octomap.cpp File Reference

Parse octomap from xml string. More...

#include <tesseract/common/macros.h>
#include <stdexcept>
#include <tesseract/common/utils.h>
#include <tinyxml2.h>
#include <tesseract/geometry/impl/octree.h>
#include <tesseract/urdf/octomap.h>
#include <tesseract/urdf/octree.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/urdf/utils.h>

Functions
std::shared_ptr< tesseract::geometry::Octree >	tesseract::urdf::parseOctomap (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, bool visual)
	Parse xml element octomap.
tinyxml2::XMLElement *	tesseract::urdf::writeOctomap (const std::shared_ptr< const tesseract::geometry::Octree > &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive

Detailed Description

Parse octomap from xml string.

Author

Levi Armstrong

Date

September 1, 2019

Copyright

Copyright (c) 2019, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

parseOctomap()

tesseract::geometry::Octree::Ptr tesseract::urdf::parseOctomap	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator,
		bool	visual
	)

Parse xml element octomap.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
visual	Indicate if visual
version	The version number

Returns

A Tesseract Geometry Octree

writeOctomap()

tinyxml2::XMLElement * tesseract::urdf::writeOctomap	(	const std::shared_ptr< const tesseract::geometry::Octree > &	octree,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path,
		const std::string &	filename
	)

writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive

Parameters

octree	Octomap to be written to XML
doc	XML document to manage generated xml
package_path	/<path>/<to>/<your-package>. If set, geometry will be saved relative to the package. If not set, geometry will be saved with absolute paths.
filename	Desired file location. If package_path is set, this should be relative to the package. Otherwise, this should be an absolute path.

Returns

XML element representing the octomap object in URDF Format