Program Listing for File srdf_writer.h

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/* Author: Dave Coleman */

#ifndef _SRDFDOM_SRDF_WRITER_
#define _SRDFDOM_SRDF_WRITER_

#include <memory>
#include <srdfdom/model.h>  // use their struct datastructures

namespace srdf
{
// ******************************************************************************************
// ******************************************************************************************
// Class
// ******************************************************************************************
// ******************************************************************************************

class SRDFWriter
{
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
  SRDFWriter();

  ~SRDFWriter();

  bool initString(const urdf::ModelInterface& robot_model, const std::string& srdf_string);

  void initModel(const urdf::ModelInterface& robot_model, const srdf::Model& srdf_model);

  void updateSRDFModel(const urdf::ModelInterface& robot_model);

  bool writeSRDF(const std::string& file_path);

  std::string getSRDFString();

  void generateSRDF(tinyxml2::XMLDocument& document);

  void createGroupsXML(tinyxml2::XMLElement* root);

  void createLinkSphereApproximationsXML(tinyxml2::XMLElement* root);

  void createCollisionDefaultsXML(tinyxml2::XMLElement* root);

  void createDisabledCollisionPairsXML(tinyxml2::XMLElement* root);

  void createGroupStatesXML(tinyxml2::XMLElement* root);

  void createEndEffectorsXML(tinyxml2::XMLElement* root);

  void createVirtualJointsXML(tinyxml2::XMLElement* root);

  void createPassiveJointsXML(tinyxml2::XMLElement* root);

  void createJointPropertiesXML(tinyxml2::XMLElement* root);

protected:
  void createCollisionPairsXML(tinyxml2::XMLElement* root, const char* tag_name,
                               const std::vector<Model::CollisionPair>& pairs);

public:
  // ******************************************************************************************
  // Group Datastructures
  // ******************************************************************************************

  std::vector<Model::Group> groups_;
  std::vector<Model::GroupState> group_states_;
  std::vector<Model::VirtualJoint> virtual_joints_;
  std::vector<Model::EndEffector> end_effectors_;
  std::vector<Model::LinkSpheres> link_sphere_approximations_;
  std::vector<std::string> no_default_collision_links_;
  std::vector<Model::CollisionPair> disabled_collision_pairs_;
  std::vector<Model::CollisionPair> enabled_collision_pairs_;
  std::vector<Model::PassiveJoint> passive_joints_;
  std::map<std::string, std::vector<srdf::Model::JointProperty>> joint_properties_;

  // Store the SRDF Model for updating the kinematic_model
  ModelSharedPtr srdf_model_;

  // Robot name
  std::string robot_name_;
};

// ******************************************************************************************
// Typedef
// ******************************************************************************************
typedef std::shared_ptr<SRDFWriter> SRDFWriterPtr;
}  // namespace srdf

#endif