rbdlsim/3rdparty/rbdl/python/rbdl_loadmodel.cc

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2020-10-03 22:55:14 +02:00
#include <rbdl/rbdl.h>
#ifdef RBDL_BUILD_ADDON_LUAMODEL
#include <addons/luamodel/luamodel.h>
#endif
#ifdef RBDL_BUILD_ADDON_URDFREADER
#include <addons/urdfreader/urdfreader.h>
#endif
#include <string>
#include <ctype.h>
using namespace RigidBodyDynamics;
using namespace std;
bool rbdl_loadmodel (const char* filename, Model* model, bool floating_base=false, bool verbose=false) {
string fname (filename);
for (size_t i = 0; i < fname.size(); i++) {
fname[i] = tolower(fname[i]);
}
bool result = false;
if (fname.substr (fname.size() - 4, 4) == ".lua") {
#ifdef RBDL_BUILD_ADDON_LUAMODEL
result = Addons::LuaModelReadFromFile (filename, model, verbose);
#else
cerr << "Error: RBDL Addon LuaModel not enabled!" << endl;
#endif
} else if (fname.substr (fname.size() - 5, 5) == ".urdf") {
#ifdef RBDL_BUILD_ADDON_URDFREADER
result = Addons::URDFReadFromFile (filename, model, floating_base, verbose);
#else
cerr << "Error: RBDL Addon URDFReader not enabled!" << endl;
#endif
} else {
cerr << "Error: Cannot identify model type from filename '" << filename << "'!" << endl;
}
return result;
}