Example #1
0
        /// <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());
        }
Example #2
0
        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());
        }
Example #3
0
        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());
        }
Example #4
0
        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());
        }
Example #5
0
        /// <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());
        }
Example #6
0
        /// <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());
        }