From e69d61e6dba4dcba4b0a83c375708fa3bf6fbb71 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 12 Nov 2014 19:04:53 +0100
Subject: [PATCH] Python: Added urdf parser.
---
CMakeLists.txt | 3 +++
src/python/module.cpp | 1 +
src/python/parsers.hpp | 41 +++++++++++++++++++++++++++++++++++++++++
src/python/python.cpp | 5 +++++
src/python/python.hpp | 1 +
5 files changed, 51 insertions(+)
create mode 100644 src/python/parsers.hpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c16a48728..cc144480f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -84,6 +84,7 @@ SET(HEADERS
python/model.hpp
python/data.hpp
python/algorithms.hpp
+ python/parsers.hpp
)
MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio")
@@ -117,6 +118,7 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/lib/python/${PROJECT_NAME}")
SET(PYWRAP ${PROJECT_NAME}_pywrap)
ADD_LIBRARY(${PYWRAP} SHARED src/python/module.cpp src/python/python.cpp)
PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
+PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} urdfdom)
TARGET_LINK_LIBRARIES(${PYWRAP} ${Boost_LIBRARIES} eigenpy)
SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}")
@@ -128,6 +130,7 @@ INSTALL(FILES
SET(PYTHON_FILES
python/__init__.py
python/utils.py
+ python/robot_wrapper.py
)
FOREACH(python ${PYTHON_FILES})
GET_FILENAME_COMPONENT(pythonFile ${python} NAME)
diff --git a/src/python/module.cpp b/src/python/module.cpp
index 690ba9c0f..677e2390b 100644
--- a/src/python/module.cpp
+++ b/src/python/module.cpp
@@ -25,5 +25,6 @@ BOOST_PYTHON_MODULE(libpinocchio_pywrap)
se3::python::exposeModel();
se3::python::exposeAlgorithms();
+ se3::python::exposeParsers();
}
diff --git a/src/python/parsers.hpp b/src/python/parsers.hpp
new file mode 100644
index 000000000..e1755beec
--- /dev/null
+++ b/src/python/parsers.hpp
@@ -0,0 +1,41 @@
+#ifndef __se3_python_parsers_hpp__
+#define __se3_python_parsers_hpp__
+
+#include <eigenpy/exception.hpp>
+#include <eigenpy/eigenpy.hpp>
+
+#include "pinocchio/python/model.hpp"
+#include "pinocchio/python/data.hpp"
+
+#include "pinocchio/multibody/parser/urdf.hpp"
+
+namespace se3
+{
+ namespace python
+ {
+ struct ParsersPythonVisitor
+ {
+ static ModelHandler buildModelFromUrdf( const std::string & filename,
+ bool ff )
+ {
+ Model * model = new Model();
+ *model = se3::urdf::buildModel(filename,ff);
+ return ModelHandler(model,true);
+ }
+
+ /* --- Expose --------------------------------------------------------- */
+ static void expose()
+ {
+ bp::def("buildModelFromUrdf",buildModelFromUrdf,
+ bp::args("Filename (string)",
+ "Free flyer (bool, false for a fixed robot)"),
+ "Parse the urdf file given in input and return a proper pinocchio model "
+ "(remember to create the corresponding data structure).");
+ }
+
+ };
+
+ }} // namespace se3::python
+
+#endif // ifndef __se3_python_data_hpp__
+
diff --git a/src/python/python.cpp b/src/python/python.cpp
index 8554689a5..8ad5ee078 100644
--- a/src/python/python.cpp
+++ b/src/python/python.cpp
@@ -7,6 +7,7 @@
#include "pinocchio/python/model.hpp"
#include "pinocchio/python/data.hpp"
#include "pinocchio/python/algorithms.hpp"
+#include "pinocchio/python/parsers.hpp"
namespace se3
{
@@ -41,4 +42,8 @@ namespace se3
{
AlgorithmsPythonVisitor::expose();
}
+ void exposeParsers()
+ {
+ ParsersPythonVisitor::expose();
+ }
}} // namespace se3::python
diff --git a/src/python/python.hpp b/src/python/python.hpp
index f79d68dce..c9952eca9 100644
--- a/src/python/python.hpp
+++ b/src/python/python.hpp
@@ -12,6 +12,7 @@ namespace se3
void exposeModel();
void exposeAlgorithms();
+ void exposeParsers();
}} // namespace se3::python
--
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