sdf.hpp

//
// Copyright (c) 2020 CNRS
//
 
#ifndef __pinocchio_parsers_sdf_hpp__
#define __pinocchio_parsers_sdf_hpp__
 
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/algorithm/contact-info.hpp"
 
namespace pinocchio
{
  namespace sdf
  {
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const GeometryType type,
      GeometryModel & geomModel,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & packageDirs = std::vector<std::string>(),
      ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr());
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & filename,
      const GeometryType type,
      GeometryModel & geomModel,
      const std::string & packagePath,
      ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
    {
      const std::vector<std::string> dirs(1, packagePath);
      return buildGeom(model, contact_models, filename, type, geomModel, dirs, meshLoader);
    };
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const GeometryType type,
      GeometryModel & geomModel,
      const std::string & rootLinkName,
      const std::string & packagePath,
      ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
    {
      const std::vector<std::string> dirs(1, packagePath);
      return buildGeom(model, filename, type, geomModel, rootLinkName, dirs, meshLoader);
    };
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML(
      const std::string & xmlStream,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      const std::string & rootJointName,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & parentGuidance = {},
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML(
      const std::string & xmlStream,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & parentGuidance = {},
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::string & filename,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      const std::string & rootJointName,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & parentGuidance = {},
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::string & filename,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & parentGuidance = {},
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML(
      const std::string & xmlStream,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & parentGuidance = {},
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::string & filename,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) & contact_models,
      const std::string & rootLinkName = "",
      const std::vector<std::string> & parentGuidance = {},
      const bool verbose = false);
 
  } // namespace sdf
} // namespace pinocchio
 
#include "pinocchio/parsers/sdf/model.hxx"
#include "pinocchio/parsers/sdf/geometry.hxx"
 
#endif // ifndef __pinocchio_parsers_sdf_hpp__