Program Listing for File sdf.hpp
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//
// Copyright (c) 2020 CNRS
//
#ifndef __pinocchio_parsers_sdf_hpp__
#define __pinocchio_parsers_sdf_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 sdf
{
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
GeometryModel & buildGeom(
const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
const std::string & filename,
const GeometryType type,
GeometryModel & geomModel,
const std::string & rootLinkName = "",
const std::vector<std::string> & packageDirs = std::vector<std::string>(),
::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr());
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
GeometryModel & buildGeom(
const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
const std::string & filename,
const GeometryType type,
GeometryModel & geomModel,
const std::string & packagePath,
::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
{
const std::vector<std::string> dirs(1, packagePath);
return buildGeom(model, contact_models, filename, type, geomModel, dirs, meshLoader);
};
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
GeometryModel & buildGeom(
const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
const std::string & filename,
const GeometryType type,
GeometryModel & geomModel,
const std::string & rootLinkName,
const std::string & packagePath,
::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
{
const std::vector<std::string> dirs(1, packagePath);
return buildGeom(model, filename, type, geomModel, rootLinkName, dirs, meshLoader);
};
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 std::string & rootLinkName = "",
const std::vector<std::string> & parentGuidance = {},
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 std::string & rootLinkName = "",
const std::vector<std::string> & parentGuidance = {},
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,
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
const std::string & rootLinkName = "",
const std::vector<std::string> & parentGuidance = {},
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 std::string & rootLinkName = "",
const std::vector<std::string> & parentGuidance = {},
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 std::string & rootLinkName = "",
const std::vector<std::string> & parentGuidance = {},
const bool verbose = false);
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 std::string & rootLinkName = "",
const std::vector<std::string> & parentGuidance = {},
const bool verbose = false);
} // namespace sdf
} // namespace pinocchio
#include "pinocchio/parsers/sdf/model.hxx"
#include "pinocchio/parsers/sdf/geometry.hxx"
#endif // ifndef __pinocchio_parsers_sdf_hpp__