Program Listing for File 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_multibody_sample_models_hpp__
#define __pinocchio_multibody_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/multibody/sample-models.hxx"

#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/multibody/sample-models.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION

#endif // ifndef __pinocchio_multibody_sample_models_hpp__