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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 <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 std::string & 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(model, 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 std::string & 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(model, 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 std::string & 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, 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 std::string & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const std::string & packageDir) |
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{ |
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GeometryModel geometry_model; |
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const std::vector<std::string> dirs(1, packageDir); |
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pinocchio::sdf::buildGeom(model, filename, type, geometry_model, rootLinkName, dirs); |
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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 std::string & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const std::vector<std::string> & package_dirs) |
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{ |
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GeometryModel geometry_model; |
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pinocchio::sdf::buildGeom(model, filename, type, geometry_model, rootLinkName, package_dirs); |
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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 std::string & 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 std::vector<std::string> & package_dirs) |
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{ |
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pinocchio::sdf::buildGeom(model, filename, type, geometry_model, rootLinkName, package_dirs); |
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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 std::string & 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 std::string & package_dir) |
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{ |
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pinocchio::sdf::buildGeom(model, filename, type, geometry_model, rootLinkName, package_dir); |
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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 std::string & 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, 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 std::string & 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, 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 std::string & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const std::vector<std::string> & package_dirs, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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GeometryModel geometry_model; |
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pinocchio::sdf::buildGeom( |
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model, filename, type, geometry_model, rootLinkName, package_dirs, 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 std::string & 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 std::vector<std::string> & package_dirs, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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pinocchio::sdf::buildGeom( |
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model, filename, type, geometry_model, rootLinkName, package_dirs, 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 std::string & filename, |
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const GeometryType type, |
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const std::string & rootLinkName, |
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const std::string & 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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pinocchio::sdf::buildGeom( |
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model, filename, type, geometry_model, rootLinkName, package_dir, 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 std::string & 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 std::string & package_dir, |
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const hpp::fcl::MeshLoaderPtr & meshLoader) |
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{ |
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pinocchio::sdf::buildGeom( |
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model, filename, type, geometry_model, rootLinkName, package_dir, meshLoader); |
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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 std::string &, 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 std::string &, const GeometryType, const std::string &, |
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const std::string &)>(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 pointing to the folder containing the meshes of the 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 std::string &, const GeometryType, const std::string &, |
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const std::vector<std::string> &)>(pinocchio::python::buildGeomFromSdf), |
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bp::args("model", "sdf_filename", "geom_type", "root_link_name", "package_dirs"), |
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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_dirs: vector of paths pointing to the folders containing the model 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 & (*)(const Model &, const std::string &, const GeometryType, |
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GeometryModel &, const std::string &, |
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const std::vector<std::string> &)>( |
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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_dirs"), |
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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_dirs: vector of paths pointing to the folders containing the model 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 std::string &, 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 std::string &, 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 std::string &, const GeometryType, |
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GeometryModel &, const std::string &, const std::string &)>( |
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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 pointing to the folder containing the meshes of the 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 std::string &, const GeometryType, const std::string &, |
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const std::vector<std::string> &, 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_dirs", "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_dirs: vector of paths pointing to the folders containing the model 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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|
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|
| 337 |
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bp::def( |
| 338 |
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"buildGeomFromSdf", |
| 339 |
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static_cast<GeometryModel & (*)(const Model &, const std::string &, const GeometryType, |
| 340 |
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GeometryModel &, const std::string &, |
| 341 |
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const std::vector<std::string> &, |
| 342 |
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const hpp::fcl::MeshLoaderPtr &)>( |
| 343 |
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pinocchio::python::buildGeomFromSdf), |
| 344 |
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bp::args( |
| 345 |
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"model", "sdf_filename", "geom_type", "geom_model", "root_link_name", "package_dirs", |
| 346 |
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"mesh_loader"), |
| 347 |
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"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 348 |
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"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
| 349 |
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"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
| 350 |
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"Parameters:\n" |
| 351 |
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"\tmodel: model of the robot\n" |
| 352 |
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"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 353 |
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"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
| 354 |
|
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"or the COLLISION for collision detection).\n" |
| 355 |
|
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"\tgeom_model: reference where to store the parsed information\n" |
| 356 |
|
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"\tpackage_dirs: vector of paths pointing to the folders containing the model of the " |
| 357 |
|
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"robot\n" |
| 358 |
|
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"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).", |
| 359 |
|
|
bp::return_internal_reference<4>()); |
| 360 |
|
|
|
| 361 |
|
|
bp::def( |
| 362 |
|
|
"buildGeomFromSdf", |
| 363 |
|
|
static_cast<GeometryModel (*)( |
| 364 |
|
|
const Model &, const std::string &, const GeometryType, const std::string &, |
| 365 |
|
|
const std::string &, const hpp::fcl::MeshLoaderPtr &)>( |
| 366 |
|
|
pinocchio::python::buildGeomFromSdf), |
| 367 |
|
|
bp::args( |
| 368 |
|
|
"model", "sdf_filename", "geom_type", "root_link_name", "package_dir", "mesh_loader"), |
| 369 |
|
|
"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 370 |
|
|
"return a GeometryModel containing either the collision geometries " |
| 371 |
|
|
"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
| 372 |
|
|
"Parameters:\n" |
| 373 |
|
|
"\tmodel: model of the robot\n" |
| 374 |
|
|
"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 375 |
|
|
"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
| 376 |
|
|
"or the COLLISION for collision detection).\n" |
| 377 |
|
|
"\tpackage_dir: path pointing to the folder containing the meshes of the robot\n" |
| 378 |
|
|
"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries)."); |
| 379 |
|
|
|
| 380 |
|
|
bp::def( |
| 381 |
|
|
"buildGeomFromSdf", |
| 382 |
|
|
static_cast<GeometryModel & (*)(const Model &, const std::string &, const GeometryType, |
| 383 |
|
|
GeometryModel &, const std::string &, const std::string &, |
| 384 |
|
|
const hpp::fcl::MeshLoaderPtr &)>( |
| 385 |
|
|
pinocchio::python::buildGeomFromSdf), |
| 386 |
|
|
bp::args( |
| 387 |
|
|
"model", "sdf_filename", "geom_type", "geom_model", "root_link_name", "package_dir", |
| 388 |
|
|
"mesh_loader"), |
| 389 |
|
|
"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 390 |
|
|
"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
| 391 |
|
|
"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
| 392 |
|
|
"Parameters:\n" |
| 393 |
|
|
"\tmodel: model of the robot\n" |
| 394 |
|
|
"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 395 |
|
|
"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
| 396 |
|
|
"or the COLLISION for collision detection).\n" |
| 397 |
|
|
"\tgeom_model: reference where to store the parsed information\n" |
| 398 |
|
|
"\tpackage_dir: path pointing to the folder containing the meshes of the robot\n" |
| 399 |
|
|
"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).", |
| 400 |
|
|
bp::return_internal_reference<4>()); |
| 401 |
|
|
|
| 402 |
|
|
bp::def( |
| 403 |
|
|
"buildGeomFromSdf", |
| 404 |
|
|
static_cast<GeometryModel (*)( |
| 405 |
|
|
const Model &, const std::string &, const GeometryType, const std::string &, |
| 406 |
|
|
const hpp::fcl::MeshLoaderPtr &)>(pinocchio::python::buildGeomFromSdf), |
| 407 |
|
|
bp::args("model", "sdf_filename", "geom_type", "root_link_name", "mesh_loader"), |
| 408 |
|
|
"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 409 |
|
|
"return a GeometryModel containing either the collision geometries " |
| 410 |
|
|
"(GeometryType.COLLISION) or the visual geometries (GeometryType.VISUAL).\n" |
| 411 |
|
|
"Parameters:\n" |
| 412 |
|
|
"\tmodel: model of the robot\n" |
| 413 |
|
|
"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 414 |
|
|
"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
| 415 |
|
|
"or the COLLISION for collision detection).\n" |
| 416 |
|
|
"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).\n" |
| 417 |
|
|
"Note:\n" |
| 418 |
|
|
"This function does not take any hint concerning the location of the meshes of the robot."); |
| 419 |
|
|
|
| 420 |
|
|
bp::def( |
| 421 |
|
|
"buildGeomFromSdf", |
| 422 |
|
|
static_cast<GeometryModel & (*)(const Model &, const std::string &, const GeometryType, |
| 423 |
|
|
GeometryModel &, const std::string &, |
| 424 |
|
|
const hpp::fcl::MeshLoaderPtr &)>( |
| 425 |
|
|
pinocchio::python::buildGeomFromSdf), |
| 426 |
|
|
bp::args( |
| 427 |
|
|
"model", "sdf_filename", "geom_type", "geom_model", "root_link_name", "mesh_loader"), |
| 428 |
|
|
"Parse the SDF file given as input looking for the geometry of the given input model and\n" |
| 429 |
|
|
"and store either the collision geometries (GeometryType.COLLISION) or the visual " |
| 430 |
|
|
"geometries (GeometryType.VISUAL) in the geom_model given as input.\n" |
| 431 |
|
|
"Parameters:\n" |
| 432 |
|
|
"\tmodel: model of the robot\n" |
| 433 |
|
|
"\tsdf_filename: path to the SDF file containing the model of the robot\n" |
| 434 |
|
|
"\tgeom_type: type of geometry to extract from the SDF file (either the VISUAL for display " |
| 435 |
|
|
"or the COLLISION for collision detection).\n" |
| 436 |
|
|
"\tgeom_model: reference where to store the parsed information\n" |
| 437 |
|
|
"\tmesh_loader: an hpp-fcl mesh loader (to load only once the related geometries).\n" |
| 438 |
|
|
"Note:\n" |
| 439 |
|
|
"This function does not take any hint concerning the location of the meshes of the robot.", |
| 440 |
|
|
bp::return_internal_reference<4>()); |
| 441 |
|
|
#endif |
| 442 |
|
20 |
} |
| 443 |
|
|
} // namespace python |
| 444 |
|
|
} // namespace pinocchio |
| 445 |
|
|
|