iDynTree::ModelExporterOptions struct
#include <iDynTree/ModelExporter.h>

Options for the iDynTree exporter.

Constructors, destructors, conversion operators

ModelExporterOptions()
Constructor.

Public variables

std::string baseLink
Specify the base link of the exported model.
bool exportFirstBaseLinkAdditionalFrameAsFakeURDFBase
Select if the first additional frame of the base link is exported as fake base link.
std::string robotExportedName
Specify the robot name.
std::vector<std::string> xmlBlobs
Specify the xml blobs to be exported at the end of the urdf as child of the robot tag.
bool exportSphericalJointsAsThreeRevoluteJoints
If true, spherical joints are exported as a series of three revolute joints with fake intermediate links having zero mass/inertia.
std::string sphericalJointFakeLinkPrefix
Prefix used for fake links created when exporting spherical joints.
std::string sphericalJointRevoluteJointPrefix
Prefix used for revolute joints created when exporting spherical joints.

Variable documentation

std::string iDynTree::ModelExporterOptions::baseLink

Specify the base link of the exported model.

Differently from the iDynTree::Model class, some file formats (such as the URDF) represent the multibody structure using a directed tree representation, for which it is necessary to explicitly specify a base link.

If this string is empty (default value), the default base link contained in the model will be used.

Default value: "". Supported formats: urdf.

bool iDynTree::ModelExporterOptions::exportFirstBaseLinkAdditionalFrameAsFakeURDFBase

Select if the first additional frame of the base link is exported as fake base link.

The URDF exporter by default exports the first additional frame of the base link as a parent "fake" link to the actual base link, as a workaround for https://github.com/ros/kdl_parser/issues/27). By setting this option to false, is possible to disable this behaviour, for more info see iDynTree::ModelExporter docs. This option is ignored in non-URDF exporter.

Default value: true. Supported formats: urdf.

std::string iDynTree::ModelExporterOptions::robotExportedName

Specify the robot name.

Default: "iDynTreeURDFModelExportModelName". Supported formats: urdf.

std::vector<std::string> iDynTree::ModelExporterOptions::xmlBlobs

Specify the xml blobs to be exported at the end of the urdf as child of the robot tag.

Default: {}. Supported formats: urdf.

bool iDynTree::ModelExporterOptions::exportSphericalJointsAsThreeRevoluteJoints

If true, spherical joints are exported as a series of three revolute joints with fake intermediate links having zero mass/inertia.

If false, the spherical joint exported as a single joint (which is not supported in URDF). Default: true Supported formats: urdf.

std::string iDynTree::ModelExporterOptions::sphericalJointFakeLinkPrefix

Prefix used for fake links created when exporting spherical joints.

Default: "spherical_fake_" Supported formats: urdf.

std::string iDynTree::ModelExporterOptions::sphericalJointRevoluteJointPrefix

Prefix used for revolute joints created when exporting spherical joints.

Default: "spherical_rev_" Supported formats: urdf.