bool ModelLoader::loadModelFromString(const std::string& modelString,
const std::string& /*filetype*/)
{
Model _model;
SensorsList _sensors;
bool parsingCorrect = false;
parsingCorrect = modelFromURDFString(modelString,_model);
if( !parsingCorrect )
{
reportError("loadModelFromString","loadModelFromString","Error in parsing model from URDF.");
return false;
}
parsingCorrect = sensorsFromURDFString(modelString,_model,_sensors);
if( !parsingCorrect )
{
reportError("loadModelFromString","loadModelFromString","Error in parsing sensors from URDF.");
return false;
}
return setModelAndSensors(_model,_sensors);
}
bool ModelLoader::loadReducedModelFromString(const std::string modelString,
const std::vector< std::string >& consideredJoints,
const std::string /*filetype*/)
{
SensorsList _sensorsFull, _sensorsReduced;
Model _modelFull, _modelReduced;
bool parsingCorrect = modelFromURDFString(modelString,_modelFull);
if( !parsingCorrect )
{
reportError("ModelLoader","loadReducedModelFromString","Error in parsing model from URDF.");
return false;
}
parsingCorrect = sensorsFromURDFString(modelString,_modelFull,_sensorsFull);
if( !parsingCorrect )
{
reportError("ModelLoader","loadReducedModelFromString","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 & urdfFilename,
const iDynTree::Model & undirectedTree,
SensorsList & sensors)
{
std::ifstream ifs(urdfFilename.c_str());
std::string xmlString( (std::istreambuf_iterator<char>(ifs) ),
(std::istreambuf_iterator<char>() ) );
return sensorsFromURDFString(xmlString,undirectedTree,sensors);
}
bool sensorsFromURDFString(const std::string& urdf_string,
iDynTree::SensorsList& output)
{
iDynTree::Model model;
bool ok = modelFromURDFString(urdf_string,model);
if( !ok )
{
std::cerr << "[ERROR] iDynTree::sensorsListFromURDFString : error in loading urdf string "
<< urdf_string << std::endl;
return false;
}
ok = sensorsFromURDFString(urdf_string,model,output);
return ok;
}
