| Directory: | ./ |
|---|---|
| File: | include/pinocchio/parsers/mjcf/geometry.hxx |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 7 | 7 | 100.0% |
| Branches: | 4 | 8 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2024 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_parsers_mjcf_geometry_hxx__ | ||
| 6 | #define __pinocchio_parsers_mjcf_geometry_hxx__ | ||
| 7 | |||
| 8 | #include "pinocchio/parsers/mjcf.hpp" | ||
| 9 | #include "pinocchio/parsers/mjcf/mjcf-graph.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | namespace mjcf | ||
| 14 | { | ||
| 15 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 16 | 1 | GeometryModel & buildGeom( | |
| 17 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 18 | const std::string & filename, | ||
| 19 | const GeometryType type, | ||
| 20 | GeometryModel & geomModel, | ||
| 21 | ::hpp::fcl::MeshLoaderPtr meshLoader) | ||
| 22 | { | ||
| 23 |
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1 | ::pinocchio::urdf::details::UrdfVisitor<Scalar, Options, JointCollectionTpl> visitor(model); |
| 24 | |||
| 25 | typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph; | ||
| 26 | |||
| 27 |
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1 | MjcfGraph graph(visitor, filename); |
| 28 | |||
| 29 |
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1 | graph.parseGraphFromXML(filename); |
| 30 | |||
| 31 | // Use the Mjcf graph to create the geometry model | ||
| 32 |
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1 | graph.parseGeomTree(type, geomModel, meshLoader); |
| 33 | |||
| 34 | 1 | return geomModel; | |
| 35 | 1 | } | |
| 36 | } // namespace mjcf | ||
| 37 | } // namespace pinocchio | ||
| 38 | |||
| 39 | #endif | ||
| 40 |