Template Function pinocchio::urdf::buildModel(const boost::shared_ptr<::urdf::ModelInterface>, 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 boost::shared_ptr<::urdf::ModelInterface> urdfTree, const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel &rootJoint, ModelTpl<Scalar, Options, JointCollectionTpl> &model, const bool verbose = false)

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

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

Parameters:

• urdfTree – [in] the tree build from the URDF

• 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.