sphere.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <stdexcept>
 
#include <tinyxml2.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/impl/sphere.h>
#include <tesseract_urdf/sphere.h>
#include <tesseract_urdf/utils.h>
 
namespace tesseract_urdf
{
tesseract_geometry::Sphere::Ptr parseSphere(const tinyxml2::XMLElement* xml_element)
{
  double radius{ 0 };
  if (xml_element->QueryDoubleAttribute("radius", &(radius)) != tinyxml2::XML_SUCCESS || !(radius > 0))
    std::throw_with_nested(std::runtime_error("Sphere: Missing or failed parsing attribute radius!"));
 
  return std::make_shared<tesseract_geometry::Sphere>(radius);
}
 
tinyxml2::XMLElement* writeSphere(const std::shared_ptr<const tesseract_geometry::Sphere>& sphere,
                                  tinyxml2::XMLDocument& doc)
{
  if (sphere == nullptr)
    std::throw_with_nested(std::runtime_error("Sphere is nullptr and cannot be converted to XML"));
  tinyxml2::XMLElement* xml_element = doc.NewElement(SPHERE_ELEMENT_NAME.data());
 
  xml_element->SetAttribute("radius", toString(sphere->getRadius()).c_str());
 
  return xml_element;
}
 
}  // namespace tesseract_urdf