FileIO.h

Go to the documentation of this file.

#ifndef URDF2GRASPIT_FILEIO_H
#define URDF2GRASPIT_FILEIO_H
// Copyright Jennifer Buehler

//-----------------------------------------------------
#include <urdf/model.h>
#include <urdf2graspit/ConversionResult.h>
#include <urdf2graspit/OutputStructure.h>

#include <urdf2inventor/FileIO.h>

#include <iostream>
#include <string>
#include <map>
#include <vector>

namespace urdf2graspit
{

class FileIO: public urdf2inventor::FileIO<std::string>
{
private:
    typedef urdf2inventor::FileIO<std::string> ParentT;
public:
    
    typedef urdf2graspit::ConversionResult GraspItConversionResultT;
    typedef baselib_binding::shared_ptr<GraspItConversionResultT>::type GraspItConversionResultPtr;

    explicit FileIO(const std::string& _outputDir, const OutputStructure& _outStructure):
        urdf2inventor::FileIO<std::string>(_outputDir),
        outStructure(_outStructure) {}

    ~FileIO()
    {
    }
   
    bool writeContacts(const std::string& robotName, const std::string& content,
        const std::string& useFilename) const;

protected:

    virtual bool initOutputDirImpl(const std::string& robotName) const;

    virtual bool writeImpl(const ConversionResultPtr& data) const;

    bool writeGraspitMeshFiles(const std::map<std::string, std::string>& meshDescXML) const;

    bool writeWorldFileTemplate(const std::string& robotName,
                                const std::string& content) const;

    bool writeEigen(const std::string& robotName, const std::string& content) const;

    bool writeRobotXML(const std::string& robotName, const std::string& content) const;


    bool initGraspItRobotDir(const std::string& robotName, std::string& robotDir) const;

    std::string getRobotDir(const std::string& robotName) const;

    OutputStructure outStructure;
};
}  //  namespace urdf2graspit
#endif   // URDF2GRASPIT_FILEIO_H