octree.h File Reference

Parse octree from xml string. More...

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

Functions
std::shared_ptr< tesseract::geometry::Octree >	tesseract::urdf::parseOctree (const tinyxml2::XMLElement *xml_element, const tesseract::common::ResourceLocator &locator, tesseract::geometry::OctreeSubType shape_type, bool prune)
	Parse xml element octree.
tinyxml2::XMLElement *	tesseract::urdf::writeOctree (const std::shared_ptr< const tesseract::geometry::Octree > &octree, tinyxml2::XMLDocument &doc, const std::string &package_path, const std::string &filename)
	writeOctree Write octree out to file, and generate appropriate xml

Detailed Description

Parse octree 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

parseOctree()

tesseract::geometry::Octree::Ptr tesseract::urdf::parseOctree	(	const tinyxml2::XMLElement *	xml_element,
		const tesseract::common::ResourceLocator &	locator,
		tesseract::geometry::OctreeSubType	shape_type,
		bool	prune
	)

Parse xml element octree.

Parameters

xml_element	The xml element
locator	The Tesseract resource locator
shape_type	The collision/visual shape type to use
prune	Indicate if the octree should be pruned

Returns

A Tesseract Geometry Octree

writeOctree()

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

writeOctree Write octree out to file, and generate appropriate xml

Parameters

octree	The geometry element containing octree data
doc	The XML document to which to add the xml data
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 filename relative to the working directory ("octree.ot" or "collision/octree.ot")

Returns

An XML element containing information on the saved file.