399 lines
12 KiB
C++
399 lines
12 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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namespace urdf{
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Model::Model()
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{
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this->clear();
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}
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void Model::clear()
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{
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name_.clear();
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this->links_.clear();
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this->joints_.clear();
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this->materials_.clear();
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this->root_link_.reset();
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}
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bool Model::initFile(const std::string& filename)
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{
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TiXmlDocument xml_doc;
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xml_doc.LoadFile(filename);
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return initXml(&xml_doc);
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}
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bool Model::initString(const std::string& xml_string)
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{
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TiXmlDocument xml_doc;
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xml_doc.Parse(xml_string.c_str());
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return initXml(&xml_doc);
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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");
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return false;
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}
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TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot");
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if (!robot_xml)
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{
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ROS_ERROR("Could not find the 'robot' element in the xml file");
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return false;
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}
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return initXml(robot_xml);
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}
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bool Model::initXml(TiXmlElement *robot_xml)
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{
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this->clear();
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ROS_DEBUG("Parsing robot xml");
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if (!robot_xml) return false;
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// Get robot name
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const char *name = robot_xml->Attribute("name");
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if (!name)
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{
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ROS_ERROR("No name given for the robot.");
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return false;
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}
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this->name_ = std::string(name);
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// Get all Material elements
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for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
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{
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boost::shared_ptr<Material> material;
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material.reset(new Material);
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if (material->initXml(material_xml))
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{
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if (this->getMaterial(material->name))
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{
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ROS_ERROR("material '%s' is not unique.", material->name.c_str());
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material.reset();
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return false;
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}
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else
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{
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this->materials_.insert(make_pair(material->name,material));
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ROS_DEBUG("successfully added a new material '%s'", material->name.c_str());
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}
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}
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else
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{
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ROS_ERROR("material xml is not initialized correctly");
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material.reset();
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return false;
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}
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}
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// Get all Link elements
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for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
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{
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boost::shared_ptr<Link> link;
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link.reset(new Link);
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if (link->initXml(link_xml))
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{
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if (this->getLink(link->name))
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{
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ROS_ERROR("link '%s' is not unique.", link->name.c_str());
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link.reset();
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return false;
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}
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else
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{
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// set link visual material
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ROS_DEBUG("setting link '%s' material", link->name.c_str());
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if (link->visual)
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{
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if (!link->visual->material_name.empty())
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{
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if (this->getMaterial(link->visual->material_name))
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{
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ROS_DEBUG("setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
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link->visual->material = this->getMaterial( link->visual->material_name.c_str() );
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}
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else
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{
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if (link->visual->material)
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{
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ROS_DEBUG("link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
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this->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
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}
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else
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{
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ROS_ERROR("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
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link.reset();
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return false;
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}
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}
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}
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}
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this->links_.insert(make_pair(link->name,link));
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ROS_DEBUG("successfully added a new link '%s'", link->name.c_str());
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}
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}
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else
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{
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ROS_ERROR("link xml is not initialized correctly");
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link.reset();
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return false;
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}
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}
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// Get all Joint elements
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for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
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{
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boost::shared_ptr<Joint> joint;
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joint.reset(new Joint);
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if (joint->initXml(joint_xml))
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{
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if (this->getJoint(joint->name))
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{
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ROS_ERROR("joint '%s' is not unique.", joint->name.c_str());
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joint.reset();
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return false;
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}
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else
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{
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this->joints_.insert(make_pair(joint->name,joint));
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ROS_DEBUG("successfully added a new joint '%s'", joint->name.c_str());
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}
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}
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else
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{
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ROS_ERROR("joint xml is not initialized correctly");
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joint.reset();
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return false;
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}
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}
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// every link has children links and joints, but no parents, so we create a
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// local convenience data structure for keeping child->parent relations
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std::map<std::string, std::string> parent_link_tree;
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parent_link_tree.clear();
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// building tree: name mapping
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if (!this->initTree(parent_link_tree))
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{
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ROS_ERROR("failed to build tree");
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return false;
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}
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// find the root link
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if (!this->initRoot(parent_link_tree))
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{
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ROS_ERROR("failed to find root link");
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return false;
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}
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return true;
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}
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bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
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{
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// loop through all joints, for every link, assign children links and children joints
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for (std::map<std::string,boost::shared_ptr<Joint> >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++)
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{
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std::string parent_link_name = joint->second->parent_link_name;
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std::string child_link_name = joint->second->child_link_name;
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ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str());
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if (parent_link_name.empty() && !child_link_name.empty())
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{
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ROS_ERROR(" Joint %s specifies child link but not parent link.",(joint->second)->name.c_str());
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return false;
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}
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else if (!parent_link_name.empty() && child_link_name.empty())
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{
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ROS_ERROR(" Joint %s specifies parent link but not child link.",(joint->second)->name.c_str());
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return false;
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}
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else if (parent_link_name.empty() && child_link_name.empty())
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{
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ROS_DEBUG(" Joint %s specifies no parent link and no child link. This is an abstract joint.",(joint->second)->name.c_str());
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}
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else
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{
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// find child and parent links
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boost::shared_ptr<Link> child_link, parent_link;
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this->getLink(child_link_name, child_link);
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if (!child_link)
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{
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ROS_ERROR(" child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() );
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return false;
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}
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this->getLink(parent_link_name, parent_link);
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if (!parent_link)
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{
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ROS_DEBUG(" parent link '%s' of joint '%s' not found. Automatically adding it. This must be the root link",
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parent_link_name.c_str(), joint->first.c_str() );
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parent_link.reset(new Link);
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parent_link->name = parent_link_name;
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this->links_.insert(make_pair(parent_link->name, parent_link));
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ROS_DEBUG(" successfully added new link '%s'", parent_link->name.c_str());
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}
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//set parent link for child link
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child_link->setParent(parent_link);
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//set parent joint for child link
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child_link->setParentJoint(joint->second);
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//set child joint for parent link
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parent_link->addChildJoint(joint->second);
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//set child link for parent link
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parent_link->addChild(child_link);
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// fill in child/parent string map
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parent_link_tree[child_link->name] = parent_link_name;
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ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size());
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}
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}
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return true;
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}
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bool Model::initRoot(std::map<std::string, std::string> &parent_link_tree)
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{
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this->root_link_.reset();
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// for (std::map<std::string, std::string>::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++)
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// find the links that have no parent in the tree
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for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++)
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{
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std::map<std::string, std::string >::iterator parent = parent_link_tree.find(l->first);
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if (parent == parent_link_tree.end())
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{
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// store root link
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if (!this->root_link_)
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{
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getLink(l->first, this->root_link_);
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}
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// we already found a root link
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else{
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ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str());
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return false;
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}
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}
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}
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if (!this->root_link_)
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{
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ROS_ERROR("No root link found. The robot xml is not a valid tree.");
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return false;
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}
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ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str());
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return true;
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}
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boost::shared_ptr<Material> Model::getMaterial(const std::string& name) const
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{
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boost::shared_ptr<Material> ptr;
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if (this->materials_.find(name) == this->materials_.end())
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ptr.reset();
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else
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ptr = this->materials_.find(name)->second;
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return ptr;
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}
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boost::shared_ptr<const Link> Model::getLink(const std::string& name) const
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{
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boost::shared_ptr<const Link> ptr;
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if (this->links_.find(name) == this->links_.end())
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ptr.reset();
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else
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ptr = this->links_.find(name)->second;
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return ptr;
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}
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void Model::getLinks(std::vector<boost::shared_ptr<Link> >& links) const
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{
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for (std::map<std::string,boost::shared_ptr<Link> >::const_iterator link = this->links_.begin();link != this->links_.end(); link++)
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{
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links.push_back(link->second);
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}
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}
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void Model::getLink(const std::string& name,boost::shared_ptr<Link> &link) const
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{
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boost::shared_ptr<Link> ptr;
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if (this->links_.find(name) == this->links_.end())
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ptr.reset();
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else
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ptr = this->links_.find(name)->second;
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link = ptr;
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}
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boost::shared_ptr<const Joint> Model::getJoint(const std::string& name) const
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{
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boost::shared_ptr<const Joint> ptr;
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if (this->joints_.find(name) == this->joints_.end())
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ptr.reset();
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else
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ptr = this->joints_.find(name)->second;
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return ptr;
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}
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}
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