Python: Added urdf parser.

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)

src/python/module.cpp

@@ -25,5 +25,6 @@ BOOST_PYTHON_MODULE(libpinocchio_pywrap)
 
   se3::python::exposeModel();
   se3::python::exposeAlgorithms();
+  se3::python::exposeParsers();
 }
  

src/python/parsers.hpp

+#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__
+

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

src/python/python.hpp

@@ -12,6 +12,7 @@ namespace se3
 
     void exposeModel();
     void exposeAlgorithms();
+    void exposeParsers();
 
   }} // namespace se3::python