92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Wim Meeussen, John Hsu */
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#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
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#include <fstream>
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#include <sstream>
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//#include <boost/lexical_cast.hpp>
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#include <algorithm>
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#ifdef URDF_USE_CONSOLE_BRIDGE
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#include <console_bridge/console.h>
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#else
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#include "urdf/boost_replacement/printf_console.h"
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#endif
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#include <tinyxml/tinyxml.h>
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#include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
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namespace urdf{
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bool parsePose(Pose &pose, TiXmlElement* xml)
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{
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pose.clear();
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if (xml)
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{
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const char* xyz_str = xml->Attribute("xyz");
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if (xyz_str != NULL)
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{
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try {
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pose.position.init(xyz_str);
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}
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catch (ParseError &e) {
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logError(e.what());
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return false;
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}
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}
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const char* rpy_str = xml->Attribute("rpy");
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if (rpy_str != NULL)
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{
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try {
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pose.rotation.init(rpy_str);
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}
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catch (ParseError &e) {
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logError(e.what());
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return false;
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}
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}
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}
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return true;
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}
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}
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