Loading...
Searching...
No Matches
parser_urdf.hh
Go to the documentation of this file.
1/*
2 * Copyright 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef _SDFORMAT_URDF2SDF_HH_
18#define _SDFORMAT_URDF2SDF_HH_
19
20#include <tinyxml.h>
21
22#include <string>
23
24#include "sdf/Console.hh"
25#include "sdf/system_util.hh"
26
27namespace sdf
28{
31 {
33 public: URDF2SDF();
34
36 public: ~URDF2SDF();
37
41 public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);
42
46 public: TiXmlDocument InitModelFile(const std::string &_filename);
47
53 public: TiXmlDocument InitModelString(const std::string &_urdfStr,
54 bool _enforceLimits = true);
55
59 public: static bool IsURDF(const std::string &_filename);
60
63 private: void ParseSDFExtension(TiXmlDocument &_urdfXml);
64
66 private: void ListSDFExtensions();
67
69 private: void ListSDFExtensions(const std::string &_reference);
70 };
71}
72#endif
~URDF2SDF()
destructor
URDF2SDF()
constructor
static bool IsURDF(const std::string &_filename)
Return true if the filename is a URDF model.
TiXmlDocument InitModelDoc(TiXmlDocument *_xmlDoc)
convert urdf xml document string to sdf xml document
TiXmlDocument InitModelString(const std::string &_urdfStr, bool _enforceLimits=true)
convert urdf string to sdf xml document, with option to enforce limits.
TiXmlDocument InitModelFile(const std::string &_filename)
convert urdf file to sdf xml document
namespace for Simulation Description Format parser
Definition Console.hh:36
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition system_util.hh:48