SRDF parsing. More...

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
PINOCCHIO_DEPRECATED ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType	getNeutralConfiguration (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
	Get the neutral configuration 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>
PINOCCHIO_DEPRECATED ModelTpl< Scalar, Options, JointCollectionTpl >::ConfigVectorType	getNeutralConfigurationFromSrdf (ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::string &filename, const bool verbose=false)
	Get the neutral configuration 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	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>
PINOCCHIO_DEPRECATED bool	loadRotorParamsFromSrdf (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 &geomModel, 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>
PINOCCHIO_DEPRECATED void	removeCollisionPairsFromSrdf (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel, 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>
PINOCCHIO_DEPRECATED void	removeCollisionPairsFromSrdfString (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel, const std::string &xmlString, const bool verbose=false)
	Deactive all possible collision pairs mentioned in the SRDF file. More...

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
void	removeCollisionPairsFromXML (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geomModel, 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

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

Get the neutral configuration of a given model associated to a SRDF file. It throws if the SRDF file is incorrect.

Parameters

[in]	model	The Model for which we want the neutral config
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

Returns: The neutral configuration as an eigen vector

Referenced by getNeutralConfigurationFromSrdf(), and removeCollisionPairsFromSrdfString().

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

Get the neutral configuration of a given model associated to a SRDF file. It throws if the SRDF file is incorrect.

Parameters

[in]	model	The Model for which we want the neutral config
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

Returns: The neutral configuration as an eigen vector

Definition at line 94 of file srdf.hpp.

References getNeutralConfiguration(), loadReferenceConfigurations(), loadReferenceConfigurationsFromXML(), and loadRotorParameters().

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]	model	The Model for which we want the reference configs.
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

Referenced by getNeutralConfigurationFromSrdf().

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]	model	The Model for which we want the reference configs.
[in]	xmlStream	a stream containing the content of a SRDF.
[in]	verbose	Verbosity mode.

Referenced by getNeutralConfigurationFromSrdf().

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]	model	The Model for which we want the rotor parmeters
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

Returns: Boolean whether it loads or not.

Referenced by getNeutralConfigurationFromSrdf(), and loadRotorParamsFromSrdf().

PINOCCHIO_DEPRECATED bool pinocchio::srdf::loadRotorParamsFromSrdf	(	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]	model	The Model for which we want the rotor parmeters
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode.

Returns: Boolean whether it loads or not.

Definition at line 147 of file srdf.hpp.

References loadRotorParameters().

void pinocchio::srdf::removeCollisionPairs	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geomModel,
		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]	model	Model of the kinematic tree.
[in]	geomModel	Model of the geometries.
[out]	data_geom	Data containing the active collision pairs.
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode (print removed collision pairs and undefined link inside the model).

Referenced by removeCollisionPairsFromSrdf().

PINOCCHIO_DEPRECATED void pinocchio::srdf::removeCollisionPairsFromSrdf	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		GeometryModel &	geomModel,
		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]	model	Model of the kinematic tree.
[in]	geomModel	Model of the geometries.
[out]	data_geom	Data containing the active collision pairs.
[in]	filename	The complete path to the SRDF file.
[in]	verbose	Verbosity mode (print removed collision pairs and undefined link inside the model).

Definition at line 37 of file srdf.hpp.

References removeCollisionPairs(), and removeCollisionPairsFromXML().

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

Deactive all possible collision pairs mentioned in the SRDF file.

Parameters

[in]	model	Model of the kinematic tree.
[in]	geomModel	Model of the geometries.
[out]	data_geom	Data containing the active collision pairs.
[in]	xmlString	constaining the XML SRDF string.
[in]	verbose	Verbosity mode (print removed collision pairs and undefined link inside the model).

Definition at line 63 of file srdf.hpp.

References getNeutralConfiguration(), and removeCollisionPairsFromXML().

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

Deactive all possible collision pairs mentioned in the SRDF file.

Parameters

[in]	model	Model of the kinematic tree.
[in]	geomModel	Model of the geometries.
[out]	data_geom	Data containing the active collision pairs.
[in]	xmlString	constaining the XML SRDF string.
[in]	verbose	Verbosity mode (print removed collision pairs and undefined link inside the model).

Referenced by removeCollisionPairsFromSrdf(), and removeCollisionPairsFromSrdfString().

Functions

Detailed Description

Function Documentation