raisim::urdf

namespace

Classes

• class LoadFromURDF2 — Internal: URDF parser that fills an ArticulatedSystem. Users should use the ArticulatedSystem/World API instead.
• struct UrdfBody — Internal: URDF visual or collision element parsed by LoadFromURDF2.
• struct UrdfJoint — Internal: URDF joint element parsed by LoadFromURDF2.
• struct UrdfLink — Internal: URDF link parsed by LoadFromURDF2.
• struct UrdfLinkInertial — Internal: URDF inertial element parsed by LoadFromURDF2.
• struct UrdfMaterial — Internal: URDF material (name and color) parsed by LoadFromURDF2.

Functions

charToGeom

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

Shape::Type charToGeom(const std::string &txt)

Parameters

Parameter	Description
txt (in)	URDF geometry name: "box", "mesh", "cylinder", "capsule" or "sphere"

Returns the corresponding shape type, or Shape::NotShape