67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
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/*
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* Copyright 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SDFORMAT_URDF2SDF_HH_
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#define _SDFORMAT_URDF2SDF_HH_
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#include <tinyxml.h>
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#include <string>
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#include "sdf/Console.hh"
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#include "sdf/system_util.hh"
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namespace sdf
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{
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/// \brief URDF to SDF converter
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class SDFORMAT_VISIBLE URDF2SDF
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{
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/// \brief constructor
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public: URDF2SDF();
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/// \brief destructor
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public: ~URDF2SDF();
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/// \brief convert urdf xml document string to sdf xml document
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/// \param[in] _xmlDoc a tinyxml document containing the urdf model
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/// \return a tinyxml document containing sdf of the model
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public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);
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/// \brief convert urdf file to sdf xml document
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/// \param[in] _urdfStr a string containing filename of the urdf model
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/// \return a tinyxml document containing sdf of the model
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public: TiXmlDocument InitModelFile(const std::string &_filename);
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/// \brief convert urdf string to sdf xml document, with option to enforce
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/// limits.
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/// \param[in] _urdfStr a string containing model urdf
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/// \param[in] _enforceLimits option to enforce joint limits
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/// \return a tinyxml document containing sdf of the model
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public: TiXmlDocument InitModelString(const std::string &_urdfStr,
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bool _enforceLimits = true);
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/// things that do not belong in urdf but should be mapped into sdf
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/// @todo: do this using sdf definitions, not hard coded stuff
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private: void ParseSDFExtension(TiXmlDocument &_urdfXml);
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/// list extensions for debugging
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private: void ListSDFExtensions();
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/// list extensions for debugging
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private: void ListSDFExtensions(const std::string &_reference);
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};
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}
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#endif
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