SRDF parsing. More...
Functions | |
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
void | loadReferenceConfigurations (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false) |
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations). More... | |
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
void | loadReferenceConfigurationsFromXML (ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::istream &xmlStream, const bool verbose=false) |
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations). More... | |
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
bool | loadRotorParameters (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false) |
Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. More... | |
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
void | removeCollisionPairs (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &filename, const bool verbose=false) |
Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect. More... | |
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl> | |
void | removeCollisionPairsFromXML (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &xmlString, const bool verbose=false) |
Deactive all possible collision pairs mentioned in the SRDF file. More... | |
SRDF parsing.
void pinocchio::srdf::loadReferenceConfigurations | ( | ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
const std::string & | filename, | ||
const bool | verbose = false |
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) |
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).
[in] | model | The Model for which we want the reference configs. |
[in] | filename | The complete path to the SRDF file. |
[in] | verbose | Verbosity mode. |
void pinocchio::srdf::loadReferenceConfigurationsFromXML | ( | ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
std::istream & | xmlStream, | ||
const bool | verbose = false |
||
) |
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).
[in] | model | The Model for which we want the reference configs. |
[in] | xmlStream | a stream containing the content of a SRDF. |
[in] | verbose | Verbosity mode. |
bool pinocchio::srdf::loadRotorParameters | ( | ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
const std::string & | filename, | ||
const bool | verbose = false |
||
) |
Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incorrect.
[in] | model | The Model for which we want the rotor parmeters |
[in] | filename | The complete path to the SRDF file. |
[in] | verbose | Verbosity mode. |
void pinocchio::srdf::removeCollisionPairs | ( | const ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
GeometryModel & | geom_model, | ||
const std::string & | filename, | ||
const bool | verbose = false |
||
) |
Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect.
[in] | model | Model of the kinematic tree. |
[in] | geom_model | Model of the geometries. |
[in] | filename | The complete path to the SRDF file. |
[in] | verbose | Verbosity mode (print removed collision pairs and undefined link inside the model). |
void pinocchio::srdf::removeCollisionPairsFromXML | ( | const ModelTpl< Scalar, Options, JointCollectionTpl > & | model, |
GeometryModel & | geom_model, | ||
const std::string & | xmlString, | ||
const bool | verbose = false |
||
) |
Deactive all possible collision pairs mentioned in the SRDF file.
[in] | model | Model of the kinematic tree. |
[in] | geom_model | Model of the geometries. |
[in] | xmlString | constaining the XML SRDF string. |
[in] | verbose | Verbosity mode (print removed collision pairs and undefined link inside the model). |