Commit 5301e767 authored by jcarpent's avatar jcarpent
Browse files

[Parsers] Clean SRDF file

parent e5d6408d
......@@ -15,9 +15,6 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
#ifndef __se3_parser_srdf_hxx__
#define __se3_parser_srdf_hxx__
#include "pinocchio/parsers/srdf.hpp"
#include "pinocchio/multibody/model.hpp"
......@@ -40,10 +37,10 @@ namespace se3
#ifdef WITH_HPP_FCL
namespace details
{
inline void removeCollisionPairs(const Model& model,
GeometryModel & geomModel,
std::istream & stream,
const bool verbose = false)
inline void removeCollisionPairs(const Model & model,
GeometryModel & geomModel,
std::istream & stream,
const bool verbose = false)
{
// Read xml stream
using boost::property_tree::ptree;
......@@ -209,8 +206,8 @@ namespace se3
}
Eigen::VectorXd getNeutralConfigurationFromSrdf(Model & model,
const std::string & filename,
const bool verbose) throw (std::invalid_argument)
const std::string & filename,
const bool verbose) throw (std::invalid_argument)
{
// Check extension
const std::string extension = filename.substr(filename.find_last_of('.')+1);
......@@ -279,5 +276,3 @@ namespace se3
}
}
} // namespace se3
#endif // ifndef __se3_parser_srdf_hxx__
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