mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-02 02:51:42 +00:00
40628a817d
This also includes support for solenoids (artf2592) in the gazebo plugin and WPILibJavaSim, fixes a concurrency issue with JavaGazebo. Change-Id: I5bd19556a7511387852c98414e4a29fdfd68b8cd
47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
|
|
#include "components/RobotComponent.h"
|
|
#include <gazebo/sensors/sensors.hh>
|
|
#include <gazebo/physics/Model.hh>
|
|
|
|
#include <tinyxml2.h>
|
|
|
|
#ifndef _ROBOTMAPPARSER_H_
|
|
#define _ROBOTMAPPARSER_H_
|
|
|
|
using namespace std;
|
|
using namespace tinyxml2;
|
|
using namespace gazebo;
|
|
|
|
class RobotMapParser {
|
|
public:
|
|
RobotMapParser(string robot, string filename, physics::ModelPtr model);
|
|
void parse(vector<RobotComponentPtr> &components);
|
|
|
|
private:
|
|
string robot, filename;
|
|
physics::ModelPtr model;
|
|
physics::WorldPtr world;
|
|
|
|
RobotComponentPtr parseMotor(XMLElement *node);
|
|
RobotComponentPtr parsePiston(XMLElement *node);
|
|
RobotComponentPtr parsePotentiometer(XMLElement *node);
|
|
RobotComponentPtr parseEncoder(XMLElement *node);
|
|
RobotComponentPtr parseGyro(XMLElement *node);
|
|
RobotComponentPtr parseInternalLimitSwitch(XMLElement *node);
|
|
RobotComponentPtr parseExternalLimitSwitch(XMLElement *node);
|
|
RobotComponentPtr parseRangefinder(XMLElement *node);
|
|
|
|
string locationToPath(XMLElement *location);
|
|
string portLocationToPath(XMLElement *location);
|
|
string doublePortLocationToPath(XMLElement *location);
|
|
|
|
string getChildTagValue(XMLElement *node, string tag, string default_value="");
|
|
string getTagAttribute(XMLElement *node, string attr, string default_value="");
|
|
string getChildTagAttribute(XMLElement *node, string tag, string attr, string default_value="");
|
|
physics::JointPtr getJoint(XMLElement *node);
|
|
physics::LinkPtr getLink(XMLElement *node);
|
|
sensors::SensorPtr getSensor(XMLElement *node);
|
|
};
|
|
|
|
#endif /* _ROBOTMAPPARSER_H_ */
|