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Humanoid Path Planner
hpp-pinocchio
Commits
b032f4cb
Commit
b032f4cb
authored
Jul 29, 2016
by
Nicolas Mansard
Committed by
Nicolas Mansard
Jul 29, 2016
Browse files
Account for Pinocchio new API in parsers.
parent
30780d03
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/hpp-model/model-loader.cc
View file @
b032f4cb
...
...
@@ -26,7 +26,7 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf
{
hpp
::
pinocchio
::
DevicePtr_t
pinocchio
=
hpp
::
pinocchio
::
Device
::
create
(
urdfFilename
);
hpp
::
pinocchio
::
ModelPtr_t
model
(
new
se3
::
Model
()
);
*
model
=
se3
::
urdf
::
buildModel
(
urdfFilename
,
se3
::
JointModelFreeFlyer
());
se3
::
urdf
::
buildModel
(
urdfFilename
,
se3
::
JointModelFreeFlyer
()
,
*
model
);
pinocchio
->
model
(
model
);
pinocchio
->
createData
();
...
...
@@ -34,8 +34,7 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf
{
std
::
vector
<
std
::
string
>
baseDirs
;
baseDirs
.
push_back
(
ROMEO_MODEL_DIR
);
hpp
::
pinocchio
::
GeomModelPtr_t
geom
(
new
se3
::
GeometryModel
()
);
se3
::
GeometryModel
&
geomRef
=
*
geom
;
geomRef
=
se3
::
urdf
::
buildGeom
(
pinocchio
->
model
(),
pinocchio
->
name
(),
baseDirs
,
se3
::
COLLISION
);
se3
::
urdf
::
buildGeom
(
pinocchio
->
model
(),
pinocchio
->
name
(),
se3
::
COLLISION
,
*
geom
,
baseDirs
);
pinocchio
->
geomModel
(
geom
);
pinocchio
->
createGeomData
();
...
...
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