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| 1 | // Copyright (c) 2014, LAAS-CNRS | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include "hpp/manipulation/srdf/util.hh" | ||
| 30 | |||
| 31 | #include <hpp/manipulation/device.hh> | ||
| 32 | #include <hpp/pinocchio/urdf/util.hh> | ||
| 33 | #include <hpp/util/exception-factory.hh> | ||
| 34 | |||
| 35 | #include "hpp/manipulation/parser/parser.hh" | ||
| 36 | #include "hpp/manipulation/srdf/factories/position.hh" | ||
| 37 | |||
| 38 | namespace hpp { | ||
| 39 | namespace manipulation { | ||
| 40 | namespace srdf { | ||
| 41 | ✗ | void loadModelFromFile(const DevicePtr_t& robot, const std::string& prefix, | |
| 42 | const std::string& package, const std::string& modelName, | ||
| 43 | const std::string& srdfSuffix) { | ||
| 44 | std::string srdfName = | ||
| 45 | ✗ | "package://" + package + "/srdf/" + modelName + srdfSuffix + ".srdf"; | |
| 46 | ✗ | loadModelFromFile(robot, prefix, srdfName); | |
| 47 | ✗ | } | |
| 48 | |||
| 49 | 2 | void loadModelFromFile(const DevicePtr_t& robot, const std::string& prefix, | |
| 50 | const std::string& srdfName) { | ||
| 51 |
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2 | parser::Parser p; |
| 52 | |||
| 53 |
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2 | p.prefix(prefix); |
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2 | p.parseFile(srdfName, robot); |
| 55 | hppDout(notice, "Finished parsing semantic informations."); | ||
| 56 | 2 | } | |
| 57 | |||
| 58 | ✗ | void loadModelFromXML(const DevicePtr_t& robot, const std::string& prefix, | |
| 59 | const std::string& srdfString) { | ||
| 60 | ✗ | parser::Parser p; | |
| 61 | ✗ | p.prefix(prefix); | |
| 62 | ✗ | p.parseString(srdfString, robot); | |
| 63 | hppDout(notice, "Finished parsing semantic informations."); | ||
| 64 | ✗ | } | |
| 65 | } // namespace srdf | ||
| 66 | } // namespace manipulation | ||
| 67 | } // namespace hpp | ||
| 68 |