Removed URDF parser tesseract version; added variables for element na…

…mes; updated names of tesseract-specific elements
tesseract-robotics · Dec 13, 2024 · 3af9919 · 3af9919
1 parent 5ad42b6
commit 3af9919
Show file tree

Hide file tree

Showing 49 changed files with 375 additions and 295 deletions.
diff --git a/tesseract_urdf/include/tesseract_urdf/box.h b/tesseract_urdf/include/tesseract_urdf/box.h
@@ -41,12 +41,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* BOX_ELEMENT_NAME = "box";
+
 /**
  * @brief Parse a xml box element
  * @param xml_element The xml element
  * @return Tesseract Geometry Box
  */
-std::shared_ptr<tesseract_geometry::Box> parseBox(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Box> parseBox(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeBox(const std::shared_ptr<const tesseract_geometry::Box>& box, tinyxml2::XMLDocument& doc);
 

diff --git a/tesseract_urdf/include/tesseract_urdf/calibration.h b/tesseract_urdf/include/tesseract_urdf/calibration.h
@@ -41,13 +41,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* CALIBRATION_ELEMENT_NAME = "calibration";
+
 /**
  * @brief Parse a xml calibration element
  * @param xml_element The xml element
  * @return Tesseract JointCalibration
  */
-std::shared_ptr<tesseract_scene_graph::JointCalibration> parseCalibration(const tinyxml2::XMLElement* xml_element,
-                                                                          int version);
+std::shared_ptr<tesseract_scene_graph::JointCalibration> parseCalibration(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement*
 writeCalibration(const std::shared_ptr<const tesseract_scene_graph::JointCalibration>& calibration,

diff --git a/tesseract_urdf/include/tesseract_urdf/capsule.h b/tesseract_urdf/include/tesseract_urdf/capsule.h
@@ -41,12 +41,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* CAPSULE_ELEMENT_NAME = "tesseract:capsule";
+
 /**
  * @brief Parse a xml capsule element
  * @param xml_element The xml element
  * @return Tesseract Geometry Capsule
  */
-std::shared_ptr<tesseract_geometry::Capsule> parseCapsule(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Capsule> parseCapsule(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeCapsule(const std::shared_ptr<const tesseract_geometry::Capsule>& capsule,
                                    tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/collision.h b/tesseract_urdf/include/tesseract_urdf/collision.h
@@ -43,6 +43,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* COLLISION_ELEMENT_NAME = "collision";
+
 /**
  * @brief Parse xml element collision
  * @param xml_element The xml element
@@ -51,8 +53,7 @@ namespace tesseract_urdf
  * @return A Collision object
  */
 std::shared_ptr<tesseract_scene_graph::Collision> parseCollision(const tinyxml2::XMLElement* xml_element,
-                                                                 const tesseract_common::ResourceLocator& locator,
-                                                                 int version);
+                                                                 const tesseract_common::ResourceLocator& locator);
 
 /**
  * @brief writeCollision Write collision object to URDF XML

diff --git a/tesseract_urdf/include/tesseract_urdf/cone.h b/tesseract_urdf/include/tesseract_urdf/cone.h
@@ -41,12 +41,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* CONE_ELEMENT_NAME = "tesseract:cone";
+
 /**
  * @brief Parse a xml cone element
  * @param xml_element The xml element
  * @return Tesseract Geometry Cone
  */
-std::shared_ptr<tesseract_geometry::Cone> parseCone(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Cone> parseCone(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeCone(const std::shared_ptr<const tesseract_geometry::Cone>& cone,
                                 tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/convex_mesh.h b/tesseract_urdf/include/tesseract_urdf/convex_mesh.h
@@ -43,6 +43,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* CONVEX_MESH_ELEMENT_NAME = "tesseract:convex_mesh";
+
 /**
  * @brief Parse xml element convex_mesh
  * @param xml_element The xml element
@@ -52,10 +54,7 @@ namespace tesseract_urdf
  * @return A Tesseract Geometry ConvexMesh
  */
 std::vector<std::shared_ptr<tesseract_geometry::ConvexMesh>>
-parseConvexMesh(const tinyxml2::XMLElement* xml_element,
-                const tesseract_common::ResourceLocator& locator,
-                bool visual,
-                int version);
+parseConvexMesh(const tinyxml2::XMLElement* xml_element, const tesseract_common::ResourceLocator& locator, bool visual);
 
 /**
  * @brief writeConvexMesh Write convex mesh to URDF XML.  This is non-standard URDF / tesseract-exclusive

diff --git a/tesseract_urdf/include/tesseract_urdf/cylinder.h b/tesseract_urdf/include/tesseract_urdf/cylinder.h
@@ -41,12 +41,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* CYLINDER_ELEMENT_NAME = "cylinder";
+
 /**
  * @brief Parse a xml cylinder element
  * @param xml_element The xml element
  * @return Tesseract Geometry Cylinder
  */
-std::shared_ptr<tesseract_geometry::Cylinder> parseCylinder(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_geometry::Cylinder> parseCylinder(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeCylinder(const std::shared_ptr<const tesseract_geometry::Cylinder>& cylinder,
                                     tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/dynamics.h b/tesseract_urdf/include/tesseract_urdf/dynamics.h
@@ -41,13 +41,14 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* DYNAMICS_ELEMENT_NAME = "dynamics";
+
 /**
  * @brief Parse a xml dynamics element
  * @param xml_element The xml element
  * @return Tesseract JointDynamics
  */
-std::shared_ptr<tesseract_scene_graph::JointDynamics> parseDynamics(const tinyxml2::XMLElement* xml_element,
-                                                                    int version);
+std::shared_ptr<tesseract_scene_graph::JointDynamics> parseDynamics(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeDynamics(const std::shared_ptr<const tesseract_scene_graph::JointDynamics>& dynamics,
                                     tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/geometry.h b/tesseract_urdf/include/tesseract_urdf/geometry.h
@@ -43,6 +43,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* GEOMETRY_ELEMENT_NAME = "geometry";
+
 /**
  * @brief Parse xml element geometry
  * @param xml_element The xml element
@@ -53,8 +55,7 @@ namespace tesseract_urdf
  */
 std::shared_ptr<tesseract_geometry::Geometry> parseGeometry(const tinyxml2::XMLElement* xml_element,
                                                             const tesseract_common::ResourceLocator& locator,
-                                                            bool visual,
-                                                            int version);
+                                                            bool visual);
 
 /**
  * @brief writeGeometry Write geometry to URDF XML

diff --git a/tesseract_urdf/include/tesseract_urdf/inertial.h b/tesseract_urdf/include/tesseract_urdf/inertial.h
@@ -41,13 +41,15 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* INERTIAL_ELEMENT_NAME = "inertial";
+
 /**
  * @brief Parse xml element inertial
  * @param xml_element The xml element
  * @param version The version number
  * @return A Tesseract Inertial
  */
-std::shared_ptr<tesseract_scene_graph::Inertial> parseInertial(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_scene_graph::Inertial> parseInertial(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeInertial(const std::shared_ptr<const tesseract_scene_graph::Inertial>& inertial,
                                     tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/joint.h b/tesseract_urdf/include/tesseract_urdf/joint.h
@@ -41,13 +41,15 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* JOINT_ELEMENT_NAME = "joint";
+
 /**
  * @brief Parse xml element joint
  * @param xml_element The xml element
  * @param version The version number
  * @return A Tesseract Joint
  */
-std::shared_ptr<tesseract_scene_graph::Joint> parseJoint(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_scene_graph::Joint> parseJoint(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeJoint(const std::shared_ptr<const tesseract_scene_graph::Joint>& joint,
                                  tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/limits.h b/tesseract_urdf/include/tesseract_urdf/limits.h
@@ -41,13 +41,15 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* LIMITS_ELEMENT_NAME = "limit";
+
 /**
  * @brief Parse xml element limits
  * @param xml_element The xml element
  * @param version The version number
  * @return A Tesseract JointLimits
  */
-std::shared_ptr<tesseract_scene_graph::JointLimits> parseLimits(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_scene_graph::JointLimits> parseLimits(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeLimits(const std::shared_ptr<const tesseract_scene_graph::JointLimits>& limits,
                                   tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/link.h b/tesseract_urdf/include/tesseract_urdf/link.h
@@ -43,6 +43,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* LINK_ELEMENT_NAME = "link";
+
 /**
  * @brief Parse xml element link
  * @param xml_element The xml element
@@ -54,8 +56,7 @@ namespace tesseract_urdf
 std::shared_ptr<tesseract_scene_graph::Link>
 parseLink(const tinyxml2::XMLElement* xml_element,
           const tesseract_common::ResourceLocator& locator,
-          std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials,
-          int version);
+          std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials);
 
 /**
  * @brief writeLink Write a link to URDF XML

diff --git a/tesseract_urdf/include/tesseract_urdf/material.h b/tesseract_urdf/include/tesseract_urdf/material.h
@@ -42,6 +42,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* MATERIAL_ELEMENT_NAME = "material";
+
 /**
  * @brief Parse xml element material
  * @param xml_element The xml element
@@ -53,8 +55,7 @@ namespace tesseract_urdf
 std::shared_ptr<tesseract_scene_graph::Material>
 parseMaterial(const tinyxml2::XMLElement* xml_element,
               std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials,
-              bool allow_anonymous,
-              int version);
+              bool allow_anonymous);
 
 tinyxml2::XMLElement* writeMaterial(const std::shared_ptr<const tesseract_scene_graph::Material>& material,
                                     tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/mesh.h b/tesseract_urdf/include/tesseract_urdf/mesh.h
@@ -43,6 +43,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* MESH_ELEMENT_NAME = "mesh";
+
 /**
  * @brief Parse xml element mesh
  * @param xml_element The xml element
@@ -53,8 +55,7 @@ namespace tesseract_urdf
  */
 std::vector<std::shared_ptr<tesseract_geometry::Mesh>> parseMesh(const tinyxml2::XMLElement* xml_element,
                                                                  const tesseract_common::ResourceLocator& locator,
-                                                                 bool visual,
-                                                                 int version);
+                                                                 bool visual);
 
 /**
  * @brief writeMesh Write a mesh to URDF XML and PLY file

diff --git a/tesseract_urdf/include/tesseract_urdf/mimic.h b/tesseract_urdf/include/tesseract_urdf/mimic.h
@@ -41,13 +41,15 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* MIMIC_ELEMENT_NAME = "mimic";
+
 /**
  * @brief Parse xml element mimic
  * @param xml_element The xml element
  * @param version The version number
  * @return A Tesseract JointMimic
  */
-std::shared_ptr<tesseract_scene_graph::JointMimic> parseMimic(const tinyxml2::XMLElement* xml_element, int version);
+std::shared_ptr<tesseract_scene_graph::JointMimic> parseMimic(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeMimic(const std::shared_ptr<const tesseract_scene_graph::JointMimic>& mimic,
                                  tinyxml2::XMLDocument& doc);

diff --git a/tesseract_urdf/include/tesseract_urdf/octomap.h b/tesseract_urdf/include/tesseract_urdf/octomap.h
@@ -42,6 +42,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* OCTOMAP_ELEMENT_NAME = "tesseract:octomap";
+
 /**
  * @brief Parse xml element octomap
  * @param xml_element The xml element
@@ -52,8 +54,7 @@ namespace tesseract_urdf
  */
 std::shared_ptr<tesseract_geometry::Octree> parseOctomap(const tinyxml2::XMLElement* xml_element,
                                                          const tesseract_common::ResourceLocator& locator,
-                                                         bool visual,
-                                                         int version);
+                                                         bool visual);
 
 /**
  * @brief writeOctomap Write octomap to URDF XML. This is non-standard URDF / tesseract-exclusive

diff --git a/tesseract_urdf/include/tesseract_urdf/octree.h b/tesseract_urdf/include/tesseract_urdf/octree.h
@@ -42,6 +42,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* OCTREE_ELEMENT_NAME = "tesseract:octree";
+
 /**
  * @brief Parse xml element octree
  * @param xml_element The xml element
@@ -53,8 +55,7 @@ namespace tesseract_urdf
 std::shared_ptr<tesseract_geometry::Octree> parseOctree(const tinyxml2::XMLElement* xml_element,
                                                         const tesseract_common::ResourceLocator& locator,
                                                         tesseract_geometry::OctreeSubType shape_type,
-                                                        bool prune,
-                                                        int version);
+                                                        bool prune);
 
 /**
  * @brief writeOctree Write octree out to file, and generate appropriate xml

diff --git a/tesseract_urdf/include/tesseract_urdf/origin.h b/tesseract_urdf/include/tesseract_urdf/origin.h
@@ -39,13 +39,15 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* ORIGIN_ELEMENT_NAME = "origin";
+
 /**
  * @brief Parse xml element origin
  * @param xml_element The xml element
  * @param version The version number
  * @return A Eigen::Isometry3d
  */
-Eigen::Isometry3d parseOrigin(const tinyxml2::XMLElement* xml_element, int version);
+Eigen::Isometry3d parseOrigin(const tinyxml2::XMLElement* xml_element);
 
 tinyxml2::XMLElement* writeOrigin(const Eigen::Isometry3d& origin, tinyxml2::XMLDocument& doc);
 

diff --git a/tesseract_urdf/include/tesseract_urdf/point_cloud.h b/tesseract_urdf/include/tesseract_urdf/point_cloud.h
@@ -42,6 +42,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* POINT_CLOUD_ELEMENT_NAME = "tesseract:point_cloud";
+
 /**
  * @brief Parse xml element point_cloud
  * @param xml_element The xml element
@@ -54,8 +56,7 @@ namespace tesseract_urdf
 std::shared_ptr<tesseract_geometry::Octree> parsePointCloud(const tinyxml2::XMLElement* xml_element,
                                                             const tesseract_common::ResourceLocator& locator,
                                                             tesseract_geometry::OctreeSubType shape_type,
-                                                            bool prune,
-                                                            int version);
+                                                            bool prune);
 }  // namespace tesseract_urdf
 
 #endif  // TESSERACT_URDF_POINT_CLOUD_H
diff --git a/tesseract_urdf/include/tesseract_urdf/safety_controller.h b/tesseract_urdf/include/tesseract_urdf/safety_controller.h
@@ -41,14 +41,15 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* SAFETY_CONTROLLER_ELEMENT_NAME = "safety_controller";
+
 /**
  * @brief Parse xml element safety_controller
  * @param xml_element The xml element
  * @param version The version number
  * @return A Tesseract JointSafety
  */
-std::shared_ptr<tesseract_scene_graph::JointSafety> parseSafetyController(const tinyxml2::XMLElement* xml_element,
-                                                                          int version);
+std::shared_ptr<tesseract_scene_graph::JointSafety> parseSafetyController(const tinyxml2::XMLElement* xml_element);
 tinyxml2::XMLElement* writeSafetyController(const std::shared_ptr<const tesseract_scene_graph::JointSafety>& safety,
                                             tinyxml2::XMLDocument& doc);
 

diff --git a/tesseract_urdf/include/tesseract_urdf/sdf_mesh.h b/tesseract_urdf/include/tesseract_urdf/sdf_mesh.h
@@ -42,6 +42,8 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
+static const char* SDF_MESH_ELEMENT_NAME = "tesseract:sdf_mesh";
+
 /**
  * @brief Parse xml element sdf_mesh
  * @param xml_element The xml element
@@ -52,8 +54,7 @@ namespace tesseract_urdf
  */
 std::vector<std::shared_ptr<tesseract_geometry::SDFMesh>> parseSDFMesh(const tinyxml2::XMLElement* xml_element,
                                                                        const tesseract_common::ResourceLocator& locator,
-                                                                       bool visual,
-                                                                       int version);
+                                                                       bool visual);
 
 /**
  * @brief writeSDFMesh Write SDF Mesh to URDF XML.  This is non-standard URDF / tesseract-exclusive