mirror of
https://github.com/wpilibsuite/allwpilib
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43 lines
1.3 KiB
C
43 lines
1.3 KiB
C
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#include "components/RobotComponent.h"
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#include <gazebo/sensors/sensors.hh>
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#include <gazebo/physics/Model.hh>
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#include <tinyxml2.h>
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#ifndef _ROBOTMAPPARSER_H_
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#define _ROBOTMAPPARSER_H_
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using namespace tinyxml2;
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using namespace gazebo;
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class RobotMapParser {
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public:
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RobotMapParser(std::string robot, std::string filename, physics::ModelPtr model);
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void parse(std::vector<RobotComponentPtr> &components);
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private:
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std::string robot, filename;
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physics::ModelPtr model;
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physics::WorldPtr world;
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RobotComponentPtr parseMotor(XMLElement *node);
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RobotComponentPtr parsePotentiometer(XMLElement *node);
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RobotComponentPtr parseEncoder(XMLElement *node);
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RobotComponentPtr parseGyro(XMLElement *node);
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RobotComponentPtr parseInternalLimitSwitch(XMLElement *node);
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RobotComponentPtr parseExternalLimitSwitch(XMLElement *node);
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RobotComponentPtr parseRangefinder(XMLElement *node);
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std::string locationToPath(XMLElement *location);
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std::string portLocationToPath(XMLElement *location);
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std::string doublePortLocationToPath(XMLElement *location);
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std::string getTagValue(XMLElement *node, std::string tag, std::string default_value="");
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physics::JointPtr getJoint(XMLElement *node);
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physics::LinkPtr getLink(XMLElement *node);
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sensors::SensorPtr getSensor(XMLElement *node);
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};
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#endif /* _ROBOTMAPPARSER_H_ */
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