raisim::urdf::LoadFromURDF2

class · #include <raisim/object/ArticulatedSystem/loaders.hpp>

Internal: URDF parser that fills an ArticulatedSystem. Users should use the ArticulatedSystem/World API instead.

Constructors & destructor

LoadFromURDF2

LoadFromURDF2(
    ArticulatedSystem &system,
    const std::string &filePath,
    std::vector<std::string> jointOrder,
    bool isItAFilePath,
    const std::string &sourceName=std::string())

Parse a URDF and build the kinematic tree of system.

Parameters

Parameter	Description
system (in, out)	articulated system to fill
filePath (in)	URDF file path or URDF text
jointOrder (in)	preferred joint order (see the ArticulatedSystem URDF constructor)
isItAFilePath (in)	true if filePath is a path
sourceName (in)	for URDF text, the name used in error messages, such as the template file the text was made from ("URDF from a string" if empty)