131 lines
3.9 KiB
C++
131 lines
3.9 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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bool urdfFromColladaFile(std::string const& daefilename, Model& model);
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bool urdfFromColladaData(std::string const& data, Model& model);
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bool urdfFromTiXML(TiXmlElement *robot_xml, Model& model);
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bool IsColladaFile(const std::string& filename);
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bool IsColladaData(const std::string& data);
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bool Model::initFile(const std::string& filename)
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{
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// necessary for COLLADA compatibility
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if( IsColladaFile(filename) ) {
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return urdfFromColladaFile(filename,*this);
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}
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TiXmlDocument xml_doc;
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xml_doc.LoadFile(filename);
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return init(&xml_doc);
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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 initString(xml_string);
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}
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bool Model::initString(const std::string& xml_string)
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{
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// necessary for COLLADA compatibility
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if( IsColladaData(xml_string) ) {
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return urdfFromColladaData(xml_string,*this);
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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 init(&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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// necessary for COLLADA compatibility
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if( !!xml_doc->RootElement() ) {
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if( std::string("COLLADA") == xml_doc->RootElement()->ValueStr() ) {
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return urdfFromTiXML(xml_doc->RootElement(),*this);
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}
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}
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return init(xml_doc);
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}
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bool Model::initXml(TiXmlElement *robot_xml)
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{
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ROS_DEBUG("Parsing robot xml");
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if (!robot_xml) return false;
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// necessary for COLLADA compatibility
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if( std::string("COLLADA") == robot_xml->ValueStr() ) {
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return urdfFromTiXML(robot_xml,*this);
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}
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return init(robot_xml);
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}
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}// namespace
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