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