5 #ifndef __pinocchio_parsers_mjcf_hpp__
6 #define __pinocchio_parsers_mjcf_hpp__
26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
28 const std::string & xmlStream,
30 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
31 const bool verbose =
false);
43 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
44 ModelTpl<Scalar, Options, JointCollectionTpl> &
buildModel(
45 const std::string & filename,
47 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
48 const bool verbose =
false);
58 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
60 const std::string & xmlStream,
61 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
62 const bool verbose =
false);
72 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
73 ModelTpl<Scalar, Options, JointCollectionTpl> &
buildModel(
74 const std::string & filename,
75 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
76 const bool verbose =
false);
96 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
98 ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
99 const std::string & filename,
102 ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr());
107 #include "pinocchio/parsers/mjcf/model.hxx"
108 #include "pinocchio/parsers/mjcf/geometry.hxx"
110 #endif // ifndef __pinocchio_parsers_mjcf_hpp__