| Directory: | ./ |
|---|---|
| File: | include/pinocchio/parsers/mjcf/model.hxx |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 20 | 22 | 90.9% |
| Branches: | 10 | 20 | 50.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // | ||
| 2 | // Copyright (c) 2016-2023 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_parsers_mjcf_model_hxx__ | ||
| 6 | #define __pinocchio_parsers_mjcf_model_hxx__ | ||
| 7 | |||
| 8 | #include "pinocchio/parsers/mjcf.hpp" | ||
| 9 | #include "pinocchio/parsers/mjcf/mjcf-graph.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | namespace mjcf | ||
| 14 | { | ||
| 15 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 16 | 8 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | |
| 17 | const std::string & filename, | ||
| 18 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 19 | const bool verbose) | ||
| 20 | { | ||
| 21 | 8 | return buildModelFromXML(filename, model, verbose); | |
| 22 | } | ||
| 23 | |||
| 24 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 25 | 8 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | |
| 26 | const std::string & xmlStr, | ||
| 27 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 28 | const bool verbose) | ||
| 29 | { | ||
| 30 |
1/2✓ Branch 1 taken 8 times.
✗ Branch 2 not taken.
|
8 | ::pinocchio::urdf::details::UrdfVisitor<Scalar, Options, JointCollectionTpl> visitor(model); |
| 31 | |||
| 32 | typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph; | ||
| 33 | |||
| 34 |
1/2✓ Branch 1 taken 8 times.
✗ Branch 2 not taken.
|
8 | MjcfGraph graph(visitor, xmlStr); |
| 35 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 8 times.
|
8 | if (verbose) |
| 36 | ✗ | visitor.log = &std::cout; | |
| 37 | |||
| 38 |
1/2✓ Branch 1 taken 8 times.
✗ Branch 2 not taken.
|
8 | graph.parseGraphFromXML(xmlStr); |
| 39 | |||
| 40 | // // Use the Mjcf graph to create the model | ||
| 41 |
1/2✓ Branch 1 taken 8 times.
✗ Branch 2 not taken.
|
8 | graph.parseRootTree(); |
| 42 | |||
| 43 | 8 | return model; | |
| 44 | 8 | } | |
| 45 | |||
| 46 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 47 | 1 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel( | |
| 48 | const std::string & filename, | ||
| 49 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 50 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 51 | const bool verbose) | ||
| 52 | { | ||
| 53 | 1 | return buildModelFromXML(filename, rootJoint, model, verbose); | |
| 54 | } | ||
| 55 | |||
| 56 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 57 | 1 | ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML( | |
| 58 | const std::string & xmlStr, | ||
| 59 | const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint, | ||
| 60 | ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 61 | const bool verbose) | ||
| 62 | { | ||
| 63 | ::pinocchio::urdf::details::UrdfVisitorWithRootJoint<Scalar, Options, JointCollectionTpl> | ||
| 64 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | visitor(model, rootJoint); |
| 65 | |||
| 66 | typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph; | ||
| 67 | |||
| 68 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | MjcfGraph graph(visitor, xmlStr); |
| 69 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 1 times.
|
1 | if (verbose) |
| 70 | ✗ | visitor.log = &std::cout; | |
| 71 | |||
| 72 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | graph.parseGraphFromXML(xmlStr); |
| 73 | |||
| 74 | // // Use the Mjcf graph to create the model | ||
| 75 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
1 | graph.parseRootTree(); |
| 76 | |||
| 77 | 1 | return model; | |
| 78 | 1 | } | |
| 79 | |||
| 80 | } // namespace mjcf | ||
| 81 | } // namespace pinocchio | ||
| 82 | |||
| 83 | #endif // __pinocchio_parsers_mjcf_model_hxx__ | ||
| 84 |