规范模块目录和第三方依赖结构
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zhangshun
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third_party/kdl_parser/include/kdl_parser/kdl_parser.hpp
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third_party/kdl_parser/include/kdl_parser/kdl_parser.hpp
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Wim Meeussen */
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#ifndef KDL_PARSER__KDL_PARSER_HPP_
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#define KDL_PARSER__KDL_PARSER_HPP_
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#include <kdl/tree.hpp>
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#include <string>
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#include <urdf_model/model.h>
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#include <tinyxml2.h>
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#include <tinyxml.h> // NOLINT
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#include "kdl_parser/visibility_control.hpp"
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namespace kdl_parser
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{
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/** Constructs a KDL tree from a file, given the file name
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* \param file The filename from where to read the xml
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* \param tree The resulting KDL Tree
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* returns true on success, false on failure
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*/
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KDL_PARSER_PUBLIC
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bool treeFromFile(const std::string& file, KDL::Tree& tree);
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KDL_PARSER_PUBLIC
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bool treeFromFileDocument(const std::string& file, KDL::Tree& tree);
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/** Constructs a KDL tree from the parameter server, given the parameter name
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* \param param the name of the parameter on the parameter server
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* \param tree The resulting KDL Tree
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* returns true on success, false on failure or if built without ROS
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*/
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KDL_PARSER_PUBLIC
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bool treeFromParam(const std::string & param, KDL::Tree & tree);
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/** Constructs a KDL tree from a string containing xml
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* \param xml A string containing the xml description of the robot
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* \param tree The resulting KDL Tree
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* returns true on success, false on failure
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*/
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KDL_PARSER_PUBLIC
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bool treeFromString(const std::string & xml, KDL::Tree & tree);
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/** Constructs a KDL tree from a TinyXML2 document
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* \param[in] xml_doc The document containing the xml description of the robot
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* \param[out] tree The resulting KDL Tree
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* \return true on success, false on failure
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*/
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KDL_PARSER_PUBLIC
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bool treeFromXml(const tinyxml2::XMLDocument * xml_doc, KDL::Tree & tree);
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/** Constructs a KDL tree from a TinyXML document
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* \param[in] xml_doc The document containing the xml description of the robot
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* \param[out] tree The resulting KDL Tree
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* returns true on success, false on failure
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*/
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KDL_PARSER_PUBLIC
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KDL_PARSER_DEPRECATED("TinyXML API is deprecated, use the TinyXML2 version instead")
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bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree);
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/** Constructs a KDL tree from a URDF robot model
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* \param robot_model The URDF robot model
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* \param tree The resulting KDL Tree
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* returns true on success, false on failure
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*/
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KDL_PARSER_PUBLIC
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bool treeFromUrdfModel(const urdf::ModelInterface & robot_model, KDL::Tree & tree);
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} // namespace kdl_parser
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#endif // KDL_PARSER__KDL_PARSER_HPP_
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79
third_party/kdl_parser/include/kdl_parser/visibility_control.hpp
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third_party/kdl_parser/include/kdl_parser/visibility_control.hpp
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Open Source Robotics Foundation, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* This header must be included by all kdl_parser headers which declare symbols
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* which are defined in the kdl_parser library. When not building the kdl_parser
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* library, i.e. when using the headers in other package's code, the contents
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* of this header change the visibility of certain symbols which the kdl_parser
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* library cannot have, but the consuming code must have inorder to link.
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*/
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#ifndef KDL_PARSER__VISIBILITY_CONTROL_HPP_
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#define KDL_PARSER__VISIBILITY_CONTROL_HPP_
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef __GNUC__
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#define KDL_PARSER_EXPORT __attribute__ ((dllexport))
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#define KDL_PARSER_IMPORT __attribute__ ((dllimport))
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#define KDL_PARSER_DEPRECATED(msg) __attribute__((deprecated(msg)))
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#else
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#define KDL_PARSER_EXPORT __declspec(dllexport)
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#define KDL_PARSER_IMPORT __declspec(dllimport)
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#define KDL_PARSER_DEPRECATED(msg) __declspec(deprecated(msg))
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#endif
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#ifdef KDL_PARSER_BUILDING_DLL
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#define KDL_PARSER_PUBLIC KDL_PARSER_EXPORT
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#else
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#define KDL_PARSER_PUBLIC KDL_PARSER_IMPORT
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#endif
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#define KDL_PARSER_PUBLIC_TYPE KDL_PARSER_PUBLIC
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#define KDL_PARSER_LOCAL
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#else
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#define KDL_PARSER_EXPORT __attribute__ ((visibility("default")))
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#define KDL_PARSER_IMPORT
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#if __GNUC__ >= 4
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#define KDL_PARSER_PUBLIC __attribute__ ((visibility("default")))
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#define KDL_PARSER_LOCAL __attribute__ ((visibility("hidden")))
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#else
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#define KDL_PARSER_PUBLIC
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#define KDL_PARSER_LOCAL
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#endif
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#define KDL_PARSER_PUBLIC_TYPE
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#define KDL_PARSER_DEPRECATED(msg) __attribute__((deprecated(msg)))
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#endif
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#endif // KDL_PARSER__VISIBILITY_CONTROL_HPP_
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