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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: John Hsu */
/* encapsulates components in a world
see http://ros.org/wiki/usdf/XML/urdf_world
for details
*/
/* example world XML
<world name="pr2_with_table">
<!-- include the models by including
either the complete urdf or
referencing the file name. -->
<model name="pr2">
...
</model>
<include filename="table.urdf" model_name="table_model"/>
<!-- models in the world -->
<entity model="pr2" name="prj">
<origin xyz="0 1 0" rpy="0 0 0"/>
<twist linear="0 0 0" angular="0 0 0"/>
</entity>
<entity model="pr2" name="prk">
<origin xyz="0 2 0" rpy="0 0 0"/>
<twist linear="0 0 0" angular="0 0 0"/>
</entity>
<entity model="table_model">
<origin xyz="0 3 0" rpy="0 0 0"/>
<twist linear="0 0 0" angular="0 0 0"/>
</entity>
</world>
*/
#ifndef URDF_WORLD_H
#define URDF_WORLD_H
#include <string>
#include <vector>
#include <map>
#include "urdf_model/model.h"
#include "urdf_model/pose.h"
#include "urdf_model/twist.h"
#include "urdf_world/types.h"
namespace urdf{
class Entity
{
public:
ModelInterfaceSharedPtr model;
Pose origin;
Twist twist;
};
class World
{
public:
World() { this->clear(); };
/// world name must be unique
std::string name;
std::vector<Entity> models;
void clear()
{
this->name.clear();
};
};
}
#endif
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