From 2f8c3d3e0eddcb8deaae5da449c1a0927ca21158 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 30 Mar 2020 16:22:16 +0200
Subject: [PATCH] srdf: allows removing of collision pairs when FCL is not
present
---
src/parsers/srdf.hpp | 5 -----
src/parsers/srdf.hxx | 24 ++++++++++--------------
2 files changed, 10 insertions(+), 19 deletions(-)
diff --git a/src/parsers/srdf.hpp b/src/parsers/srdf.hpp
index f83d69bd7..67e620006 100644
--- a/src/parsers/srdf.hpp
+++ b/src/parsers/srdf.hpp
@@ -13,8 +13,6 @@ namespace pinocchio
namespace srdf
{
-#ifdef PINOCCHIO_WITH_HPP_FCL
-
///
/// \brief Deactive all possible collision pairs mentioned in the SRDF file.
/// It throws if the SRDF file is incorrect.
@@ -44,8 +42,6 @@ namespace pinocchio
const std::string & xmlString,
const bool verbose = false);
-#endif // ifdef PINOCCHIO_WITH_HPP_FCL
-
///
/// \brief 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
@@ -76,7 +72,6 @@ namespace pinocchio
std::istream & xmlStream,
const bool verbose = false);
-
///
/// \brief Load the rotor params of a given model associated to a SRDF file.
/// It throws if the SRDF file is incorrect.
diff --git a/src/parsers/srdf.hxx b/src/parsers/srdf.hxx
index 552cbf975..4b6210dbb 100644
--- a/src/parsers/srdf.hxx
+++ b/src/parsers/srdf.hxx
@@ -23,8 +23,6 @@ namespace pinocchio
{
namespace srdf
{
-
-#ifdef PINOCCHIO_WITH_HPP_FCL
namespace details
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
@@ -129,8 +127,6 @@ namespace pinocchio
details::removeCollisionPairs(model, geom_model, srdf_stream, verbose);
}
-#endif // ifdef PINOCCHIO_WITH_HPP_FCL
-
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
bool loadRotorParameters(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const std::string & filename,
@@ -210,8 +206,8 @@ namespace pinocchio
typedef typename Model::ConfigVectorType ConfigVectorType;
typedef boost::fusion::vector<const std::string&,
- const ConfigVectorType&,
- ConfigVectorType&> ArgsType;
+ const ConfigVectorType&,
+ ConfigVectorType&> ArgsType;
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & joint,
@@ -225,9 +221,9 @@ namespace pinocchio
private:
template<int axis>
static void _algo (const JointModelRevoluteUnboundedTpl<Scalar,Options,axis> & joint,
- const std::string& joint_name,
- const ConfigVectorType& fromXML,
- ConfigVectorType& config)
+ const std::string& joint_name,
+ const ConfigVectorType& fromXML,
+ ConfigVectorType& config)
{
typedef JointModelRevoluteUnboundedTpl<Scalar,Options,axis> JointModelRUB;
PINOCCHIO_STATIC_ASSERT(JointModelRUB::NQ == 2, JOINT_MODEL_REVOLUTE_SHOULD_HAVE_2_PARAMETERS);
@@ -235,16 +231,16 @@ namespace pinocchio
std::cerr << "Could not read joint config (" << joint_name << " , " << fromXML.transpose() << ")" << std::endl;
else {
SINCOS(fromXML[0],
- &config[joint.idx_q()+1],
- &config[joint.idx_q()+0]);
+ &config[joint.idx_q()+1],
+ &config[joint.idx_q()+0]);
}
}
template<typename JointModel>
static void _algo (const JointModel & joint,
- const std::string& joint_name,
- const ConfigVectorType& fromXML,
- ConfigVectorType& config)
+ const std::string& joint_name,
+ const ConfigVectorType& fromXML,
+ ConfigVectorType& config)
{
if (joint.nq() != fromXML.size())
std::cerr << "Could not read joint config (" << joint_name << " , " << fromXML.transpose() << ")" << std::endl;
--
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