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/* Author: John Hsu */


#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h>
#include <fstream>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <algorithm>
#include <tinyxml.h>
#include <console_bridge/console.h>

namespace urdf{

bool parseTwist(Twist &twist, TiXmlElement* xml)
{
  twist.clear();
  if (xml)
  {
    const char* linear_char = xml->Attribute("linear");
    if (linear_char != NULL)
    {
      try {
        twist.linear.init(linear_char);
      }
      catch (ParseError &e) {
        twist.linear.clear();
        logError("Malformed linear string [%s]: %s", linear_char, e.what());
        return false;
      }
    }

    const char* angular_char = xml->Attribute("angular");
    if (angular_char != NULL)
    {
      try {
        twist.angular.init(angular_char);
      }
      catch (ParseError &e) {
        twist.angular.clear();
        logError("Malformed angular [%s]: %s", angular_char, e.what());
        return false;
      }
    }
  }
  return true;
}

}