diff --git a/CMakeLists.txt b/CMakeLists.txt
index efa38b3cadd903b97d29408bab5be4af971acf15..b0e87423cd9cf3f538c4e2f4b85dada65b1e28a7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,7 @@ ENDIF(WIN32)
# --- OPTIONS ----------------------------------------
OPTION (BUILD_BENCHMARK "Build the benchmarks" OFF)
+OPTION (BUILD_UTILS "Build the utils" OFF)
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
IF (INITIALIZE_WITH_NAN)
@@ -111,6 +112,7 @@ SET(${PROJECT_NAME}_MULTIBODY_JOINT_HEADERS
SET(${PROJECT_NAME}_MULTIBODY_PARSER_HEADERS
multibody/parser/sample-models.hpp
+ multibody/parser/utils.hpp
)
SET(${PROJECT_NAME}_MULTIBODY_HEADERS
@@ -176,6 +178,7 @@ IF(URDFDOM_FOUND)
LIST(APPEND HEADERS
${${PROJECT_NAME}_MULTIBODY_PARSER_HEADERS}
)
+ ADD_DEFINITIONS(-DWITH_URDFDOM)
ENDIF(URDFDOM_FOUND)
IF(LUA5_1_FOUND)
@@ -222,5 +225,8 @@ ADD_SUBDIRECTORY(unittest)
IF (BUILD_BENCHMARK)
ADD_SUBDIRECTORY (benchmark)
ENDIF (BUILD_BENCHMARK)
+IF (BUILD_UTILS)
+ ADD_SUBDIRECTORY (utils)
+ENDIF (BUILD_UTILS)
SETUP_PROJECT_FINALIZE()
diff --git a/src/multibody/parser/utils.hpp b/src/multibody/parser/utils.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..20cc54329ab693102b8e17f664bc3650a017800b
--- /dev/null
+++ b/src/multibody/parser/utils.hpp
@@ -0,0 +1,49 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#include <iostream>
+
+namespace se3
+{
+ ///
+ /// \brief Supported model file extensions
+ ///
+ enum ModelFileExtensionType{
+ UNKNOWN = 0,
+ URDF,
+ LUA
+ };
+
+ ///
+ /// \brief Extract the type of the given model file according to its extension
+ ///
+ /// \param[in] filemane The complete path to the model file.
+ ///
+ /// \return The type of the extension of the model file
+ ///
+ ModelFileExtensionType checkModelFileExtension (const std::string & filename)
+ {
+ const std::string extension = filename.substr(filename.find_last_of(".") + 1);
+
+ if (extension == "urdf")
+ return URDF;
+ else if (extension == "lua")
+ return LUA;
+
+ return UNKNOWN;
+ }
+} // namespace se3
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90ecd750c5cc2e6becc863759936009c6a4a9223
--- /dev/null
+++ b/utils/CMakeLists.txt
@@ -0,0 +1,38 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# hpp-core is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# hpp-core is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-core If not, see
+# <http://www.gnu.org/licenses/>.
+
+# --- MACROS ------------------------------------------------------------------
+# --- MACROS ------------------------------------------------------------------
+# --- MACROS ------------------------------------------------------------------
+MACRO(ADD_UTIL NAME UTIL_SRC PKGS)
+ ADD_EXECUTABLE(${NAME} ${UTIL_SRC})
+ FOREACH(PKG ${PKGS})
+ PKG_CONFIG_USE_DEPENDENCY(${NAME} ${PKG})
+ ENDFOREACH(PKG)
+ TARGET_LINK_LIBRARIES (${NAME} ${Boost_LIBRARIES} ${PROJECT_NAME})
+ ADD_DEPENDENCIES(utils ${NAME})
+ INSTALL(TARGETS ${NAME} DESTINATION bin)
+ENDMACRO(ADD_UTIL)
+
+# --- RULES -------------------------------------------------------------------
+# --- RULES -------------------------------------------------------------------
+# --- RULES -------------------------------------------------------------------
+ADD_CUSTOM_TARGET(utils)
+
+IF(URDFDOM_FOUND)
+ ADD_UTIL(pinocchio_read_model pinocchio_read_model "eigen3;urdfdom")
+ENDIF(URDFDOM_FOUND)
+
diff --git a/utils/pinocchio_read_model.cpp b/utils/pinocchio_read_model.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..aa9da976737c0fca2672bb81e0badf60e722bc29
--- /dev/null
+++ b/utils/pinocchio_read_model.cpp
@@ -0,0 +1,88 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+// Code adapted from https://bitbucket.org/rbdl/rbdl
+
+#include <iostream>
+
+#include "pinocchio/multibody/model.hpp"
+
+#ifdef WITH_URDFDOM
+ #include "pinocchio/multibody/parser/urdf.hpp"
+#endif
+
+#ifdef WITH_LUA
+ #include "pinocchio/multibody/parser/lua.hpp"
+#endif
+
+#include "pinocchio/multibody/parser/utils.hpp"
+
+using namespace std;
+
+void usage (const char* application_name) {
+ cerr << "Usage: " << application_name << " [-v] [-h] <model.extension>" << endl;
+ cerr << " -v | --verbose default parser verbosity" << endl;
+ cerr << " -h | --help print this help" << endl;
+ exit (1);
+}
+
+int main(int argc, char *argv[])
+{
+ if (argc < 2 || argc > 4) {
+ usage(argv[0]);
+ }
+
+ std::string filename;
+
+ bool verbose = false;
+
+ for (int i = 1; i < argc; i++) {
+ if (string(argv[i]) == "-v" || string (argv[i]) == "--verbose")
+ verbose = true;
+ else if (string(argv[i]) == "-h" || string (argv[i]) == "--help")
+ usage(argv[0]);
+ else
+ filename = argv[i];
+ }
+
+ // Check extension of the file
+ se3::ModelFileExtensionType extension_type = se3::checkModelFileExtension(filename);
+ se3::Model model;
+
+ switch(extension_type)
+ {
+ case se3::URDF:
+#ifdef WITH_URDFDOM
+ model = se3::urdf::buildModel(filename, verbose);
+#else
+ std::cerr << "It seems that the URDFDOM module has not been found during the Cmake process." << std::endl;
+#endif
+ break;
+ case se3::LUA:
+#ifdef WITH_LUA
+ model = se3::lua::buildModel(filename, false, verbose);
+#else
+ std::cerr << "It seems that the LUA module has not been found during the Cmake process." << std::endl;
+#endif
+ break;
+ case se3::UNKNOWN:
+ std::cerr << "Unknown extension of " << filename << std::endl;
+ return -1;
+ break;
+ }
+ return 0;
+}