5 #ifndef __pinocchio_parser_srdf_hpp__ 6 #define __pinocchio_parser_srdf_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/geometry.hpp" 16 #ifdef PINOCCHIO_WITH_HPP_FCL 28 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
30 GeometryModel & geomModel,
31 const std::string & filename,
32 const bool verbose =
false);
43 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
45 GeometryModel & geomModel,
46 const std::string & xmlString,
47 const bool verbose =
false);
49 #endif // ifdef PINOCCHIO_WITH_HPP_FCL 59 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
62 const std::string & filename,
63 const bool verbose =
false);
73 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
76 std::istream & xmlStream,
77 const bool verbose =
false);
90 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
92 const std::string & filename,
93 const bool verbose =
false);
98 #include "pinocchio/parsers/srdf.hxx" 100 #endif // ifndef __pinocchio_parser_srdf_hpp__ void loadReferenceConfigurations(ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF fi...
void removeCollisionPairsFromXML(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel, const std::string &xmlString, const bool verbose=false)
Deactive all possible collision pairs mentioned in the SRDF file.
void removeCollisionPairs(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel, const std::string &filename, const bool verbose=false)
Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incor...
bool loadRotorParameters(ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incor...
void loadReferenceConfigurationsFromXML(ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::istream &xmlStream, const bool verbose=false)
Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF fi...
Main pinocchio namespace.