pinocchio::mjcf Namespace Reference

Namespaces
	details

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
GeometryModel &	buildGeom (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const GeometryType type, GeometryModel &geom_model, ::hpp::fcl::MeshLoaderPtr mesh_loader=::hpp::fcl::MeshLoaderPtr())
	Build The GeometryModel from a Mjcf file. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models, const bool verbose=false)
	Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
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 bool verbose=false)
	Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a MJCF file with a fixed joint as root of the model tree. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModel (const std::string &filename, ModelTpl< Scalar, Options, JointCollectionTpl > &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models, const bool verbose=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, const std::string &rootJointName, ModelTpl< Scalar, Options, JointCollectionTpl > &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models, const bool verbose=false)
	Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &rootJoint, ModelTpl< Scalar, Options, JointCollectionTpl > &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models, const bool verbose)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
	Build the model from a MJCF file with a fixed joint as root of the model tree. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
ModelTpl< Scalar, Options, JointCollectionTpl > &	buildModelFromXML (const std::string &xmlStream, ModelTpl< Scalar, Options, JointCollectionTpl > &model, PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &contact_models, const bool verbose=false)

Function Documentation

buildGeom()

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

GeometryModel& pinocchio::mjcf::buildGeom	(	ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const GeometryType	type,
		GeometryModel &	geom_model,
		::hpp::fcl::MeshLoaderPtr	mesh_loader = ::hpp::fcl::MeshLoaderPtr()
	)

Build The GeometryModel from a Mjcf file.

Parameters

[in]	model	The model of the robot, built with mjcf::buildModel
[in]	filename	The mjcf complete (absolute) file path
[in]	type	The type of objects that must be loaded (must be VISUAL or COLLISION)
[in]	mesh_loader	object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
[out]	geom_model	Reference where to put the parsed information.

Returns

Returns the reference on geom model for convenience.

Warning

If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded

buildModel() [1/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The MJCF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	rootJointName	Name of the rootJoint.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [2/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models,
		const bool	verbose = false
	)

Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The MJCF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	rootJointName	Name of the rootJoint.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [3/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModel	(	const std::string &	filename,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The MJCF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [4/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::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 bool	verbose = false
	)

Build the model from a MJCF file with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	filename	The MJCF complete file path.
[in]	rootJoint	The joint at the root of the model tree.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [5/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModel	(	const std::string &	filename,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a MJCF file with a fixed joint as root of the model tree.

Parameters

[in]	filename	The MJCF complete file path.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModel() [6/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModel	(	const std::string &	filename,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models,
		const bool	verbose = false
	)

buildModelFromXML() [1/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModelFromXML	(	const std::string &	xmlStream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

buildModelFromXML() [2/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModelFromXML	(	const std::string &	xmlStream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		const std::string &	rootJointName,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models,
		const bool	verbose = false
	)

Build the model from an XML stream with a particular joint as root of the model tree inside the model given as reference argument.

Parameters

[in]	xmlStream	xml stream containing MJCF model
[in]	rootJoint	The joint at the root of the model tree.
[in]	rootJointName	Name of the rootJoint.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModelFromXML() [3/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModelFromXML	(	const std::string &	xmlStream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

buildModelFromXML() [4/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModelFromXML	(	const std::string &	xmlStream,
		const typename ModelTpl< Scalar, Options, JointCollectionTpl >::JointModel &	rootJoint,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models,
		const bool	verbose
	)

buildModelFromXML() [5/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModelFromXML	(	const std::string &	xmlStream,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const bool	verbose = false
	)

Build the model from a MJCF file with a fixed joint as root of the model tree.

Parameters

[in]	xmlStream	The xml stream containing the MJCF Model.
[in]	verbose	Print parsing info.
[out]	model	Reference model where to put the parsed information.

Returns

Return the reference on argument model for convenience.

buildModelFromXML() [6/6]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

ModelTpl<Scalar, Options, JointCollectionTpl>& pinocchio::mjcf::buildModelFromXML	(	const std::string &	xmlStream,
		ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) &	contact_models,
		const bool	verbose = false
	)