111 lines
3.0 KiB
C++
111 lines
3.0 KiB
C++
/*********************************************************************
|
|
* 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
|
|
|