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/*
* Copyright 2012 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_URDF2SDF_HH_
#define SDFORMAT_URDF2SDF_HH_
#include <tinyxml.h>
#include <sdf/sdf_config.h>
#include <string>
#include "sdf/Console.hh"
#include "sdf/Types.hh"
#include "sdf/system_util.hh"
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
/// \brief URDF to SDF converter
///
/// This is now deprecated for external usage and will be removed in the next
/// major version of libsdformat. Instead, consider using `sdf::readFile` or
/// `sdf::readString`, which automatically convert URDF to SDF.
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
{
/// \brief constructor
public: URDF2SDF();
/// \brief destructor
public: ~URDF2SDF();
/// \brief convert urdf xml document string to sdf xml document
/// \param[in] _xmlDoc a tinyxml document containing the urdf model
/// \return a tinyxml document containing sdf of the model
public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);
/// \brief convert urdf file to sdf xml document
/// \param[in] _urdfStr a string containing filename of the urdf model
/// \return a tinyxml document containing sdf of the model
public: TiXmlDocument InitModelFile(const std::string &_filename);
/// \brief convert urdf string to sdf xml document, with option to enforce
/// limits.
/// \param[in] _urdfStr a string containing model urdf
/// \param[in] _enforceLimits option to enforce joint limits
/// \return a tinyxml document containing sdf of the model
public: TiXmlDocument InitModelString(const std::string &_urdfStr,
bool _enforceLimits = true);
/// \brief Return true if the filename is a URDF model.
/// \param[in] _filename File to check.
/// \return True if _filename is a URDF model.
public: static bool IsURDF(const std::string &_filename);
/// things that do not belong in urdf but should be mapped into sdf
/// @todo: do this using sdf definitions, not hard coded stuff
private: void ParseSDFExtension(TiXmlDocument &_urdfXml);
/// list extensions for debugging
private: void ListSDFExtensions();
/// list extensions for debugging
private: void ListSDFExtensions(const std::string &_reference);
};
}
}
#endif
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