LinkParser Class Reference

represents a general description of a link element in a graph-based structure mechanism. this structure allows modeling more complex connections between child and parent links via joints, representing a graph of linked elements example graph-based structure. More...

#include <link_parser.h>

Inheritance diagram for LinkParser:

Collaboration diagram for LinkParser:

Public Member Functions
	LinkParser ()
void	parse (const tinyxml2::XMLElement *xml) override
bool	isA (const char *name) override
bool	empty () const override
void	clear () override
void	print (std::ostream &os) override
const char *	getTypename () override
std::shared_ptr< Link >	get () override
	~LinkParser ()=default
Public Member Functions inherited from ParserBase< Link >
const char *	getNameOf (const tinyxml2::XMLElement *xml)
void	parse (const tinyxml2::XMLElement *xml)
void	parse (const tinyxml2::XMLElement *xml)

Additional Inherited Members
Protected Member Functions inherited from ParserBase< Link >
	ParserBase ()
virtual	~ParserBase ()
Protected Member Functions inherited from ObjectBase
	ObjectBase ()
virtual	~ObjectBase ()
virtual ObjectBase *	getPointer ()
Protected Attributes inherited from ParserBase< Link >
std::shared_ptr< Link >	Tptr

Detailed Description

represents a general description of a link element in a graph-based structure mechanism. this structure allows modeling more complex connections between child and parent links via joints, representing a graph of linked elements example graph-based structure.

<link name="my_link">
  <inertial>
    <origin xyz="0 0 0.5" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry type= "box" size = "1 1 1" />  
    <geometry type= "mesh" filename ="mesh1.stl" scale = "1 1 1" />  
    <material name="Cyan">
      <color rgba="0 1.0 1.0 1.0"/>
      <texture  filename = "file1.STL" />
      <density value = "1.0" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy = "0 0 0"/>
    <geometry type = "cylinder" radius="1" length="0.5" />
  </collision>
</link>

Note

for somhow issue the get method of the link parser do not get a refrenace to the parsed object rather it gives a pointer to the specifc parsed instanciated during ruintime , we use the same inhertancce pardigm like geometryParser

Todo:

find a way to get the parsed obejct in a sperate method or overolding it

Constructor & Destructor Documentation

LinkParser()

LinkParser::LinkParser

(

)

~LinkParser()

LinkParser::~LinkParser ( )

default

Member Function Documentation

clear()

void LinkParser::clear ( )

overridevirtual

Implements ObjectBase.

empty()

bool LinkParser::empty ( ) const

overridevirtual

Implements ObjectBase.

get()

std::shared_ptr< Link > LinkParser::get ( )

overridevirtual

Reimplemented from ParserBase< Link >.

getTypename()

const char * LinkParser::getTypename ( )

overridevirtual

Implements ObjectBase.

isA()

bool LinkParser::isA ( const char *  name )

overridevirtual

Implements ObjectBase.

parse()

void LinkParser::parse ( const tinyxml2::XMLElement *  xml )

overridevirtual

Reimplemented from ParserBase< Link >.

print()

void LinkParser::print ( std::ostream &  os )

overridevirtual

Implements ObjectBase.

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The documentation for this class was generated from the following files:

• include/tinyurdf/link_parser.h
• src/link_parser.cc