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// |
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// Copyright (c) 2020-2021 CNRS INRIA |
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// |
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#ifdef PINOCCHIO_WITH_SDFORMAT |
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#include "pinocchio/parsers/sdf.hpp" |
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#endif |
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#include "pinocchio/bindings/python/parsers/sdf.hpp" |
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#include "pinocchio/bindings/python/utils/path.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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#ifdef PINOCCHIO_WITH_SDFORMAT |
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GeometryModel |
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buildGeomFromSdf(const Model & model, const bp::object & filename, const GeometryType type) |
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{ |
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GeometryModel geometry_model; |
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const std::string & rootLinkName = ""; |
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const std::string & packageDir = ""; |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, packageDir); |
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return geometry_model; |
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} |
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GeometryModel buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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const std::string & rootLinkName) |
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{ |
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GeometryModel geometry_model; |
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const std::string & packageDir = ""; |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, packageDir); |
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return geometry_model; |
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} |
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GeometryModel & buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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GeometryModel & geometry_model, |
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const std::string & rootLinkName) |
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{ |
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pinocchio::sdf::buildGeom(model, path(filename), type, geometry_model, rootLinkName); |
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return geometry_model; |
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} |
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GeometryModel buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const bp::object & package_dirs) |
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{ |
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GeometryModel geometry_model; |
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if (PyList_Check(package_dirs.ptr())) |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, pathList(package_dirs)); |
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} |
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else |
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{ |
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const std::vector<std::string> dirs(1, path(package_dirs)); |
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pinocchio::sdf::buildGeom(model, path(filename), type, geometry_model, rootLinkName, dirs); |
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} |
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return geometry_model; |
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} |
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GeometryModel & buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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GeometryModel & geometry_model, |
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const std::string & rootLinkName, |
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const bp::object & package_dir) |
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{ |
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if (PyList_Check(package_dir.ptr())) |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, pathList(package_dir)); |
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} |
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else |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, path(package_dir)); |
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} |
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return geometry_model; |
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} |
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GeometryModel buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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std::vector<std::string> hints; |
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GeometryModel geometry_model; |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, hints, meshLoader); |
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return geometry_model; |
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} |
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GeometryModel & buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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GeometryModel & geometry_model, |
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const std::string & rootLinkName, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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std::vector<std::string> hints; |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, hints, meshLoader); |
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return geometry_model; |
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} |
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GeometryModel buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const bp::object & package_dir, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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GeometryModel geometry_model; |
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if (PyList_Check(package_dir.ptr())) |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, pathList(package_dir), |
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meshLoader); |
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} |
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else |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, path(package_dir), meshLoader); |
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} |
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return geometry_model; |
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} |
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GeometryModel & buildGeomFromSdf( |
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const Model & model, |
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const bp::object & filename, |
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const GeometryType type, |
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GeometryModel & geometry_model, |
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const std::string & rootLinkName, |
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const bp::object & package_dir, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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if (PyList_Check(package_dir.ptr())) |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, pathList(package_dir), |
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meshLoader); |
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} |
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else |
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{ |
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pinocchio::sdf::buildGeom( |
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model, path(filename), type, geometry_model, rootLinkName, path(package_dir), meshLoader); |
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} |
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return geometry_model; |
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} |
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#endif // #ifdef PINOCCHIO_WITH_SDFORMAT |
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void exposeSDFGeometry() |
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{ |
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#ifdef PINOCCHIO_WITH_SDFORMAT |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel (*)(const Model &, const bp::object &, const GeometryType)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args("model", "sdf_filename", "geom_type"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"return a GeometryModel containing either the collision geometries " |
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"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n"); |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel (*)( |
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const Model &, const bp::object &, const GeometryType, const std::string &, |
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const bp::object &)>(pinocchio::python::buildGeomFromSdf), |
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bp::args("model", "sdf_filename", "geom_type", "root_link_name", "package_dir"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"return a GeometryModel containing either the collision geometries " |
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"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"\tpackage_dir: path or vector of path pointing to the folder containing the meshes of the " |
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"robot\n"); |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel (*)( |
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const Model &, const bp::object &, const GeometryType, const std::string &)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args("model", "sdf_filename", "geom_type", "root_link_name"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"return a GeometryModel containing either the collision geometries " |
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"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"Note:\n" |
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"This function does not take any hint concerning the location of the meshes of the robot."); |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel & (*)(const Model &, const bp::object &, const GeometryType, |
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GeometryModel &, const std::string &)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args("model", "sdf_filename", "geom_type", "geom_model", "root_link_name"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
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"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"\tgeom_model: reference where to store the parsed information\n" |
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"Note:\n" |
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"This function does not take any hint concerning the location of the meshes of the robot.", |
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bp::return_internal_reference<4>()); |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel & (*)(const Model &, const bp::object &, const GeometryType, |
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GeometryModel &, const std::string &, const bp::object &)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args( |
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"model", "sdf_filename", "geom_type", "geom_model", "root_link_name", "package_dir"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
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"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"\tgeom_model: reference where to store the parsed information\n" |
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"\tpackage_dir: path or vector of path pointing to the folder containing the meshes of the " |
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"robot\n", |
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bp::return_internal_reference<4>()); |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel (*)( |
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const Model &, const bp::object &, const GeometryType, const std::string &, |
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const bp::object &, const hpp::fcl::MeshLoaderPtr &)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args( |
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"model", "sdf_filename", "geom_type", "root_link_name", "package_dir", "mesh_loader"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"return a GeometryModel containing either the collision geometries " |
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"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"\tpackage_dir: path pointing to the folder containing the meshes of the robot\n" |
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"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries)."); |
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|
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel & (*)(const Model &, const bp::object &, const GeometryType, |
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GeometryModel &, const std::string &, const bp::object &, |
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const hpp::fcl::MeshLoaderPtr &)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args( |
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"model", "sdf_filename", "geom_type", "geom_model", "root_link_name", "package_dir", |
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"mesh_loader"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 295 |
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"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
| 296 |
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"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"\tgeom_model: reference where to store the parsed information\n" |
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"\tpackage_dir: path or vector of path pointing to the folder containing the meshes of the " |
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"robot\n" |
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"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).", |
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bp::return_internal_reference<4>()); |
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel (*)( |
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const Model &, const bp::object &, const GeometryType, const std::string &, |
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const hpp::fcl::MeshLoaderPtr &)>(pinocchio::python::buildGeomFromSdf), |
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bp::args("model", "sdf_filename", "geom_type", "root_link_name", "mesh_loader"), |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
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"return a GeometryModel containing either the collision geometries " |
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"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
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"Parameters:\n" |
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"\tmodel: model of the robot\n" |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 320 |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
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"or the COLLISION for collision detection).\n" |
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"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).\n" |
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"Note:\n" |
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"This function does not take any hint concerning the location of the meshes of the robot."); |
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|
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bp::def( |
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"buildGeomFromSdf", |
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static_cast<GeometryModel & (*)(const Model &, const bp::object &, const GeometryType, |
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GeometryModel &, const std::string &, |
| 330 |
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const hpp::fcl::MeshLoaderPtr &)>( |
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pinocchio::python::buildGeomFromSdf), |
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bp::args( |
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"model", "sdf_filename", "geom_type", "geom_model", "root_link_name", "mesh_loader"), |
| 334 |
|
|
"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 335 |
|
|
"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
| 336 |
|
|
"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
| 337 |
|
|
"Parameters:\n" |
| 338 |
|
|
"\tmodel: model of the robot\n" |
| 339 |
|
|
"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 340 |
|
|
"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
| 341 |
|
|
"or the COLLISION for collision detection).\n" |
| 342 |
|
|
"\tgeom_model: reference where to store the parsed information\n" |
| 343 |
|
|
"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).\n" |
| 344 |
|
|
"Note:\n" |
| 345 |
|
|
"This function does not take any hint concerning the location of the meshes of the robot.", |
| 346 |
|
|
bp::return_internal_reference<4>()); |
| 347 |
|
|
#endif |
| 348 |
|
65 |
} |
| 349 |
|
|
} // namespace python |
| 350 |
|
|
} // namespace pinocchio |
| 351 |
|
|
|