetype = "", const std::vector<std::string>& packageDirs = {}) -> bool
- Load reduced model from file, specifyng only the desired joints in the model.
- auto loadReducedModelFromFile(const std::string filename, const std::vector<std::string>& consideredJoints, const std::unordered_map<std::string, double>& removedJointPositions, const std::string filetype = "", const std::vector<std::string>& packageDirs = {}) -> bool
- Load reduced model from file, specifyng only the desired joints in the model.
- auto model() -> const Model&
- Get the loaded model.
- auto sensors() -> const SensorsList&
- Get the loaded sensors.
- auto isValid() -> bool
- Return true if the model have been correctly true.
Function documentation
bool iDynTree::
Load the model of the robot from a string.
| Parameters | |
|---|---|
| modelString | string containg the model of the robot. |
| filetype | type of the file to load, currently supporting only urdf type |
| packageDirs | a vector containing the different directories where to search for model meshes |
bool iDynTree::
Load the model of the robot from an external file.
| Parameters | |
|---|---|
| filename | path to the file to load |
| filetype | type of the file to load, currently supporting only urdf type. |
| packageDirs | a vector containing the different directories where to search for model meshes |
bool iDynTree::
Load reduced model from another model, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| fullModel | |
| consideredJoints in | list of joints to consider in the model. |
| filetype in | (optional) explicit definition of the type of the loaded file. Only "urdf" is supported at the moment. |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from string, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| modelString in | string containg the model of the robot. |
| consideredJoints in | list of joints to consider in the model. |
| filetype in | (optional) explicit definiton of the filetype to load. Only "urdf" is supported at the moment. |
| packageDirs in | (optional) a vector containing the different directories where to search for model meshes |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from file, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| filename in | path to the file to load. |
| consideredJoints in | list of joints to consider in the model. |
| filetype in | (optional) explicit definiton of the filetype to load. Only "urdf" is supported at the moment. |
| packageDirs in | (optional) a vector containing the different directories where to search for model meshes |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from another model, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| fullModel | |
| consideredJoints in | list of joints to consider in the model. |
| removedJointPositions in | map between the dof name of the dof no in consideredJoints and their (fixed) position in the reduced model |
| filetype in | (optional) explicit definition of the type of the loaded file. Only "urdf" is supported at the moment. |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from another model, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| fullModel | |
| consideredJoints in | list of joints to consider in the model. |
| removedJointPositions in | map between the dof name of the dof no in consideredJoints and their (fixed) position in the reduced model |
| filetype in | (optional) explicit definition of the type of the loaded file. Only "urdf" is supported at the moment. |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from string, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| modelString in | string containg the model of the robot. |
| consideredJoints in | list of joints to consider in the model. |
| removedJointPositions in | map between the dof name of the dof no in consideredJoints and their (fixed) position in the reduced model |
| filetype in | (optional) explicit definiton of the filetype to load. Only "urdf" is supported at the moment. |
| packageDirs in | (optional) a vector containing the different directories where to search for model meshes |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from string, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| modelString in | string containg the model of the robot. |
| consideredJoints in | list of joints to consider in the model. |
| removedJointPositions in | map between the dof name of the dof no in consideredJoints and their (fixed) position in the reduced model |
| filetype in | (optional) explicit definiton of the filetype to load. Only "urdf" is supported at the moment. |
| packageDirs in | (optional) a vector containing the different directories where to search for model meshes |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from file, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| filename in | path to the file to load. |
| consideredJoints in | list of joints to consider in the model. |
| removedJointPositions in | map between the dof name of the dof no in consideredJoints and their (fixed) position in the reduced model |
| filetype in | (optional) explicit definiton of the filetype to load. Only "urdf" is supported at the moment. |
| packageDirs in | (optional) a vector containing the different directories where to search for model meshes |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Load reduced model from file, specifyng only the desired joints in the model.
| Parameters | |
|---|---|
| filename in | path to the file to load. |
| consideredJoints in | list of joints to consider in the model. |
| removedJointPositions in | map between the dof name of the dof no in consideredJoints and their (fixed) position in the reduced model |
| filetype in | (optional) explicit definiton of the filetype to load. Only "urdf" is supported at the moment. |
| packageDirs in | (optional) a vector containing the different directories where to search for model meshes |
| Returns | true if all went well (files were correctly loaded and consistent), false otherwise. |
All other joints will be considered to be fixed to their default position, and their child links will be lumped together.
bool iDynTree::
Return true if the model have been correctly true.
| Returns | True if the model was loaded correctly. |
|---|