GCC Code Coverage Report

Directory: ./
File: bindings/python/parsers/urdf/model.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 48 71 67.6%
Branches: 26 60 43.3%
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 #include "pinocchio/bindings/python/utils/path.hpp"
11
12 #include <boost/python.hpp>
13
14 namespace pinocchio
15 {
16 namespace python
17 {
18
19 namespace bp = boost::python;
20
21 #ifdef PINOCCHIO_WITH_URDFDOM
22
23 8 Model buildModelFromUrdf(const bp::object & filename)
24 {
25 8 Model model;
26
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 8 pinocchio::urdf::buildModel(path(filename), model);
27 8 return model;
28 }
29
30 ✗ Model & buildModelFromUrdf(const bp::object & filename, Model & model)
31 {
32 ✗ return pinocchio::urdf::buildModel(path(filename), model);
33 }
34
35 24 Model buildModelFromUrdf(const bp::object & filename, const JointModel & root_joint)
36 {
37 24 Model model;
38
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 24 pinocchio::urdf::buildModel(path(filename), root_joint, model);
39 24 return model;
40 }
41
42 1 Model buildModelFromUrdf(
43 const bp::object & filename,
44 const JointModel & root_joint,
45 const std::string & root_joint_name)
46 {
47 1 Model model;
48
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 1 pinocchio::urdf::buildModel(path(filename), root_joint, root_joint_name, model);
49 1 return model;
50 }
51
52 Model &
53 1 buildModelFromUrdf(const bp::object & filename, const JointModel & root_joint, Model & model)
54 {
55
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 1 return pinocchio::urdf::buildModel(path(filename), root_joint, model);
56 }
57
58 ✗ Model & buildModelFromUrdf(
59 const bp::object & filename,
60 const JointModel & root_joint,
61 const std::string & root_joint_name,
62 Model & model)
63 {
64 ✗ return pinocchio::urdf::buildModel(path(filename), root_joint, root_joint_name, model);
65 }
66
67 1 Model buildModelFromXML(const std::string & xml_stream, const JointModel & root_joint)
68 {
69 1 Model model;
70
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 1 pinocchio::urdf::buildModelFromXML(xml_stream, root_joint, model);
71 1 return model;
72 }
73
74 ✗ Model buildModelFromXML(
75 const std::string & xml_stream,
76 const JointModel & root_joint,
77 const std::string & root_joint_name)
78 {
79 ✗ Model model;
80 ✗ pinocchio::urdf::buildModelFromXML(xml_stream, root_joint, root_joint_name, model);
81 ✗ return model;
82 }
83
84 Model &
85 1 buildModelFromXML(const std::string & xml_stream, const JointModel & root_joint, Model & model)
86 {
87 1 pinocchio::urdf::buildModelFromXML(xml_stream, root_joint, model);
88 1 return model;
89 }
90
91 ✗ Model & buildModelFromXML(
92 const std::string & xml_stream,
93 const JointModel & root_joint,
94 const std::string & root_joint_name,
95 Model & model)
96 {
97 ✗ pinocchio::urdf::buildModelFromXML(xml_stream, root_joint, root_joint_name, model);
98 ✗ return model;
99 }
100
101 ✗ Model buildModelFromXML(const std::string & xml_stream)
102 {
103 ✗ Model model;
104 ✗ pinocchio::urdf::buildModelFromXML(xml_stream, model);
105 ✗ return model;
106 }
107
108 ✗ Model & buildModelFromXML(const std::string & xml_stream, Model & model)
109 {
110 ✗ pinocchio::urdf::buildModelFromXML(xml_stream, model);
111 ✗ return model;
112 }
113
114 #endif
115
116 65 void exposeURDFModel()
117 {
118
119 #ifdef PINOCCHIO_WITH_URDFDOM
120
121
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 65 bp::def(
122 "buildModelFromUrdf",
123 static_cast<Model (*)(const bp::object &, const JointModel &)>(
124 pinocchio::python::buildModelFromUrdf),
125 130 bp::args("urdf_filename", "root_joint"),
126 "Parse the URDF file given in input and return a pinocchio Model starting with the "
127 "given root joint.");
128
129
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 65 bp::def(
130 "buildModelFromUrdf",
131 static_cast<Model (*)(const bp::object &, const JointModel &, const std::string &)>(
132 pinocchio::python::buildModelFromUrdf),
133 130 bp::args("urdf_filename", "root_joint", "root_joint_name"),
134 "Parse the URDF file given in input and return a pinocchio Model starting with the "
135 "given root joint with its specified name.");
136
137
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 65 bp::def(
138 "buildModelFromUrdf",
139 static_cast<Model (*)(const bp::object &)>(pinocchio::python::buildModelFromUrdf),
140 130 bp::args("urdf_filename"),
141 "Parse the URDF file given in input and return a pinocchio Model.");
142
143
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 65 bp::def(
144 "buildModelFromUrdf",
145 static_cast<Model & (*)(const bp::object &, Model &)>(
146 pinocchio::python::buildModelFromUrdf),
147
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 130 bp::args("urdf_filename", "model"),
148 "Append to a given model a URDF structure given by its filename.",
149 ✗ bp::return_internal_reference<2>());
150
151
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 65 bp::def(
152 "buildModelFromUrdf",
153 static_cast<Model & (*)(const bp::object &, const JointModel &, Model &)>(
154 pinocchio::python::buildModelFromUrdf),
155
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 130 bp::args("urdf_filename", "root_joint", "model"),
156 "Append to a given model a URDF structure given by its filename and the root joint.\n"
157 "Remark: In the URDF format, a joint of type fixed can be defined. For efficiency reasons,"
158 "it is treated as operational frame and not as a joint of the model.",
159 ✗ bp::return_internal_reference<3>());
160
161
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 65 bp::def(
162 "buildModelFromUrdf",
163 static_cast<Model & (*)(const bp::object &, const JointModel &, const std::string &,
164 Model &)>(pinocchio::python::buildModelFromUrdf),
165
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 130 bp::args("urdf_filename", "root_joint", "root_joint_name", "model"),
166 "Append to a given model a URDF structure given by its filename and the root joint with "
167 "its specified name.\n"
168 "Remark: In the URDF format, a joint of type fixed can be defined. For efficiency reasons,"
169 "it is treated as operational frame and not as a joint of the model.",
170 ✗ bp::return_internal_reference<3>());
171
172
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 65 bp::def(
173 "buildModelFromXML",
174 static_cast<Model (*)(const std::string &, const JointModel &)>(
175 pinocchio::python::buildModelFromXML),
176 130 bp::args("urdf_xml_stream", "root_joint"),
177 "Parse the URDF XML stream given in input and return a pinocchio Model starting with "
178 "the given root joint.");
179
180
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 65 bp::def(
181 "buildModelFromXML",
182 static_cast<Model (*)(const std::string &, const JointModel &, const std::string &)>(
183 pinocchio::python::buildModelFromXML),
184 130 bp::args("urdf_xml_stream", "root_joint", "root_joint_name"),
185 "Parse the URDF XML stream given in input and return a pinocchio Model starting with "
186 "the given root joint with its specified name.");
187
188
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 65 bp::def(
189 "buildModelFromXML",
190 static_cast<Model & (*)(const std::string &, const JointModel &, Model &)>(
191 pinocchio::python::buildModelFromXML),
192
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 130 bp::args("urdf_xml_stream", "root_joint", "model"),
193 "Parse the URDF XML stream given in input and append it to the input model with the "
194 "given interfacing joint.",
195 ✗ bp::return_internal_reference<3>());
196
197
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 65 bp::def(
198 "buildModelFromXML",
199 static_cast<Model & (*)(const std::string &, const JointModel &, const std::string &,
200 Model &)>(pinocchio::python::buildModelFromXML),
201
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 130 bp::args("urdf_xml_stream", "root_joint", "root_joint_name", "model"),
202 "Parse the URDF XML stream given in input and append it to the input model with the "
203 "given interfacing joint with its specified name.",
204 ✗ bp::return_internal_reference<3>());
205
206
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 65 bp::def(
207 "buildModelFromXML",
208 static_cast<Model (*)(const std::string &)>(pinocchio::python::buildModelFromXML),
209 130 bp::args("urdf_xml_stream"),
210 "Parse the URDF XML stream given in input and return a pinocchio Model.");
211
212
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 65 bp::def(
213 "buildModelFromXML",
214 static_cast<Model & (*)(const std::string &, Model &)>(
215 pinocchio::python::buildModelFromXML),
216
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 130 bp::args("urdf_xml_stream", "model"),
217 "Parse the URDF XML stream given in input and append it to the input model.",
218 65 bp::return_internal_reference<2>());
219 #endif
220 65 }
221 } // namespace python
222 } // namespace pinocchio
223