iDynTree::ModelParserOptions struct
#include <iDynTree/ModelLoader.h>

Options for the iDynTree parser.

Constructors, destructors, conversion operators

ModelParserOptions()
Default options.

Public variables

bool addSensorFramesAsAdditionalFrames
If true, add to the model the sensor frames as additional frames with the same name of the sensor.
std::string originalFilename
Original filename of the URDF sensor parsed.

Function documentation

iDynTree::ModelParserOptions::ModelParserOptions()

Default options.

  • addSensorFramesAsAdditionalFrames = True
  • originalFilename = empty string

Variable documentation

bool iDynTree::ModelParserOptions::addSensorFramesAsAdditionalFrames

If true, add to the model the sensor frames as additional frames with the same name of the sensor.

If there is already a link or additional frame with the same name of the sensor, a warning is printed and no frame is added.

std::string iDynTree::ModelParserOptions::originalFilename

Original filename of the URDF sensor parsed.

This attribute is the original filename of the URDF sensor parsed. It is useful when loading a model from a string, if that URDF string has <geometry> tags that point to external meshes. To find the location of this external meshes, we need also the original filename of the URDF file.