Template Function pinocchio::mjcf::buildGeom
Defined in File geometry.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
GeometryModel &pinocchio::mjcf::buildGeom(ModelTpl<Scalar, Options, JointCollectionTpl> &model, const std::string &filename, const GeometryType type, GeometryModel &geom_model, ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr()) Build The GeometryModel from a Mjcf file.
Warning
If hpp-fcl has not been found during compilation, COLLISION objects can not be loaded
- Parameters:
model – [in] The model of the robot, built with mjcf::buildModel
filename – [in] The mjcf complete (absolute) file path
type – [in] The type of objects that must be loaded (must be VISUAL or COLLISION)
mesh_loader – [in] object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
geom_model – [out] Reference where to put the parsed information.
- Returns:
Returns the reference on geom model for convenience.