bool exportInertial(Inertial &i, TiXmlElement *xml)
{
// adds <inertial>
// <mass value="1"/>
// <pose xyz="0 0 0" rpy="0 0 0"/>
// <inertia ixx="1" ixy="0" />
// </inertial>
TiXmlElement *inertial_xml = new TiXmlElement("inertial");
TiXmlElement *mass_xml = new TiXmlElement("mass");
mass_xml->SetAttribute("value", urdf_export_helpers::values2str(i.mass));
inertial_xml->LinkEndChild(mass_xml);
exportPose(i.origin, inertial_xml);
TiXmlElement *inertia_xml = new TiXmlElement("inertia");
inertia_xml->SetAttribute("ixx", urdf_export_helpers::values2str(i.ixx));
inertia_xml->SetAttribute("ixy", urdf_export_helpers::values2str(i.ixy));
inertia_xml->SetAttribute("ixz", urdf_export_helpers::values2str(i.ixz));
inertia_xml->SetAttribute("iyy", urdf_export_helpers::values2str(i.iyy));
inertia_xml->SetAttribute("iyz", urdf_export_helpers::values2str(i.iyz));
inertia_xml->SetAttribute("izz", urdf_export_helpers::values2str(i.izz));
inertial_xml->LinkEndChild(inertia_xml);
xml->LinkEndChild(inertial_xml);
return true;
}
bool exportJoint(Joint &joint, TiXmlElement* xml)
{
TiXmlElement * joint_xml = new TiXmlElement("joint");
joint_xml->SetAttribute("name", joint.name);
if (joint.type == urdf::Joint::PLANAR)
joint_xml->SetAttribute("type", "planar");
else if (joint.type == urdf::Joint::FLOATING)
joint_xml->SetAttribute("type", "floating");
else if (joint.type == urdf::Joint::REVOLUTE)
joint_xml->SetAttribute("type", "revolute");
else if (joint.type == urdf::Joint::CONTINUOUS)
joint_xml->SetAttribute("type", "continuous");
else if (joint.type == urdf::Joint::PRISMATIC)
joint_xml->SetAttribute("type", "prismatic");
else if (joint.type == urdf::Joint::FIXED)
joint_xml->SetAttribute("type", "fixed");
else
CONSOLE_BRIDGE_logError("ERROR: Joint [%s] type [%d] is not a defined type.\n",joint.name.c_str(), joint.type);
// origin
exportPose(joint.parent_to_joint_origin_transform, joint_xml);
// axis
TiXmlElement * axis_xml = new TiXmlElement("axis");
axis_xml->SetAttribute("xyz", urdf_export_helpers::values2str(joint.axis));
joint_xml->LinkEndChild(axis_xml);
// parent
TiXmlElement * parent_xml = new TiXmlElement("parent");
parent_xml->SetAttribute("link", joint.parent_link_name);
joint_xml->LinkEndChild(parent_xml);
// child
TiXmlElement * child_xml = new TiXmlElement("child");
child_xml->SetAttribute("link", joint.child_link_name);
joint_xml->LinkEndChild(child_xml);
if (joint.dynamics)
exportJointDynamics(*(joint.dynamics), joint_xml);
if (joint.limits)
exportJointLimits(*(joint.limits), joint_xml);
if (joint.safety)
exportJointSafety(*(joint.safety), joint_xml);
if (joint.calibration)
exportJointCalibration(*(joint.calibration), joint_xml);
if (joint.mimic)
exportJointMimic(*(joint.mimic), joint_xml);
xml->LinkEndChild(joint_xml);
return true;
}
bool exportCollision(Collision &col, TiXmlElement* xml)
{
// <collision group="default">
// <origin rpy="0 0 0" xyz="0 0 0"/>
// <geometry>
// <mesh filename="mesh.dae"/>
// </geometry>
// <material name="Grey"/>
// </collision>
TiXmlElement * collision_xml = new TiXmlElement("collision");
exportPose(col.origin, collision_xml);
exportGeometry(col.geometry, collision_xml);
xml->LinkEndChild(collision_xml);
return true;
}
bool exportVisual(Visual &vis, TiXmlElement *xml)
{
// <visual group="default">
// <origin rpy="0 0 0" xyz="0 0 0"/>
// <geometry>
// <mesh filename="mesh.dae"/>
// </geometry>
// <material name="Grey"/>
// </visual>
TiXmlElement * visual_xml = new TiXmlElement("visual");
exportPose(vis.origin, visual_xml);
exportGeometry(vis.geometry, visual_xml);
if (vis.material)
exportMaterial(*vis.material, visual_xml);
xml->LinkEndChild(visual_xml);
return true;
}
