hpp-pinocchio  4.14.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
util.hh
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1 // Copyright (C) 2016 by Joseph Mirabel
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27 
29 
30 #ifndef HPP_PINOCCHIO_URDF_UTIL
31 #define HPP_PINOCCHIO_URDF_UTIL
32 
34 #include <hpp/pinocchio/fwd.hh>
35 #include <pinocchio/spatial/se3.hpp>
36 
37 namespace hpp {
38 namespace pinocchio {
39 namespace urdf {
57 void loadRobotModel(const DevicePtr_t& robot, const FrameIndex& baseFrame,
58  const std::string& prefix, const std::string& rootJointType,
59  const std::string& package, const std::string& modelName,
60  const std::string& urdfSuffix,
61  const std::string& srdfSuffix,
62  const SE3& bMr = SE3::Identity());
63 void loadRobotModel(const DevicePtr_t& robot, const std::string& rootJointType,
64  const std::string& package, const std::string& modelName,
65  const std::string& urdfSuffix,
66  const std::string& srdfSuffix);
67 
71  const std::string& prefix = "");
72 
84 
88 void loadUrdfModel(const DevicePtr_t& robot, const FrameIndex& baseFrame,
89  const std::string& prefix, const std::string& rootJointType,
90  const std::string& package, const std::string& filename,
91  const SE3& bMr = SE3::Identity());
92 void loadUrdfModel(const DevicePtr_t& robot, const std::string& rootJointType,
93  const std::string& package, const std::string& filename);
94 
99 void loadModel(const DevicePtr_t& robot, const FrameIndex& baseFrame,
100  const std::string& prefix, const std::string& rootType,
101  const std::string& urdfPath, const std::string& srdfPath,
102  const SE3& bMr = SE3::Identity());
103 
106 void loadModelFromString(const DevicePtr_t& robot, const FrameIndex& baseFrame,
107  const std::string& prefix, const std::string& rootType,
108  const std::string& urdfString,
109  const std::string& srdfString,
110  const SE3& bMr = SE3::Identity());
111 
113 void loadSRDFModel(const DevicePtr_t& robot, std::string prefix,
114  const std::string& srdfPath);
115 
117 void loadSRDFModelFromString(const DevicePtr_t& robot, std::string prefix,
118  const std::string& srdfString);
119 } // end of namespace urdf.
120 } // end of namespace pinocchio.
121 } // end of namespace hpp.
122 
123 #endif // HPP_PINOCCHIO_URDF_PARSER
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())
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())
void setupHumanoidRobot(const HumanoidRobotPtr_t &robot, const std::string &prefix="")
void loadSRDFModelFromString(const DevicePtr_t &robot, std::string prefix, const std::string &srdfString)
Read SRDF string.
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 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())
void loadSRDFModel(const DevicePtr_t &robot, std::string prefix, const std::string &srdfPath)
Read SRDF file.
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:118
shared_ptr< HumanoidRobot > HumanoidRobotPtr_t
Definition: fwd.hh:121
::pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:74
::pinocchio::SE3 SE3
Definition: fwd.hh:81
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40