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- parse sensor-specific content with a SensorParser (extension point) - implemented parseCamera() and parseRay() as SensorParsers (visual_sensor_parsers.*) - added unittest test_sensor_parsing
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| /********************************************************************* | ||
| * 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. | ||
| *********************************************************************/ | ||
|
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| /* Author: Robert Haschke */ | ||
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| #ifndef URDF_PARSER_URDF_SENSOR_PARSER_H | ||
| #define URDF_PARSER_URDF_SENSOR_PARSER_H | ||
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| #include <string> | ||
| #include <map> | ||
| #include <tinyxml.h> | ||
| #include <urdf_sensor/types.h> | ||
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| #include "exportdecl.h" | ||
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| namespace urdf { | ||
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| URDF_TYPEDEF_CLASS_POINTER(SensorParser); | ||
| class URDFDOM_DLLAPI SensorParser { | ||
| public: | ||
| virtual ~SensorParser() {} | ||
| virtual SensorBaseSharedPtr parse(TiXmlElement &sensor_element) = 0; | ||
| }; | ||
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| typedef std::map<std::string, SensorSharedPtr> SensorMap; | ||
| typedef std::map<std::string, SensorParserSharedPtr> SensorParserMap; | ||
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| /** parse <sensor> tags in URDF document for which a parser exists in SensorParserMap */ | ||
| URDFDOM_DLLAPI SensorMap parseSensors(TiXmlDocument &urdf, const SensorParserMap &parsers); | ||
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| /** convienency function to fetch a sensor with given name and type from the map */ | ||
| template <typename T> | ||
| URDFDOM_DLLAPI boost::shared_ptr<T> getSensor(const std::string &name, SensorMap &sensors) { | ||
| SensorMap::iterator s = sensors.find(name); | ||
| if (s == sensors.end()) return boost::shared_ptr<T>(); | ||
| else return boost::dynamic_pointer_cast<T>(s->second->sensor_); | ||
| } | ||
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| } | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,155 @@ | ||
| /********************************************************************* | ||
| * 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. | ||
| *********************************************************************/ | ||
|
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| /* Author: John Hsu */ | ||
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| #include "urdf_parser/sensor_parser.h" | ||
| #include "urdf_parser/pose.h" | ||
| #include <urdf_sensor/camera.h> | ||
| #include <urdf_sensor/ray.h> | ||
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| #include <boost/lexical_cast.hpp> | ||
| #include <console_bridge/console.h> | ||
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| namespace urdf { | ||
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| SensorBaseSharedPtr parseSensorBase(TiXmlElement *sensor_xml, const SensorParserMap &parsers) | ||
| { | ||
| SensorBaseSharedPtr sensor_; | ||
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| // find first child element that is not <parent> or <origin> | ||
| const char* sensor_type; | ||
| TiXmlElement *sensor_base_xml = sensor_xml->FirstChildElement(); | ||
| while (sensor_base_xml) { | ||
| sensor_type = sensor_base_xml->Value(); | ||
| if (strcmp(sensor_type, "parent") && strcmp(sensor_type, "origin")) | ||
| break; | ||
| sensor_base_xml = sensor_base_xml->NextSiblingElement(); | ||
| } | ||
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| if (sensor_base_xml) | ||
| { | ||
| SensorParserMap::const_iterator parser = parsers.find(sensor_type); | ||
| if (parser != parsers.end() && parser->second) | ||
| { | ||
| return parser->second->parse(*sensor_base_xml); | ||
| } | ||
| else | ||
| { | ||
| CONSOLE_BRIDGE_logDebug("Unknown sensor type %s", sensor_type); | ||
| } | ||
| } | ||
| else | ||
| { | ||
| CONSOLE_BRIDGE_logError("no child element defining the sensor"); | ||
| } | ||
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| return sensor_; | ||
| } | ||
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| bool parseSensor(Sensor &sensor, TiXmlElement* config, const SensorParserMap &parsers) | ||
| { | ||
| sensor.clear(); | ||
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| const char *name_char = config->Attribute("name"); | ||
| if (!name_char) | ||
| { | ||
| CONSOLE_BRIDGE_logError("No name given for the sensor."); | ||
| return false; | ||
| } | ||
| sensor.name_ = std::string(name_char); | ||
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| // parse parent link name | ||
| TiXmlElement *parent_xml = config->FirstChildElement("parent"); | ||
| const char *parent_link_name_char = parent_xml ? parent_xml->Attribute("link") : NULL; | ||
| if (!parent_link_name_char) | ||
| { | ||
| CONSOLE_BRIDGE_logError("No parent link name given for the sensor."); | ||
| return false; | ||
| } | ||
| sensor.parent_link_ = std::string(parent_link_name_char); | ||
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| // parse origin | ||
| TiXmlElement *o = config->FirstChildElement("origin"); | ||
| if (o) | ||
| { | ||
| if (!parsePose(sensor.origin_, o)) | ||
| return false; | ||
| } | ||
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| // parse sensor | ||
| sensor.sensor_ = parseSensorBase(config, parsers); | ||
| return true; | ||
| } | ||
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| URDFDOM_DLLAPI | ||
| SensorMap parseSensors(TiXmlDocument &urdf_xml, const SensorParserMap &parsers) | ||
| { | ||
| TiXmlElement *robot_xml = urdf_xml.FirstChildElement("robot"); | ||
| if (!robot_xml) { | ||
| CONSOLE_BRIDGE_logError("Could not find the 'robot' element in the URDF"); | ||
| } | ||
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| SensorMap results; | ||
| // Get all sensor elements | ||
| for (TiXmlElement* sensor_xml = robot_xml->FirstChildElement("sensor"); | ||
| sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor")) | ||
| { | ||
| SensorSharedPtr sensor; | ||
| sensor.reset(new Sensor); | ||
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| if (parseSensor(*sensor, sensor_xml, parsers)) | ||
| { | ||
| if (results.find(sensor->name_) != results.end()) | ||
| { | ||
| CONSOLE_BRIDGE_logWarn("Sensor '%s' is not unique. Ignoring consecutive ones.", sensor->name_.c_str()); | ||
| } | ||
| else | ||
| { | ||
| results.insert(make_pair(sensor->name_, sensor)); | ||
| CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new sensor '%s'", sensor->name_.c_str()); | ||
| } | ||
| } | ||
| else | ||
| { | ||
| CONSOLE_BRIDGE_logError("failed to parse sensor element"); | ||
| } | ||
| } | ||
| return results; | ||
| } | ||
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| } |
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