Template Function pinocchio::srdf::loadReferenceConfigurationsFromXML

• Defined in File srdf.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
void pinocchio::srdf::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 file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).

Parameters:

• model – [in] The Model for which we want the reference configs.

• xmlStream – [in] a stream containing the content of a SRDF.

• verbose – [in] Verbosity mode.