hpp-pinocchio  4.11.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
util.hh
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1 // Copyright (C) 2016 by Joseph Mirabel
2 //
3 // This file is part of the hpp-pinocchio.
4 //
5 // hpp-pinocchio is free software: you can redistribute it and/or
6 // modify it under the terms of the GNU Lesser General Public License
7 // as published by the Free Software Foundation, either version 3 of
8 // the License, or (at your option) any later version.
9 //
10 // hpp-pinocchio is distributed in the hope that it will be useful,
11 // but WITHOUT ANY WARRANTY; without even the implied warranty of
12 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // Lesser General Public License for more details.
14 //
15 // You should have received a copy of the GNU Lesser General Public
16 // License along with hpp-pinocchio. If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 
21 
22 #ifndef HPP_PINOCCHIO_URDF_UTIL
23 # define HPP_PINOCCHIO_URDF_UTIL
24 
25 #include <pinocchio/spatial/se3.hpp>
26 
27 #include <hpp/pinocchio/fwd.hh>
29 
30 namespace hpp
31 {
32  namespace pinocchio
33  {
34  namespace urdf
35  {
53  void loadRobotModel (const DevicePtr_t& robot,
54  const FrameIndex& baseFrame,
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());
62  void loadRobotModel (const DevicePtr_t& robot,
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);
68 
71  void setupHumanoidRobot (const HumanoidRobotPtr_t& robot,
72  const std::string& prefix = "");
73 
85 
89  void loadUrdfModel (const DevicePtr_t& robot,
90  const FrameIndex& baseFrame,
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());
96  void loadUrdfModel (const DevicePtr_t& robot,
97  const std::string& rootJointType,
98  const std::string& package,
99  const std::string& filename);
100 
105  void loadModel (const DevicePtr_t& robot,
106  const FrameIndex& baseFrame,
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());
112 
115  void loadModelFromString (const DevicePtr_t& robot,
116  const FrameIndex& baseFrame,
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());
122 
124  void loadSRDFModel (const DevicePtr_t& robot,
125  std::string prefix,
126  const std::string& srdfPath);
127 
129  void loadSRDFModelFromString (const DevicePtr_t& robot,
130  std::string prefix,
131  const std::string& srdfString);
132  } // end of namespace urdf.
133  } // end of namespace pinocchio.
134 } // end of namespace hpp.
135 
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())