File size: 3,172 Bytes
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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
#define THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
#include <map>
#include <string>
#include <unordered_set>
#include <vector>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
#include "xml/xml_base.h"
#include "tinyxml2.h"
// rgb data
typedef struct _mjRGBA {
float val[4];
} mjRGBA;
// XML parser for URDF files
class mjXURDF : public mjXBase {
public:
mjXURDF(); // constructor
virtual ~mjXURDF(); // destructor
// parse and set frame of base link and append a prefix to the name
void Parse(
tinyxml2::XMLElement* root,
const std::string& prefix,
double* pos,
double* quat,
bool static_body);
void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // main parser
private:
std::string GetPrefixedName(const std::string& name); // get prefix/name of element
int FindName(std::string name, std::vector<std::string>& list); // find name in list
void AddName(std::string name, std::vector<std::string>& list); // add name to list
void AddBody(std::string name); // add body to local table
void AddToTree(int n); // add body to mjCModel tree
void Body(tinyxml2::XMLElement* body_elem); // parse body
void Joint(tinyxml2::XMLElement* joint_elem); // parse joint
mjsGeom* Geom(tinyxml2::XMLElement* geom_elem,
mjsBody* pbody, bool collision); // parse origin and geometry of geom
void Origin(tinyxml2::XMLElement* origin_elem, double* pos, double* quat); // parse origin element
void MakeMaterials(tinyxml2::XMLElement* elem); // find all materials recursively
void Clear(void); // clear local objects
// URDF parser variables
std::vector<std::string> urName; // body name
std::vector<int> urParent; // body parent (index in name vector)
std::vector<std::vector<int> > urChildren; // body children (index in name vector)
std::vector<std::string> urMat; // material name
std::vector<mjRGBA> urRGBA; // material RBG value
std::unordered_set<std::string> urGeomNames; // geom name
std::map<std::string, std::vector<mjsMesh*>> meshes; // map from name to mjsMesh
std::string urPrefix; // prefix to apply to all names
};
#endif // THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
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