GCC Code Coverage Report

Directory: ./
File: bindings/python/parsers/srdf.cpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 14 17 82.4%
Branches: 34 72 47.2%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2021 CNRS INRIA
3 //
4
5 #include "pinocchio/parsers/srdf.hpp"
6 #include "pinocchio/bindings/python/parsers/srdf.hpp"
7
8 #include <boost/python.hpp>
9
10 namespace pinocchio
11 {
12 namespace python
13 {
14
15 namespace bp = boost::python;
16
17 ✗ void loadReferenceConfigurationsFromXML(
18 Model & model, const std::string & xmlStream, const bool verbose = false)
19 {
20 ✗ std::istringstream iss(xmlStream);
21 ✗ pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, verbose);
22 }
23
24 20 void exposeSRDFParser()
25 {
26
27
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 20 bp::def(
28 "removeCollisionPairs",
29 static_cast<void (*)(const Model &, GeometryModel &, const std::string &, const bool)>(
30 &srdf::removeCollisionPairs),
31
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 60 (bp::arg("model"), bp::arg("geom_model"), bp::arg("srdf_filename"),
32
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 40 bp::arg("verbose") = false),
33 "Parse an SRDF file in order to remove some collision pairs for a specific GeometryModel.\n"
34 "Parameters:\n"
35 "Parameters:\n"
36 "\tmodel: model of the robot\n"
37 "\tgeom_model: geometry model of the robot\n"
38 "\tsrdf_filename: path to the SRDF file containing the collision pairs to remove\n"
39 "\tverbose: [optional] display to the current terminal some internal information");
40
41
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 20 bp::def(
42 "removeCollisionPairsFromXML",
43 static_cast<void (*)(const Model &, GeometryModel &, const std::string &, const bool)>(
44 &srdf::removeCollisionPairsFromXML),
45
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 60 (bp::arg("model"), bp::arg("geom_model"), bp::arg("srdf_xml_stream"),
46
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 40 bp::arg("verbose") = false),
47 "Parse an SRDF file in order to remove some collision pairs for a specific GeometryModel.\n"
48 "Parameters:\n"
49 "Parameters:\n"
50 "\tmodel: model of the robot\n"
51 "\tgeom_model: geometry model of the robot\n"
52 "\tsrdf_xml_stream: XML stream containing the SRDF information with the collision pairs to "
53 "remove\n"
54 "\tverbose: [optional] display to the current terminal some internal information");
55
56
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 20 bp::def(
57 "loadReferenceConfigurations",
58 static_cast<void (*)(Model &, const std::string &, const bool)>(
59 &srdf::loadReferenceConfigurations),
60
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 40 (bp::arg("model"), bp::arg("srdf_filename"), bp::arg("verbose") = false),
61 "Retrieve all the reference configurations of a given model from the SRDF file.\n"
62 "Parameters:\n"
63 "\tmodel: model of the robot\n"
64 "\tsrdf_filename: path to the SRDF file containing the reference configurations\n"
65 "\tverbose: [optional] display to the current terminal some internal information");
66
67
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 20 bp::def(
68 "loadReferenceConfigurationsFromXML",
69 static_cast<void (*)(Model &, const std::string &, const bool)>(
70 &srdf::loadReferenceConfigurations),
71
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 40 (bp::arg("model"), bp::arg("srdf_xml_stream"), bp::arg("verbose") = false),
72 "Retrieve all the reference configurations of a given model from the SRDF file.\n"
73 "Parameters:\n"
74 "\tmodel: model of the robot\n"
75 "\tsrdf_xml_stream: XML stream containing the SRDF information with the reference "
76 "configurations\n"
77 "\tverbose: [optional] display to the current terminal some internal information");
78
79
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 20 bp::def(
80 "loadRotorParameters",
81 static_cast<bool (*)(Model &, const std::string &, const bool)>(&srdf::loadRotorParameters),
82
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 40 (bp::arg("model"), bp::arg("srdf_filename"), bp::arg("verbose") = false),
83 "Load the rotor parameters of a given model from a SRDF file.\n"
84 "Results are stored in model.rotorInertia and model.rotorGearRatio."
85 "This function also fills the armature of the model."
86 "Parameters:\n"
87 "\tmodel: model of the robot\n"
88 "\tsrdf_filename: path to the SRDF file containing the rotor parameters\n"
89 "\tverbose: [optional] display to the current terminal some internal information");
90 20 }
91 } // namespace python
92 } // namespace pinocchio
93