GCC Code Coverage Report

Directory: ./
File: bindings/python/parsers/urdf/model.cpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 27 48 56.2%
Branches: 14 32 43.8%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 //
4
5 #ifdef PINOCCHIO_WITH_URDFDOM
6 #include "pinocchio/parsers/urdf.hpp"
7 #endif
8
9 #include "pinocchio/bindings/python/parsers/urdf.hpp"
10
11 #include <boost/python.hpp>
12
13 namespace pinocchio
14 {
15 namespace python
16 {
17
18 namespace bp = boost::python;
19
20 #ifdef PINOCCHIO_WITH_URDFDOM
21
22 6 Model buildModelFromUrdf(const std::string & filename)
23 {
24 6 Model model;
25
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 6 pinocchio::urdf::buildModel(filename, model);
26 6 return model;
27 }
28
29 ✗ Model & buildModelFromUrdf(const std::string & filename, Model & model)
30 {
31 ✗ return pinocchio::urdf::buildModel(filename, model);
32 }
33
34 7 Model buildModelFromUrdf(const std::string & filename, const JointModel & root_joint)
35 {
36 7 Model model;
37
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 7 pinocchio::urdf::buildModel(filename, root_joint, model);
38 7 return model;
39 }
40
41 Model &
42 ✗ buildModelFromUrdf(const std::string & filename, const JointModel & root_joint, Model & model)
43 {
44 ✗ return pinocchio::urdf::buildModel(filename, root_joint, model);
45 }
46
47 ✗ Model buildModelFromXML(const std::string & XMLstream, const JointModel & root_joint)
48 {
49 ✗ Model model;
50 ✗ pinocchio::urdf::buildModelFromXML(XMLstream, root_joint, model);
51 ✗ return model;
52 }
53
54 Model &
55 ✗ buildModelFromXML(const std::string & XMLstream, const JointModel & root_joint, Model & model)
56 {
57 ✗ pinocchio::urdf::buildModelFromXML(XMLstream, root_joint, model);
58 ✗ return model;
59 }
60
61 ✗ Model buildModelFromXML(const std::string & XMLstream)
62 {
63 ✗ Model model;
64 ✗ pinocchio::urdf::buildModelFromXML(XMLstream, model);
65 ✗ return model;
66 }
67
68 ✗ Model & buildModelFromXML(const std::string & XMLstream, Model & model)
69 {
70 ✗ pinocchio::urdf::buildModelFromXML(XMLstream, model);
71 ✗ return model;
72 }
73
74 #endif
75
76 20 void exposeURDFModel()
77 {
78
79 #ifdef PINOCCHIO_WITH_URDFDOM
80
81
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 20 bp::def(
82 "buildModelFromUrdf",
83 static_cast<Model (*)(const std::string &, const JointModel &)>(
84 pinocchio::python::buildModelFromUrdf),
85 40 bp::args("urdf_filename", "root_joint"),
86 "Parse the URDF file given in input and return a pinocchio Model starting with the "
87 "given root joint.");
88
89
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 20 bp::def(
90 "buildModelFromUrdf",
91 static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromUrdf),
92 40 bp::args("urdf_filename"),
93 "Parse the URDF file given in input and return a pinocchio Model.");
94
95
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 20 bp::def(
96 "buildModelFromUrdf",
97 static_cast<Model & (*)(const std::string &, Model &)>(
98 pinocchio::python::buildModelFromUrdf),
99
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 40 bp::args("urdf_filename", "model"),
100 "Append to a given model a URDF structure given by its filename.",
101 ✗ bp::return_internal_reference<2>());
102
103
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 20 bp::def(
104 "buildModelFromUrdf",
105 static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
106 pinocchio::python::buildModelFromUrdf),
107
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 40 bp::args("urdf_filename", "root_joint", "model"),
108 "Append to a given model a URDF structure given by its filename and the root joint.\n"
109 "Remark: In the URDF format, a joint of type fixed can be defined. For efficiency reasons,"
110 "it is treated as operational frame and not as a joint of the model.",
111 ✗ bp::return_internal_reference<3>());
112
113
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 20 bp::def(
114 "buildModelFromXML",
115 static_cast<Model (*)(const std::string &, const JointModel &)>(
116 pinocchio::python::buildModelFromXML),
117 40 bp::args("urdf_xml_stream", "root_joint"),
118 "Parse the URDF XML stream given in input and return a pinocchio Model starting with "
119 "the given root joint.");
120
121
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 20 bp::def(
122 "buildModelFromXML",
123 static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
124 pinocchio::python::buildModelFromXML),
125
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 40 bp::args("urdf_xml_stream", "root_joint", "model"),
126 "Parse the URDF XML stream given in input and append it to the input model with the "
127 "given interfacing joint.",
128 ✗ bp::return_internal_reference<3>());
129
130
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 20 bp::def(
131 "buildModelFromXML",
132 static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromXML),
133 40 bp::args("urdf_xml_stream"),
134 "Parse the URDF XML stream given in input and return a pinocchio Model.");
135
136
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 20 bp::def(
137 "buildModelFromXML",
138 static_cast<Model & (*)(const std::string &, Model &)>(
139 pinocchio::python::buildModelFromXML),
140
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 40 bp::args("urdf_xml_stream", "model"),
141 "Parse the URDF XML stream given in input and append it to the input model.",
142 20 bp::return_internal_reference<2>());
143 #endif
144 20 }
145 } // namespace python
146 } // namespace pinocchio
147