util.hh

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// Copyright (C) 2016 by Joseph Mirabel
//
// This file is part of the hpp-pinocchio.
//
// hpp-pinocchio is free software: you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License
// as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// hpp-pinocchio is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with hpp-pinocchio.  If not, see
// <http://www.gnu.org/licenses/>.



#ifndef HPP_PINOCCHIO_URDF_UTIL
# define HPP_PINOCCHIO_URDF_UTIL

#include <hpp/pinocchio/fwd.hh>
#include <hpp/pinocchio/deprecated.hh>

namespace hpp
{
  namespace pinocchio
  {
    namespace urdf
    {

      void loadRobotModel (const DevicePtr_t& robot,
                           const FrameIndex&  baseFrame,
               const std::string& prefix,
               const std::string& rootJointType,
               const std::string& package,
               const std::string& modelName,
               const std::string& urdfSuffix,
               const std::string& srdfSuffix);
      void loadRobotModel (const DevicePtr_t& robot,
               const std::string& rootJointType,
               const std::string& package,
               const std::string& modelName,
               const std::string& urdfSuffix,
               const std::string& srdfSuffix);

      void setupHumanoidRobot (const HumanoidRobotPtr_t& robot,
          const std::string& prefix = "");


      void loadUrdfModel (const DevicePtr_t& robot,
                          const FrameIndex&  baseFrame,
                          const std::string& prefix,
              const std::string& rootJointType,
              const std::string& package,
              const std::string& filename);
      void loadUrdfModel (const DevicePtr_t& robot,
              const std::string& rootJointType,
              const std::string& package,
              const std::string& filename);

      void loadModel (const DevicePtr_t& robot,
                      const FrameIndex&  baseFrame,
                      const std::string& prefix,
                      const std::string& rootType,
                      const std::string& urdfPath,
                      const std::string& srdfPath);

      void loadModelFromString (const DevicePtr_t& robot,
                                const FrameIndex&  baseFrame,
                                const std::string& prefix,
                                const std::string& rootType,
                                const std::string& urdfString,
                                const std::string& srdfString);
    } // end of namespace urdf.
  } // end of namespace pinocchio.
} // end of namespace hpp.

#endif // HPP_PINOCCHIO_URDF_PARSER