link.h File Reference

Parse link from xml string. More...

#include <tesseract/common/macros.h>
#include <memory>
#include <unordered_map>
#include <string_view>
#include <tesseract/common/fwd.h>
#include <tesseract/scene_graph/fwd.h>

Functions
std::shared_ptr< tesseract::scene_graph::Link >	tesseract::urdf::parseLink (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, bool make_convex_meshes, std::unordered_map< std::string, std::shared_ptr< tesseract::scene_graph::Material > > &available_materials)
	Parse xml element link.
tinyxml2::XMLElement *	tesseract::urdf::writeLink (const std::shared_ptr< const tesseract::scene_graph::Link > &link, tinyxml2::XMLDocument &doc, const std::string &package_path)
	writeLink Write a link to URDF XML

Detailed Description

Parse link 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

parseLink()

std::shared_ptr< tesseract::scene_graph::Link > tesseract::urdf::parseLink	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator,
		bool	make_convex_meshes,
		std::unordered_map< std::string, std::shared_ptr< tesseract::scene_graph::Material > > &	available_materials
	)

Parse xml element link.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
available_materials	The current available materials
make_convex_meshes	Flag to indicate if the meshes should be converted to convex hulls

Returns

A Tesseract Link

writeLink()

tinyxml2::XMLElement * tesseract::urdf::writeLink	(	const std::shared_ptr< const tesseract::scene_graph::Link > &	link,
		tinyxml2::XMLDocument &	doc,
		const std::string &	package_path
	)

writeLink Write a link to URDF XML

Parameters

link	Link object to be written
doc	XML Document to which element will belong
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.

Returns

XML element representing link in URDF format