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Stack Of Tasks
pinocchio
Commits
49c09d5d
Unverified
Commit
49c09d5d
authored
Nov 25, 2019
by
Justin Carpentier
Committed by
GitHub
Nov 25, 2019
Browse files
Merge pull request #966 from jcarpent/devel
Sync models
parents
4235c1ba
2ed8c139
Changes
8
Hide whitespace changes
Inline
Side-by-side
benchmark/timings-geometry.cpp
View file @
49c09d5d
...
...
@@ -30,9 +30,9 @@ int main()
std
::
cout
<<
"(the time score in debug mode is not relevant) "
<<
std
::
endl
;
#endif
std
::
string
romeo_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
std
::
string
romeo_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
std
::
vector
<
std
::
string
>
package_dirs
;
std
::
string
romeo_meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others"
);
std
::
string
romeo_meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others
/robots
"
);
package_dirs
.
push_back
(
romeo_meshDir
);
pinocchio
::
Model
model
;
...
...
examples/build-reduced-model.cpp
View file @
49c09d5d
...
...
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
using
namespace
pinocchio
;
// You should change here to set up your own URDF file or just pass it as an argument of this example.
const
std
::
string
urdf_filename
=
(
argc
<=
1
)
?
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/ur_description/urdf/ur5_robot.urdf"
)
:
argv
[
1
];
const
std
::
string
urdf_filename
=
(
argc
<=
1
)
?
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
ur_description/urdf/ur5_robot.urdf"
)
:
argv
[
1
];
// Load the urdf model
Model
model
;
...
...
examples/overview-urdf.cpp
View file @
49c09d5d
...
...
@@ -16,7 +16,7 @@ int main(int argc, char ** argv)
using
namespace
pinocchio
;
// You should change here to set up your own URDF file or just pass it as an argument of this example.
const
std
::
string
urdf_filename
=
(
argc
<=
1
)
?
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/ur_description/urdf/ur5_robot.urdf"
)
:
argv
[
1
];
const
std
::
string
urdf_filename
=
(
argc
<=
1
)
?
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
ur_description/urdf/ur5_robot.urdf"
)
:
argv
[
1
];
// Load the urdf model
Model
model
;
...
...
others
@
f096f11b
Compare
f6adf950
...
f096f11b
Subproject commit f
6adf9501655c037f040d92cf14e35765a8acdf5
Subproject commit f
096f11b8d13d045178720040919ebb71b3bf86d
unittest/geom.cpp
View file @
49c09d5d
...
...
@@ -125,9 +125,9 @@ BOOST_AUTO_TEST_CASE ( loading_model )
typedef
pinocchio
::
Data
Data
;
typedef
pinocchio
::
GeometryData
GeometryData
;
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
std
::
vector
<
std
::
string
>
packageDirs
;
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/"
);
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
"
);
packageDirs
.
push_back
(
meshDir
);
Model
model
;
...
...
@@ -160,11 +160,11 @@ BOOST_AUTO_TEST_CASE ( test_collisions )
typedef
pinocchio
::
Data
Data
;
typedef
pinocchio
::
GeometryData
GeometryData
;
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
std
::
vector
<
std
::
string
>
packageDirs
;
const
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/"
);
const
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
"
);
packageDirs
.
push_back
(
meshDir
);
const
std
::
string
srdf_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/srdf/romeo.srdf"
);
const
std
::
string
srdf_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/srdf/romeo.srdf"
);
Model
model
;
pinocchio
::
urdf
::
buildModel
(
filename
,
pinocchio
::
JointModelFreeFlyer
(),
model
);
...
...
@@ -198,11 +198,11 @@ BOOST_AUTO_TEST_CASE ( test_distances )
typedef
pinocchio
::
Data
Data
;
typedef
pinocchio
::
GeometryData
GeometryData
;
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
std
::
vector
<
std
::
string
>
packageDirs
;
const
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/"
);
const
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
"
);
packageDirs
.
push_back
(
meshDir
);
const
std
::
string
srdf_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/srdf/romeo.srdf"
);
const
std
::
string
srdf_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/srdf/romeo.srdf"
);
Model
model
;
pinocchio
::
urdf
::
buildModel
(
filename
,
pinocchio
::
JointModelFreeFlyer
(),
model
);
...
...
@@ -234,9 +234,9 @@ BOOST_AUTO_TEST_CASE ( test_append_geom_models )
typedef
pinocchio
::
Model
Model
;
typedef
pinocchio
::
GeometryModel
GeometryModel
;
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
std
::
vector
<
std
::
string
>
packageDirs
;
const
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/"
);
const
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
"
);
packageDirs
.
push_back
(
meshDir
);
Model
model
;
...
...
@@ -264,8 +264,8 @@ BOOST_AUTO_TEST_CASE (radius)
{
std
::
vector
<
std
::
string
>
packageDirs
;
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/"
);
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
std
::
string
meshDir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
"
);
packageDirs
.
push_back
(
meshDir
);
pinocchio
::
Model
model
;
...
...
unittest/python/bindings_geometry_object_urdf.py
View file @
49c09d5d
...
...
@@ -8,7 +8,7 @@ class TestGeometryObjectUrdfBindings(unittest.TestCase):
def
setUp
(
self
):
self
.
current_file
=
os
.
path
.
dirname
(
os
.
path
.
abspath
(
__file__
))
self
.
model_dir
=
os
.
path
.
abspath
(
os
.
path
.
join
(
self
.
current_file
,
'../../models/others'
))
self
.
model_dir
=
os
.
path
.
abspath
(
os
.
path
.
join
(
self
.
current_file
,
'../../models/others
/robots
'
))
self
.
model_path
=
os
.
path
.
abspath
(
os
.
path
.
join
(
self
.
model_dir
,
'romeo_description/urdf/romeo.urdf'
))
def
test_load
(
self
):
...
...
unittest/srdf.cpp
View file @
49c09d5d
...
...
@@ -19,9 +19,9 @@ BOOST_AUTO_TEST_CASE(test_removeCollisionPairs)
{
using
namespace
pinocchio
::
urdf
;
using
namespace
pinocchio
::
srdf
;
const
string
model_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
string
model_dir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others"
);
const
string
srdf_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/srdf/romeo.srdf"
);
const
string
model_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
const
string
model_dir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others
/robots
"
);
const
string
srdf_filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/srdf/romeo.srdf"
);
Model
model
;
buildModel
(
model_filename
,
model
);
...
...
unittest/urdf.cpp
View file @
49c09d5d
...
...
@@ -22,8 +22,8 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE
(
build_model
)
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
dir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
dir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others
/robots
"
);
pinocchio
::
Model
model
;
pinocchio
::
urdf
::
buildModel
(
filename
,
model
);
...
...
@@ -78,7 +78,7 @@ BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
BOOST_AUTO_TEST_CASE
(
build_model_from_XML
)
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
// Read file as XML
std
::
ifstream
file
;
...
...
@@ -94,7 +94,7 @@ BOOST_AUTO_TEST_CASE ( build_model_from_XML )
BOOST_AUTO_TEST_CASE
(
build_model_from_UDRFTree
)
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
::
urdf
::
ModelInterfaceSharedPtr
urdfTree
=
::
urdf
::
parseURDFFile
(
filename
);
...
...
@@ -106,8 +106,8 @@ BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
BOOST_AUTO_TEST_CASE
(
build_model_with_joint
)
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
dir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
dir
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others
/robots
"
);
pinocchio
::
Model
model
;
pinocchio
::
urdf
::
buildModel
(
filename
,
pinocchio
::
JointModelFreeFlyer
(),
model
);
...
...
@@ -119,7 +119,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint )
BOOST_AUTO_TEST_CASE
(
build_model_with_joint_from_XML
)
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
// Read file as XML
std
::
ifstream
file
;
...
...
@@ -135,7 +135,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
BOOST_AUTO_TEST_CASE
(
build_model_with_joint_from_UDRFTree
)
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/romeo_description/urdf/romeo_small.urdf"
);
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/others/
robots/
romeo_description/urdf/romeo_small.urdf"
);
::
urdf
::
ModelInterfaceSharedPtr
urdfTree
=
::
urdf
::
parseURDFFile
(
filename
);
...
...
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