diff --git a/bindings/python/parsers/parsers.hpp b/bindings/python/parsers/parsers.hpp
index 0c407473ee8efc5a2132e8862a243212c63ba20e..3a0dc8cd4f12f89fe987ef994b24a682c8a0a30a 100644
--- a/bindings/python/parsers/parsers.hpp
+++ b/bindings/python/parsers/parsers.hpp
@@ -127,18 +127,7 @@ namespace se3
return geometry_model;
}
-
-#ifdef WITH_HPP_FCL
- static void removeCollisionPairsFromSrdf(Model & model,
- GeometryModel & geometry_model,
- const std::string & filename,
- bool verbose
- )
- {
- se3::srdf::removeCollisionPairsFromSrdf(model,geometry_model,filename,verbose);
- }
-#endif // #ifdef WITH_HPP_FCL
#endif // #ifdef WITH_URDFDOM
#ifdef WITH_LUA5
@@ -210,10 +199,16 @@ namespace se3
"Parse the URDF file given in input looking for the geometry of the given Model and return a proper pinocchio geometry model ");
#ifdef WITH_HPP_FCL
- bp::def("removeCollisionPairsFromSrdf",removeCollisionPairsFromSrdf,
- bp::args("Model", "GeometryModel (where pairs are removed)","srdf filename (string)", "verbosity"
- ),
- "Parse an SRDF file in order to desactivate collision pairs for a specific GeometryData and GeometryModel ");
+
+ bp::def("removeCollisionPairs",
+ static_cast<void (*)(const Model &, GeometryModel &, const std::string &, const bool)>(&srdf::removeCollisionPairs),
+ bp::args("Model", "GeometryModel (where pairs are removed)","srdf filename (string)", "verbosity"),
+ "Parse an SRDF file in order to desactivte collision pairs for a specific GeometryModel.");
+
+ bp::def("removeCollisionPairsFromXML",
+ static_cast<void (*)(const Model &, GeometryModel &, const std::string &, const bool)>(&srdf::removeCollisionPairsFromXML),
+ bp::args("Model", "GeometryModel (where pairs are removed)","string containing the XML-SRDF", "verbosity"),
+ "Parse an SRDF file in order to desactivte collision pairs for a specific GeometryModel.");
#endif // #ifdef WITH_HPP_FCL
#endif // #ifdef WITH_URDFDOM
@@ -226,14 +221,14 @@ namespace se3
"Parse the URDF file given in input and return a proper pinocchio model");
#endif // #ifdef WITH_LUA5
- bp::def("getNeutralConfigurationFromSrdf",
- static_cast<Model::ConfigVectorType (*)(Model &, const std::string &, const bool)>(&srdf::getNeutralConfigurationFromSrdf),
+ bp::def("getNeutralConfiguration",
+ static_cast<Model::ConfigVectorType (*)(Model &, const std::string &, const bool)>(&srdf::getNeutralConfiguration),
bp::args("Model for which we want the neutral config","srdf filename (string)", "verbosity"
),
"Get the neutral configuration of a given model associated to a SRDF file");
- bp::def("loadRotorParamsFromSrdf",
- static_cast<bool (*)(Model &, const std::string &, const bool)>(&srdf::loadRotorParamsFromSrdf),
+ bp::def("loadRotorParameters",
+ static_cast<bool (*)(Model &, const std::string &, const bool)>(&srdf::loadRotorParameters),
bp::args("Model for which we are loading the rotor parameters",
"SRDF filename (string)", "verbosity"),
"Load the rotor parameters of a given model from an SRDF file.\n"
diff --git a/bindings/python/scripts/deprecated.py b/bindings/python/scripts/deprecated.py
index cc313b5b6efbcf163fe79ec4791fa3b267509aa8..2ec6d0f3582a96e1be5405e0e6780311a71fed68 100644
--- a/bindings/python/scripts/deprecated.py
+++ b/bindings/python/scripts/deprecated.py
@@ -79,3 +79,16 @@ def getJacobianTimeVariation(model,data,jointId,local):
@deprecated("This function has been renamed difference and will be removed in release 1.4.0 of Pinocchio. Please change for new difference.")
def differentiate(model,q0,q1):
return se3.difference(model,q0,q1)
+
+@deprecated("This function has been renamed difference and will be removed in release 1.4.0 of Pinocchio. Please change for new getNeutralConfiguration function.")
+def getNeutralConfigurationFromSrdf(model, filename, verbose):
+ return se3.getNeutralConfiguration(model,filename,verbose)
+
+@deprecated("This function has been renamed difference and will be removed in release 1.4.0 of Pinocchio. Please change for new loadRotorParameters function.")
+def loadRotorParamsFromSrdf(model, filename, verbose):
+ return se3.loadRotorParams(model,filename,verbose)
+
+@deprecated("This function has been renamed difference and will be removed in release 1.4.0 of Pinocchio. Please change for new removeCollisionPairs function.")
+def removeCollisionPairsFromSrdf(model, geomModel, filename, verbose):
+ return se3.removeCollisionPairs(model,geomModel,filename,verbose)
+
diff --git a/src/parsers/srdf.hpp b/src/parsers/srdf.hpp
index 850b0e7bcea6277f273e224144c8884330d43077..40f90a32f47f81f2125cca6f1c36408bf97929ee 100644
--- a/src/parsers/srdf.hpp
+++ b/src/parsers/srdf.hpp
@@ -27,6 +27,7 @@ namespace se3
{
#ifdef WITH_HPP_FCL
+
///
/// \brief Deactive all possible collision pairs mentioned in the SRDF file.
/// It throws if the SRDF file is incorrect.
@@ -38,27 +39,49 @@ namespace se3
/// \param[in] verbose Verbosity mode (print removed collision pairs and undefined link inside the model).
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ void removeCollisionPairs(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ GeometryModel & geomModel,
+ const std::string & filename,
+ const bool verbose = false) throw (std::invalid_argument);
+
+ /// \copydoc removeCollisionPairs
+ template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ PINOCCHIO_DEPRECATED
void removeCollisionPairsFromSrdf(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
GeometryModel & geomModel,
const std::string & filename,
- const bool verbose = false) throw (std::invalid_argument);
+ const bool verbose = false) throw (std::invalid_argument)
+ {
+ removeCollisionPairs(model,geomModel,filename,verbose);
+ }
+
///
/// \brief Deactive all possible collision pairs mentioned in the SRDF file.
///
/// \param[in] model Model of the kinematic tree.
/// \param[in] geomModel Model of the geometries.
/// \param[out] data_geom Data containing the active collision pairs.
- /// \param[in] xmlString the SRDF string.
+ /// \param[in] xmlString constaining the XML SRDF string.
/// \param[in] verbose Verbosity mode (print removed collision pairs and undefined link inside the model).
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ void removeCollisionPairsFromXML(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ GeometryModel & geomModel,
+ const std::string & xmlString,
+ const bool verbose = false);
+
+ /// \copydoc removeCollisionPairsFromXML
+ template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ PINOCCHIO_DEPRECATED
void removeCollisionPairsFromSrdfString(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
GeometryModel & geomModel,
const std::string & xmlString,
- const bool verbose = false);
+ const bool verbose = false)
+ {
+ removeCollisionPairsFromXML(model,geomModel,xmlString,verbose);
+ }
#endif // ifdef WITH_HPP_FCL
-
///
/// \brief Get the neutral configuration of a given model associated to a SRDF file.
@@ -72,11 +95,19 @@ namespace se3
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType
+ getNeutralConfiguration(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ const std::string & filename,
+ const bool verbose = false) throw (std::invalid_argument);
+
+ /// \copydoc se3::srdf::getNeutralConfiguration
+ template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ PINOCCHIO_DEPRECATED
+ typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType
getNeutralConfigurationFromSrdf(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const std::string & filename,
- const bool verbose = false) throw (std::invalid_argument);
-
-
+ const bool verbose = false) throw (std::invalid_argument)
+ { return getNeutralConfiguration(model,filename,verbose); }
+
///
/// \brief Load the rotor params of a given model associated to a SRDF file.
/// It throws if the SRDF file is incorrect.
@@ -88,9 +119,19 @@ namespace se3
/// \return Boolean whether it loads or not.
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ bool loadRotorParameters(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ const std::string & filename,
+ const bool verbose = false) throw (std::invalid_argument);
+
+ /// \copydoc se3::srdf::loadRotorParameters
+ template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
+ PINOCCHIO_DEPRECATED
bool loadRotorParamsFromSrdf(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const std::string & filename,
- const bool verbose) throw (std::invalid_argument);
+ const bool verbose = false) throw (std::invalid_argument)
+ {
+ return loadRotorParameters(model,filename,verbose);
+ }
}
} // namespace se3
diff --git a/src/parsers/srdf.hxx b/src/parsers/srdf.hxx
index a0ff6a3b82282ab4579221a8425249f292c1fdd7..4bb92db7cdfcb00cfe7e87b005a9aebd4e4edbbd 100644
--- a/src/parsers/srdf.hxx
+++ b/src/parsers/srdf.hxx
@@ -107,10 +107,10 @@ namespace se3
} // namespace details
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
- void removeCollisionPairsFromSrdf(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
- GeometryModel & geomModel,
- const std::string & filename,
- const bool verbose) throw (std::invalid_argument)
+ void removeCollisionPairs(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ GeometryModel & geomModel,
+ const std::string & filename,
+ const bool verbose) throw (std::invalid_argument)
{
// Check extension
const std::string extension = filename.substr(filename.find_last_of('.')+1);
@@ -132,10 +132,10 @@ namespace se3
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
- void removeCollisionPairsFromSrdfString(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
- GeometryModel & geomModel,
- const std::string & xmlString,
- const bool verbose)
+ void removeCollisionPairsFromXML(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ GeometryModel & geomModel,
+ const std::string & xmlString,
+ const bool verbose)
{
std::istringstream srdf_stream(xmlString);
details::removeCollisionPairs(model, geomModel, srdf_stream, verbose);
@@ -144,9 +144,9 @@ namespace se3
#endif // ifdef WITH_HPP_FCL
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
- bool loadRotorParamsFromSrdf(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
- const std::string & filename,
- const bool verbose) throw (std::invalid_argument)
+ bool loadRotorParameters(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ const std::string & filename,
+ const bool verbose) throw (std::invalid_argument)
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef typename Model::JointModel JointModel;
@@ -216,9 +216,9 @@ namespace se3
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType
- getNeutralConfigurationFromSrdf(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
- const std::string & filename,
- const bool verbose) throw (std::invalid_argument)
+ getNeutralConfiguration(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ const std::string & filename,
+ const bool verbose) throw (std::invalid_argument)
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef typename Model::JointModel JointModel;
diff --git a/unittest/srdf.cpp b/unittest/srdf.cpp
index f033d90ac6025f501edc86d956b283884fa75178..bf08d2a4b8d7a57ea563920035f729f2068c31cd 100644
--- a/unittest/srdf.cpp
+++ b/unittest/srdf.cpp
@@ -28,7 +28,7 @@ using namespace std;
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
-BOOST_AUTO_TEST_CASE(removeCollisionPairs)
+BOOST_AUTO_TEST_CASE(test_removeCollisionPairs)
{
using namespace se3::urdf;
using namespace se3::srdf;
@@ -47,7 +47,7 @@ BOOST_AUTO_TEST_CASE(removeCollisionPairs)
const size_t num_init_col_pairs = geom_model.collisionPairs.size();
- removeCollisionPairsFromSrdf(model,geom_model,srdf_filename,false);
+ removeCollisionPairs(model,geom_model,srdf_filename,false);
const size_t num_col_pairs = geom_model.collisionPairs.size();
BOOST_CHECK(num_init_col_pairs > num_col_pairs);
@@ -63,7 +63,7 @@ BOOST_AUTO_TEST_CASE(readNeutralConfig)
Model model;
buildModel(model_filename, model);
- Eigen::VectorXd q = getNeutralConfigurationFromSrdf(model,srdf_filename,false);
+ Eigen::VectorXd q = getNeutralConfiguration(model,srdf_filename,false);
BOOST_CHECK(q.size() == model.nq);
BOOST_CHECK(!q.isZero());
@@ -79,7 +79,7 @@ BOOST_AUTO_TEST_CASE(readRotorParams)
Model model;
buildModel(model_filename, model);
- loadRotorParamsFromSrdf(model,srdf_filename,false);
+ loadRotorParameters(model,srdf_filename,false);
BOOST_CHECK(model.rotorInertia(model.joints[model.getJointId("WAIST_P")].idx_v())==1.0);
BOOST_CHECK(model.rotorGearRatio(model.joints[model.getJointId("WAIST_R")].idx_v())==1.0);