Classes
class	ModelLoader

Enumerations
enum	LoadType { FILE, MODEL }
	The LoadType enum indicates whether to load directly from a file or from a model that is part of the ED_MODEL_PATH. More...

enum	ModelOrFile { MODEL, MODEL, FILE, FILE }
	The ModelOrFile enum This is used to determine the URI type in SDF. More...

Functions
void	createCylinder (geo::Shape &shape, double radius, double height, int num_corners=12)
	createCylinder create a mesh from radius and height More...

void	createPolygon (geo::Shape &shape, const std::vector< geo::Vec2 > &points, double height, std::stringstream &error, bool create_bottom=true)
	createPolygon create polygon mesh from points More...

void	createSphere (geo::Shape &shape, double radius, uint recursion_level=2)
	createSphere Create a shape of sphere More...

void	findContours (const cv::Mat &image, const geo::Vec2i &p_start, int d_start, std::vector< geo::Vec2i > &points, std::vector< geo::Vec2i > &line_starts, cv::Mat &contour_map)
	findContours More...

geo::ShapePtr	getHeightMapShape (const std::string &image_filename, const geo::Vec3 &pos, const double blockheight, const double resolution_x, const double resolution_y, const bool inverted, std::stringstream &error)
	getHeightMapShape convert grayscale image in a heigtmap mesh More...

geo::ShapePtr	getHeightMapShape (const std::string &image_filename, const geo::Vec3 &pos, const geo::Vec3 &size, const bool inverted, std::stringstream &error)
	getHeightMapShape convert grayscale image in a heigtmap mesh More...

geo::ShapePtr	getHeightMapShape (const std::string &image_filename, tue::config::Reader cfg, std::stringstream &error)
	getHeightMapShape convert grayscale image in a heigtmap mesh More...

geo::ShapePtr	getHeightMapShape (cv::Mat &image_orig, const geo::Vec3 &pos, const geo::Vec3 &size, const bool inverted, std::stringstream &error)
	getHeightMapShape convert grayscale image in a heigtmap mesh More...

uint	getMiddlePoint (geo::Mesh &mesh, uint i1, uint i2, std::map< unsigned long, uint > cache, double radius)
	getMiddlePoint Gets the middle point of two points in a mesh of a sphere. Uses a cache to not create double points. The new point is placed on the radius of the sphere. More...

static std::string	getUriPath (std::string type)
	getUriPath searches GAZEBO_MODEL_PATH and GAZEBO_RESOURCH_PATH for file More...

bool	loadModel (const LoadType load_type, const std::string &source, ed::UpdateRequest &req)
	loadModel loads an ED model from file More...

geo::ShapePtr	loadShape (const std::string &model_path, tue::config::Reader cfg, std::map< std::string, geo::ShapePtr > &shape_cache, std::stringstream &error)
	loadShape load the shape of a model. More...

std::string	parseURI (const std::string &uri, ModelOrFile &uri_type)

bool	readPose (tue::config::Reader &cfg, geo::Pose3D &pose, tue::config::RequiredOrOptional pos_req=tue::config::REQUIRED, tue::config::RequiredOrOptional rot_req=tue::config::OPTIONAL)
	readPose read pose into Pose3D. Both ED yaml and SDF. Also reads pos(position) of SDF. More...

bool	readSDFGeometry (tue::config::Reader r, geo::CompositeShapePtr &composite, std::stringstream &error, geo::Pose3D pose_offset=geo::Pose3D::identity())

void	readVec3 (tue::config::Reader &cfg, geo::Vec3 &v, tue::config::RequiredOrOptional pos_req=tue::config::REQUIRED)
	readVec3 read x, y and z into a vector More...

bool	readVec3Group (tue::config::Reader &cfg, geo::Vec3 &v, const std::string &vector_name, tue::config::RequiredOrOptional=tue::config::REQUIRED)
	readVec3Group read a config group into a Vec3 More...

std::vector< std::string >	split (const std::string &strToSplit, char delimeter)
	split Implementation by using delimiter as a character. Multiple delimeters are removed. More...

Enumeration Type Documentation

◆ LoadType

enum ed::models::LoadType

strong

The LoadType enum indicates whether to load directly from a file or from a model that is part of the ED_MODEL_PATH.

Enumerator
FILE
MODEL

Definition at line 148 of file model_loader.h.

◆ ModelOrFile

enum ed::models::ModelOrFile

The ModelOrFile enum This is used to determine the URI type in SDF.

Enumerator
MODEL
MODEL
FILE
FILE

Definition at line 25 of file shape_loader_private.h.

Function Documentation

◆ createCylinder()

void ed::models::createCylinder	(	geo::Shape &	shape,
		double	radius,
		double	height,
		int	num_corners = `12`
	)

createCylinder create a mesh from radius and height

Parameters

shape	filled mesh
radius	radius of the cylinder
height	height of the cylinder
num_corners	divided the circumference in N points and N+1 lines

Definition at line 884 of file shape_loader.cpp.

◆ createPolygon()

void ed::models::createPolygon	(	geo::Shape &	shape,
		const std::vector< geo::Vec2 > &	points,
		double	height,
		std::stringstream &	error,
		bool	create_bottom = `true`
	)

createPolygon create polygon mesh from points

Parameters

shape	filled mesh
points	2D points which define the mesh
height	height of the mesh
error	error stream
create_bottom	false: open bottom; true: closed bottom

Definition at line 451 of file shape_loader.cpp.

◆ createSphere()

void ed::models::createSphere	(	geo::Shape &	shape,
		double	radius,
		uint	recursion_level = `2`
	)

createSphere Create a shape of sphere

Parameters

shape	Shape object to be filled
radius	radius of the sphere
recursion_level	number of recursions to smooth the mesh, but rapidly increases the mesh.

Definition at line 953 of file shape_loader.cpp.

◆ findContours()

void ed::models::findContours	(	const cv::Mat &	image,
		const geo::Vec2i &	p_start,
		int	d_start,
		std::vector< geo::Vec2i > &	points,
		std::vector< geo::Vec2i > &	line_starts,
		cv::Mat &	contour_map
	)

findContours

Parameters

image	Grayscale image
p_start	starting point
d_start	starting direction
points
line_starts
contour_map

Definition at line 143 of file shape_loader.cpp.

◆ getHeightMapShape() [1/4]

geo::ShapePtr ed::models::getHeightMapShape	(	const std::string &	image_filename,
		const geo::Vec3 &	pos,
		const double	blockheight,
		const double	resolution_x,
		const double	resolution_y,
		const bool	inverted,
		std::stringstream &	error
	)

getHeightMapShape convert grayscale image in a heigtmap mesh

Parameters

image_filename	full path of grayscale image
pos	position of the origin of the heigtmap
blockheight	height of the heightmap of max grayscale value
resolution_x	resolution in x direction in meters
resolution_y	resolution in y direction in meters
inverted	false: CV/ROS standard (black = height); true: SDF/GAZEBO (White = height)
errorerrorstream

Returns: final mesh; or empty mesh in case of error

Definition at line 400 of file shape_loader.cpp.

◆ getHeightMapShape() [2/4]

geo::ShapePtr ed::models::getHeightMapShape	(	const std::string &	image_filename,
		const geo::Vec3 &	pos,
		const geo::Vec3 &	size,
		const bool	inverted,
		std::stringstream &	error
	)

getHeightMapShape convert grayscale image in a heigtmap mesh

Parameters

image_filename	full path of grayscale image
pos	position of the origin of the heigtmap
size	dimensions of the final mesh
inverted	false: CV/ROS standard (black = height); true: SDF/GAZEBO (White = height)
errorerrorstream

Returns: final mesh; or empty mesh in case of error

Definition at line 383 of file shape_loader.cpp.

◆ getHeightMapShape() [3/4]

geo::ShapePtr ed::models::getHeightMapShape	(	const std::string &	image_filename,
		tue::config::Reader	cfg,
		std::stringstream &	error
	)

getHeightMapShape convert grayscale image in a heigtmap mesh

Parameters

image_filename	image_filename full path of grayscale image
cfg	reader with model/shape information
error	errorstream

Returns: final mesh; or empty mesh in case of error

Definition at line 428 of file shape_loader.cpp.

◆ getHeightMapShape() [4/4]

geo::ShapePtr ed::models::getHeightMapShape	(	cv::Mat &	image_orig,
		const geo::Vec3 &	pos,
		const geo::Vec3 &	size,
		const bool	inverted,
		std::stringstream &	error
	)

getHeightMapShape convert grayscale image in a heigtmap mesh

Parameters

image_orig	grayscale image
pos	position of the origin of the heigtmap
size	dimensions of the final mesh
inverted	false: CV/ROS standard (black = height); true: SDF/GAZEBO (White = height)
error	errorstream

Returns: final mesh; or empty mesh in case of error

Definition at line 213 of file shape_loader.cpp.

◆ getMiddlePoint()

uint ed::models::getMiddlePoint	(	geo::Mesh &	mesh,
		uint	i1,
		uint	i2,
		std::map< unsigned long, uint >	cache,
		double	radius
	)

getMiddlePoint Gets the middle point of two points in a mesh of a sphere. Uses a cache to not create double points. The new point is placed on the radius of the sphere.

Parameters

mesh	Mesh of the sphere
i1	index of first point
i2	index of second point
cache	cache of the middle points
radius	radius of teh sphere

Returns: index of the inserted point

Definition at line 924 of file shape_loader.cpp.

◆ getUriPath()

static std::string ed::models::getUriPath ( std::string type )

static

getUriPath searches GAZEBO_MODEL_PATH and GAZEBO_RESOURCH_PATH for file

Parameters

type	subpath+filename incl. extension

Returns: full path or empty string in case not found

Definition at line 78 of file shape_loader.cpp.

◆ loadModel()

bool ed::models::loadModel	(	const LoadType	load_type,
		const std::string &	source,
		ed::UpdateRequest &	req
	)

loadModel loads an ED model from file

Parameters

load_type	indicates whether the provided source is a filename or an identifier of a model in the ED_MODEL_PATH
source	source filename or entity type
req	update request that will be filled with the data from the model

Returns: success

Definition at line 21 of file load_model.cpp.

◆ loadShape()

geo::ShapePtr ed::models::loadShape	(	const std::string &	model_path,
		tue::config::Reader	cfg,
		std::map< std::string, geo::ShapePtr > &	shape_cache,
		std::stringstream &	error
	)

loadShape load the shape of a model.

Parameters

model_path	path of the model
cfg	reader
shape_cache	cache for complex models
error	errorstream

Returns: final mesh; or empty mesh in case of error

Definition at line 621 of file shape_loader.cpp.

◆ parseURI()

std::string ed::models::parseURI	(	const std::string &	uri,
		ModelOrFile &	uri_type
	)

Definition at line 48 of file shape_loader.cpp.

◆ readPose()

bool ed::models::readPose	(	tue::config::Reader &	cfg,
		geo::Pose3D &	pose,
		tue::config::RequiredOrOptional	pos_req = `tue::config::REQUIRED`,
		tue::config::RequiredOrOptional	rot_req = `tue::config::OPTIONAL`
	)

readPose read pose into Pose3D. Both ED yaml and SDF. Also reads pos(position) of SDF.

Parameters

cfg	reader
pose	filled Pose3D pose
pos_req	position RequiredOrOptional
rot_req	rotation RequiredOrOptional

Returns: indicates succes

Definition at line 561 of file shape_loader.cpp.

◆ readSDFGeometry()

bool ed::models::readSDFGeometry	(	tue::config::Reader	r,
		geo::CompositeShapePtr &	composite,
		std::stringstream &	error,
		geo::Pose3D	pose_offset = `geo::Pose3D::identity()`
	)

Definition at line 29 of file model_loader.cpp.

◆ readVec3()

void ed::models::readVec3	(	tue::config::Reader &	cfg,
		geo::Vec3 &	v,
		tue::config::RequiredOrOptional	pos_req = `tue::config::REQUIRED`
	)

readVec3 read x, y and z into a vector

Parameters

cfg	reader
v	filled Vec3 vector
pos_req	RequiredOrOptional

Definition at line 521 of file shape_loader.cpp.

◆ readVec3Group()

bool ed::models::readVec3Group	(	tue::config::Reader &	cfg,
		geo::Vec3 &	v,
		const std::string &	vector_name,
		tue::config::RequiredOrOptional	= `tue::config::REQUIRED`
	)

readVec3Group read a config group into a Vec3

Parameters

cfg	reader
v	filled Vec3 vector
vector_name	name of the reader group to be read
pos_req	RequiredOrOptional

Returns: indicates succes

Definition at line 538 of file shape_loader.cpp.

◆ split()

std::vector< std::string > ed::models::split	(	const std::string &	strToSplit,
		char	delimeter
	)

split Implementation by using delimiter as a character. Multiple delimeters are removed.

Parameters

strToSplit	input string, which is splitted
delimeter	char on which the string is split

Returns: vector of sub-strings

Definition at line 33 of file shape_loader.cpp.

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ LoadType

◆ ModelOrFile

Function Documentation

◆ createCylinder()

◆ createPolygon()

◆ createSphere()

◆ findContours()

◆ getHeightMapShape() [1/4]

◆ getHeightMapShape() [2/4]

◆ getHeightMapShape() [3/4]

◆ getHeightMapShape() [4/4]

◆ getMiddlePoint()

◆ getUriPath()

◆ loadModel()

◆ loadShape()

◆ parseURI()

◆ readPose()

◆ readSDFGeometry()

◆ readVec3()

◆ readVec3Group()

◆ split()