src/parsers/urdf.hpp
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1 //
2 // Copyright (c) 2015-2021 CNRS INRIA
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_parsers_urdf_hpp__
7 #define __pinocchio_parsers_urdf_hpp__
8 
9 #include "pinocchio/multibody/model.hpp"
10 #include "pinocchio/multibody/geometry.hpp"
11 
12 #ifdef PINOCCHIO_WITH_CXX11_SUPPORT
13 #include <memory>
14 #endif
15 
17 // forward declaration of the unique type from urdfdom which is expose.
18 namespace urdf {
19  class ModelInterface;
20 }
21 
22 namespace hpp
23 {
24  namespace fcl
25  {
26  class MeshLoader;
27  typedef boost::shared_ptr<MeshLoader> MeshLoaderPtr;
28  }
29 }
31 
32 namespace pinocchio
33 {
34  namespace urdf
35  {
36 
47  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
48  ModelTpl<Scalar,Options,JointCollectionTpl> &
49  buildModel(const std::string & filename,
51  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
52  const bool verbose = false);
53 
54 
63  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
64  ModelTpl<Scalar,Options,JointCollectionTpl> &
65  buildModel(const std::string & filename,
66  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
67  const bool verbose = false);
68 
81  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
82  ModelTpl<Scalar,Options,JointCollectionTpl> &
83  buildModel(const boost::shared_ptr< ::urdf::ModelInterface> urdfTree,
85  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
86  const bool verbose = false);
87 
98  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
99  ModelTpl<Scalar,Options,JointCollectionTpl> &
100  buildModel(const boost::shared_ptr< ::urdf::ModelInterface> urdfTree,
101  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
102  const bool verbose = false);
103 
104 #ifdef PINOCCHIO_WITH_CXX11_SUPPORT
105  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
107  ModelTpl<Scalar,Options,JointCollectionTpl> &
108  buildModel(const std::shared_ptr< ::urdf::ModelInterface> urdfTree,
110  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
111  const bool verbose = false);
112 
114  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
115  ModelTpl<Scalar,Options,JointCollectionTpl> &
116  buildModel(const std::shared_ptr< ::urdf::ModelInterface> urdfTree,
117  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
118  const bool verbose = false);
119 #endif
120 
133  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
134  ModelTpl<Scalar,Options,JointCollectionTpl> &
135  buildModelFromXML(const std::string & xml_stream,
137  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
138  const bool verbose = false);
139 
150  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
151  ModelTpl<Scalar,Options,JointCollectionTpl> &
152  buildModelFromXML(const std::string & xml_stream,
153  ModelTpl<Scalar,Options,JointCollectionTpl> & model,
154  const bool verbose = false);
155 
156 
178  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
179  GeometryModel & buildGeom(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
180  const std::string & filename,
181  const GeometryType type,
182  GeometryModel & geom_model,
183  const std::vector<std::string> & package_paths = std::vector<std::string> (),
184  ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr());
185 
206  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
208  const std::string & filename,
209  const GeometryType type,
210  GeometryModel & geom_model,
211  const std::string & package_path,
212  hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr())
213 
214  {
215  const std::vector<std::string> dirs(1,package_path);
216  return buildGeom(model,filename,type,geom_model,dirs,mesh_loader);
217  }
218 
240  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
242  const std::istream & xml_stream,
243  const GeometryType type,
244  GeometryModel & geom_model,
245  const std::vector<std::string> & package_paths = std::vector<std::string> (),
246  hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr());
247 
268  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
270  const std::istream & xml_stream,
271  const GeometryType type,
272  GeometryModel & geom_model,
273  const std::string & package_path,
274  hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr())
275 
276  {
277  const std::vector<std::string> dirs(1,package_path);
278  return buildGeom(model,xml_stream,type,geom_model,dirs,mesh_loader);
279  }
280 
281 
282  } // namespace urdf
283 } // namespace pinocchio
284 
285 #include "pinocchio/parsers/urdf/model.hxx"
286 #include "pinocchio/parsers/urdf/geometry.hxx"
287 
288 #endif // ifndef __pinocchio_parsers_urdf_hpp__
GeometryType
Definition: fcl.hpp:112
ModelTpl< Scalar, Options, JointCollectionTpl > & buildModel(const boost::shared_ptr< ::urdf::ModelInterface > urdfTree, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
Build the model from a URDF model.
ModelTpl< Scalar, Options, JointCollectionTpl > & buildModelFromXML(const std::string &xml_stream, ModelTpl< Scalar, Options, JointCollectionTpl > &model, const bool verbose=false)
Build the model from an XML stream.
GeometryModel & buildGeom(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::istream &xml_stream, const GeometryType type, GeometryModel &geom_model, const std::string &package_path, hpp::fcl::MeshLoaderPtr mesh_loader=hpp::fcl::MeshLoaderPtr())
Build The GeometryModel from a URDF model. Search for meshes in the directories specified by the user...
Definition: types.hpp:29
JointModelTpl< Scalar, Options, JointCollectionTpl > JointModel
Main pinocchio namespace.
Definition: timings.cpp:30


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autogenerated on Tue Jun 1 2021 02:45:05