| Directory: | ./ |
|---|---|
| File: | bindings/python/parsers/mjcf/model.cpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 6 | 14 | 42.9% |
| Branches: | 2 | 8 | 25.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/parsers/mjcf.hpp" | ||
| 6 | #include "pinocchio/bindings/python/parsers/mjcf.hpp" | ||
| 7 | |||
| 8 | #include <boost/python.hpp> | ||
| 9 | |||
| 10 | namespace pinocchio | ||
| 11 | { | ||
| 12 | namespace python | ||
| 13 | { | ||
| 14 | |||
| 15 | namespace bp = boost::python; | ||
| 16 | |||
| 17 | ✗ | Model buildModelFromMJCF(const std::string & filename) | |
| 18 | { | ||
| 19 | ✗ | Model model; | |
| 20 | ✗ | ::pinocchio::mjcf::buildModel(filename, model); | |
| 21 | ✗ | return model; | |
| 22 | } | ||
| 23 | |||
| 24 | ✗ | Model buildModelFromMJCF(const std::string & filename, const JointModel & root_joint) | |
| 25 | { | ||
| 26 | ✗ | Model model; | |
| 27 | ✗ | ::pinocchio::mjcf::buildModel(filename, root_joint, model); | |
| 28 | ✗ | return model; | |
| 29 | } | ||
| 30 | |||
| 31 | 20 | void exposeMJCFModel() | |
| 32 | { | ||
| 33 |
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20 | bp::def( |
| 34 | "buildModelFromMJCF", | ||
| 35 | static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromMJCF), | ||
| 36 | 40 | bp::args("mjcf_filename"), | |
| 37 | "Parse the MJCF file given in input and return a pinocchio Model."); | ||
| 38 | |||
| 39 |
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20 | bp::def( |
| 40 | "buildModelFromMJCF", | ||
| 41 | static_cast<Model (*)(const std::string &, const JointModel &)>( | ||
| 42 | pinocchio::python::buildModelFromMJCF), | ||
| 43 | 40 | bp::args("mjcf_filename", "root_joint"), | |
| 44 | "Parse the MJCF file and return a pinocchio Model with the given root Joint."); | ||
| 45 | 20 | } | |
| 46 | } // namespace python | ||
| 47 | } // namespace pinocchio | ||
| 48 |