22 #ifndef HPP_PINOCCHIO_URDF_UTIL 23 # define HPP_PINOCCHIO_URDF_UTIL 25 #include <pinocchio/spatial/se3.hpp> 55 const std::string& prefix,
56 const std::string& rootJointType,
57 const std::string& package,
58 const std::string& modelName,
59 const std::string& urdfSuffix,
60 const std::string& srdfSuffix,
61 const SE3& bMr = SE3::Identity());
63 const std::string& rootJointType,
64 const std::string& package,
65 const std::string& modelName,
66 const std::string& urdfSuffix,
67 const std::string& srdfSuffix);
72 const std::string& prefix =
"");
91 const std::string& prefix,
92 const std::string& rootJointType,
93 const std::string& package,
94 const std::string& filename,
95 const SE3& bMr = SE3::Identity());
97 const std::string& rootJointType,
98 const std::string& package,
99 const std::string& filename);
107 const std::string& prefix,
108 const std::string& rootType,
109 const std::string& urdfPath,
110 const std::string& srdfPath,
111 const SE3& bMr = SE3::Identity());
117 const std::string& prefix,
118 const std::string& rootType,
119 const std::string& urdfString,
120 const std::string& srdfString,
121 const SE3& bMr = SE3::Identity());
126 const std::string& srdfPath);
131 const std::string& srdfString);
136 #endif // HPP_PINOCCHIO_URDF_PARSER Utility functions.
Definition: body.hh:30
::pinocchio::SE3 SE3
Definition: fwd.hh:70
void loadUrdfModel(const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &filename, const SE3 &bMr=SE3::Identity())
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:106
void setupHumanoidRobot(const HumanoidRobotPtr_t &robot, const std::string &prefix="")
void loadModel(const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootType, const std::string &urdfPath, const std::string &srdfPath, const SE3 &bMr=SE3::Identity())
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:63
shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition: fwd.hh:109
void loadSRDFModel(const DevicePtr_t &robot, std::string prefix, const std::string &srdfPath)
Read SRDF file.
void loadSRDFModelFromString(const DevicePtr_t &robot, std::string prefix, const std::string &srdfString)
Read SRDF string.
Definition: collision-object.hh:31
void loadRobotModel(const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootJointType, const std::string &package, const std::string &modelName, const std::string &urdfSuffix, const std::string &srdfSuffix, const SE3 &bMr=SE3::Identity())
void loadModelFromString(const DevicePtr_t &robot, const FrameIndex &baseFrame, const std::string &prefix, const std::string &rootType, const std::string &urdfString, const std::string &srdfString, const SE3 &bMr=SE3::Identity())