srdf.hpp

//
// Copyright (c) 2016-2020 CNRS INRIA
//
 
#ifndef __pinocchio_parser_srdf_hpp__
#define __pinocchio_parser_srdf_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
 
namespace pinocchio
{
  namespace srdf
  {
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void removeCollisionPairs(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      GeometryModel & geom_model,
      const std::string & filename,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void removeCollisionPairsFromXML(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      GeometryModel & geom_model,
      const std::string & xmlString,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void loadReferenceConfigurations(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    void loadReferenceConfigurationsFromXML(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      std::istream & xmlStream,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    bool loadRotorParameters(
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const bool verbose = false);
 
  } // namespace srdf
} // namespace pinocchio
 
#include "pinocchio/parsers/srdf.hxx"
 
#endif // ifndef __pinocchio_parser_srdf_hpp__