create base class for parsers
This commit is contained in:
Ioan Sucan
parent
c4fbdda53d
commit
4f73b461fe
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@ -22,10 +22,12 @@
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<build_depend>collada-dom</build_depend>
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<build_depend>collada-dom</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>urdfdom_headers</build_depend>
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<build_depend>urdfdom_headers</build_depend>
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<build_depend>urdf</build_depend>
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<run_depend>collada-dom</run_depend>
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<run_depend>collada-dom</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>urdfdom_headers</run_depend>
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<run_depend>urdfdom_headers</run_depend>
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<run_depend>urdf</run_depend>
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</package>
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</package>
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@ -41,6 +41,9 @@
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/* we include the default parser for plain URDF files;
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/* we include the default parser for plain URDF files;
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other parsers are loaded via plugins (if available) */
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other parsers are loaded via plugins (if available) */
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#include <urdf_parser/urdf_parser.h>
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#include <urdf_parser/urdf_parser.h>
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#include <urdf_parser_plugin/parser.h>
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#include <pluginlib/class_loader.h>
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#include <collada_parser/collada_parser.h>
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#include <collada_parser/collada_parser.h>
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#include <boost/algorithm/string.hpp>
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#include <boost/algorithm/string.hpp>
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@ -0,0 +1,14 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(urdf_parser_plugin)
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find_package(catkin REQUIRED urdfdom_headers)
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catkin_package(
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INCLUDE_DIRS include
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DEPENDS urdfdom_headers
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)
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include_directories(include)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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@ -0,0 +1,57 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2013, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#include <urdf_model/model.h>
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namespace urdf
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{
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/** \brief Base class for URDF parsers */
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class URDFParser
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{
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public:
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URDFParser()
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{
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}
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virtual ~URDFParser()
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{
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}
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/// \brief Load Model from string
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virtual boost::shared_ptr<ModelInterface> parse(const std::string &xml_string) = 0;
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};
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}
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@ -0,0 +1,21 @@
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<package>
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<name>urdf_parser_plugin</name>
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<version>1.10.9</version>
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<description>
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This package contains a C++ base class for URDF parsers.
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</description>
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<author email="isucan@willowgarage.com">Ioan Sucan</author>
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<maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
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<license>BSD</license>
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<url type="website">http://ros.org/wiki/urdf</url>
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<url type="repository">https://github.com/ros/robot_model</url>
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<url type="bugtracker">https://github.com/ros/robot_model/issues</url>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>urdfdom_headers</build_depend>
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<run_depend>urdfdom_headers</run_depend>
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</package>
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