156 lines
4.2 KiB
C++
156 lines
4.2 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 <boost/algorithm/string.hpp>
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#include <ros/ros.h>
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#include <vector>
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#include "urdf/model.h"
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#include <fstream>
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#include <iostream>
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namespace urdf{
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bool IsColladaData(const std::string& data)
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{
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return data.find("<COLLADA") != std::string::npos;
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}
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bool Model::initFile(const std::string& filename)
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{
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// get the entire file
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std::string xml_string;
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std::fstream xml_file(filename.c_str(), std::fstream::in);
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if (xml_file.is_open())
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{
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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return Model::initString(xml_string);
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}
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else
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{
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ROS_ERROR("Could not open file [%s] for parsing.",filename.c_str());
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return false;
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}
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}
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bool Model::initParam(const std::string& param)
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{
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ros::NodeHandle nh;
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std::string xml_string;
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// gets the location of the robot description on the parameter server
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std::string full_param;
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if (!nh.searchParam(param, full_param)){
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ROS_ERROR("Could not find parameter %s on parameter server", param.c_str());
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return false;
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}
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// read the robot description from the parameter server
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if (!nh.getParam(full_param, xml_string)){
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ROS_ERROR("Could not read parameter %s on parameter server", full_param.c_str());
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return false;
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}
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return Model::initString(xml_string);
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}
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bool Model::initXml(TiXmlDocument *xml_doc)
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{
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if (!xml_doc)
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{
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ROS_ERROR("Could not parse the xml document");
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return false;
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}
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std::stringstream ss;
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ss << *xml_doc;
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return Model::initString(ss.str());
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}
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bool Model::initXml(TiXmlElement *robot_xml)
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{
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if (!robot_xml)
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{
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ROS_ERROR("Could not parse the xml element");
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return false;
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}
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std::stringstream ss;
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ss << (*robot_xml);
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return Model::initString(ss.str());
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}
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bool Model::initString(const std::string& xml_string)
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{
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boost::shared_ptr<ModelInterface> model;
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// necessary for COLLADA compatibility
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if( IsColladaData(xml_string) ) {
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ROS_DEBUG("Parsing robot collada xml string");
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model = parseCollada(xml_string);
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}
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else {
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ROS_DEBUG("Parsing robot urdf xml string");
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model = parseURDF(xml_string);
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}
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// copy data from model into this object
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if (model){
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this->links_ = model->links_;
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this->joints_ = model->joints_;
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this->materials_ = model->materials_;
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this->name_ = model->name_;
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this->root_link_ = model->root_link_;
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return true;
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}
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else
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return false;
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}
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}// namespace
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