| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2021 CNRS INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#ifdef PINOCCHIO_WITH_SDFORMAT |
| 6 |
|
|
#include "pinocchio/parsers/sdf.hpp" |
| 7 |
|
|
#endif |
| 8 |
|
|
#include "pinocchio/bindings/python/parsers/sdf.hpp" |
| 9 |
|
|
#include "pinocchio/bindings/python/utils/path.hpp" |
| 10 |
|
|
|
| 11 |
|
|
#include <boost/python.hpp> |
| 12 |
|
|
#include <boost/python/tuple.hpp> |
| 13 |
|
|
|
| 14 |
|
|
namespace pinocchio |
| 15 |
|
|
{ |
| 16 |
|
|
namespace python |
| 17 |
|
|
{ |
| 18 |
|
|
|
| 19 |
|
|
namespace bp = boost::python; |
| 20 |
|
|
|
| 21 |
|
|
#ifdef PINOCCHIO_WITH_SDFORMAT |
| 22 |
|
|
bp::tuple buildModelFromSdf( |
| 23 |
|
|
const bp::object & filename, |
| 24 |
|
|
const std::string & root_link_name, |
| 25 |
|
|
const std::vector<std::string> & parent_guidance) |
| 26 |
|
|
{ |
| 27 |
|
|
Model model; |
| 28 |
|
|
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models; |
| 29 |
|
|
::pinocchio::sdf::buildModel( |
| 30 |
|
|
path(filename), model, contact_models, root_link_name, parent_guidance); |
| 31 |
|
|
return bp::make_tuple(model, contact_models); |
| 32 |
|
|
} |
| 33 |
|
|
|
| 34 |
|
|
bp::tuple buildModelFromSdf( |
| 35 |
|
|
const bp::object & filename, |
| 36 |
|
|
const JointModel & root_joint, |
| 37 |
|
|
const std::string & root_link_name, |
| 38 |
|
|
const std::vector<std::string> & parent_guidance) |
| 39 |
|
|
{ |
| 40 |
|
|
Model model; |
| 41 |
|
|
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models; |
| 42 |
|
|
pinocchio::sdf::buildModel( |
| 43 |
|
|
path(filename), root_joint, model, contact_models, root_link_name, parent_guidance); |
| 44 |
|
|
return bp::make_tuple(model, contact_models); |
| 45 |
|
|
} |
| 46 |
|
|
|
| 47 |
|
|
bp::tuple buildModelFromSdf( |
| 48 |
|
|
const bp::object & filename, |
| 49 |
|
|
const JointModel & root_joint, |
| 50 |
|
|
const std::string & root_link_name, |
| 51 |
|
|
const std::string & root_joint_name, |
| 52 |
|
|
const std::vector<std::string> & parent_guidance) |
| 53 |
|
|
{ |
| 54 |
|
|
Model model; |
| 55 |
|
|
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models; |
| 56 |
|
|
pinocchio::sdf::buildModel( |
| 57 |
|
|
path(filename), root_joint, root_joint_name, model, contact_models, root_link_name, |
| 58 |
|
|
parent_guidance); |
| 59 |
|
|
return bp::make_tuple(model, contact_models); |
| 60 |
|
|
} |
| 61 |
|
|
#endif |
| 62 |
|
|
|
| 63 |
|
65 |
void exposeSDFModel() |
| 64 |
|
|
{ |
| 65 |
|
|
#ifdef PINOCCHIO_WITH_SDFORMAT |
| 66 |
|
|
bp::def( |
| 67 |
|
|
"buildModelFromSdf", |
| 68 |
|
|
static_cast<bp::tuple (*)( |
| 69 |
|
|
const bp::object &, const std::string &, const std::vector<std::string> &)>( |
| 70 |
|
|
pinocchio::python::buildModelFromSdf), |
| 71 |
|
|
(bp::arg("sdf_filename"), bp::arg("root_link_name"), |
| 72 |
|
|
bp::arg("parent_guidance") = bp::list()), |
| 73 |
|
|
"Parse the SDF file given in input and return a pinocchio Model and constraint models."); |
| 74 |
|
|
|
| 75 |
|
|
bp::def( |
| 76 |
|
|
"buildModelFromSdf", |
| 77 |
|
|
static_cast<bp::tuple (*)( |
| 78 |
|
|
const bp::object &, const JointModel &, const std::string &, |
| 79 |
|
|
const std::vector<std::string> &)>(pinocchio::python::buildModelFromSdf), |
| 80 |
|
|
(bp::arg("sdf_filename"), bp::arg("root_joint"), bp::arg("root_link_name"), |
| 81 |
|
|
bp::arg("parent_guidance") = bp::list()), |
| 82 |
|
|
"Parse the SDF file given in input and return a pinocchio Model and constraint " |
| 83 |
|
|
"models starting with the given root joint."); |
| 84 |
|
|
|
| 85 |
|
|
bp::def( |
| 86 |
|
|
"buildModelFromSdf", |
| 87 |
|
|
static_cast<bp::tuple (*)( |
| 88 |
|
|
const bp::object &, const JointModel &, const std::string &, const std::string &, |
| 89 |
|
|
const std::vector<std::string> &)>(pinocchio::python::buildModelFromSdf), |
| 90 |
|
|
(bp::arg("sdf_filename"), bp::arg("root_joint"), bp::arg("root_link_name"), |
| 91 |
|
|
bp::arg("root_joint_name"), bp::arg("parent_guidance") = bp::list()), |
| 92 |
|
|
"Parse the SDF file given in input and return a pinocchio Model and constraint " |
| 93 |
|
|
"models starting with the given root joint and its specified name."); |
| 94 |
|
|
#endif |
| 95 |
|
65 |
} |
| 96 |
|
|
} // namespace python |
| 97 |
|
|
} // namespace pinocchio |
| 98 |
|
|
|