Template Function pinocchio::urdf::buildModel(const std::shared_ptr<::urdf::ModelInterface>, ModelTpl<Scalar, Options, JointCollectionTpl>&, const bool, const bool)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
ModelTpl<Scalar, Options, JointCollectionTpl> &pinocchio::urdf::buildModel(const std::shared_ptr<::urdf::ModelInterface> urdfTree, ModelTpl<Scalar, Options, JointCollectionTpl> &model, const bool verbose = false, const bool mimic = false)

Build the model from a URDF model.

Note

urdfTree can be build from ::urdf::parseURDF or ::urdf::parseURDFFile

Parameters:

  • urdfTree – [in] the tree build from the URDF

  • mimic – [in] Parsing joints as mimic or not.

  • verbose – [in] Print parsing info.

  • model – [out] Reference model where to put the parsed information.

Returns:

Return the reference on argument model for convenience.