bindings/python/parsers/urdf/model.cpp

Go to the documentation of this file.

//
// Copyright (c) 2015-2020 CNRS INRIA
//
 
#ifdef PINOCCHIO_WITH_URDFDOM
  #include "pinocchio/parsers/urdf.hpp"
#endif
 
#include "pinocchio/bindings/python/parsers/urdf.hpp"
 
#include <boost/python.hpp>
 
namespace pinocchio
{
  namespace python
  {
 
    namespace bp = boost::python;
 
#ifdef PINOCCHIO_WITH_URDFDOM
 
    Model buildModelFromUrdf(const std::string & filename)
    {
      Model model;
      pinocchio::urdf::buildModel(filename, model);
      return model;
    }
 
    Model & buildModelFromUrdf(const std::string & filename, Model & model)
    {
      return pinocchio::urdf::buildModel(filename, model);
    }
 
    Model buildModelFromUrdf(const std::string & filename, const JointModel & root_joint)
    {
      Model model;
      pinocchio::urdf::buildModel(filename, root_joint, model);
      return model;
    }
 
    Model &
    buildModelFromUrdf(const std::string & filename, const JointModel & root_joint, Model & model)
    {
      return pinocchio::urdf::buildModel(filename, root_joint, model);
    }
 
    Model buildModelFromXML(const std::string & XMLstream, const JointModel & root_joint)
    {
      Model model;
      pinocchio::urdf::buildModelFromXML(XMLstream, root_joint, model);
      return model;
    }
 
    Model &
    buildModelFromXML(const std::string & XMLstream, const JointModel & root_joint, Model & model)
    {
      pinocchio::urdf::buildModelFromXML(XMLstream, root_joint, model);
      return model;
    }
 
    Model buildModelFromXML(const std::string & XMLstream)
    {
      Model model;
      pinocchio::urdf::buildModelFromXML(XMLstream, model);
      return model;
    }
 
    Model & buildModelFromXML(const std::string & XMLstream, Model & model)
    {
      pinocchio::urdf::buildModelFromXML(XMLstream, model);
      return model;
    }
 
#endif
 
    void exposeURDFModel()
    {
 
#ifdef PINOCCHIO_WITH_URDFDOM
 
      bp::def(
        "buildModelFromUrdf",
        static_cast<Model (*)(const std::string &, const JointModel &)>(
          pinocchio::python::buildModelFromUrdf),
        bp::args("urdf_filename", "root_joint"),
        "Parse the URDF file given in input and return a pinocchio Model starting with the "
        "given root joint.");
 
      bp::def(
        "buildModelFromUrdf",
        static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromUrdf),
        bp::args("urdf_filename"),
        "Parse the URDF file given in input and return a pinocchio Model.");
 
      bp::def(
        "buildModelFromUrdf",
        static_cast<Model & (*)(const std::string &, Model &)>(
          pinocchio::python::buildModelFromUrdf),
        bp::args("urdf_filename", "model"),
        "Append to a given model a URDF structure given by its filename.",
        bp::return_internal_reference<2>());
 
      bp::def(
        "buildModelFromUrdf",
        static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
          pinocchio::python::buildModelFromUrdf),
        bp::args("urdf_filename", "root_joint", "model"),
        "Append to a given model a URDF structure given by its filename and the root joint.\n"
        "Remark: In the URDF format, a joint of type fixed can be defined. For efficiency reasons,"
        "it is treated as operational frame and not as a joint of the model.",
        bp::return_internal_reference<3>());
 
      bp::def(
        "buildModelFromXML",
        static_cast<Model (*)(const std::string &, const JointModel &)>(
          pinocchio::python::buildModelFromXML),
        bp::args("urdf_xml_stream", "root_joint"),
        "Parse the URDF XML stream given in input and return a pinocchio Model starting with "
        "the given root joint.");
 
      bp::def(
        "buildModelFromXML",
        static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
          pinocchio::python::buildModelFromXML),
        bp::args("urdf_xml_stream", "root_joint", "model"),
        "Parse the URDF XML stream given in input and append it to the input model with the "
        "given interfacing joint.",
        bp::return_internal_reference<3>());
 
      bp::def(
        "buildModelFromXML",
        static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromXML),
        bp::args("urdf_xml_stream"),
        "Parse the URDF XML stream given in input and return a pinocchio Model.");
 
      bp::def(
        "buildModelFromXML",
        static_cast<Model & (*)(const std::string &, Model &)>(
          pinocchio::python::buildModelFromXML),
        bp::args("urdf_xml_stream", "model"),
        "Parse the URDF XML stream given in input and append it to the input model.",
        bp::return_internal_reference<2>());
#endif
    }
  } // namespace python
} // namespace pinocchio