ModelTpl< Scalar, Options, JointCollectionTpl > & buildModel(const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models, const std::string &rootLinkName="", const std::vector< std::string > &parentGuidance={}, const bool verbose=false)
Build the model from a SDF file with a particular joint as root of the model tree inside the model gi...
ModelTpl< context::Scalar, context::Options > Model