00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_PLANNING_RDF_LOADER_ 00038 #define MOVEIT_PLANNING_RDF_LOADER_ 00039 00040 #include <moveit/macros/class_forward.h> 00041 #include <urdf/model.h> 00042 #include <srdfdom/model.h> 00043 #include <boost/shared_ptr.hpp> 00044 #include <tinyxml.h> 00045 00046 namespace rdf_loader 00047 { 00048 MOVEIT_CLASS_FORWARD(RDFLoader); 00049 00053 class RDFLoader 00054 { 00055 public: 00059 RDFLoader(const std::string& robot_description = "robot_description"); 00060 00062 RDFLoader(const std::string& urdf_string, const std::string& srdf_string); 00063 00065 RDFLoader(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc); 00066 00068 const std::string& getRobotDescription() const 00069 { 00070 return robot_description_; 00071 } 00072 00074 const boost::shared_ptr<urdf::ModelInterface>& getURDF() const 00075 { 00076 return urdf_; 00077 } 00078 00080 const boost::shared_ptr<srdf::Model>& getSRDF() const 00081 { 00082 return srdf_; 00083 } 00084 00085 private: 00086 std::string robot_description_; 00087 boost::shared_ptr<srdf::Model> srdf_; 00088 boost::shared_ptr<urdf::ModelInterface> urdf_; 00089 }; 00090 } 00091 #endif