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_;
  Model::JointPropertyMap 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