bool SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(const std::string filename,
const std::vector< std::string >& consideredDOFs,
const std::string /*filetype*/)
{
Model _modelFull;
bool parsingCorrect = false;
parsingCorrect = modelFromURDF(filename,_modelFull);
if( !parsingCorrect )
{
reportError("SimpleLeggedOdometry",
"loadModelFromFileWithSpecifiedDOFs",
"Error in parsing model from URDF.");
return false;
}
Model _modelReduced;
// Create a reduced model: this will lump all not considered joints
iDynTree::createReducedModel(_modelFull,consideredDOFs,_modelReduced);
return setModel(_modelReduced);
}
bool ModelLoader::loadModelFromFile(const std::string& filename,
const std::string& /*filetype*/)
{
Model _model;
SensorsList _sensors;
bool parsingCorrect = false;
parsingCorrect = modelFromURDF(filename,_model);
if( !parsingCorrect )
{
reportError("ModelLoader","loadModelFromFile","Error in parsing model from URDF.");
return false;
}
parsingCorrect = sensorsFromURDF(filename,_model,_sensors);
if( !parsingCorrect )
{
reportError("ModelLoader","loadModelFromFile","Error in parsing sensors from URDF.");
return false;
}
return setModelAndSensors(_model,_sensors);
}
bool ModelLoader::loadReducedModelFromFile(const std::string filename,
const std::vector< std::string >& consideredJoints,
const std::string /*filetype*/)
{
SensorsList _sensorsFull, _sensorsReduced;
Model _modelFull, _modelReduced;
bool parsingCorrect = modelFromURDF(filename,_modelFull);
if( !parsingCorrect )
{
reportError("ModelLoader","loadReducedModelFromFile","Error in parsing model from URDF.");
return false;
}
parsingCorrect = sensorsFromURDF(filename,_modelFull,_sensorsFull);
if( !parsingCorrect )
{
reportError("ModelLoader","loadReducedModelFromFile","Error in parsing sensors from URDF.");
return false;
}
parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced);
if( !parsingCorrect )
{
return false;
}
return setModelAndSensors(_modelReduced,_sensorsReduced);
}
bool sensorsFromURDF(const std::string & urdf_filename,
iDynTree::SensorsList & output)
{
iDynTree::Model model;
bool ok = modelFromURDF(urdf_filename,model);
if( !ok )
{
std::cerr << "[ERROR] iDynTree::sensorsListFromURDF : error in loading urdf "
<< urdf_filename << std::endl;
return false;
}
ok = sensorsFromURDF(urdf_filename,model,output);
return ok;
}
bool SimpleLeggedOdometry::loadModelFromFile(const std::string filename,
const std::string /*filetype*/)
{
Model _model;
bool parsingCorrect = false;
parsingCorrect = modelFromURDF(filename,_model);
if( !parsingCorrect )
{
reportError("SimpleLeggedOdometry",
"loadModelFromFile",
"Error in parsing model from URDF.");
return false;
}
return setModel(_model);
}
