Template Function pinocchio::urdf::buildModel(const std::string&, const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel&, ModelTpl<Scalar, Options, JointCollectionTpl>&, const bool)

• Defined in File model.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
ModelTpl<Scalar, Options, JointCollectionTpl> &pinocchio::urdf::buildModel(const std::string &filename, const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel &rootJoint, ModelTpl<Scalar, Options, JointCollectionTpl> &model, const bool verbose = false)

Build the model from a URDF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters:

• filename – [in] The URDF complete file path.

• rootJoint – [in] The joint at the root of the model tree.

• verbose – [in] Print parsing info.

• model – [out] Reference model where to put the parsed information.

Returns:

Return the reference on argument model for convenience.