parsers/mjcf.hpp

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//
// Copyright (c) 2024 INRIA CNRS
//
 
#ifndef __pinocchio_parsers_mjcf_hpp__
#define __pinocchio_parsers_mjcf_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
 
namespace pinocchio
{
  namespace mjcf
  {
 
    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);
 
    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);
 
    // TODO: update description, buildModel with contact model
    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,
      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> & buildModel(
      const std::string & filename,
      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,
      const bool verbose = false);
 
    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);
 
    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> & 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);
 
    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> & 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);
 
    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);
 
    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());
 
  } // namespace mjcf
} // namespace pinocchio
 
#include "pinocchio/parsers/mjcf/model.hxx"
#include "pinocchio/parsers/mjcf/geometry.hxx"
 
#endif // ifndef __pinocchio_parsers_mjcf_hpp__