bool srdf::Model::initXml(const urdf::ModelInterface &urdf_model, TiXmlDocument *xml)
{
TiXmlElement *robot_xml = xml ? xml->FirstChildElement("robot") : NULL;
if (!robot_xml)
{
logError("Could not find the 'robot' element in the xml file");
return false;
}
return initXml(urdf_model, robot_xml);
}
NaviWriter::NaviWriter(const string& path, Navigation* navi, Flight ft)
: sOut(QString::fromStdString(path)),
fOut(new QFile),
xml(new QXmlStreamWriter(fOut)),
naviRow(navi),
flight(ft)
{
initFiles();
initXml(xml);
}
bool srdf::Model::initString(const urdf::ModelInterface &urdf_model, const std::string& xmlstring)
{
TiXmlDocument xml_doc;
xml_doc.Parse(xmlstring.c_str());
return initXml(urdf_model, &xml_doc);
}