| Directory: | ./ |
|---|---|
| File: | bindings/python/multibody/sample-models.cpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 32 | 32 | 100.0% |
| Branches: | 19 | 38 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/multibody/sample-models.hpp" | ||
| 6 | |||
| 7 | #include <boost/python.hpp> | ||
| 8 | |||
| 9 | namespace pinocchio | ||
| 10 | { | ||
| 11 | namespace python | ||
| 12 | { | ||
| 13 | namespace bp = boost::python; | ||
| 14 | |||
| 15 | 78 | Model buildSampleModelHumanoidRandom(bool usingFF, bool mimic) | |
| 16 | { | ||
| 17 | 78 | Model model; | |
| 18 |
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78 | buildModels::humanoidRandom(model, usingFF, mimic); |
| 19 | 78 | return model; | |
| 20 | } | ||
| 21 | |||
| 22 | 9 | Model buildSampleModelManipulator(bool mimic) | |
| 23 | { | ||
| 24 | 9 | Model model; | |
| 25 |
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9 | buildModels::manipulator(model, mimic); |
| 26 | 9 | return model; | |
| 27 | } | ||
| 28 | |||
| 29 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 30 | 1 | GeometryModel buildSampleGeometryModelManipulator(const Model & model) | |
| 31 | { | ||
| 32 | 1 | GeometryModel geom; | |
| 33 |
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1 | buildModels::manipulatorGeometries(model, geom); |
| 34 | 1 | return geom; | |
| 35 | } | ||
| 36 | #endif | ||
| 37 | |||
| 38 | 13 | Model buildSampleModelHumanoid(bool usingFF) | |
| 39 | { | ||
| 40 | 13 | Model model; | |
| 41 |
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13 | buildModels::humanoid(model, usingFF); |
| 42 | 13 | return model; | |
| 43 | } | ||
| 44 | |||
| 45 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 46 | 10 | GeometryModel buildSampleGeometryModelHumanoid(const Model & model) | |
| 47 | { | ||
| 48 | 10 | GeometryModel geom; | |
| 49 |
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10 | buildModels::humanoidGeometries(model, geom); |
| 50 | 10 | return geom; | |
| 51 | } | ||
| 52 | #endif | ||
| 53 | |||
| 54 | 72 | void exposeSampleModels() | |
| 55 | { | ||
| 56 |
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72 | bp::def( |
| 57 | "buildSampleModelHumanoidRandom", | ||
| 58 | static_cast<Model (*)(bool, bool)>(pinocchio::python::buildSampleModelHumanoidRandom), | ||
| 59 |
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144 | (bp::arg("using_free_flyer") = true, bp::arg("mimic") = false), |
| 60 | "Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint " | ||
| 61 | "placements.\nOnly meant for unit tests."); | ||
| 62 | |||
| 63 | 72 | bp::def( | |
| 64 | "buildSampleModelManipulator", | ||
| 65 | static_cast<Model (*)(bool)>(pinocchio::python::buildSampleModelManipulator), | ||
| 66 |
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72 | (bp::arg("mimic") = false), "Generate a (hard-coded) model of a simple manipulator."); |
| 67 | |||
| 68 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 69 |
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72 | bp::def( |
| 70 | "buildSampleGeometryModelManipulator", | ||
| 71 | static_cast<GeometryModel (*)(const Model &)>( | ||
| 72 | pinocchio::python::buildSampleGeometryModelManipulator), | ||
| 73 | 144 | bp::args("model"), "Generate a (hard-coded) geometry model of a simple manipulator."); | |
| 74 | #endif | ||
| 75 | |||
| 76 | 72 | bp::def( | |
| 77 | "buildSampleModelHumanoid", | ||
| 78 | static_cast<Model (*)(bool)>(pinocchio::python::buildSampleModelHumanoid), | ||
| 79 |
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72 | (bp::arg("using_free_flyer") = true), |
| 80 | "Generate a (hard-coded) model of a simple humanoid."); | ||
| 81 | |||
| 82 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 83 |
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72 | bp::def( |
| 84 | "buildSampleGeometryModelHumanoid", | ||
| 85 | static_cast<GeometryModel (*)(const Model &)>( | ||
| 86 | pinocchio::python::buildSampleGeometryModelHumanoid), | ||
| 87 | 144 | bp::args("model"), "Generate a (hard-coded) geometry model of a simple humanoid."); | |
| 88 | #endif | ||
| 89 | 72 | } | |
| 90 | } // namespace python | ||
| 91 | |||
| 92 | } // namespace pinocchio | ||
| 93 |