/// <summary>
/// Reading required element "inertia" from parent "inertial".
/// If <paramref name="element"/> != null, required attributes
/// "ixx", "ixy", "ixz", "iyy", "iyz" and "izz" are read.
/// </summary>
/// <param name="element">Required element "inertia".</param>
/// <returns>Read "inertia" if <paramref name="element"/> != null, otherwise zero.</returns>
public static Inertia Read(XElement element)
{
float xx = (float)element.Attribute("ixx");
float xy = (float)element.Attribute("ixy");
float xz = (float)element.Attribute("ixz");
float yy = (float)element.Attribute("iyy");
float yz = (float)element.Attribute("iyz");
float zz = (float)element.Attribute("izz");
var inertia = new Inertia();
inertia[0, 0] = xx;
inertia[1, 1] = yy;
inertia[2, 2] = zz;
inertia[0, 1] = xy;
inertia[0, 2] = xz;
inertia[1, 2] = yz;
return(inertia);
}
/// <summary>
/// Reads optional element "inertial".
/// </summary>
/// <param name="element">Optional element "inertial" under "link".</param>
/// <param name="optional">Unused.</param>
public override void Read(XElement element, bool optional = true)
{
// <origin> is optional.
base.Read(element, true);
if (element == null)
{
return;
}
// <mass> and <inertia> is required if <inertial> exists.
Mass = Utils.ReadFloat(element.Element("mass"), "value", false);
var inertiaElement = element.Element("inertia");
if (inertiaElement == null)
{
throw new UrdfIOException($"{Utils.GetLineInfo( element )}: Required element 'inertia' is missing from <inertial>.");
}
Inertia = Inertia.Read(inertiaElement);
}
