multibody/sample-models.hpp

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//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
 
#ifndef __pinocchio_multibody_sample_models_hpp__
#define __pinocchio_multibody_sample_models_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
 
namespace pinocchio
{
  namespace buildModels
  {
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void
    manipulator(ModelTpl<Scalar, Options, JointCollectionTpl> & model, const bool mimic = false);
 
#ifdef PINOCCHIO_WITH_HPP_FCL
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void manipulatorGeometries(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model, GeometryModel & geom);
#endif
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void humanoid(ModelTpl<Scalar, Options, JointCollectionTpl> & model, bool usingFF = true);
 
#ifdef PINOCCHIO_WITH_HPP_FCL
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void humanoidGeometries(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model, GeometryModel & geom);
#endif
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void humanoidRandom(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      bool usingFF = true,
      bool mimic = false);
 
  } // namespace buildModels
} // namespace pinocchio
 
#include "pinocchio/multibody/sample-models.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/multibody/sample-models.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_multibody_sample_models_hpp__