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); }