/// <summary>
/// Returns the URDF XML string representation of this model object.
/// </summary>
/// <returns>The URDF XML string representation of this model object</returns>
public override string ToString()
{
XmlStringBuilder sb = new XmlStringBuilder(UrdfSchema.MESH_ELEMENT_NAME)
.AddAttribute(UrdfSchema.FILE_NAME_ATTRIBUTE_NAME, this.FileName);
if (this.Scale != DEFAULT_SCALE)
{
sb.AddAttribute(UrdfSchema.SCALE_ATTRIBUTE_NAME, this.Scale);
}
if (this.Size != null)
{
sb.AddAttribute(UrdfSchema.SIZE_ATTRIBUTE_NAME, this.Size);
}
return(sb.ToString());
}
public void AddAttributeTwice()
{
string expected = "<hello a=\"2\"/>";
XmlStringBuilder sb = new XmlStringBuilder("hello");
sb.AddAttribute("a", 1).AddAttribute("a", 2);
Assert.AreEqual(expected, sb.ToString());
}
public void BuildXmlStringAttributesOnly()
{
string expected = "<hello a=\"b\" c=\"4\"/>";
XmlStringBuilder sb = new XmlStringBuilder("hello");
sb.AddAttribute("a", "b").AddAttribute("c", 4);
Assert.AreEqual(expected, sb.ToString());
}
public void BuildXmlString()
{
string expected = "<hello a=\"b\">\r\n<subelement/>\r\n</hello>";
XmlStringBuilder sb = new XmlStringBuilder("hello");
sb.AddAttribute("a", "b").AddSubElement("<subelement/>");
Assert.AreEqual(expected, sb.ToString());
}
/// <summary>
/// Returns the URDF XML string representation of this model object.
/// </summary>
/// <returns>The URDF XML string representation of this model object</returns>
public override string ToString()
{
if (this.Equals(Origin.DEFAULT_ORIGIN))
{
return(string.Empty);
}
XmlStringBuilder sb = new XmlStringBuilder(UrdfSchema.ORIGIN_ELEMENT_NAME);
if (!this.Xyz.Equals(new XyzAttribute()))
{
sb.AddAttribute(UrdfSchema.XYZ_ATTRIBUTE_NAME, this.Xyz);
}
if (!this.Rpy.Equals(new RpyAttribute()))
{
sb.AddAttribute(UrdfSchema.RPY_ATTRIBUTE_NAME, this.Rpy);
}
return(sb.ToString());
}
/// <summary>
/// Returns the URDF XML string representation of this model object.
/// </summary>
/// <returns>The URDF XML string representation of this model object</returns>
public override string ToString()
{
XmlStringBuilder sb = new XmlStringBuilder(UrdfSchema.COLLISION_ELEMENT_NAME)
.AddSubElement(this.Geometry.ToString());
if (this.Name != null)
{
sb.AddAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME, this.Name);
}
if (!this.Origin.Equals(Origin.DEFAULT_ORIGIN))
{
sb.AddSubElement(this.Origin.ToString());
}
return(sb.ToString());
}