All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
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 
27 namespace 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
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
URDF to SDF converter.
Definition: parser_urdf.hh:30