bullet3/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

#ifndef BULLET_URDF_IMPORTER_H
#define BULLET_URDF_IMPORTER_H 

#include "URDFImporterInterface.h"


class BulletURDFImporter : public URDFImporterInterface
{
    
	struct BulletURDFInternalData* m_data;
    

public:

	BulletURDFImporter(struct GUIHelperInterface* guiHelper);

	virtual ~BulletURDFImporter();

	virtual bool loadURDF(const char* fileName);

	const char* getPathPrefix();

	void printTree(); //for debugging
	
	virtual int getRootLinkIndex() const;
    
    virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;

    virtual std::string getLinkName(int linkIndex) const;
    
    virtual std::string getJointName(int linkIndex) const;
    
    virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;

    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;

	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;

	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;

};


#endif //BULLET_URDF_IMPORTER_H
add alternative URDF parser that doens't use ROS urdf 2015-06-28 21:09:21 +00:00			`#ifndef BULLET_URDF_IMPORTER_H`
			`#define BULLET_URDF_IMPORTER_H`
refactor of URDF importer (work-in-progress) 2015-04-22 23:35:27 +00:00
			`#include "URDFImporterInterface.h"`


add alternative URDF parser that doens't use ROS urdf 2015-06-28 21:09:21 +00:00			`class BulletURDFImporter : public URDFImporterInterface`
refactor of URDF importer (work-in-progress) 2015-04-22 23:35:27 +00:00			`{`

add alternative URDF parser that doens't use ROS urdf 2015-06-28 21:09:21 +00:00			`struct BulletURDFInternalData* m_data;`
refactor of URDF importer (work-in-progress) 2015-04-22 23:35:27 +00:00

			`public:`

add alternative URDF parser that doens't use ROS urdf 2015-06-28 21:09:21 +00:00			`BulletURDFImporter(struct GUIHelperInterface* guiHelper);`
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only 2015-04-23 22:41:17 +00:00
add alternative URDF parser that doens't use ROS urdf 2015-06-28 21:09:21 +00:00			`virtual ~BulletURDFImporter();`
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only 2015-04-23 22:41:17 +00:00
			`virtual bool loadURDF(const char* fileName);`

			`const char* getPathPrefix();`

			`void printTree(); //for debugging`
refactor of URDF importer (work-in-progress) 2015-04-22 23:35:27 +00:00
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only 2015-04-23 22:41:17 +00:00			`virtual int getRootLinkIndex() const;`
refactor of URDF importer (work-in-progress) 2015-04-22 23:35:27 +00:00
			`virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;`

			`virtual std::string getLinkName(int linkIndex) const;`

			`virtual std::string getJointName(int linkIndex) const;`

			`virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;`

			`virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;`

added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only 2015-04-23 22:41:17 +00:00			`virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;`
refactor of URDF importer (work-in-progress) 2015-04-22 23:35:27 +00:00
			`virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;`

			`};`


add alternative URDF parser that doens't use ROS urdf 2015-06-28 21:09:21 +00:00			`#endif //BULLET_URDF_IMPORTER_H`