pinocchio::srdf Namespace Reference

SRDF parsing. More...

Functions
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)
	Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations). More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	loadReferenceConfigurationsFromXML (ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::istream &xmlStream, const bool verbose=false)
	Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations). More...
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)
	Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. More...
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)
	Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect. More...
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)
	Deactive all possible collision pairs mentioned in the SRDF file. More...

Detailed Description

SRDF parsing.

Function Documentation

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::srdf::loadReferenceConfigurations	(	ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const bool	verbose = false
	)

Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).

Parameters

[in]	model	The Model for which we want the reference configs.
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::srdf::loadReferenceConfigurationsFromXML	(	ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		std::istream &	xmlStream,
		const bool	verbose = false
	)

Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).

Parameters

[in]	model	The Model for which we want the reference configs.
[in]	xmlStream	a stream containing the content of a SRDF.
[in]	verbose	Verbosity mode.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

bool pinocchio::srdf::loadRotorParameters	(	ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::string &	filename,
		const bool	verbose = false
	)

Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incorrect.

Parameters

[in]	model	The Model for which we want the rotor parmeters
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

Returns

Boolean whether it loads or not.

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::srdf::removeCollisionPairs	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geom_model,
		const std::string &	filename,
		const bool	verbose = false
	)

Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect.

Parameters

[in]	model	Model of the kinematic tree.
[in]	geom_model	Model of the geometries.
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode (print removed collision pairs and undefined link inside the model).

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::srdf::removeCollisionPairsFromXML	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geom_model,
		const std::string &	xmlString,
		const bool	verbose = false
	)

Deactive all possible collision pairs mentioned in the SRDF file.

Parameters

[in]	model	Model of the kinematic tree.
[in]	geom_model	Model of the geometries.
[in]	xmlString	constaining the XML SRDF string.
[in]	verbose	Verbosity mode (print removed collision pairs and undefined link inside the model).