xml_constants.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef XML_CONSTANTS_H
#define XML_CONSTANTS_H

#include <string>

namespace pilz_industrial_motion_testutils
{

const std::string EMPTY_STR {};

const std::string XML_ATTR_STR {"<xmlattr>"};
const std::string JOINT_STR {"joints"};
const std::string POSE_STR {"pos"};
const std::string XYZ_QUAT_STR {"xyzQuat"};
const std::string XYZ_EULER_STR {"xyzEuler"};
const std::string SEED_STR {"seed"};

const std::string PTP_STR {"ptp"};
const std::string LIN_STR {"lin"};
const std::string CIRC_STR {"circ"};
const std::string BLEND_STR {"blend"};
const std::string GRIPPER_STR {"gripper"};

const std::string PLANNING_GROUP_STR {"planningGroup"};
const std::string TARGET_LINK_STR {"targetLink"};
const std::string START_POS_STR {"startPos"};
const std::string END_POS_STR {"endPos"};
const std::string INTERMEDIATE_POS_STR {"intermediatePos"};
const std::string CENTER_POS_STR {"centerPos"};
const std::string VEL_STR {"vel"};
const std::string ACC_STR {"acc"};


const std::string POSES_PATH_STR {"testdata.poses"};
const std::string PTPS_PATH_STR {"testdata." + PTP_STR + "s"};
const std::string LINS_PATH_STR {"testdata."  + LIN_STR + "s"};
const std::string CIRCS_PATH_STR {"testdata."  + CIRC_STR + "s"};
const std::string SEQUENCE_PATH_STR {"testdata.sequences"};
const std::string GRIPPERS_PATH_STR {"testdata."  + GRIPPER_STR + "s"};

const std::string NAME_PATH_STR {XML_ATTR_STR + ".name"};
const std::string CMD_TYPE_PATH_STR {XML_ATTR_STR + ".type"};
const std::string BLEND_RADIUS_PATH_STR {XML_ATTR_STR + ".blend_radius"};
const std::string LINK_NAME_PATH_STR {XML_ATTR_STR + ".link_name"};
const std::string GROUP_NAME_PATH_STR {XML_ATTR_STR + ".group_name"};

}

#endif // XML_CONSTANTS_H