safety_controller.cpp File Reference

Parse safety_controller from xml string. More...

#include <tesseract/common/macros.h>
#include <stdexcept>
#include <console_bridge/console.h>
#include <tinyxml2.h>
#include <tesseract/scene_graph/joint.h>
#include <tesseract/urdf/safety_controller.h>
#include <tesseract/urdf/utils.h>

Functions
std::shared_ptr< tesseract::scene_graph::JointSafety >	tesseract::urdf::parseSafetyController (const tinyxml2::XMLElement *xml_element)
	Parse xml element safety_controller.
tinyxml2::XMLElement *	tesseract::urdf::writeSafetyController (const std::shared_ptr< const tesseract::scene_graph::JointSafety > &safety, tinyxml2::XMLDocument &doc)

Detailed Description

Parse safety_controller 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

parseSafetyController()

tesseract::scene_graph::JointSafety::Ptr tesseract::urdf::parseSafetyController

(

const tinyxml2::XMLElement *

xml_element

)

Parse xml element safety_controller.

Parameters

xml_element	The xml element
version	The version number

Returns

A Tesseract JointSafety