Program Listing for File srdf.hpp

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//
// Copyright (c) 2016-2020 CNRS INRIA
//

#ifndef __pinocchio_parser_srdf_hpp__
#define __pinocchio_parser_srdf_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"

namespace pinocchio
{
  namespace srdf
  {

    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void removeCollisionPairs(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      GeometryModel & geom_model,
      const std::string & filename,
      const bool verbose = false);

    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void removeCollisionPairsFromXML(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      GeometryModel & geom_model,
      const std::string & xmlString,
      const bool verbose = false);

    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void loadReferenceConfigurations(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const bool verbose = false);

    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void loadReferenceConfigurationsFromXML(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      std::istream & xmlStream,
      const bool verbose = false);

    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    bool loadRotorParameters(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const bool verbose = false);

  } // namespace srdf
} // namespace pinocchio

#include "pinocchio/parsers/srdf.hxx"

#endif // ifndef __pinocchio_parser_srdf_hpp__