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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2016, CITEC / Bielefeld University | ||
| * 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. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Robert Haschke */ | ||
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| #ifndef URDF_PARSER_TACTILE_SENSOR_PARSERS_H | ||
| #define URDF_PARSER_TACTILE_SENSOR_PARSERS_H | ||
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| #include "sensor_parser.h" | ||
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| namespace urdf { | ||
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| class URDFDOM_DLLAPI TactileSensorParser : public SensorParser { | ||
| public: | ||
| SensorBaseSharedPtr parse(TiXmlElement &sensor_element); | ||
| }; | ||
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| } | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2016, CITEC / Bielefeld University | ||
| * 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 author 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. | ||
| *********************************************************************/ | ||
|
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| /* Author: Robert Haschke */ | ||
|
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| #include "urdf_parser/tactile_sensor_parsers.h" | ||
| #include "urdf_parser/utils.h" | ||
| #include "urdf_parser/pose.h" | ||
| #include "urdf_parser/link.h" | ||
| #include <urdf_sensor/tactile.h> | ||
| #include <console_bridge/console.h> | ||
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| namespace urdf { | ||
|
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| /* specialization of parseAttribute(const char* value) for TactileArray::DataOrder */ | ||
| template <> | ||
| TactileArray::DataOrder parseAttribute<TactileArray::DataOrder>(const char* value) | ||
| { | ||
| if (strcmp(value, "col-major") == 0) return TactileArray::COLUMNMAJOR; | ||
| else if (strcmp(value, "row-major") == 0) return TactileArray::ROWMAJOR; | ||
| else throw ParseError("invalid order, expecting 'col-major'' or 'row-major'"); | ||
| } | ||
|
|
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| /* specialization of parseAttribute(const char* value) for Vector2 */ | ||
| template <> | ||
| Vector2<double> parseAttribute<Vector2<double> >(const char* value) | ||
| { | ||
| std::vector<std::string> pieces; | ||
| std::vector<double> xy; | ||
| boost::split(pieces, value, boost::is_any_of(" ")); | ||
| for (unsigned int i = 0; i < pieces.size(); ++i){ | ||
| if (pieces[i] != ""){ | ||
| xy.push_back(boost::lexical_cast<double>(pieces[i].c_str())); | ||
| } | ||
| } | ||
|
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| if (xy.size() != 2) | ||
| throw ParseError("expecting 2, but found " + boost::lexical_cast<std::string>(xy.size()) + " elements"); | ||
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| return Vector2<double>(xy[0], xy[1]); | ||
| } | ||
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| bool parseTactileTaxel(TactileTaxel &taxel, TiXmlElement *config) | ||
| { | ||
| taxel.clear(); | ||
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| // taxel frame | ||
| if (!parsePose(taxel.origin, config)) | ||
| return false; | ||
|
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| // Geometry | ||
| taxel.geometry = parseGeometry(config->FirstChildElement("geometry")); | ||
| if (!taxel.geometry) | ||
| return false; | ||
|
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| // Idx | ||
| try { | ||
| taxel.idx = parseAttribute<unsigned int>(*config, "idx"); | ||
| } catch (const ParseError &e) { | ||
| CONSOLE_BRIDGE_logError(e.what()); | ||
| return false; | ||
| } | ||
|
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| return true; | ||
| } | ||
|
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| bool parseTactileArray(TactileArray &array, TiXmlElement *config) | ||
| { | ||
| array.clear(); | ||
| try { | ||
| array.rows = parseAttribute<unsigned int>(*config, "rows"); | ||
| array.cols = parseAttribute<unsigned int>(*config, "cols"); | ||
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| array.size = parseAttribute<Vector2<double> >(*config, "size"); | ||
| array.spacing = parseAttribute<Vector2<double> >(*config, "spacing", &array.size); | ||
| Vector2<double> origin; | ||
| array.offset = parseAttribute<Vector2<double> >(*config, "offset", &origin); | ||
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| TactileArray::DataOrder order = TactileArray::ROWMAJOR; | ||
| array.order = parseAttribute<TactileArray::DataOrder>(*config, "order", &order); | ||
| } | ||
| catch (const ParseError &e) { | ||
| CONSOLE_BRIDGE_logError(e.what()); | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
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| SensorBaseSharedPtr TactileSensorParser::parse(TiXmlElement &config) | ||
| { | ||
| TactileSensorSharedPtr tactile(new TactileSensor()); | ||
|
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| // multiple Taxels (optional) | ||
| for (TiXmlElement* taxel_xml = config.FirstChildElement("taxel"); taxel_xml; taxel_xml = taxel_xml->NextSiblingElement("taxel")) | ||
| { | ||
| TactileTaxelSharedPtr taxel; | ||
| taxel.reset(new TactileTaxel()); | ||
| if (parseTactileTaxel(*taxel, taxel_xml)) | ||
| { | ||
| tactile->taxels_.push_back(taxel); | ||
| } | ||
| else | ||
| { | ||
| taxel.reset(); | ||
| CONSOLE_BRIDGE_logError("Could not parse taxel element for tactile sensor"); | ||
| return TactileSensorSharedPtr(); | ||
| } | ||
| } | ||
|
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| // a single array (optional) | ||
| for (TiXmlElement* array_xml = config.FirstChildElement("array"); array_xml; array_xml = array_xml->NextSiblingElement("array")) | ||
| { | ||
| if (tactile->array_) | ||
| { | ||
| CONSOLE_BRIDGE_logWarn("Only a single array element is allowed for a tactile sensor"); | ||
| break; // only warn once | ||
| } | ||
| tactile->array_.reset(new TactileArray()); | ||
| if (!parseTactileArray(*tactile->array_, array_xml)) | ||
| { | ||
| tactile->array_.reset(); | ||
| CONSOLE_BRIDGE_logError("Could not parse array element for tactile sensor"); | ||
| return TactileSensorSharedPtr(); | ||
| } | ||
| } | ||
|
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| if (tactile->array_ && tactile->taxels_.size()) | ||
| { | ||
| CONSOLE_BRIDGE_logWarn("Either an array or multiple taxel elements are allowed for a tactile sensor"); | ||
| tactile->array_.reset(); | ||
| } | ||
| return tactile; | ||
| } | ||
|
|
||
| } |
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