urdf-loader - npm Package Compare versions

Comparing version 0.7.1 to 0.7.2

package.json

 {
   "name": "urdf-loader",
-  "version": "0.7.1",
+  "version": "0.7.2",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -41,3 +41,3 @@ "main": "umd/URDFLoader.js",
   "peerDependencies": {
-    "three": "^0.105.0"
+    "three": ">=0.105.0"
   },
@@ -52,3 +52,3 @@ "devDependencies": {
     "opn-cli": "^3.1.0",
-    "puppeteer": "^1.7.0",
+    "puppeteer": "^1.19.0",
     "puppeteer-to-istanbul": "^1.2.2",
@@ -55,0 +55,0 @@ "rollup": "^0.66.6",

README.md

@@ -13,57 +13,34 @@ # javascript urdf-loader
 
-## Use
-```html
-<script src=".../URDFLoader.js"></script>
-<script>
-  const manager = new THREE.LoadingManager();
-  const loader = new URDFLoader(manager);
-  loader.load(
-    'T12/urdf/T12.URDF',                    // The path to the URDF within the package OR absolute
-    robot => { },                           // The robot is loaded!
-    {
-        packages:     {
-            packageName : '.../package/dir/'            // The equivalent of a (list of) ROS package(s):// directory
-        },
-        loadMeshCb: (path, manager, done) => { },       // Callback for each mesh for custom mesh processing and loading code
-    }
-   );
-</script>
+# Use
+```js
+import { LoadingManager } from 'three';
+import URDFLoader from 'urdf-loader';
+
+const manager = new LoadingManager();
+const loader = new URDFLoader(manager);
+loader.load(
+  'T12/urdf/T12.URDF',                    // The path to the URDF within the package OR absolute
+  robot => { },                           // The robot is loaded!
+  {
+    packages:     {
+      packageName : '.../package/dir/'            // The equivalent of a (list of) ROS package(s):// directory
+    },
+    loadMeshCb: (path, manager, done) => { },       // Callback for each mesh for custom mesh processing and loading code
+  }
+);
 ```
 
-### Limitations
+## Limitations
 - Only `prismatic`, `continuous`, `revolute`, and `fixed` joints are supported.
 
-## URDFLoader API
-### constructor(manager)
+# API
 
-Constructor
+## URDFOptions
 
-#### manager : THREE.LoadingManager
+### .packages
 
-THREE.LoadingManager. Used for transforming load URLs.
+```js
+packages = '' : String | Object
+```
 
-### load(urdfpath, onComplete, options)
-
-Loads and builds the specified URDF robot in THREE.js
-
-#### urdfpath : String
-
-_required_
-
-The path to the URDF file relative to the specified package directory.
-
-#### onComplete(robot) : Function
-
-_required_
-
-Callback that is called once the urdf robots have been loaded. The loaded robot is passed to the function.
-
-See `URDFRobot` documentation.
-
-#### options : Object
-
-_optional_
-
-##### options.packages : String | Object
-
 The path representing the `package://` directory(s) to load `package://` relative files.
@@ -82,4 +59,13 @@
 
-##### options.loadMeshCb(pathToModel, manager, onComplete) : Function
+### .loadMeshCb
 
+```js
+loadMeshCb = null :
+    (
+        pathToModel : string,
+        manager : LoadingManager,
+        onComplete : ( obj : Object3D ) => void
+     ) => void
+```
+
 An optional function that can be used to override the default mesh loading functionality. The default loader is specified at `URDFLoader.defaultMeshLoader`.
@@ -93,8 +79,16 @@
 
-##### options.fetchOptions : Object
+### .fetchOptions
 
+```js
+fetchOptions : Object
+```
+
 An optional object with the set of options to pass to the `fetch` function call used to load the URDF file.
 
-##### options.workingPath : String
+### .workingPath
 
+```js
+workingPath : string
+```
+
 The path to load geometry relative to.
@@ -104,90 +98,157 @@
 
-##### options.parseVisual : Boolean
+### .parseVisual
 
+```js
+parseVisual : boolean
+```
+
 An optional value that can be used to enable / disable loading meshes for links from the `visual` nodes. Defaults to true.
 
-##### options.parseCollision : Boolean
+### .parseCollision
 
+```js
+parseCollision : boolean
+```
+
 An optional value that can be used to enable / disable loading meshes for links from the `collision` nodes. Defaults to false.
 
-### parse(urdfContent,  options) : THREE.Object3D
+## URDFLoader
 
-Parses URDF content and returns the robot model.
+### .constructor
 
-#### urdfContent : String
+```js
+constructor( manager : LoadingManager )
+```
 
-_required_
+Constructor. Manager is used for transforming load URLs and tracking downloads.
 
-The xml content of a URDF file.
+### .load
 
-#### onComplete(robot) : Function
+```js
+load(
+    urdfpath : string,
+    onComplete : (robot: URDFRobot) => void,
+    options = null : URDFOptions
+) : void
+```
 
-_optional_
+Loads and builds the specified URDF robot in THREE.js.
 
-Called immediately with the generated robot. This is the same object that is returned from the function.
+Takes a path to load the urdf file from, a func to call when the robot has loaded, and a set of options.
 
-Note that the link geometry will not necessarily have finished being processed when this is called.
+### .parse
 
-See `URDFRobot` documentation.
+```js
+parse( urdfContent : string,  options = null : URDFOptions) : URDFRobot
+```
 
-#### options : Object
+Parses URDF content and returns the robot model. Takes an XML string to parse and a set of options.
 
-See `load`.
+Note that geometry will not necessarily be loaded when the robot is returned.
 
-## URDFJoint : THREE.Object3D
+## URDFJoint
 
+_extends Object3D_
+
 An object representing a robot joint.
 
-#### name : String
+### .name
 
+```js
+name : string
+```
+
 The name of the joint.
 
-#### jointType : String
+### .jointType
 
+```js
+.jointType : string
+```
+
 The type of joint. Can only be the URDF types of joints.
 
-#### limit : Object
+### .limit
 
+```js
+.limit : { lower : number, upper : number }
+```
+
 An object containing the `lower` and `upper` constraints for the joint.
 
-#### axis : THREE.Vector3
+### .axis
 
+```js
+axis : Vector3
+```
+
 The axis described for the joint.
 
-#### angle : Number
+### .angle
 
 _readonly_
 
+```js
+angle : number
+```
+
 The current position or angle for joint.
 
-#### ignoreLimits : Boolean
+### .ignoreLimits
 
+```js
+ignoreLimits : boolean
+```
+
 Whether or not to ignore the joint limits when setting a the joint position.
 
-### setAngle(angle) | setOffset(position)
+### .setAngle, .setOffset
 
-#### angle | position : Number
+```js
+setAngle( angle : number ) : void
+setOffset( position : number ) : void
+```
 
-The position off of the starting position to rotate or move the joint to.
+Takes the position off of the starting position to rotate or move the joint to.
 
-## URDFLink : THREE.Object3D
+## URDFLink
 
-#### name
+_extends Object3D_
 
+### .name
+
+```js
+name : string
+```
+
 The name of the link.
 
-## URDFRobot : URDFLink
+## URDFRobot
 
+_extends [URDFLink](#URDFLink)_
+
 Object that describes the URDF Robot.
 
-#### robotName : String
+### .robotName
 
+```js
+robotName : string
+```
+
 The name of the robot described in the `<robot>` tag.
 
-#### links : Object
+### .links
 
+```js
+links : { [key] : URDFLink }
+```
+
 A dictionary of `linkName : URDFLink` with all links in the robot.
 
-#### joints : Object
+### .joints
 
+```js
+joints : { [key] : URDFJoint }
+```
+
 A dictionary of `jointName : URDFJoint` with all joints in the robot.
@@ -271,4 +332,8 @@
 
-#### angles
+#### .angles
 
+```js
+angles : Object
+```
+
 Sets or gets the angles of the robot as a dictionary of `joint-name` to `radian` pairs.
@@ -278,16 +343,32 @@
 
-#### setAngle(jointName, angle)
+#### setAngle
 
+```js
+setAngle( jointName : string, angle : Number ) : void
+```
+
 Sets the given joint to the provided angle in radians.
 
-#### setAngles(jointDictionary)
+#### .setAngles
 
+```js
+setAngles( jointDictionary : Object ) : void
+```
+
 Sets all joint names specified as keys to radian angle value.
 
-#### redraw()
+#### .redraw
 
+```js
+redraw() : void
+```
+
 Dirty the renderer so the element will redraw next frame.
 
-#### recenter()
+#### .recenter
 
+```js
+recenter() : void
+```
+
 Recenter the camera to the model and redraw.
@@ -313,3 +394,3 @@
 
-## Running the Example
+# Running the Example
 
@@ -328,6 +409,4 @@ Install Node.js and NPM.
 
-Copyright © 2018 California Institute of Technology. ALL RIGHTS
-RESERVED. United States Government Sponsorship Acknowledged. Any
-commercial use must be negotiated with with Office of Technology
-Transfer at the California Institute of Technology. This software may
+Copyright © 2019 California Institute of Technology. ALL RIGHTS
+RESERVED. United States Government Sponsorship Acknowledged. This software may
 be subject to U.S. export control laws. By accepting this software,
@@ -334,0 +413,0 @@ the user agrees to comply with all applicable U.S. export laws and

umd/urdf-viewer-element.js

@@ -0,0 +0,0 @@ (function (global, factory) {

umd/URDFLoader.js

@@ -0,0 +0,0 @@ (function (global, factory) {

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