How to use

getGeneralizedSDFRobotModel

method

in

us.ihmc.modelFileLoaders.SdfLoader.JaxbSDFLoader

public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName)
{
 removeVisualFromWorld(modelName);
 return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName);
}

public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName)
{
 removeVisualFromWorld(modelName);
 return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName);
}

private static GeneralizedSDFRobotModel loadSDFFile(String modelName, InputStream inputStream, List<String> resourceDirectories,
                          SDFDescriptionMutator mutator)
{
 GeneralizedSDFRobotModel generalizedSDFRobotModel = null;
 try
 {
   JaxbSDFLoader loader = new JaxbSDFLoader(inputStream, resourceDirectories, mutator);
   generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(modelName);
   //         resourceDirectories = generalizedSDFRobotModel.getResourceDirectories();
 }
 catch (FileNotFoundException | JAXBException e)
 {
   throw new RuntimeException("Cannot load model", e);
 }
 return generalizedSDFRobotModel;
}

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 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 GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

private GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

public GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

private GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName)
{
 GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName);
 SDFLinkHolder rootLink = model.getRootLinks().get(0);
 recursivelyAddLinks(rootLink.getName(), rootLink);
}

public SDFCollisionBoxProvider(JaxbSDFLoader loader, String modelName)
{
 GeneralizedSDFRobotModel model = loader.getGeneralizedSDFRobotModel(modelName);
 SDFLinkHolder rootLink = model.getRootLinks().get(0);
 recursivelyAddLinks(rootLink.getName(), rootLink);
}

@Override
public RobotDescription createRobot()
{
 boolean useCollisionMeshes = false;
 GeneralizedSDFRobotModel generalizedSDFRobotModel = createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);
 RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader();
 RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, null, useCollisionMeshes);
 return description;
}

@Override
public RobotDescription createRobot()
{
 boolean useCollisionMeshes = false;
 GeneralizedSDFRobotModel generalizedSDFRobotModel = createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);
 RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader();
 RobotDescription description = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, null, useCollisionMeshes);
 return description;
}

generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);

public LLAQuadrupedModelFactory()
{
 jointMap = new LLAQuadrupedJointNameMap(new LLAQuadrupedPhysicalProperties());
 try
 {
   InputStream sdfAsInputStream = sdfParameters.getSdfAsInputStream();
   loader = new JaxbSDFLoader(sdfAsInputStream, sdfParameters.getResourceDirectories(), null);
   generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(sdfParameters.getSdfModelName());
 }
 catch (FileNotFoundException fileNotFoundException)
 {
   PrintTools.error(this, FileNotFoundException.class.getSimpleName() + ": " + fileNotFoundException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 catch (JAXBException jaxbException)
 {
   PrintTools.error(this, JAXBException.class.getSimpleName() + ": " + jaxbException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 boolean useCollisionMeshes = false;
 GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel();
 RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader();
 robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, useCollisionMeshes);
}

public LLAQuadrupedModelFactory()
{
 jointMapAndContactInfo = new LLAQuadrupedJointNameMapAndContactDefinition(new LLAQuadrupedPhysicalProperties());
 try
 {
   InputStream sdfAsInputStream = sdfParameters.getSdfAsInputStream();
   loader = new JaxbSDFLoader(sdfAsInputStream, sdfParameters.getResourceDirectories(), null);
   generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(sdfParameters.getSdfModelName());
 }
 catch (FileNotFoundException fileNotFoundException)
 {
   PrintTools.error(this, FileNotFoundException.class.getSimpleName() + ": " + fileNotFoundException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 catch (JAXBException jaxbException)
 {
   PrintTools.error(this, JAXBException.class.getSimpleName() + ": " + jaxbException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 boolean useCollisionMeshes = false;
 GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel();
 RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader();
 robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMapAndContactInfo, jointMapAndContactInfo, useCollisionMeshes);
}

generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);

generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);

generalizedSDFRobotModel = loader.createJaxbSDFLoader().getGeneralizedSDFRobotModel(modelName);