model-graph-algo.hpp

//
// Copyright (c) 2025 INRIA
//

#ifndef __pinocchio_parsers_graph_model_graph_algo_hpp__
#define __pinocchio_parsers_graph_model_graph_algo_hpp__

#include "pinocchio/parsers/graph/fwd.hpp"

#include "pinocchio/parsers/graph/model-graph.hpp"
#include "pinocchio/parsers/graph/joints.hpp"

#include <Eigen/Core>

#include <string>
#include <vector>

namespace pinocchio
{
 namespace graph
 {
 struct BuildModelWithBuildInfoReturn
 {
 Model model;
 ModelGraphBuildInfo build_info;
 };

 PINOCCHIO_PARSERS_DLLAPI Model buildModel(
 const ModelGraph & g,
 const std::string & root_body,
 const SE3 & root_position,
 const JointVariant & root_joint = JointFixed(),
 const std::string & root_joint_name = "root_joint");

 PINOCCHIO_PARSERS_DLLAPI BuildModelWithBuildInfoReturn buildModelWithBuildInfo(
 const ModelGraph & g,
 const std::string & root_body,
 const SE3 & root_position,
 const JointVariant & root_joint = JointFixed(),
 const std::string & root_joint_name = "root_joint");

 PINOCCHIO_PARSERS_DLLAPI ModelGraph
 prefixNames(const ModelGraph & g, const std::string & prefix);

 PINOCCHIO_PARSERS_DLLAPI ModelGraph merge(
 const ModelGraph & g1,
 const ModelGraph & g2,
 const std::string & g1_body,
 const std::string & g2_body,
 const SE3 & pose_g2_body_in_g1,
 const JointVariant & merging_joint = JointFixed(),
 const std::string & merging_joint_name = "merging_joint");

 PINOCCHIO_PARSERS_DLLAPI ModelGraph lockJoints(
 const ModelGraph & g,
 const std::vector<std::string> & joints_to_lock,
 const std::vector<Eigen::VectorXd> & reference_configurations);

 } // namespace graph
} // namespace pinocchio
#endif // ifndef __pinocchio_parsers_graph_model_graph_algo_hpp__