72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
/*********************************************************************
|
|
* 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 <urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h>
|
|
#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h>
|
|
#include <urdf_parser/urdf_parser.h>
|
|
#include <fstream>
|
|
#include <sstream>
|
|
#include <boost/lexical_cast.hpp>
|
|
#include <algorithm>
|
|
#include <tinyxml.h>
|
|
#include <console_bridge/console.h>
|
|
|
|
namespace urdf{
|
|
|
|
bool parseWorld(World &world, TiXmlElement* config)
|
|
{
|
|
|
|
// to be implemented
|
|
|
|
return true;
|
|
}
|
|
|
|
bool exportWorld(World &world, TiXmlElement* xml)
|
|
{
|
|
TiXmlElement * world_xml = new TiXmlElement("world");
|
|
world_xml->SetAttribute("name", world.name);
|
|
|
|
// to be implemented
|
|
// exportModels(*world.models, world_xml);
|
|
|
|
xml->LinkEndChild(world_xml);
|
|
|
|
return true;
|
|
}
|
|
|
|
}
|