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/*
* Copyright 2015 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.
*
*/
#ifndef _SDFORMAT_SDFEXTENSION_HH_
#define _SDFORMAT_SDFEXTENSION_HH_
#include <tinyxml.h>
#include <memory>
#include <string>
#include <vector>
#include <ignition/math/Pose3.hh>
#include "sdf/Types.hh"
namespace sdf
{
/// \internal
/// \brief A class for holding sdf extension elements in urdf
class SDFExtension
{
/// \brief Constructor
public: SDFExtension();
/// \brief Copy constructor
/// \param[in] _ge SDFExtension to copy.
public: SDFExtension(const SDFExtension &_ge);
/// \brief Destructor
public: virtual ~SDFExtension() = default;
// for reducing fixed joints and removing links
public: std::string oldLinkName;
public: ignition::math::Pose3d reductionTransform;
// visual material
public: std::string material;
/// \brief blobs of xml to be copied into the visual sdf element
public: std::vector<std::shared_ptr<TiXmlElement> > visual_blobs;
/// \brief blobs of xml to be copied into the collision sdf element
/// An example might be:
/// <gazebo reference="link-1">
/// <collision>
/// <max_contacts>10</max_contacts>
/// <surface>
/// <contact>
/// <ode>
/// <kp>1e+06</kp>
/// <kd>100</kd>
/// <max_vel>100</max_vel>
/// <min_depth>0.001</min_depth>
/// </ode>
/// </contact>
/// <friction>
/// <ode>
/// <mu>1</mu>
/// <mu2>1</mu2>
/// </ode>
/// </friction>
/// </surface>
/// </collision>
/// </gazebo>
/// where all the contents of `<collision>` element is copied into the
/// resulting collision sdf.
public: std::vector<std::shared_ptr<TiXmlElement> > collision_blobs;
// body, default off
public: bool setStaticFlag;
public: bool gravity;
public: bool isDampingFactor;
public: double dampingFactor;
public: bool isMaxContacts;
public: int maxContacts;
public: bool isMaxVel;
public: double maxVel;
public: bool isMinDepth;
public: double minDepth;
public: bool isSelfCollide;
public: bool selfCollide;
// geom, contact dynamics
public: bool isMu1, isMu2, isKp, isKd;
public: double mu1, mu2, kp, kd;
public: std::string fdir1;
public: bool isLaserRetro;
public: double laserRetro;
// joint, joint limit dynamics
public: bool isStopCfm, isStopErp, isFudgeFactor;
public: double stopCfm, stopErp, fudgeFactor;
public: bool isSpringReference, isSpringStiffness;
public: double springReference, springStiffness;
public: bool isProvideFeedback;
public: bool provideFeedback;
public: bool isImplicitSpringDamper;
public: bool implicitSpringDamper;
// blobs into body or robot
public: std::vector<std::shared_ptr<TiXmlElement> > blobs;
friend class SDFORMAT_VISIBLE URDF2SDF;
};
}
#endif
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