[C++] Changed the signature of urdf::buildModel, that now takes the model as...

[C++] Changed the signature of urdf::buildModel, that now takes the model as input. Previous signature is kept as deprecated.

src/parsers/urdf.hpp

@@ -20,6 +20,7 @@
 #define __se3_parsers_urdf_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/deprecated.hh"
 #ifdef WITH_HPP_FCL
   #include "pinocchio/multibody/geometry.hpp"
   #include <hpp/fcl/collision_object.h>
@@ -47,6 +48,21 @@ namespace se3
   namespace urdf
   {
 
+    /// 
+    /// \brief Build the model from a URDF file with a particular joint as root of the model tree inside
+    /// the model given as reference argument.
+    ///
+    /// \param[in] filemane The URDF complete file path.
+    /// \param[in] root_joint The joint at the root of the model tree.
+    /// \param[in] verbose Print parsing info.
+    /// \param[out] model Reference model where to put the parsed information.
+    /// \return Return the reference on argument model for convenience.
+    /// 
+    Model& buildModel (const std::string & filename,
+                       const JointModelVariant & root_joint,
+                       Model & model, 
+                       const bool verbose = false) throw (std::invalid_argument);
+
     ///
     /// \brief Build the model from a URDF file with a particular joint as root of the model tree.
     ///
@@ -56,10 +72,25 @@ namespace se3
     ///
     /// \return The se3::Model of the URDF file.
     ///
-    Model buildModel (const std::string & filename,
-                      const JointModelVariant & root_joint,
-                      const bool verbose = false) throw (std::invalid_argument);
-          
+    PINOCCHIO_DEPRECATED
+    inline Model buildModel (const std::string & filename,
+                             const JointModelVariant & root_joint,
+                             const bool verbose = false) 
+      throw (std::invalid_argument)
+    { Model m; return buildModel(filename,root_joint,m,verbose); }
+
+    ///
+    /// \brief Build the model from a URDF file with a fixed joint as root of the model tree.
+    ///
+    /// \param[in] filemane The URDF complete file path.
+    /// \param[in] verbose Print parsing info.
+    /// \param[out] model Reference model where to put the parsed information.
+    /// \return Return the reference on argument model for convenience.
+    ///
+    Model & buildModel (const std::string & filename,
+                        Model & model,
+                        const bool verbose = false) throw (std::invalid_argument);
+
     ///
     /// \brief Build the model from a URDF file with a fixed joint as root of the model tree.
     ///
@@ -68,8 +99,11 @@ namespace se3
     ///
     /// \return The se3::Model of the URDF file.
     ///
-    Model buildModel (const std::string & filename,
-                      const bool verbose = false) throw (std::invalid_argument);
+    PINOCCHIO_DEPRECATED
+    inline Model buildModel (const std::string & filename,
+                             const bool verbose = false)
+      throw (std::invalid_argument)
+    { Model m; return buildModel(filename,m,verbose);  }
 
 #ifdef WITH_HPP_FCL
 
@@ -85,15 +119,41 @@ namespace se3
      *                           where to search for models and meshes, typically 
      *                           obtained from calling se3::rosPaths()
      *
+     * @param[in]   type         The type of objects that must be loaded (must be VISUAL or COLLISION)
+     * @param[out]  geomModel    Reference where to put the parsed information.
+     *
+     * @return      Returns the reference on geom model for convenience.
+     *
+     */
+    GeometryModel& buildGeom(const Model & model,
+                             const std::string & filename,
+                             const GeometryType type,
+                             GeometryModel & geomModel,
+                             const std::vector<std::string> & package_dirs = std::vector<std::string> ())
+    throw (std::invalid_argument);
+
+    /**
+     * @brief      Inline call to the previous method (deprecated).
+     *
+     * @param[in]  model         The model of the robot, built with
+     *                           urdf::buildModel
+     * @param[in]  filename      The URDF complete (absolute) file path
+     * @param[in]  package_dirs  A vector containing the different directories
+     *                           where to search for models and meshes, typically 
+     *                           obtained from calling se3::rosPaths()
+     *
      *@param[in]   type          The type of objects that must be loaded ( can be VISUAL or COLLISION, or NONE)
      *
      * @return     The GeometryModel associated to the urdf file and the given Model.
      *
      */
-    GeometryModel buildGeom(const Model & model,
-                            const std::string & filename,
-                            const std::vector<std::string> & package_dirs = std::vector<std::string> (),
-                            const GeometryType type = NONE) throw (std::invalid_argument);
+    PINOCCHIO_DEPRECATED 
+    inline  GeometryModel buildGeom(const Model & model,
+                                   const std::string & filename,
+                                   const std::vector<std::string> & package_dirs = std::vector<std::string> (),
+                                   const GeometryType type = NONE)
+      throw (std::invalid_argument)
+    { GeometryModel g; return buildGeom (model,filename,type,g,package_dirs); }
 
 #endif
 

src/parsers/urdf/geometry.cpp

@@ -249,10 +249,12 @@ namespace se3
 
 
 
-    GeometryModel buildGeom(const Model & model,
-                            const std::string & filename,
-                            const std::vector<std::string> & package_dirs,
-                            const GeometryType type) throw(std::invalid_argument)
+    GeometryModel& buildGeom(const Model & model,
+                             const std::string & filename,
+                             const GeometryType type,
+                             GeometryModel & model_geom,
+                             const std::vector<std::string> & package_dirs)
+      throw(std::invalid_argument)
     {
       if (type == NONE)
       {
@@ -260,8 +262,6 @@ namespace se3
         throw std::invalid_argument(exception_message);
       }
 
-      GeometryModel model_geom;
-
       std::vector<std::string> hint_directories(package_dirs);
 
       // Append the ROS_PACKAGE_PATH

src/parsers/urdf/model.cpp

@@ -596,10 +596,12 @@ namespace se3
       }
     }; // struct ParseRootTreeVisitor
 
-    Model buildModel(const std::string & filename, const JointModelVariant & root_joint, const bool verbose) throw (std::invalid_argument)
+    Model& buildModel(const std::string & filename, 
+                      const JointModelVariant & root_joint, 
+                      Model & model,
+                      const bool verbose) 
+      throw (std::invalid_argument)
     {
-      Model model;
-      
       ::urdf::ModelInterfacePtr urdfTree = ::urdf::parseURDFFile (filename);
       if (urdfTree)
         ParseRootTreeVisitor::run(urdfTree->getRoot(),model,root_joint,verbose);
@@ -608,14 +610,12 @@ namespace se3
         const std::string exception_message ("The file " + filename + " does not contain a valid URDF model.");
         throw std::invalid_argument(exception_message);
       }
-      
       return model;
     }
                 
-    Model buildModel(const std::string & filename, const bool verbose) throw (std::invalid_argument)
+    Model& buildModel(const std::string & filename, Model& model,const bool verbose) 
+    throw (std::invalid_argument)
     {
-      Model model;
-      
       ::urdf::ModelInterfacePtr urdfTree = ::urdf::parseURDFFile (filename);
       if (urdfTree)
         details::parseRootTree(urdfTree->getRoot(),model,verbose);