Fawkes API  Fawkes Development Version
model.h
1 /***************************************************************************
2  * model.h - URDF Model
3  *
4  * Created: Fri Feb 14 17:35:15 2014
5  * Copyright 2014 Till Hofmann
6  *
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 /* This code is based on ROS robot_model with the following copyright and license:
23  * Software License Agreement (BSD License)
24  *
25  * Copyright (c) 2008, Willow Garage, Inc.
26  * All rights reserved.
27  *
28  * Redistribution and use in source and binary forms, with or without
29  * modification, are permitted provided that the following conditions
30  * are met:
31  *
32  * * Redistributions of source code must retain the above copyright
33  * notice, this list of conditions and the following disclaimer.
34  * * Redistributions in binary form must reproduce the above
35  * copyright notice, this list of conditions and the following
36  * disclaimer in the documentation and/or other materials provided
37  * with the distribution.
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39  * contributors may be used to endorse or promote products derived
40  * from this software without specific prior written permission.
41  *
42  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
43  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
44  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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55 
56 #ifndef URDF_MODEL_H
57 #define URDF_MODEL_H
58 
59 #include <string>
60 #include <map>
61 #include <urdf_model/model.h>
62 #include <tinyxml.h>
63 
64 namespace urdf{
65 
66 class Model: public ModelInterface
67 {
68 public:
69  bool initXml(TiXmlElement *xml);
70  bool initXml(TiXmlDocument *xml);
71  bool initFile(const std::string& filename);
72  bool initString(const std::string& xmlstring);
73 };
74 
75 }
76 
77 #endif
bool initFile(const std::string &filename)
Initialize the Model using a URDF file.
Definition: model.cpp:89
bool initString(const std::string &xmlstring)
Initialize the model using an URDF string.
Definition: model.cpp:152
bool initXml(TiXmlElement *xml)
Initialize the model using a XML Element.
Definition: model.cpp:134
This class represents an URDF model.
Definition: model.h:66
Definition: model.cpp:69