pinocchio  2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
pinocchio::srdf Namespace Reference

SRDF parsing. More...

Functions

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void loadReferenceConfigurations (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
 Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations). More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void loadReferenceConfigurationsFromXML (ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::istream &xmlStream, const bool verbose=false)
 Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations). More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
bool loadRotorParameters (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
 Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void removeCollisionPairs (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &filename, const bool verbose=false)
 Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void removeCollisionPairsFromXML (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom_model, const std::string &xmlString, const bool verbose=false)
 Deactive all possible collision pairs mentioned in the SRDF file. More...
 

Detailed Description

SRDF parsing.

Function Documentation

◆ loadReferenceConfigurations()

void pinocchio::srdf::loadReferenceConfigurations ( ModelTpl< Scalar, Options, JointCollectionTpl > &  model,
const std::string &  filename,
const bool  verbose = false 
)

Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).

Parameters
[in]modelThe Model for which we want the reference configs.
[in]filenameThe complete path to the SRDF file.
[in]verboseVerbosity mode.

◆ loadReferenceConfigurationsFromXML()

void pinocchio::srdf::loadReferenceConfigurationsFromXML ( ModelTpl< Scalar, Options, JointCollectionTpl > &  model,
std::istream &  xmlStream,
const bool  verbose = false 
)

Get the reference configurations of a given model associated to a SRDF file. It throws if the SRDF file is incorrect. The reference configurations are saved in a map indexed by the configuration name (model.referenceConfigurations).

Parameters
[in]modelThe Model for which we want the reference configs.
[in]xmlStreama stream containing the content of a SRDF.
[in]verboseVerbosity mode.

◆ loadRotorParameters()

bool pinocchio::srdf::loadRotorParameters ( ModelTpl< Scalar, Options, JointCollectionTpl > &  model,
const std::string &  filename,
const bool  verbose = false 
)

Load the rotor params of a given model associated to a SRDF file. It throws if the SRDF file is incorrect.

Parameters
[in]modelThe Model for which we want the rotor parmeters
[in]filenameThe complete path to the SRDF file.
[in]verboseVerbosity mode.
Returns
Boolean whether it loads or not.

◆ removeCollisionPairs()

void pinocchio::srdf::removeCollisionPairs ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model,
GeometryModel geom_model,
const std::string &  filename,
const bool  verbose = false 
)

Deactive all possible collision pairs mentioned in the SRDF file. It throws if the SRDF file is incorrect.

Parameters
[in]modelModel of the kinematic tree.
[in]geom_modelModel of the geometries.
[in]filenameThe complete path to the SRDF file.
[in]verboseVerbosity mode (print removed collision pairs and undefined link inside the model).

◆ removeCollisionPairsFromXML()

void pinocchio::srdf::removeCollisionPairsFromXML ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model,
GeometryModel geom_model,
const std::string &  xmlString,
const bool  verbose = false 
)

Deactive all possible collision pairs mentioned in the SRDF file.

Parameters
[in]modelModel of the kinematic tree.
[in]geom_modelModel of the geometries.
[in]xmlStringconstaining the XML SRDF string.
[in]verboseVerbosity mode (print removed collision pairs and undefined link inside the model).