105 lines
3.6 KiB
C++
105 lines
3.6 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, 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: Wim Meeussen */
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#include "urdf/model.h"
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#include <iostream>
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using namespace urdf;
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void printTree(boost::shared_ptr<const Link> link,int level = 0)
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{
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level+=2;
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int count = 0;
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for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
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{
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if (*child)
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{
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for(int j=0;j<level;j++) std::cout << " "; //indent
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std::cout << "child(" << count++ << "): " << (*child)->name
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<< " with mass: " << (*child)->inertial->mass
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<< std::endl;
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// first grandchild
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printTree(*child,level);
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}
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else
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{
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for(int j=0;j<level;j++) std::cout << " "; //indent
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std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
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}
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}
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}
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int main(int argc, char** argv)
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{
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if (argc < 2){
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std::cerr << "Expect xml file to parse" << std::endl;
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return -1;
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}
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TiXmlDocument robot_model_xml;
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robot_model_xml.LoadFile(argv[1]);
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TiXmlElement *robot_xml = robot_model_xml.FirstChildElement("robot");
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if (!robot_xml){
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std::cerr << "ERROR: Could not load the xml into TiXmlElement" << std::endl;
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return -1;
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}
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Model robot;
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if (!robot.initXml(robot_xml)){
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std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
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return -1;
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}
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std::cout << "robot name is: " << robot.getName() << std::endl;
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// get info from parser
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std::cout << "---------- Finished Loading from Model XML, Now Checking Model structure ------------" << std::endl;
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// get root link
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boost::shared_ptr<const Link> root_link=robot.getRoot();
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if (!root_link) return -1;
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std::cout << "root Link: " << root_link->name << std::endl;
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if (!root_link->child_links.empty())
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std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " children" << std::endl;
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// print entire tree
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printTree(root_link);
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return 0;
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}
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