pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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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
11namespace pinocchio
12{
13 namespace srdf
14 {
15
26 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
27 void removeCollisionPairs(
28 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
29 GeometryModel & geom_model,
30 const std::string & filename,
31 const bool verbose = false);
32
42 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
43 void removeCollisionPairsFromXML(
44 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
45 GeometryModel & geom_model,
46 const std::string & xmlString,
47 const bool verbose = false);
48
58 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
59 void loadReferenceConfigurations(
60 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 loadReferenceConfigurationsFromXML(
75 ModelTpl<Scalar, Options, JointCollectionTpl> & model,
76 std::istream & xmlStream,
77 const bool verbose = false);
78
89 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
90 bool loadRotorParameters(
91 ModelTpl<Scalar, Options, JointCollectionTpl> & model,
92 const std::string & filename,
93 const bool verbose = false);
94
95 } // namespace srdf
96} // namespace pinocchio
97
98#include "pinocchio/parsers/srdf.hxx"
99
100#endif // ifndef __pinocchio_parser_srdf_hpp__
pinocchio::srdf
SRDF parsing.
pinocchio::srdf::removeCollisionPairs
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...
pinocchio::srdf::loadReferenceConfigurationsFromXML
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...
pinocchio::srdf::removeCollisionPairsFromXML
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.
pinocchio::srdf::loadRotorParameters
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...
pinocchio::srdf::loadReferenceConfigurations
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...
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11