src/parsers/srdf.hpp

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//
// Copyright (c) 2016-2020 CNRS INRIA
//

#ifndef __pinocchio_parser_srdf_hpp__
#define __pinocchio_parser_srdf_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"

namespace pinocchio
{
  namespace srdf
  {
    
    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);
    
    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);
    
    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);

    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
    void
    loadReferenceConfigurationsFromXML(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                       std::istream & xmlStream,
                                       const bool verbose = false);
      
    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);
    
  }
} // namespace pinocchio

#include "pinocchio/parsers/srdf.hxx"

#endif // ifndef __pinocchio_parser_srdf_hpp__