Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Private Types
urdf::ColladaModelReader Class Reference

List of all members.

Classes

struct  GEOMPROPERTIES
class  JointAxisBinding
class  KinematicsSceneBindings
 inter-collada bindings for a kinematics scene More...
class  LinkBinding
 bindings for links between different spaces More...
struct  USERDATA

Public Member Functions

 ColladaModelReader (urdf::ModelInterfaceSharedPtr model)
bool InitFromData (const std::string &pdata)
bool InitFromFile (const std::string &filename)
virtual ~ColladaModelReader ()

Protected Member Functions

bool _checkMathML (daeElementRef pelt, const std::string &type)
size_t _countChildren (daeElement *pelt)
urdf::GeometrySharedPtr _CreateGeometry (const std::string &name, const std::list< GEOMPROPERTIES > &listGeomProperties)
void _decompose (const boost::array< double, 12 > &tm, Pose &tout, Vector3 &vscale)
bool _Extract ()
 the first possible robot in the scene
bool _ExtractArticulatedSystem (domInstance_articulated_systemRef ias, KinematicsSceneBindings &bindings)
 extracts an articulated system. Note that an articulated system can include other articulated systems
void _ExtractGeometry (const domNodeRef pdomnode, std::list< GEOMPROPERTIES > &listGeomProperties, const std::list< JointAxisBinding > &listAxisBindings, const Pose &tlink)
bool _ExtractGeometry (const domTrianglesRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool _ExtractGeometry (const domTrifansRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool _ExtractGeometry (const domTristripsRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool _ExtractGeometry (const domPolylistRef triRef, const domVerticesRef vertsRef, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
bool _ExtractGeometry (const domGeometryRef geom, const std::map< std::string, domMaterialRef > &mapmaterials, std::list< GEOMPROPERTIES > &listGeomProperties)
boost::shared_ptr< std::string > _ExtractInterfaceType (const domExtra_Array &arr)
 returns an openrave interface type from the extra array
bool _ExtractKinematicsModel (domInstance_kinematics_modelRef ikm, KinematicsSceneBindings &bindings)
bool _ExtractKinematicsModel (domKinematics_modelRef kmodel, domNodeRef pnode, domPhysics_modelRef pmodel, const KinematicsSceneBindings &bindings)
 append the kinematics model to the openrave kinbody
urdf::LinkSharedPtr _ExtractLink (const domLinkRef pdomlink, const domNodeRef pdomnode, const Pose &tParentWorldLink, const Pose &tParentLink, const std::vector< domJointRef > &vdomjoints, const KinematicsSceneBindings &bindings)
 Extract Link info and add it to an existing body.
std::string _ExtractLinkName (domLinkRef pdomlink)
domTechniqueRef _ExtractOpenRAVEProfile (const domTechnique_Array &arr)
void _ExtractRobotAttachedActuators (const domArticulated_systemRef as)
 extract the robot actuators
void _ExtractRobotAttachedSensors (const domArticulated_systemRef as)
 Extract Sensors attached to a Robot.
void _ExtractRobotManipulators (const domArticulated_systemRef as)
 extract the robot manipulators
void _FillGeometryColor (const domMaterialRef pmat, GEOMPROPERTIES &geom)
daeElementRef _getElementFromUrl (const daeURI &uri)
urdf::JointSharedPtr _getJointFromRef (xsToken targetref, daeElementRef peltref)
USERDATA_getUserData (daeElement *pelt)
void _PostProcess ()
void _processUserData (daeElement *pelt, double scale)
virtual void handleError (daeString msg)
virtual void handleWarning (daeString msg)

Static Protected Member Functions

static Vector3 _add3 (const Vector3 &v0, const Vector3 &v1)
static Vector3 _cross3 (const Vector3 &v0, const Vector3 &v1)
static double _dot3 (const Vector3 &v0, const Vector3 &v1)
template<typename T >
static boost::array< double, 12 > _ExtractFullTransform (const T pelt)
 Travel by the transformation array and calls the _getTransform method.
template<typename T >
static boost::array< double, 12 > _ExtractFullTransformFromChildren (const T pelt)
 Travel by the transformation array and calls the _getTransform method.
static void _ExtractKinematicsVisualBindings (domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings &bindings)
 go through all kinematics binds to get a kinematics/visual pair
static void _ExtractPhysicsBindings (domCOLLADA::domSceneRef allscene, KinematicsSceneBindings &bindings)
template<typename T >
static boost::array< double, 12 > _getNodeParentTransform (const T pelt)
static boost::array< double, 12 > _getTransform (daeElementRef pelt)
 Gets all transformations applied to the node.
static double _GetUnitScale (daeElement *pelt)
static boost::array< double, 12 > _matrixFromAxisAngle (const Vector3 &axis, double angle)
static boost::array< double, 12 > _matrixFromPose (const Pose &t)
static boost::array< double, 12 > _matrixFromQuat (const Rotation &quat)
static boost::array< double, 12 > _matrixIdentity ()
static Vector3 _normalize3 (const Vector3 &v0)
static Pose _poseFromMatrix (const boost::array< double, 12 > &m)
static Pose _poseInverse (const Pose &p)
static Vector3 _poseMult (const Pose &p, const Vector3 &v)
static Vector3 _poseMult (const boost::array< double, 12 > &m, const Vector3 &v)
static boost::array< double, 12 > _poseMult (const boost::array< double, 12 > &m0, const boost::array< double, 12 > &m1)
static Pose _poseMult (const Pose &p0, const Pose &p1)
static Rotation _quatFromAxisAngle (double x, double y, double z, double angle)
static Rotation _quatFromMatrix (const boost::array< double, 12 > &mat)
static Rotation _quatMult (const Rotation &quat0, const Rotation &quat1)
static Vector3 _sub3 (const Vector3 &v0, const Vector3 &v1)
template<typename U >
static xsBoolean resolveBool (domCommon_bool_or_paramRef paddr, const U &parent)
static bool resolveCommon_float_or_param (daeElementRef pcommon, daeElementRef parent, float &f)
template<typename U >
static domFloat resolveFloat (domCommon_float_or_paramRef paddr, const U &parent)
static daeElement * searchBinding (domCommon_sidref_or_paramRef paddr, daeElementRef parent)
static daeElement * searchBinding (daeString ref, daeElementRef parent)
static daeElement * searchBindingArray (daeString ref, const domInstance_articulated_system_Array &paramArray)
static daeElement * searchBindingArray (daeString ref, const domInstance_kinematics_model_Array &paramArray)

Protected Attributes

boost::shared_ptr< DAE > _collada
domCOLLADA * _dom
std::string _filename
urdf::ModelInterfaceSharedPtr _model
int _nGlobalManipulatorId
int _nGlobalSensorId
std::string _resourcedir
Pose _RootOrigin
Pose _VisualRootOrigin
std::vector< USERDATA_vuserdata

Private Types

enum  GeomType {
  GeomNone = 0, GeomBox = 1, GeomSphere = 2, GeomCylinder = 3,
  GeomTrimesh = 4
}

Detailed Description

Definition at line 91 of file collada_parser.cpp.


Member Enumeration Documentation

Enumerator:
GeomNone 
GeomBox 
GeomSphere 
GeomCylinder 
GeomTrimesh 

Definition at line 186 of file collada_parser.cpp.


Constructor & Destructor Documentation

urdf::ColladaModelReader::ColladaModelReader ( urdf::ModelInterfaceSharedPtr  model) [inline]

Definition at line 416 of file collada_parser.cpp.

virtual urdf::ColladaModelReader::~ColladaModelReader ( ) [inline, virtual]

Definition at line 420 of file collada_parser.cpp.


Member Function Documentation

static Vector3 urdf::ColladaModelReader::_add3 ( const Vector3 &  v0,
const Vector3 &  v1 
) [inline, static, protected]

Definition at line 2784 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_checkMathML ( daeElementRef  pelt,
const std::string &  type 
) [inline, protected]

Definition at line 2410 of file collada_parser.cpp.

size_t urdf::ColladaModelReader::_countChildren ( daeElement *  pelt) [inline, protected]

Definition at line 2531 of file collada_parser.cpp.

urdf::GeometrySharedPtr urdf::ColladaModelReader::_CreateGeometry ( const std::string &  name,
const std::list< GEOMPROPERTIES > &  listGeomProperties 
) [inline, protected]

Definition at line 1189 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_cross3 ( const Vector3 &  v0,
const Vector3 &  v1 
) [inline, static, protected]

Definition at line 2768 of file collada_parser.cpp.

void urdf::ColladaModelReader::_decompose ( const boost::array< double, 12 > &  tm,
Pose &  tout,
Vector3 &  vscale 
) [inline, protected]

Definition at line 2350 of file collada_parser.cpp.

static double urdf::ColladaModelReader::_dot3 ( const Vector3 &  v0,
const Vector3 &  v1 
) [inline, static, protected]

Definition at line 2764 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_Extract ( ) [inline, protected]

the first possible robot in the scene

Definition at line 466 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractArticulatedSystem ( domInstance_articulated_systemRef  ias,
KinematicsSceneBindings bindings 
) [inline, protected]

extracts an articulated system. Note that an articulated system can include other articulated systems

Definition at line 531 of file collada_parser.cpp.

template<typename T >
static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransform ( const T  pelt) [inline, static, protected]

Travel by the transformation array and calls the _getTransform method.

Definition at line 2331 of file collada_parser.cpp.

template<typename T >
static boost::array<double,12> urdf::ColladaModelReader::_ExtractFullTransformFromChildren ( const T  pelt) [inline, static, protected]

Travel by the transformation array and calls the _getTransform method.

Definition at line 2340 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractGeometry ( const domNodeRef  pdomnode,
std::list< GEOMPROPERTIES > &  listGeomProperties,
const std::list< JointAxisBinding > &  listAxisBindings,
const Pose &  tlink 
) [inline, protected]

Extract Geometry and apply the transformations of the node

Parameters:
pdomnodeNode to extract the goemetry
plinkLink of the kinematics model

Definition at line 1380 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry ( const domTrianglesRef  triRef,
const domVerticesRef  vertsRef,
const std::map< std::string, domMaterialRef > &  mapmaterials,
std::list< GEOMPROPERTIES > &  listGeomProperties 
) [inline, protected]

Extract the Geometry in TRIANGLES and adds it to OpenRave

Parameters:
triRefArray of triangles of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry
plinkLink of the kinematics model

Definition at line 1523 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry ( const domTrifansRef  triRef,
const domVerticesRef  vertsRef,
const std::map< std::string, domMaterialRef > &  mapmaterials,
std::list< GEOMPROPERTIES > &  listGeomProperties 
) [inline, protected]

Extract the Geometry in TRIGLE FANS and adds it to OpenRave

Parameters:
triRefArray of triangle fans of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1604 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry ( const domTristripsRef  triRef,
const domVerticesRef  vertsRef,
const std::map< std::string, domMaterialRef > &  mapmaterials,
std::list< GEOMPROPERTIES > &  listGeomProperties 
) [inline, protected]

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters:
triRefArray of Triangle Strips of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1695 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry ( const domPolylistRef  triRef,
const domVerticesRef  vertsRef,
const std::map< std::string, domMaterialRef > &  mapmaterials,
std::list< GEOMPROPERTIES > &  listGeomProperties 
) [inline, protected]

Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave

Parameters:
triRefArray of Triangle Strips of the COLLADA's model
vertsRefArray of vertices of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1789 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractGeometry ( const domGeometryRef  geom,
const std::map< std::string, domMaterialRef > &  mapmaterials,
std::list< GEOMPROPERTIES > &  listGeomProperties 
) [inline, protected]

Extract the Geometry and adds it to OpenRave

Parameters:
geomGeometry to extract of the COLLADA's model
mapmaterialsMaterials applied to the geometry

Definition at line 1868 of file collada_parser.cpp.

boost::shared_ptr<std::string> urdf::ColladaModelReader::_ExtractInterfaceType ( const domExtra_Array &  arr) [inline, protected]

returns an openrave interface type from the extra array

Definition at line 2382 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractKinematicsModel ( domInstance_kinematics_modelRef  ikm,
KinematicsSceneBindings bindings 
) [inline, protected]

Definition at line 612 of file collada_parser.cpp.

bool urdf::ColladaModelReader::_ExtractKinematicsModel ( domKinematics_modelRef  kmodel,
domNodeRef  pnode,
domPhysics_modelRef  pmodel,
const KinematicsSceneBindings bindings 
) [inline, protected]

append the kinematics model to the openrave kinbody

Definition at line 660 of file collada_parser.cpp.

static void urdf::ColladaModelReader::_ExtractKinematicsVisualBindings ( domInstance_with_extraRef  viscene,
domInstance_kinematics_sceneRef  kiscene,
KinematicsSceneBindings bindings 
) [inline, static, protected]

go through all kinematics binds to get a kinematics/visual pair

Parameters:
kisceneinstance of one kinematics scene, binds the kinematic and visual models
bindingsthe extracted bindings

Definition at line 2456 of file collada_parser.cpp.

urdf::LinkSharedPtr urdf::ColladaModelReader::_ExtractLink ( const domLinkRef  pdomlink,
const domNodeRef  pdomnode,
const Pose &  tParentWorldLink,
const Pose &  tParentLink,
const std::vector< domJointRef > &  vdomjoints,
const KinematicsSceneBindings bindings 
) [inline, protected]

Extract Link info and add it to an existing body.

Definition at line 808 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_ExtractLinkName ( domLinkRef  pdomlink) [inline, protected]

Definition at line 2397 of file collada_parser.cpp.

domTechniqueRef urdf::ColladaModelReader::_ExtractOpenRAVEProfile ( const domTechnique_Array &  arr) [inline, protected]

Definition at line 2371 of file collada_parser.cpp.

static void urdf::ColladaModelReader::_ExtractPhysicsBindings ( domCOLLADA::domSceneRef  allscene,
KinematicsSceneBindings bindings 
) [inline, static, protected]

Definition at line 2508 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotAttachedActuators ( const domArticulated_systemRef  as) [inline, protected]

extract the robot actuators

Definition at line 2022 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotAttachedSensors ( const domArticulated_systemRef  as) [inline, protected]

Extract Sensors attached to a Robot.

Definition at line 2065 of file collada_parser.cpp.

void urdf::ColladaModelReader::_ExtractRobotManipulators ( const domArticulated_systemRef  as) [inline, protected]

extract the robot manipulators

Definition at line 2059 of file collada_parser.cpp.

void urdf::ColladaModelReader::_FillGeometryColor ( const domMaterialRef  pmat,
GEOMPROPERTIES geom 
) [inline, protected]

Paint the Geometry with the color material

Parameters:
pmatMaterial info of the COLLADA's model
geomGeometry properties in OpenRAVE

Definition at line 1492 of file collada_parser.cpp.

daeElementRef urdf::ColladaModelReader::_getElementFromUrl ( const daeURI &  uri) [inline, protected]

Definition at line 2070 of file collada_parser.cpp.

urdf::JointSharedPtr urdf::ColladaModelReader::_getJointFromRef ( xsToken  targetref,
daeElementRef  peltref 
) [inline, protected]

Definition at line 2424 of file collada_parser.cpp.

template<typename T >
static boost::array<double,12> urdf::ColladaModelReader::_getNodeParentTransform ( const T  pelt) [inline, static, protected]

Travels recursively the node parents of the given one to extract the Transform arrays that affects the node given

Definition at line 2322 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_getTransform ( daeElementRef  pelt) [inline, static, protected]

Gets all transformations applied to the node.

Definition at line 2268 of file collada_parser.cpp.

static double urdf::ColladaModelReader::_GetUnitScale ( daeElement *  pelt) [inline, static, protected]

Definition at line 2366 of file collada_parser.cpp.

USERDATA* urdf::ColladaModelReader::_getUserData ( daeElement *  pelt) [inline, protected]

Definition at line 2560 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromAxisAngle ( const Vector3 &  axis,
double  angle 
) [inline, static, protected]

Definition at line 2655 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromPose ( const Pose &  t) [inline, static, protected]

Definition at line 2691 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixFromQuat ( const Rotation &  quat) [inline, static, protected]

Definition at line 2660 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_matrixIdentity ( ) [inline, static, protected]

Definition at line 2261 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_normalize3 ( const Vector3 &  v0) [inline, static, protected]

Definition at line 2792 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseFromMatrix ( const boost::array< double, 12 > &  m) [inline, static, protected]

Definition at line 2681 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseInverse ( const Pose &  p) [inline, static, protected]

Definition at line 2625 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_poseMult ( const Pose &  p,
const Vector3 &  v 
) [inline, static, protected]

Definition at line 2572 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_poseMult ( const boost::array< double, 12 > &  m,
const Vector3 &  v 
) [inline, static, protected]

Definition at line 2590 of file collada_parser.cpp.

static boost::array<double,12> urdf::ColladaModelReader::_poseMult ( const boost::array< double, 12 > &  m0,
const boost::array< double, 12 > &  m1 
) [inline, static, protected]

Definition at line 2599 of file collada_parser.cpp.

static Pose urdf::ColladaModelReader::_poseMult ( const Pose &  p0,
const Pose &  p1 
) [inline, static, protected]

Definition at line 2617 of file collada_parser.cpp.

void urdf::ColladaModelReader::_PostProcess ( ) [inline, protected]

Definition at line 506 of file collada_parser.cpp.

void urdf::ColladaModelReader::_processUserData ( daeElement *  pelt,
double  scale 
) [inline, protected]

Definition at line 2541 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatFromAxisAngle ( double  x,
double  y,
double  z,
double  angle 
) [inline, static, protected]

Definition at line 2700 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatFromMatrix ( const boost::array< double, 12 > &  mat) [inline, static, protected]

Definition at line 2716 of file collada_parser.cpp.

static Rotation urdf::ColladaModelReader::_quatMult ( const Rotation &  quat0,
const Rotation &  quat1 
) [inline, static, protected]

Definition at line 2639 of file collada_parser.cpp.

static Vector3 urdf::ColladaModelReader::_sub3 ( const Vector3 &  v0,
const Vector3 &  v1 
) [inline, static, protected]

Definition at line 2776 of file collada_parser.cpp.

virtual void urdf::ColladaModelReader::handleError ( daeString  msg) [inline, protected, virtual]

Definition at line 2356 of file collada_parser.cpp.

virtual void urdf::ColladaModelReader::handleWarning ( daeString  msg) [inline, protected, virtual]

Definition at line 2361 of file collada_parser.cpp.

bool urdf::ColladaModelReader::InitFromData ( const std::string &  pdata) [inline]

Definition at line 445 of file collada_parser.cpp.

bool urdf::ColladaModelReader::InitFromFile ( const std::string &  filename) [inline]

Definition at line 426 of file collada_parser.cpp.

template<typename U >
static xsBoolean urdf::ColladaModelReader::resolveBool ( domCommon_bool_or_paramRef  paddr,
const U &  parent 
) [inline, static, protected]

Definition at line 2183 of file collada_parser.cpp.

static bool urdf::ColladaModelReader::resolveCommon_float_or_param ( daeElementRef  pcommon,
daeElementRef  parent,
float &  f 
) [inline, static, protected]

Definition at line 2238 of file collada_parser.cpp.

template<typename U >
static domFloat urdf::ColladaModelReader::resolveFloat ( domCommon_float_or_paramRef  paddr,
const U &  parent 
) [inline, static, protected]

Definition at line 2210 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBinding ( domCommon_sidref_or_paramRef  paddr,
daeElementRef  parent 
) [inline, static, protected]

Definition at line 2075 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBinding ( daeString  ref,
daeElementRef  parent 
) [inline, static, protected]

Search a given parameter reference and stores the new reference to search.

Parameters:
refthe reference name to search
parentThe array of parameter where the method searchs.

Definition at line 2089 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBindingArray ( daeString  ref,
const domInstance_articulated_system_Array &  paramArray 
) [inline, static, protected]

Definition at line 2161 of file collada_parser.cpp.

static daeElement* urdf::ColladaModelReader::searchBindingArray ( daeString  ref,
const domInstance_kinematics_model_Array &  paramArray 
) [inline, static, protected]

Definition at line 2172 of file collada_parser.cpp.


Member Data Documentation

boost::shared_ptr<DAE> urdf::ColladaModelReader::_collada [protected]

Definition at line 2802 of file collada_parser.cpp.

domCOLLADA* urdf::ColladaModelReader::_dom [protected]

Definition at line 2803 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_filename [protected]

Definition at line 2806 of file collada_parser.cpp.

urdf::ModelInterfaceSharedPtr urdf::ColladaModelReader::_model [protected]

Definition at line 2808 of file collada_parser.cpp.

Definition at line 2805 of file collada_parser.cpp.

Definition at line 2805 of file collada_parser.cpp.

std::string urdf::ColladaModelReader::_resourcedir [protected]

Definition at line 2807 of file collada_parser.cpp.

Definition at line 2809 of file collada_parser.cpp.

Definition at line 2810 of file collada_parser.cpp.

Definition at line 2804 of file collada_parser.cpp.


The documentation for this class was generated from the following file:


collada_parser
Author(s): Rosen Diankov, Kei Okada, Ioan Sucan , Jackie Kay
autogenerated on Fri Aug 11 2017 02:47:45