00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, 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: Dave Coleman */ 00036 00037 #ifndef _SRDFDOM_SRDF_WRITER_ 00038 #define _SRDFDOM_SRDF_WRITER_ 00039 00040 #include <boost/shared_ptr.hpp> 00041 #include <srdfdom/model.h> // use their struct datastructures 00042 00043 namespace srdf 00044 { 00045 00046 // ****************************************************************************************** 00047 // ****************************************************************************************** 00048 // Class 00049 // ****************************************************************************************** 00050 // ****************************************************************************************** 00051 00052 class SRDFWriter 00053 { 00054 public: 00055 // ****************************************************************************************** 00056 // Public Functions 00057 // ****************************************************************************************** 00061 SRDFWriter(); 00062 00066 ~SRDFWriter(); 00067 00076 bool initString( const urdf::ModelInterface &robot_model, const std::string &srdf_string ); 00077 00084 void initModel( const urdf::ModelInterface &robot_model, const srdf::Model &srdf_model ); 00085 00091 void updateSRDFModel( const urdf::ModelInterface &robot_model ); 00092 00099 bool writeSRDF( const std::string &file_path ); 00100 00106 std::string getSRDFString(); 00107 00113 TiXmlDocument generateSRDF(); 00114 00120 void createGroupsXML( TiXmlElement *root ); 00121 00127 void createLinkSphereApproximationsXML( TiXmlElement *root ); 00128 00134 void createDisabledCollisionsXML( TiXmlElement *root ); 00135 00141 void createGroupStatesXML( TiXmlElement *root ); 00142 00148 void createEndEffectorsXML( TiXmlElement *root ); 00149 00155 void createVirtualJointsXML( TiXmlElement *root ); 00156 00162 void createPassiveJointsXML( TiXmlElement *root ); 00163 00164 // ****************************************************************************************** 00165 // Group Datastructures 00166 // ****************************************************************************************** 00167 00168 std::vector<srdf::Model::Group> groups_; 00169 std::vector<srdf::Model::GroupState> group_states_; 00170 std::vector<srdf::Model::VirtualJoint> virtual_joints_; 00171 std::vector<srdf::Model::EndEffector> end_effectors_; 00172 std::vector<srdf::Model::LinkSpheres> link_sphere_approximations_; 00173 std::vector<srdf::Model::DisabledCollision> disabled_collisions_; 00174 std::vector<srdf::Model::PassiveJoint> passive_joints_; 00175 00176 // Store the SRDF Model for updating the kinematic_model 00177 srdf::ModelSharedPtr srdf_model_; 00178 00179 // Robot name 00180 std::string robot_name_; 00181 00182 }; 00183 00184 // ****************************************************************************************** 00185 // Typedef 00186 // ****************************************************************************************** 00187 typedef boost::shared_ptr<SRDFWriter> SRDFWriterPtr; 00188 00189 00190 } 00191 00192 #endif