loadFullBodyModel now take only a urdfName and srdfName as input

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -70,23 +70,22 @@ module hpp
              in string urdfSuffix, in string srdfSuffix)
       raises (Error);
 
+    ///  Load fullbody robot model
+    ///
     /// Create a RbprmFullBody object
     /// The device automatically has an anchor joint called "base_joint" as
     /// root joint.
-    /// \param trunkRobotName the name of the robot trunk used for collision.
+    ///
+    /// \param robotName Name of the robot that is constructed,
     /// \param rootJointType type of root joint among "anchor", "freeflyer",
     /// "planar",
-    /// \param packageName Name of the ROS package containing the model,
-    /// \param modelName Name of the package containing the model
-    /// \param urdfSuffix suffix for urdf file,
+    /// \param urdfName name of the urdf file. It may contain
+    ///        "file://", or "package://" prefixes.
+    /// \param srdfName name of the srdf file. It may contain
+    ///        "file://", or "package://" prefixes.
     ///
-    /// The ros url are built as follows:
-    /// "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
-    /// "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"
-    ///
-    void loadFullBodyRobot (in string trunkRobotName, in string rootJointType,
-             in string packageName, in string modelName,
-             in string urdfSuffix, in string srdfSuffix, in string selectedProblem)
+    void loadFullBodyRobot (in string robotName, in string rootJointType,
+       in string urdfName, in string srdfName, in string selectedProblem)
       raises (Error);
 
 		/// Create a RbprmFullBody object

src/rbprmbuilder.impl.cc

@@ -118,13 +118,17 @@ void RbprmBuilder::loadRobotCompleteModel(const char* robotName, const char* roo
   }
 }
 
-void RbprmBuilder::loadFullBodyRobot(const char* robotName, const char* rootJointType, const char* packageName,
-                                     const char* modelName, const char* urdfSuffix, const char* srdfSuffix,
+void RbprmBuilder::loadFullBodyRobot(const char* robotName,
+                                     const char* rootJointType,
+                                     const char* urdfName,
+                                     const char* srdfName,
                                      const char* selectedProblem) throw(hpp::Error) {
   try {
     hpp::pinocchio::DevicePtr_t device = pinocchio::Device::create(robotName);
-    hpp::pinocchio::urdf::loadRobotModel(device, std::string(rootJointType), std::string(packageName),
-                                         std::string(modelName), std::string(urdfSuffix), std::string(srdfSuffix));
+    hpp::pinocchio::urdf::loadModel(device, 0, "",
+                                         std::string (rootJointType),
+                                         std::string (urdfName),
+                                         std::string (srdfName));
     std::string name(selectedProblem);
     fullBodyLoaded_ = true;
     fullBodyMap_.map_[name] = rbprm::RbPrmFullBody::create(device);

src/rbprmbuilder.impl.hh

@@ -165,8 +165,10 @@ class RbprmBuilder : public virtual POA_hpp::corbaserver::rbprm::RbprmBuilder {
                                       const char* modelName, const char* urdfSuffix,
                                       const char* srdfSuffix) throw(hpp::Error);
 
-  virtual void loadFullBodyRobot(const char* robotName, const char* rootJointType, const char* packageName,
-                                 const char* modelName, const char* urdfSuffix, const char* srdfSuffix,
+  virtual void loadFullBodyRobot(const char* robotName,
+                                 const char* rootJointType,
+                                 const char* urdfName,
+                                 const char* srdfName,
                                  const char* selectedProblem) throw(hpp::Error);
 
   virtual void loadFullBodyRobotFromExistingRobot() throw(hpp::Error);