mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
42 lines
1.7 KiB
C++
42 lines
1.7 KiB
C++
#ifndef URDF_IMPORTER_INTERFACE_H
|
|
#define URDF_IMPORTER_INTERFACE_H
|
|
|
|
#include <string>
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "LinearMath/btTransform.h"
|
|
#include "URDFJointTypes.h"
|
|
|
|
class URDFImporterInterface
|
|
{
|
|
|
|
public:
|
|
|
|
|
|
virtual ~URDFImporterInterface() {}
|
|
|
|
|
|
///return >=0 for the root link index, -1 if there is no root link
|
|
virtual int getRootLinkIndex() const = 0;
|
|
|
|
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
|
|
virtual std::string getLinkName(int linkIndex) const =0;
|
|
|
|
virtual std::string getJointName(int linkIndex) const = 0;
|
|
|
|
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
|
|
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
|
|
|
|
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
|
|
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;
|
|
|
|
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const =0;
|
|
|
|
///quick hack: need to rethink the API/dependencies of this
|
|
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;
|
|
|
|
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
|
|
};
|
|
|
|
#endif //URDF_IMPORTER_INTERFACE_H
|
|
|