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

2015-04-16 09:55:32 -07:00
parent d9feaf2d2a
commit a1bf9c5556
425 changed files with 255913 additions and 0 deletions
--- a/examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp
+++ b/examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp
@@ -0,0 +1,91 @@
+/*********************************************************************
+* 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, John Hsu */
+
+
+#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
+#include <fstream>
+#include <sstream>
+//#include <boost/lexical_cast.hpp>
+#include <algorithm>
+
+#ifdef URDF_USE_CONSOLE_BRIDGE
+#include <console_bridge/console.h>
+#else
+#include "urdf/boost_replacement/printf_console.h"
+#endif
+
+#include <tinyxml/tinyxml.h>
+#include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
+
+
+namespace urdf{
+
+bool parsePose(Pose &pose, TiXmlElement* xml)
+{
+  pose.clear();
+  if (xml)
+  {
+    const char* xyz_str = xml->Attribute("xyz");
+    if (xyz_str != NULL)
+    {
+      try {
+        pose.position.init(xyz_str);
+      }
+      catch (ParseError &e) {
+        logError(e.what());
+        return false;
+      }
+    }
+
+    const char* rpy_str = xml->Attribute("rpy");
+    if (rpy_str != NULL)
+    {
+      try {
+        pose.rotation.init(rpy_str);
+      }
+      catch (ParseError &e) {
+        logError(e.what());
+        return false;
+      }
+    }
+  }
+  return true;
+}
+
+
+}
+
+