luamodel.h

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#ifndef _RBDL_LUAMODEL_H
#define _RBDL_LUAMODEL_H
 
#include <rbdl/rbdl_config.h>
#include <string>
#include <vector>
#include "luastructs.h"
 
#include <rbdl/rbdl_math.h>
 
#ifdef RBDL_BUILD_ADDON_MUSCLE
namespace RigidBodyDynamics{
  namespace Addons{
    namespace Muscle{
      class Millard2016TorqueMuscle;
    }
  }
}
#endif
 
extern "C" {
  struct lua_State;
};
 
 
 
namespace RigidBodyDynamics {
 
struct Model;
struct ConstraintSet;
 
namespace Addons {
  
RBDL_ADDON_DLLAPI
bool LuaModelReadFromFile (
  const char* filename,
  Model* upd_model,
  bool verbose = false);
 
RBDL_ADDON_DLLAPI
void LuaModelGetCoordinateNames(
      const Model* model,
      std::vector< std::string >& updGeneralizedPositionNames,
      std::vector< std::string >& updGeneralizedVelocityNames,
      std::vector< std::string >& updGeneralizedForceNames);
 
RBDL_ADDON_DLLAPI
std::vector<std::string> LuaModelGetConstraintSetNames(const char* filename);
 
RBDL_ADDON_DLLAPI
bool LuaModelGetConstraintSetPhases(const char* filename,
    const std::vector<std::string> &constraint_set_names,
    std::vector< unsigned int > &constraint_set_phases);
 
RBDL_ADDON_DLLAPI
bool LuaModelReadMotionCaptureMarkers (
      const char* filename,
      const Model* model,
      std::vector<MotionCaptureMarker> &upd_marker_set,
      bool verbose=false);
 
RBDL_ADDON_DLLAPI
bool LuaModelReadPoints (
      const char* filename,
      const Model* model,
      std::vector<Point> &upd_point_set,
      bool verbose=false);
 
RBDL_ADDON_DLLAPI
bool LuaModelReadLocalFrames (
      const char* filename,
      const Model* model,
      std::vector<LocalFrame> &upd_local_frame_set,
      bool verbose=false);
 
 
RBDL_ADDON_DLLAPI
bool LuaModelReadFromFileWithConstraints (
  const char* filename,
  Model* upd_model,
  std::vector<ConstraintSet>& constraint_sets,
  const std::vector<std::string>& constraint_set_names,
  bool verbose = false);
 
RBDL_ADDON_DLLAPI
bool LuaModelReadFromLuaState (
  lua_State* L,
  Model* model,
  bool verbose = false);
 
RBDL_ADDON_DLLAPI
bool LuaModelReadHumanMetaData(
  const char* filename,
  HumanMetaData &human_meta_data,
  bool verbose = false);
 
 
#ifdef RBDL_BUILD_ADDON_MUSCLE
 
RBDL_ADDON_DLLAPI
bool LuaModelReadMillard2016TorqueMuscleSets(
          const char* filename,
          const RigidBodyDynamics::Model *model,
          const HumanMetaData &human_meta_data,
          std::vector <RigidBodyDynamics::Addons::
                        Muscle::Millard2016TorqueMuscle> &updMtgSet,
          std::vector <Millard2016TorqueMuscleConfig> &updMtgSetInfo,
          bool verbose = false);
 
#endif
 
RBDL_ADDON_DLLAPI
bool LuaModelWriteModelHeaderEntries(const char* header_file_name,
                              const RigidBodyDynamics::Model &model,
                              bool append);
RBDL_ADDON_DLLAPI
bool LuaModelAddHeaderGuards(const char* header_file_name);
 
RBDL_ADDON_DLLAPI
bool LuaModelWritePointsHeaderEntries(const char* header_file_name,
                                      const std::vector<Point> &point_set,
                                      bool append);
 
RBDL_ADDON_DLLAPI
bool LuaModelWriteMotionCaptureMarkerHeaderEntries(
        const char* header_file_name,
        const std::vector< MotionCaptureMarker > &marker_set,
        bool append);
 
RBDL_ADDON_DLLAPI
bool LuaModelWriteLocalFrameHeaderEntries(const char* header_file_name,
                         const std::vector<LocalFrame> &local_frame_set,
                         bool append);
 
RBDL_ADDON_DLLAPI
bool LuaModelWriteConstraintSetHeaderEntries(const char* header_file_name,
       const std::vector< std::string > &constraint_set_names,
       const std::vector<RigidBodyDynamics::ConstraintSet> &constraint_sets,
       bool append);
 
RBDL_ADDON_DLLAPI
bool LuaModelWriteConstraintSetPhaseHeaderEntries(const char* header_file_name,
                         const std::vector< std::string > &constraint_set_names,
                         const std::vector< unsigned int > &constraint_phases,
                         bool append);
 
#ifdef RBDL_BUILD_ADDON_MUSCLE
RBDL_ADDON_DLLAPI
bool LuaModelWriteMillard2016TorqueMuscleHeaderEntries(
    const char* header_file_name,
    const std::vector<RigidBodyDynamics::Addons::Muscle
                      ::Millard2016TorqueMuscle> &mtg_set,
    const std::vector<Millard2016TorqueMuscleConfig > &mtg_set_info,
    bool append);
 
#endif
}
 
}
 
/* _RBDL_LUAMODEL_H */
#endif