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__