urdf

Documentation

Overview

Package urdf provides functions which enable *.urdf files to be used within RDK

Index

• Constants
• func ParseModelXMLFile(filename, modelName string) (referenceframe.Model, error)
• func UnmarshalModelXML(xmlData []byte, modelName string) (*referenceframe.ModelConfig, error)
• type ModelConfig
  • func NewModelFromWorldState(ws *referenceframe.WorldState, name string) (*ModelConfig, error)

Constants

const Extension string = "urdf"

Extension is the file extension associated with URDF files.

Functions

func ParseModelXMLFile

func ParseModelXMLFile(filename, modelName string) (referenceframe.Model, error)

ParseModelXMLFile will read a given file and parse the contained URDF XML data into an equivalent Model.

func UnmarshalModelXML

func UnmarshalModelXML(xmlData []byte, modelName string) (*referenceframe.ModelConfig, error)

UnmarshalModelXML will transfer the given URDF XML data into an equivalent ModelConfig. Direct unmarshaling in the same fashion as ModelJSON is not possible, as URDF data will need to be evaluated to accommodate differences between the two kinematics encoding schemes.

Types

type ModelConfig

type ModelConfig struct {
	XMLName xml.Name `xml:"robot"`
	Name    string   `xml:"name,attr"`
	Links   []link   `xml:"link"`
	Joints  []joint  `xml:"joint"`
}

ModelConfig represents all supported fields in a Universal Robot Description Format (URDF) file.

func NewModelFromWorldState

func NewModelFromWorldState(ws *referenceframe.WorldState, name string) (*ModelConfig, error)

NewModelFromWorldState creates a urdf.Config struct which can be marshalled into xml and will be a valid .urdf file representing the geometries in the given worldstate.