5 #ifdef PINOCCHIO_WITH_SDFORMAT
10 #include <boost/python.hpp>
11 #include <boost/python/tuple.hpp>
20 #ifdef PINOCCHIO_WITH_SDFORMAT
21 bp::tuple buildModelFromSdf(
22 const std::string & filename,
23 const std::string & root_link_name,
24 const std::vector<std::string> & parent_guidance)
33 bp::tuple buildModelFromSdf(
34 const std::string & filename,
36 const std::string & root_link_name,
37 const std::vector<std::string> & parent_guidance)
46 bp::tuple buildModelFromSdf(
47 const std::string & filename,
49 const std::string & root_link_name,
50 const std::string & root_joint_name,
51 const std::vector<std::string> & parent_guidance)
64 #ifdef PINOCCHIO_WITH_SDFORMAT
67 static_cast<bp::tuple (*)(
68 const std::string &,
const std::string &,
const std::vector<std::string> &)
>(
69 pinocchio::python::buildModelFromSdf),
70 (bp::arg(
"sdf_filename"), bp::arg(
"root_link_name"),
71 bp::arg(
"parent_guidance") = bp::list()),
72 "Parse the SDF file given in input and return a pinocchio Model and constraint models.");
76 static_cast<bp::tuple (*)(
77 const std::string &,
const JointModel &,
const std::string &,
78 const std::vector<std::string> &)
>(pinocchio::python::buildModelFromSdf),
79 (bp::arg(
"sdf_filename"), bp::arg(
"root_joint"), bp::arg(
"root_link_name"),
80 bp::arg(
"parent_guidance") = bp::list()),
81 "Parse the SDF file given in input and return a pinocchio Model and constraint "
82 "models starting with the given root joint.");
86 static_cast<bp::tuple (*)(
87 const std::string &,
const JointModel &,
const std::string &,
const std::string &,
88 const std::vector<std::string> &)
>(pinocchio::python::buildModelFromSdf),
89 (bp::arg(
"sdf_filename"), bp::arg(
"root_joint"), bp::arg(
"root_link_name"),
90 bp::arg(
"root_joint_name"), bp::arg(
"parent_guidance") = bp::list()),
91 "Parse the SDF file given in input and return a pinocchio Model and constraint "
92 "models starting with the given root joint and its specified name.");