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8 #include <boost/python.hpp>
18 Model &
model,
const std::string & xmlStream,
const bool verbose =
false)
20 std::istringstream iss(xmlStream);
28 "removeCollisionPairs",
29 static_cast<void (*)(
const Model &,
GeometryModel &,
const std::string &,
const bool)
>(
31 (bp::arg(
"model"), bp::arg(
"geom_model"), bp::arg(
"srdf_filename"),
32 bp::arg(
"verbose") =
false),
33 "Parse an SRDF file in order to remove some collision pairs for a specific GeometryModel.\n"
36 "\tmodel: model of the robot\n"
37 "\tgeom_model: geometry model of the robot\n"
38 "\tsrdf_filename: path to the SRDF file containing the collision pairs to remove\n"
39 "\tverbose: [optional] display to the current terminal some internal information");
42 "removeCollisionPairsFromXML",
43 static_cast<void (*)(
const Model &,
GeometryModel &,
const std::string &,
const bool)
>(
45 (bp::arg(
"model"), bp::arg(
"geom_model"), bp::arg(
"srdf_xml_stream"),
46 bp::arg(
"verbose") =
false),
47 "Parse an SRDF file in order to remove some collision pairs for a specific GeometryModel.\n"
50 "\tmodel: model of the robot\n"
51 "\tgeom_model: geometry model of the robot\n"
52 "\tsrdf_xml_stream: XML stream containing the SRDF information with the collision pairs to "
54 "\tverbose: [optional] display to the current terminal some internal information");
57 "loadReferenceConfigurations",
58 static_cast<void (*)(
Model &,
const std::string &,
const bool)
>(
60 (bp::arg(
"model"), bp::arg(
"srdf_filename"), bp::arg(
"verbose") =
false),
61 "Retrieve all the reference configurations of a given model from the SRDF file.\n"
63 "\tmodel: model of the robot\n"
64 "\tsrdf_filename: path to the SRDF file containing the reference configurations\n"
65 "\tverbose: [optional] display to the current terminal some internal information");
68 "loadReferenceConfigurationsFromXML",
69 static_cast<void (*)(
Model &,
const std::string &,
const bool)
>(
71 (bp::arg(
"model"), bp::arg(
"srdf_xml_stream"), bp::arg(
"verbose") =
false),
72 "Retrieve all the reference configurations of a given model from the SRDF file.\n"
74 "\tmodel: model of the robot\n"
75 "\tsrdf_xml_stream: XML stream containing the SRDF information with the reference "
77 "\tverbose: [optional] display to the current terminal some internal information");
80 "loadRotorParameters",
82 (bp::arg(
"model"), bp::arg(
"srdf_filename"), bp::arg(
"verbose") =
false),
83 "Load the rotor parameters of a given model from a SRDF file.\n"
84 "Results are stored in model.rotorInertia and model.rotorGearRatio."
85 "This function also fills the armature of the model."
87 "\tmodel: model of the robot\n"
88 "\tsrdf_filename: path to the SRDF file containing the rotor parameters\n"
89 "\tverbose: [optional] display to the current terminal some internal information");
void removeCollisionPairsFromXML(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &xmlString, const bool verbose=false)
Deactive all possible collision pairs mentioned in the SRDF file.
void loadReferenceConfigurationsFromXML(Model &model, const std::string &xmlStream, const bool verbose=false)
bool loadRotorParameters(ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incor...
void loadReferenceConfigurations(ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF fi...
void loadReferenceConfigurationsFromXML(ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::istream &xmlStream, const bool verbose=false)
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF fi...
JointCollectionTpl & model
Main pinocchio namespace.
void removeCollisionPairs(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &filename, const bool verbose=false)
Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incor...
pinocchio
Author(s):
autogenerated on Thu Jun 13 2024 02:40:52