add initial examples, replacing the 'Demos/Demos3'. Will make it work cross-platform, OpenGL3/OpenGL2 and add more examples to it.

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp

@@ -0,0 +1,240 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Wim Meeussen */
+//#include <boost/algorithm/string.hpp>
+#include <vector>
+#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
+#ifdef URDF_USE_CONSOLE_BRIDGE
+	#include <console_bridge/console.h>
+#else
+	#include "urdf/boost_replacement/printf_console.h"
+#endif
+
+namespace urdf{
+
+bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_ok);
+bool parseLink(Link &link, TiXmlElement *config);
+bool parseJoint(Joint &joint, TiXmlElement *config);
+
+
+my_shared_ptr<ModelInterface>  parseURDF(const std::string &xml_string)
+{
+  my_shared_ptr<ModelInterface> model(new ModelInterface);
+  model->clear();
+
+  TiXmlDocument xml_doc;
+  xml_doc.Parse(xml_string.c_str());
+  if (xml_doc.Error())
+  {
+    logError(xml_doc.ErrorDesc());
+    xml_doc.ClearError();
+    model.reset(0);
+    return model;
+  }
+
+  TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot");
+  if (!robot_xml)
+  {
+    logError("Could not find the 'robot' element in the xml file");
+    model.reset(0);
+    return model;
+  }
+
+  // Get robot name
+  const char *name = robot_xml->Attribute("name");
+  if (!name)
+  {
+    logError("No name given for the robot.");
+    model.reset(0);
+    return model;
+  }
+  model->name_ = std::string(name);
+
+  // Get all Material elements
+  for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
+  {
+    my_shared_ptr<Material> material;
+    material.reset(new Material);
+
+    try {
+      parseMaterial(*material, material_xml, false); // material needs to be fully defined here
+      if (model->getMaterial(material->name))
+      {
+        logError("material '%s' is not unique.", material->name.c_str());
+        material.reset(0);
+        model.reset(0);
+        return model;
+      }
+      else
+      {
+        model->materials_.insert(make_pair(material->name,material));
+        logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
+      }
+    }
+    catch (ParseError &e) {
+      logError("material xml is not initialized correctly");
+      material.reset(0);
+      model.reset(0);
+      return model;
+    }
+  }
+
+  // Get all Link elements
+  for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
+  {
+    my_shared_ptr<Link> link;
+    link.reset(new Link);
+	model->m_numLinks++;
+
+    try {
+      parseLink(*link, link_xml);
+      if (model->getLink(link->name))
+      {
+        logError("link '%s' is not unique.", link->name.c_str());
+        model.reset(0);
+        return model;
+      }
+      else
+      {
+        // set link visual material
+        logDebug("urdfdom: setting link '%s' material", link->name.c_str());
+        if (link->visual)
+        {
+          if (!link->visual->material_name.empty())
+          {
+            if (model->getMaterial(link->visual->material_name))
+            {
+              logDebug("urdfdom: setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
+              link->visual->material = model->getMaterial( link->visual->material_name.c_str() );
+            }
+            else
+            {
+              if (link->visual->material)
+              {
+                logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
+                model->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
+              }
+              else
+              {
+                logError("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
+                model.reset(0);
+                return model;
+              }
+            }
+          }
+        }
+
+        model->links_.insert(make_pair(link->name,link));
+        logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
+      }
+    }
+    catch (ParseError &e) {
+      logError("link xml is not initialized correctly");
+      model.reset(0);
+      return model;
+    }
+  }
+  if (model->links_.empty()){
+    logError("No link elements found in urdf file");
+    model.reset(0);
+    return model;
+  }
+
+  // Get all Joint elements
+  for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
+  {
+    my_shared_ptr<Joint> joint;
+    joint.reset(new Joint);
+	model->m_numJoints++;
+
+    if (parseJoint(*joint, joint_xml))
+    {
+      if (model->getJoint(joint->name))
+      {
+        logError("joint '%s' is not unique.", joint->name.c_str());
+        model.reset(0);
+        return model;
+      }
+      else
+      {
+        model->joints_.insert(make_pair(joint->name,joint));
+        logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
+      }
+    }
+    else
+    {
+      logError("joint xml is not initialized correctly");
+      model.reset(0);
+      return model;
+    }
+  }
+
+
+  // every link has children links and joints, but no parents, so we create a
+  // local convenience data structure for keeping child->parent relations
+  std::map<std::string, std::string> parent_link_tree;
+  parent_link_tree.clear();
+
+  // building tree: name mapping
+  try 
+  {
+    model->initTree(parent_link_tree);
+  }
+  catch(ParseError &e)
+  {
+    logError("Failed to build tree: %s", e.what());
+    model.reset(0);
+    return model;
+  }
+
+  // find the root link
+  try
+  {
+    model->initRoot(parent_link_tree);
+  }
+  catch(ParseError &e)
+  {
+    logError("Failed to find root link: %s", e.what());
+    model.reset(0);
+    return model;
+  }
+  
+  return model;
+}
+
+
+
+}
+