pinocchio  2.3.1-dirty
srdf.hpp
1 //
2 // Copyright (c) 2016-2020 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_parser_srdf_hpp__
6 #define __pinocchio_parser_srdf_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/geometry.hpp"
10 
11 namespace pinocchio
12 {
13  namespace srdf
14  {
15 
16 #ifdef PINOCCHIO_WITH_HPP_FCL
17 
27  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
28  void removeCollisionPairs(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
29  GeometryModel & geom_model,
30  const std::string & filename,
31  const bool verbose = false);
32 
41  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
42  void removeCollisionPairsFromXML(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
43  GeometryModel & geom_model,
44  const std::string & xmlString,
45  const bool verbose = false);
46 
47 #endif // ifdef PINOCCHIO_WITH_HPP_FCL
48 
58  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
59  void
60  loadReferenceConfigurations(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
61  const std::string & filename,
62  const bool verbose = false);
63 
73  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
74  void
75  loadReferenceConfigurationsFromXML(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
76  std::istream & xmlStream,
77  const bool verbose = false);
78 
79 
90  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
91  bool loadRotorParameters(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
92  const std::string & filename,
93  const bool verbose = false);
94 
95  }
96 } // namespace pinocchio
97 
98 #include "pinocchio/parsers/srdf.hxx"
99 
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 removeCollisionPairs(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, 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...
void removeCollisionPairsFromXML(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &xmlString, const bool verbose=false)
Deactive all possible collision pairs mentioned in the SRDF file.
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.
Definition: treeview.dox:24