public SDFModelVisual loadDRCVehicle(boolean loadCollisionModel) { ArrayList<String> resourceDirectories = new ArrayList<String>(); resourceDirectories.add("models/"); resourceDirectories.add("models/gazebo/"); InputStream inputStream = DRCVehicleSDFLoader.class.getClassLoader().getResourceAsStream("models/polaris_ranger_xp900_no_roll_cage/model.sdf"); try { JaxbSDFLoader jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); GeneralizedSDFRobotModel generalizedSDFRobotModel = jaxbSDFLoader.getGeneralizedSDFRobotModel("polaris_ranger_xp900"); return new SDFModelVisual(generalizedSDFRobotModel, loadCollisionModel); } catch (FileNotFoundException e) { throw new RuntimeException(e); } catch (JAXBException e) { throw new RuntimeException(e); } }
getGraphics3DInstructions().addAll(sdfGraphics3DObject.getGraphics3DInstructions()); recursivelyAddLinks(joint.getChildLinkHolder(), modelTransform, useCollisionMeshes);
public SDFModelVisual(GeneralizedSDFRobotModel generalizedSDFRobotModel, boolean useCollisionMeshes) { resourceDirectories = generalizedSDFRobotModel.getResourceDirectories(); ArrayList<SDFLinkHolder> rootLinks = generalizedSDFRobotModel.getRootLinks(); RigidBodyTransform modelTransform = generalizedSDFRobotModel.getTransformToRoot(); for(SDFLinkHolder link : rootLinks) { recursivelyAddLinks(link, modelTransform, useCollisionMeshes); } }
public SDFModelVisual loadDRCVehicle(boolean loadCollisionModel) { ArrayList<String> resourceDirectories = new ArrayList<String>(); resourceDirectories.add("models/"); resourceDirectories.add("models/gazebo/"); InputStream inputStream = DRCVehicleSDFLoader.class.getClassLoader().getResourceAsStream("models/polaris_ranger_xp900_no_roll_cage/model.sdf"); try { JaxbSDFLoader jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); GeneralizedSDFRobotModel generalizedSDFRobotModel = jaxbSDFLoader.getGeneralizedSDFRobotModel("polaris_ranger_xp900"); return new SDFModelVisual(generalizedSDFRobotModel, loadCollisionModel); } catch (FileNotFoundException e) { throw new RuntimeException(e); } catch (JAXBException e) { throw new RuntimeException(e); } }
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }