1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
|
/*
* Copyright 2016 Open Source Robotics Foundation
*
* 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.
*
*/
#include <iostream>
#include <sdf/sdf.hh>
int main(int argc, char **argv)
{
// Check for a second argument, which should be the sdf file to parse
if (argc != 2)
{
std::cerr << "Usage: simple <sdf_file>\n";
return -1;
}
// Read an SDF file, and store the result in sdf.
auto sdf = sdf::readFile(argv[1]);
if (sdf)
{
// Get a pointer to the model element
sdf::ElementPtr model = sdf->Root()->GetElement("model");
// Get the "name" attribute from the model
std::string modelName = model->Get<std::string>("name");
std::cout << "Model name = " << modelName << "\n";
// Get the child "link" element, and its name
auto link = model->GetElement("link");
auto linkName = link->Get<std::string>("name");
std::cout << "Link name = " << linkName << "\n";
return 0;
}
return -1;
}
|
