规范模块目录和第三方依赖结构
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zhangshun
84
third_party/kdl_parser/include/urdf_parser/exportdecl.h
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84
third_party/kdl_parser/include/urdf_parser/exportdecl.h
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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: Thomas Moulard */
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#ifndef URDFDOM_EXPORTDECL_H
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# define URDFDOM_EXPORTDECL_H
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// Handle portable symbol export.
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// Defining manually which symbol should be exported is required
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// under Windows whether MinGW or MSVC is used.
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//
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// The headers then have to be able to work in two different modes:
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// - dllexport when one is building the library,
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// - dllimport for clients using the library.
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//
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// On Linux, set the visibility accordingly. If C++ symbol visibility
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// is handled by the compiler, see: http://gcc.gnu.org/wiki/Visibility
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# if defined _WIN32 || defined __CYGWIN__
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// On Microsoft Windows, use dllimport and dllexport to tag symbols.
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# define URDFDOM_DLLIMPORT __declspec(dllimport)
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# define URDFDOM_DLLEXPORT __declspec(dllexport)
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# define URDFDOM_DLLLOCAL
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# else
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// On Linux, for GCC >= 4, tag symbols using GCC extension.
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# if __GNUC__ >= 4
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# define URDFDOM_DLLIMPORT __attribute__ ((visibility("default")))
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# define URDFDOM_DLLEXPORT __attribute__ ((visibility("default")))
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# define URDFDOM_DLLLOCAL __attribute__ ((visibility("hidden")))
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# else
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// Otherwise (GCC < 4 or another compiler is used), export everything.
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# define URDFDOM_DLLIMPORT
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# define URDFDOM_DLLEXPORT
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# define URDFDOM_DLLLOCAL
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# endif // __GNUC__ >= 4
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# endif // defined _WIN32 || defined __CYGWIN__
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# ifdef URDFDOM_STATIC
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// If one is using the library statically, get rid of
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// extra information.
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# define URDFDOM_DLLAPI
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# define URDFDOM_LOCAL
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# else
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// Depending on whether one is building or using the
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// library define DLLAPI to import or export.
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# ifdef URDFDOM_EXPORTS
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# define URDFDOM_DLLAPI URDFDOM_DLLEXPORT
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# else
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# define URDFDOM_DLLAPI URDFDOM_DLLIMPORT
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# endif // URDFDOM_EXPORTS
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# define URDFDOM_LOCAL URDFDOM_DLLLOCAL
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# endif // URDFDOM_STATIC
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#endif //! URDFDOM_EXPORTDECL_H
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150
third_party/kdl_parser/include/urdf_parser/urdf_parser.h
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150
third_party/kdl_parser/include/urdf_parser/urdf_parser.h
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@@ -0,0 +1,150 @@
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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 URDF_PARSER_URDF_PARSER_H
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#define URDF_PARSER_URDF_PARSER_H
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#include <stdexcept>
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#include <string>
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#include <vector>
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#include <tinyxml.h>
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#include <urdf_model/model.h>
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#include <urdf_model/color.h>
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#include <urdf_world/types.h>
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#include <urdf_model/utils.h>
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#include "exportdecl.h"
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namespace urdf_export_helpers {
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URDFDOM_DLLAPI std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
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URDFDOM_DLLAPI std::string values2str(urdf::Vector3 vec);
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URDFDOM_DLLAPI std::string values2str(urdf::Rotation rot);
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URDFDOM_DLLAPI std::string values2str(urdf::Color c);
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URDFDOM_DLLAPI std::string values2str(double d);
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// This lives here (rather than in model.cpp) so we can run tests on it.
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class URDFVersion final
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{
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public:
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explicit URDFVersion(const char *attr)
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{
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// If the passed in attribute is NULL, it means it wasn't specified in the
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// XML, so we just assume version 1.0.
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if (attr == nullptr)
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{
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major_ = 1;
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minor_ = 0;
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return;
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}
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// We only accept version strings of the type <major>.<minor>
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std::vector<std::string> split;
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urdf::split_string(split, std::string(attr), ".");
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if (split.size() == 2)
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{
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major_ = strToUnsigned(split[0].c_str());
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minor_ = strToUnsigned(split[1].c_str());
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}
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else
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{
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throw std::runtime_error("The version attribute should be in the form 'x.y'");
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}
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}
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bool equal(uint32_t maj, uint32_t min)
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{
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return this->major_ == maj && this->minor_ == min;
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}
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uint32_t getMajor() const
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{
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return major_;
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}
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uint32_t getMinor() const
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{
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return minor_;
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}
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private:
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uint32_t strToUnsigned(const char *str)
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{
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if (str[0] == '\0')
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{
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// This would get caught below, but we can make a nicer error message
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throw std::runtime_error("One of the fields of the version attribute is blank");
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}
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char *end = const_cast<char *>(str);
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long value = strtol(str, &end, 10);
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if (end == str)
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{
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// If the pointer didn't move at all, then we couldn't convert any of
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// the string to an integer.
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throw std::runtime_error("Version attribute is not an integer");
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}
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if (*end != '\0')
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{
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// Here, we didn't go all the way to the end of the string, which
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// means there was junk at the end
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throw std::runtime_error("Extra characters after the version number");
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}
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if (value < 0)
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{
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throw std::runtime_error("Version number must be positive");
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}
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return value;
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}
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uint32_t major_;
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uint32_t minor_;
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};
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}
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namespace urdf{
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URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
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URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string& path);
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URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFileDocument(const std::string &path);
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URDFDOM_DLLAPI TiXmlDocument* exportURDF(ModelInterfaceSharedPtr &model);
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URDFDOM_DLLAPI TiXmlDocument* exportURDF(const ModelInterface &model);
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URDFDOM_DLLAPI bool parsePose(Pose&, TiXmlElement*);
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}
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#endif
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