Commit d03a3b6d authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Cleand hpp-model/model-loader.hh

parent efcc41ad
......@@ -15,31 +15,12 @@
// hpp-pinocchio. If not, see <http://www.gnu.org/licenses/>.
#include <hpp/pinocchio/hpp-model/model-loader.hh>
// namespace hpp {
// namespace model {
// DevicePtr_t
// robotFromUrdf( const std::string filename, const std::string rootType="freeflyer" )
// {
// // Create the robot object.
// DevicePtr_t robot = hpp::model::Device::create(filename);
// // Build robot model from URDF.
// urdf::Parser urdfParser (rootType, robot);
// urdfParser.parse (std::string("file://")+filename);
// hppDout (notice, "Finished parsing URDF file.");
// return robot;
// }
// } // namespace hpp
// } // namespace model
#include <pinocchio/multibody/geometry.hpp>
/* Default path of the urdf file describing the robot to parse. */
const std::string urdfDefaultFilename =
"@ROMEO_DESCRIPTION_DATAROOTDIR@/romeo_description/urdf/romeo_small.urdf";
// /* Build a hpp::model::Device from urdf path. */
// hpp::model::DevicePtr_t hppModel( const std::string urdfFilename = urdfDefaultFilename )
// { return hpp::model::robotFromUrdf(urdfFilename); }
/* Build a hpp::pinocchio::Device from urdf path. */
hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdfFilename)
{
......@@ -49,7 +30,6 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf
pinocchio->model(model);
pinocchio->createData();
#ifdef __se3_geom_hpp__
if( withGeoms )
{
std::vector<std::string> baseDirs; baseDirs.push_back("@ROMEO_DESCRIPTION_DATAROOTDIR@");
......@@ -60,7 +40,6 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf
pinocchio->geomModel(geom);
pinocchio->createGeomData();
}
#endif // __se3_geom_hpp__
return pinocchio;
}
......
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