urdf_parser: convert remaining files to HAVE_TINYXML

ros · Feb 14, 2023 · 1458ccd · 1458ccd
1 parent a65ae22
commit 1458ccd
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Showing 10 changed files with 1,238 additions and 17 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -49,7 +49,7 @@ endif (MSVC OR MSVC90 OR MSVC10)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-if(DISABLE_TINYXML_SUPPORT)
+if(NOT DISABLE_TINYXML_SUPPORT)
   find_package(tinyxml_vendor QUIET)
   find_package(TinyXML)
   # bionic has not cmake module, workaround

diff --git a/urdf_parser/include/urdf_parser/urdf_parser.h b/urdf_parser/include/urdf_parser/urdf_parser.h
@@ -154,8 +154,8 @@ namespace urdf{
   URDFDOM_DLLAPI bool parseSensor(Sensor&, TiXmlElement*);
   URDFDOM_DLLAPI bool parseModelState(ModelState&, TiXmlElement*);
 #endif
-  URDFDOM_DLLAPI void exportURDF(ModelInterfaceSharedPtr &model, XMLDocument &doc);
-  URDFDOM_DLLAPI void exportURDF(const ModelInterface &model, XMLDocument &doc);
+  URDFDOM_DLLAPI void exportURDF(ModelInterfaceSharedPtr &model, tinyxml2::XMLDocument &doc);
+  URDFDOM_DLLAPI void exportURDF(const ModelInterface &model, tinyxml2::XMLDocument &doc);
   URDFDOM_DLLAPI bool parsePose(Pose&, tinyxml2::XMLElement*);
   URDFDOM_DLLAPI bool parseCamera(Camera&, tinyxml2::XMLElement*);
   URDFDOM_DLLAPI bool parseRay(Ray&, tinyxml2::XMLElement*);

diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp
@@ -40,8 +40,11 @@
 #include <string>
 #include <urdf_model/joint.h>
 #include <console_bridge/console.h>
-#include <tinyxml2.h>
 #include <urdf_parser/urdf_parser.h>
+#ifdef HAVE_TINYXML
+#include <tinyxml.h>
+#endif
+#include <tinyxml2.h>
 
 using namespace tinyxml2;
 
@@ -653,4 +656,55 @@ bool exportJoint(Joint &joint, XMLElement* xml)
 
 
 
+#ifdef HAVE_TINYXML
+bool parsePose(Pose &pose, TiXmlElement* xml);
+
+bool parseJointDynamics(JointDynamics &jd, TiXmlElement* config)
+{
+  jd.clear();
+
+  // Get joint damping
+  const char* damping_str = config->Attribute("damping");
+  if (damping_str == NULL){
+    CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: no damping, defaults to 0");
+    jd.damping = 0;
+  }
+  else
+  {
+    try {
+      jd.damping = strToDouble(damping_str);
+    } catch(std::runtime_error &) {
+      CONSOLE_BRIDGE_logError("damping value (%s) is not a valid float", damping_str);
+      return false;
+    }
+  }
+
+  // Get joint friction
+  const char* friction_str = config->Attribute("friction");
+  if (friction_str == NULL){
+    CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: no friction, defaults to 0");
+    jd.friction = 0;
+  }
+  else
+  {
+    try {
+      jd.friction = strToDouble(friction_str);
+    } catch (std::runtime_error &) {
+      CONSOLE_BRIDGE_logError("friction value (%s) is not a valid float", friction_str);
+      return false;
+    }
+  }
+
+  if (damping_str == NULL && friction_str == NULL)
+  {
+    CONSOLE_BRIDGE_logError("joint dynamics element specified with no damping and no friction");
+    return false;
+  }
+  else{
+    CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: damping %f and friction %f", jd.damping, jd.friction);
+    return true;
+  }
+}
+#endif
+
 }