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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// |
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#include "pinocchio/parsers/sample-models.hpp" |
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#include <boost/python.hpp> |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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namespace bp = boost::python; |
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Model buildSampleModelHumanoidRandom() |
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{ |
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Model model; |
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✓✗ |
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buildModels::humanoidRandom(model); |
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return model; |
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} |
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Model buildSampleModelHumanoidRandom(bool usingFF) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model,usingFF); |
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return model; |
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} |
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Model buildSampleModelManipulator() |
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{ |
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Model model; |
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buildModels::manipulator(model); |
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return model; |
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} |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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GeometryModel buildSampleGeometryModelManipulator(const Model & model) |
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{ |
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GeometryModel geom; |
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buildModels::manipulatorGeometries(model,geom); |
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return geom; |
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} |
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#endif |
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Model buildSampleModelHumanoid() |
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{ |
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Model model; |
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✓✗ |
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buildModels::humanoid(model); |
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return model; |
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} |
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Model buildSampleModelHumanoid(bool usingFF) |
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{ |
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Model model; |
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buildModels::humanoid(model,usingFF); |
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return model; |
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} |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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GeometryModel buildSampleGeometryModelHumanoid(const Model & model) |
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{ |
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GeometryModel geom; |
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✓✗ |
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buildModels::humanoidGeometries(model,geom); |
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return geom; |
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} |
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#endif |
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void exposeSampleModels() |
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{ |
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bp::def("buildSampleModelHumanoidRandom", |
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static_cast <Model (*) ()> (pinocchio::python::buildSampleModelHumanoidRandom), |
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"Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint placements.\nOnly meant for unit tests." |
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); |
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✓✗ |
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bp::def("buildSampleModelHumanoidRandom", |
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static_cast <Model (*) (bool)> (pinocchio::python::buildSampleModelHumanoidRandom), |
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bp::args("using_free_flyer"), |
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"Generate a (hard-coded) model of a humanoid robot with 6-DOF limbs and random joint placements.\nOnly meant for unit tests." |
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); |
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bp::def("buildSampleModelManipulator", |
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static_cast <Model (*) ()> (pinocchio::python::buildSampleModelManipulator), |
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"Generate a (hard-coded) model of a simple manipulator." |
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); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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✓✗ |
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bp::def("buildSampleGeometryModelManipulator", |
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static_cast <GeometryModel (*) (const Model&)> (pinocchio::python::buildSampleGeometryModelManipulator), |
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bp::args("model"), |
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"Generate a (hard-coded) geometry model of a simple manipulator." |
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); |
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#endif |
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bp::def("buildSampleModelHumanoid", |
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static_cast <Model (*) ()> (pinocchio::python::buildSampleModelHumanoid), |
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"Generate a (hard-coded) model of a simple humanoid." |
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); |
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✓✗ |
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bp::def("buildSampleModelHumanoid", |
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static_cast <Model (*) (bool)> (pinocchio::python::buildSampleModelHumanoid), |
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bp::args("using_free_flyer"), |
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"Generate a (hard-coded) model of a simple humanoid." |
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); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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✓✗ |
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bp::def("buildSampleGeometryModelHumanoid", |
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static_cast <GeometryModel (*) (const Model&)> (pinocchio::python::buildSampleGeometryModelHumanoid), |
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bp::args("model"), |
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"Generate a (hard-coded) geometry model of a simple humanoid." |
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); |
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#endif |
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} |
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} |
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} // namespace pinocchio::python |