| Directory: | ./ |
|---|---|
| File: | bindings/python/parsers/srdf.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 20 | 25 | 80.0% |
| Branches: | 36 | 78 | 46.2% |
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| 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 | #include "pinocchio/bindings/python/utils/path.hpp" | ||
| 8 | |||
| 9 | #include <boost/python.hpp> | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | namespace python | ||
| 14 | { | ||
| 15 | |||
| 16 | namespace bp = boost::python; | ||
| 17 | |||
| 18 | 1 | void removeCollisionPairs( | |
| 19 | const Model & model, | ||
| 20 | GeometryModel & geom_model, | ||
| 21 | const bp::object & filename, | ||
| 22 | const bool verbose = false) | ||
| 23 | { | ||
| 24 |
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1 | pinocchio::srdf::removeCollisionPairs(model, geom_model, path(filename), verbose); |
| 25 | 1 | } | |
| 26 | |||
| 27 | 2 | void loadReferenceConfigurations( | |
| 28 | Model & model, const bp::object & filename, const bool verbose = false) | ||
| 29 | { | ||
| 30 |
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2 | pinocchio::srdf::loadReferenceConfigurations(model, path(filename), verbose); |
| 31 | 2 | } | |
| 32 | |||
| 33 | ✗ | void loadReferenceConfigurationsFromXML( | |
| 34 | Model & model, const std::string & xmlStream, const bool verbose = false) | ||
| 35 | { | ||
| 36 | ✗ | std::istringstream iss(xmlStream); | |
| 37 | ✗ | pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, verbose); | |
| 38 | } | ||
| 39 | |||
| 40 | ✗ | bool loadRotorParameters(Model & model, const bp::object & filename, const bool verbose = false) | |
| 41 | { | ||
| 42 | ✗ | return pinocchio::srdf::loadRotorParameters(model, path(filename), verbose); | |
| 43 | } | ||
| 44 | |||
| 45 | 65 | void exposeSRDFParser() | |
| 46 | { | ||
| 47 | |||
| 48 |
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65 | bp::def( |
| 49 | "removeCollisionPairs", | ||
| 50 | static_cast<void (*)(const Model &, GeometryModel &, const bp::object &, const bool)>( | ||
| 51 | &removeCollisionPairs), | ||
| 52 |
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195 | (bp::arg("model"), bp::arg("geom_model"), bp::arg("srdf_filename"), |
| 53 |
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130 | bp::arg("verbose") = false), |
| 54 | "Parse an SRDF file in order to remove some collision pairs for a specific GeometryModel.\n" | ||
| 55 | "Parameters:\n" | ||
| 56 | "Parameters:\n" | ||
| 57 | "\tmodel: model of the robot\n" | ||
| 58 | "\tgeom_model: geometry model of the robot\n" | ||
| 59 | "\tsrdf_filename: path to the SRDF file containing the collision pairs to remove\n" | ||
| 60 | "\tverbose: [optional] display to the current terminal some internal information"); | ||
| 61 | |||
| 62 |
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65 | bp::def( |
| 63 | "removeCollisionPairsFromXML", | ||
| 64 | static_cast<void (*)(const Model &, GeometryModel &, const std::string &, const bool)>( | ||
| 65 | &srdf::removeCollisionPairsFromXML), | ||
| 66 |
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195 | (bp::arg("model"), bp::arg("geom_model"), bp::arg("srdf_xml_stream"), |
| 67 |
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130 | bp::arg("verbose") = false), |
| 68 | "Parse an SRDF file in order to remove some collision pairs for a specific GeometryModel.\n" | ||
| 69 | "Parameters:\n" | ||
| 70 | "Parameters:\n" | ||
| 71 | "\tmodel: model of the robot\n" | ||
| 72 | "\tgeom_model: geometry model of the robot\n" | ||
| 73 | "\tsrdf_xml_stream: XML stream containing the SRDF information with the collision pairs to " | ||
| 74 | "remove\n" | ||
| 75 | "\tverbose: [optional] display to the current terminal some internal information"); | ||
| 76 | |||
| 77 |
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65 | bp::def( |
| 78 | "loadReferenceConfigurations", | ||
| 79 | static_cast<void (*)(Model &, const bp::object &, const bool)>( | ||
| 80 | &loadReferenceConfigurations), | ||
| 81 |
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130 | (bp::arg("model"), bp::arg("srdf_filename"), bp::arg("verbose") = false), |
| 82 | "Retrieve all the reference configurations of a given model from the SRDF file.\n" | ||
| 83 | "Parameters:\n" | ||
| 84 | "\tmodel: model of the robot\n" | ||
| 85 | "\tsrdf_filename: path to the SRDF file containing the reference configurations\n" | ||
| 86 | "\tverbose: [optional] display to the current terminal some internal information"); | ||
| 87 | |||
| 88 |
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65 | bp::def( |
| 89 | "loadReferenceConfigurationsFromXML", | ||
| 90 | static_cast<void (*)(Model &, const std::string &, const bool)>( | ||
| 91 | &loadReferenceConfigurationsFromXML), | ||
| 92 |
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130 | (bp::arg("model"), bp::arg("srdf_xml_stream"), bp::arg("verbose") = false), |
| 93 | "Retrieve all the reference configurations of a given model from the SRDF file.\n" | ||
| 94 | "Parameters:\n" | ||
| 95 | "\tmodel: model of the robot\n" | ||
| 96 | "\tsrdf_xml_stream: XML stream containing the SRDF information with the reference " | ||
| 97 | "configurations\n" | ||
| 98 | "\tverbose: [optional] display to the current terminal some internal information"); | ||
| 99 | |||
| 100 |
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65 | bp::def( |
| 101 | "loadRotorParameters", | ||
| 102 | static_cast<bool (*)(Model &, const bp::object &, const bool)>(&loadRotorParameters), | ||
| 103 |
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130 | (bp::arg("model"), bp::arg("srdf_filename"), bp::arg("verbose") = false), |
| 104 | "Load the rotor parameters of a given model from a SRDF file.\n" | ||
| 105 | "Results are stored in model.rotorInertia and model.rotorGearRatio." | ||
| 106 | "This function also fills the armature of the model." | ||
| 107 | "Parameters:\n" | ||
| 108 | "\tmodel: model of the robot\n" | ||
| 109 | "\tsrdf_filename: path to the SRDF file containing the rotor parameters\n" | ||
| 110 | "\tverbose: [optional] display to the current terminal some internal information"); | ||
| 111 | 65 | } | |
| 112 | } // namespace python | ||
| 113 | } // namespace pinocchio | ||
| 114 |