111 lines
4.1 KiB
C++
111 lines
4.1 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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#ifndef URDF_PARSER_H
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#define URDF_PARSER_H
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#include <string>
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#include <map>
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#include <tinyxml/tinyxml.h>
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#include <boost/function.hpp>
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#include "urdf_parser/link.h"
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namespace urdf{
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class Parser
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{
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public:
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Parser();
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/// \brief Load Model from TiXMLElement
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bool init(TiXmlElement *xml);
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/// \brief Load Model from TiXMLDocument
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bool init(TiXmlDocument *xml);
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boost::shared_ptr<const Link> getRoot(void) const{return this->root_link_;};
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boost::shared_ptr<const Link> getLink(const std::string& name) const;
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boost::shared_ptr<const Joint> getJoint(const std::string& name) const;
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const std::string& getName() const {return name_;};
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void getLinks(std::vector<boost::shared_ptr<Link> >& links) const;
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/// \brief get parent Link of a Link given name
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boost::shared_ptr<const Link> getParentLink(const std::string& name) const;
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/// \brief get parent Joint of a Link given name
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boost::shared_ptr<const Joint> getParentJoint(const std::string& name) const;
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/// \brief get child Link of a Link given name
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boost::shared_ptr<const Link> getChildLink(const std::string& name) const;
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/// \brief get child Joint of a Link given name
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boost::shared_ptr<const Joint> getChildJoint(const std::string& name) const;
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/// \brief complete list of Links
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std::map<std::string, boost::shared_ptr<Link> > links_;
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/// \brief complete list of Joints
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std::map<std::string, boost::shared_ptr<Joint> > joints_;
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/// \brief complete list of Materials
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std::map<std::string, boost::shared_ptr<Material> > materials_;
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protected:
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void clear();
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std::string name_;
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/// non-const getLink()
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void getLink(const std::string& name,boost::shared_ptr<Link> &link) const;
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/// non-const getMaterial()
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boost::shared_ptr<Material> getMaterial(const std::string& name) const;
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/// in initXml(), onece all links are loaded,
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/// it's time to build a tree
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bool initTree(std::map<std::string, std::string> &parent_link_tree);
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/// in initXml(), onece tree is built,
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/// it's time to find the root Link
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bool initRoot(std::map<std::string, std::string> &parent_link_tree);
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/// Model is restricted to a tree for now, which means there exists one root link
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/// typically, root link is the world(inertial). Where world is a special link
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/// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint?
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/// hmm...
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boost::shared_ptr<Link> root_link_;
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};
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}
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#endif
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