C++ (Cpp) exportSphere示例

示例#1

文件： link.cpp 项目： PerryZh/idyntree

bool exportGeometry(GeometryPtr &geom, TiXmlElement *xml)
{
  TiXmlElement *geometry_xml = new TiXmlElement("geometry");
  if( geom->type == Geometry::SPHERE )
  {
    exportSphere(*((Sphere*)toPlainGeometryPtr(geom)), geometry_xml);
  }
  else if ( geom->type == Geometry::BOX )
  {
    exportBox(*((Box*)toPlainGeometryPtr(geom)), geometry_xml);
  }
  else if (geom->type == Geometry::CYLINDER)
  {
    exportCylinder(*((Cylinder*)toPlainGeometryPtr(geom)), geometry_xml);
  }
  else if (geom->type == Geometry::MESH)
  {
    exportMesh(*((Mesh*)toPlainGeometryPtr(geom)), geometry_xml);
  }
  else
  {
    logError("geometry not specified, I'll make one up for you!");
    Sphere *s = new Sphere();
    s->radius = 0.03;
    resetPtr(geom,s);
    exportSphere(*s, geometry_xml);
  }

  xml->LinkEndChild(geometry_xml);
  return true;
}

示例#2

文件： link.cpp 项目： erlerobot/urdfdom

bool exportGeometry(GeometrySharedPtr &geom, TiXmlElement *xml)
{
  TiXmlElement *geometry_xml = new TiXmlElement("geometry");
  if (urdf::dynamic_pointer_cast<Sphere>(geom))
  {
    exportSphere((*(urdf::dynamic_pointer_cast<Sphere>(geom).get())), geometry_xml);
  }
  else if (urdf::dynamic_pointer_cast<Box>(geom))
  {
    exportBox((*(urdf::dynamic_pointer_cast<Box>(geom).get())), geometry_xml);
  }
  else if (urdf::dynamic_pointer_cast<Cylinder>(geom))
  {
    exportCylinder((*(urdf::dynamic_pointer_cast<Cylinder>(geom).get())), geometry_xml);
  }
  else if (urdf::dynamic_pointer_cast<Mesh>(geom))
  {
    exportMesh((*(urdf::dynamic_pointer_cast<Mesh>(geom).get())), geometry_xml);
  }
  else
  {
    CONSOLE_BRIDGE_logError("geometry not specified, I'll make one up for you!");
    Sphere *s = new Sphere();
    s->radius = 0.03;
    geom.reset(s);
    exportSphere((*(urdf::dynamic_pointer_cast<Sphere>(geom).get())), geometry_xml);
  }

  xml->LinkEndChild(geometry_xml);
  return true;
}