src/parsers/srdf.hpp
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1 //
2 // Copyright (c) 2016-2020 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_parser_srdf_hpp__
6 #define __pinocchio_parser_srdf_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/geometry.hpp"
10 
11 namespace pinocchio
12 {
13  namespace srdf
14  {
15 
25  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
26  void removeCollisionPairs(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
27  GeometryModel & geom_model,
28  const std::string & filename,
29  const bool verbose = false);
30 
39  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
40  void removeCollisionPairsFromXML(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
41  GeometryModel & geom_model,
42  const std::string & xmlString,
43  const bool verbose = false);
44 
54  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
55  void
56  loadReferenceConfigurations(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
57  const std::string & filename,
58  const bool verbose = false);
59 
69  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
70  void
71  loadReferenceConfigurationsFromXML(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
72  std::istream & xmlStream,
73  const bool verbose = false);
74 
85  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
86  bool loadRotorParameters(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
87  const std::string & filename,
88  const bool verbose = false);
89 
90  }
91 } // namespace pinocchio
92 
93 #include "pinocchio/parsers/srdf.hxx"
94 
95 #endif // ifndef __pinocchio_parser_srdf_hpp__
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 fi...
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 incor...
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.
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 incor...
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 fi...
Main pinocchio namespace.
Definition: timings.cpp:28
JointCollectionTpl & model


pinocchio
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autogenerated on Fri Jun 23 2023 02:38:32