5 #ifndef __pinocchio_parsers_sdf_hpp__
6 #define __pinocchio_parsers_sdf_hpp__
43 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
49 const std::string & rootLinkName =
"",
50 const std::vector<std::string> & packageDirs = std::vector<std::string>(),
51 ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr());
76 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
80 const std::string & filename,
83 const std::string & packagePath,
84 ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
86 const std::vector<std::string> dirs(1, packagePath);
114 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
117 const std::string & filename,
120 const std::string & rootLinkName,
121 const std::string & packagePath,
122 ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
124 const std::vector<std::string> dirs(1, packagePath);
140 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
142 const std::string & xmlStream,
146 const std::string & rootLinkName =
"",
147 const std::vector<std::string> & parentGuidance = {},
162 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
163 ModelTpl<Scalar, Options, JointCollectionTpl> &
buildModel(
164 const std::string & filename,
166 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
168 const std::string & rootLinkName =
"",
169 const std::vector<std::string> & parentGuidance = {},
180 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
182 const std::string & xmlStream,
183 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
185 const std::string & rootLinkName =
"",
186 const std::vector<std::string> & parentGuidance = {},
197 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
198 ModelTpl<Scalar, Options, JointCollectionTpl> &
buildModel(
199 const std::string & filename,
200 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
202 const std::string & rootLinkName =
"",
203 const std::vector<std::string> & parentGuidance = {},
209 #include "pinocchio/parsers/sdf/model.hxx"
210 #include "pinocchio/parsers/sdf/geometry.hxx"
212 #endif // ifndef __pinocchio_parsers_sdf_hpp__