src/parsers/sample-models.hpp

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//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_sample_models_hpp__
#define __pinocchio_sample_models_hpp__

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

namespace pinocchio
{
  namespace buildModels
  {  
    template<typename Scalar, int Options,
             template<typename,int> class JointCollectionTpl>
    void manipulator(ModelTpl<Scalar,Options,JointCollectionTpl> & model);
    
#ifdef PINOCCHIO_WITH_HPP_FCL

    template<typename Scalar, int Options,
    template<typename,int> class JointCollectionTpl>
    void manipulatorGeometries(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                               GeometryModel & geom);
#endif

    template<typename Scalar, int Options,
             template<typename,int> class JointCollectionTpl>
    void humanoid(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  bool usingFF=true);
    
#ifdef PINOCCHIO_WITH_HPP_FCL

    template<typename Scalar, int Options,
             template<typename,int> class JointCollectionTpl>
    void humanoidGeometries(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            GeometryModel & geom);
#endif
    
    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
    void humanoidRandom(ModelTpl<Scalar,Options,JointCollectionTpl> & model, bool usingFF = true);
   
  } // namespace buildModels
} // namespace pinocchio

#include "pinocchio/parsers/sample-models.hxx"

#endif // ifndef __pinocchio_sample_models_hpp__