urdf.hpp

//
// Copyright (c) 2015-2021 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
 
#ifndef __pinocchio_parsers_urdf_hpp__
#define __pinocchio_parsers_urdf_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/parsers/meshloader-fwd.hpp"
 
#include <memory>
 
// forward declaration of the unique type from urdfdom which is expose.
namespace urdf
{
  class ModelInterface;
}
 
namespace pinocchio
{
  namespace urdf
  {
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::string & filename,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      const std::string & rootJointName,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::string & filename,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::string & filename,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::shared_ptr<::urdf::ModelInterface> urdfTree,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::shared_ptr<::urdf::ModelInterface> urdfTree,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      const std::string & rootJointName,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModel(
      const std::shared_ptr<::urdf::ModelInterface> urdfTree,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML(
      const std::string & xml_stream,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      const std::string & rootJointName,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML(
      const std::string & xml_stream,
      const typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointModel & rootJoint,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    ModelTpl<Scalar, Options, JointCollectionTpl> & buildModelFromXML(
      const std::string & xml_stream,
      ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const bool verbose = false);
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const GeometryType type,
      GeometryModel & geom_model,
      const std::vector<std::string> & package_paths = std::vector<std::string>(),
      ::hpp::fcl::MeshLoaderPtr mesh_loader = ::hpp::fcl::MeshLoaderPtr());
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::string & filename,
      const GeometryType type,
      GeometryModel & geom_model,
      const std::string & package_path,
      hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr())
 
    {
      const std::vector<std::string> dirs(1, package_path);
      return buildGeom(model, filename, type, geom_model, dirs, mesh_loader);
    }
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::istream & xml_stream,
      const GeometryType type,
      GeometryModel & geom_model,
      const std::vector<std::string> & package_paths = std::vector<std::string>(),
      hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr());
 
    template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
    GeometryModel & buildGeom(
      const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
      const std::istream & xml_stream,
      const GeometryType type,
      GeometryModel & geom_model,
      const std::string & package_path,
      hpp::fcl::MeshLoaderPtr mesh_loader = hpp::fcl::MeshLoaderPtr())
 
    {
      const std::vector<std::string> dirs(1, package_path);
      return buildGeom(model, xml_stream, type, geom_model, dirs, mesh_loader);
    }
 
  } // namespace urdf
} // namespace pinocchio
 
#include "pinocchio/parsers/urdf/model.hxx"
#include "pinocchio/parsers/urdf/geometry.hxx"
 
#endif // ifndef __pinocchio_parsers_urdf_hpp__