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// |
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// Copyright (c) 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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#include <boost/python/tuple.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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bp::tuple buildModelFromSdf( |
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const std::string & filename, |
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const std::string & root_link_name, |
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const std::vector<std::string> & parent_guidance) |
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{ |
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Model model; |
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PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models; |
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::pinocchio::sdf::buildModel( |
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filename, model, contact_models, root_link_name, parent_guidance); |
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return bp::make_tuple(model, contact_models); |
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} |
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bp::tuple buildModelFromSdf( |
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const std::string & filename, |
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const JointModel & root_joint, |
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const std::string & root_link_name, |
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const std::vector<std::string> & parent_guidance) |
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{ |
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Model model; |
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PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models; |
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pinocchio::sdf::buildModel( |
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filename, root_joint, model, contact_models, root_link_name, parent_guidance); |
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return bp::make_tuple(model, contact_models); |
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} |
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#endif |
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void exposeSDFModel() |
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{ |
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#ifdef PINOCCHIO_WITH_SDFORMAT |
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bp::def( |
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"buildModelFromSdf", |
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static_cast<bp::tuple (*)( |
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const std::string &, const std::string &, const std::vector<std::string> &)>( |
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pinocchio::python::buildModelFromSdf), |
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(bp::arg("sdf_filename"), bp::arg("root_link_name"), |
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bp::arg("parent_guidance") = bp::list()), |
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"Parse the SDF file given in input and return a pinocchio Model and constraint models."); |
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bp::def( |
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"buildModelFromSdf", |
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static_cast<bp::tuple (*)( |
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const std::string &, const JointModel &, const std::string &, |
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const std::vector<std::string> &)>(pinocchio::python::buildModelFromSdf), |
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(bp::arg("sdf_filename"), bp::arg("root_joint"), bp::arg("root_link_name"), |
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bp::arg("parent_guidance") = bp::list()), |
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"Parse the SDF file given in input and return a pinocchio Model and constraint " |
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"models starting with the given root joint."); |
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#endif |
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} |
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} // namespace python |
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} // namespace pinocchio |
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