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.
bool convertThreeRevoluteJointsToSphericalJoint
If true, three consecutive revolute joints with zero-mass intermediate links and orthogonal axes intersecting at a point are converted to a single spherical joint.
double sphericalJointZeroMassTolerance
Tolerance for checking if intermediate links have zero mass when converting three revolute joints to spherical joints.
double sphericalJointOrthogonalityTolerance
Tolerance for checking if revolute joint axes are orthogonal when converting three revolute joints to spherical joints.
double sphericalJointIntersectionTolerance
Tolerance for checking if revolute joint axes intersect at a point when converting three revolute joints to spherical joints.

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.

bool iDynTree::ModelParserOptions::convertThreeRevoluteJointsToSphericalJoint

If true, three consecutive revolute joints with zero-mass intermediate links and orthogonal axes intersecting at a point are converted to a single spherical joint.

Default: true

double iDynTree::ModelParserOptions::sphericalJointZeroMassTolerance

Tolerance for checking if intermediate links have zero mass when converting three revolute joints to spherical joints.

Default: 1e-6

double iDynTree::ModelParserOptions::sphericalJointOrthogonalityTolerance

Tolerance for checking if revolute joint axes are orthogonal when converting three revolute joints to spherical joints.

Default: 1e-6

double iDynTree::ModelParserOptions::sphericalJointIntersectionTolerance

Tolerance for checking if revolute joint axes intersect at a point when converting three revolute joints to spherical joints.

Default: 1e-6