util.hh

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// Copyright (C) 2016 by Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DAMAGE.

 
#ifndef HPP_PINOCCHIO_URDF_UTIL
#define HPP_PINOCCHIO_URDF_UTIL
 
#include <hpp/pinocchio/deprecated.hh>
#include <hpp/pinocchio/fwd.hh>
#include <pinocchio/spatial/se3.hpp>
 
namespace hpp {
namespace pinocchio {
namespace urdf {
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 loadRobotModel(const DevicePtr_t& robot, const std::string& rootJointType,
                    const std::string& package, const std::string& modelName,
                    const std::string& urdfSuffix,
                    const std::string& srdfSuffix);

void setupHumanoidRobot(const HumanoidRobotPtr_t& robot,
                        const std::string& prefix = "");


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 loadUrdfModel(const DevicePtr_t& robot, const std::string& rootJointType,
                   const std::string& package, const std::string& filename);

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 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 loadSRDFModel(const DevicePtr_t& robot, std::string prefix,
                   const std::string& srdfPath);

void loadSRDFModelFromString(const DevicePtr_t& robot, std::string prefix,
                             const std::string& srdfString);
}  // end of namespace urdf.
}  // end of namespace pinocchio.
}  // end of namespace hpp.
 
#endif  // HPP_PINOCCHIO_URDF_PARSER