srdf_writer.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* 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();

  TiXmlDocument generateSRDF();

  void createGroupsXML(TiXmlElement* root);

  void createLinkSphereApproximationsXML(TiXmlElement* root);

  void createDisabledCollisionsXML(TiXmlElement* root);

  void createGroupStatesXML(TiXmlElement* root);

  void createEndEffectorsXML(TiXmlElement* root);

  void createVirtualJointsXML(TiXmlElement* root);

  void createPassiveJointsXML(TiXmlElement* root);

  // ******************************************************************************************
  // Group Datastructures
  // ******************************************************************************************

  std::vector<srdf::Model::Group> groups_;
  std::vector<srdf::Model::GroupState> group_states_;
  std::vector<srdf::Model::VirtualJoint> virtual_joints_;
  std::vector<srdf::Model::EndEffector> end_effectors_;
  std::vector<srdf::Model::LinkSpheres> link_sphere_approximations_;
  std::vector<srdf::Model::DisabledCollision> disabled_collisions_;
  std::vector<srdf::Model::PassiveJoint> passive_joints_;

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

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

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

#endif