/// <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.GEOMETRY_ELEMENT_NAME);
switch (this.Shape)
{
case Shapes.Box:
sb.AddSubElement(this.Box.ToString());
break;
case Shapes.Cylinder:
sb.AddSubElement(this.Cylinder.ToString());
break;
case Shapes.Mesh:
sb.AddSubElement(this.Mesh.ToString());
break;
case Shapes.Sphere:
sb.AddSubElement(this.Sphere.ToString());
break;
default:
throw new System.Exception($"Unrecognized geometry type {Shape} cannot be converted to a string");
}
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.MATERIAL_ELEMENT_NAME)
.AddAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME, this.Name);
if (this.Color != null)
{
sb.AddSubElement(this.Color.ToString());
}
if (this.Texture != null)
{
sb.AddSubElement(this.Texture.ToString());
}
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.ROBOT_ELEMENT_NAME)
.AddAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME, this.Name);
foreach (Link link in this.Links.Values)
{
sb.AddSubElement(link.ToString());
}
foreach (Joint joint in this.Joints.Values)
{
sb.AddSubElement(joint.ToString());
}
return(sb.ToString());
}
public void BuildXmlStringSubElementsOnly()
{
string expected = "<hello>\r\n<one/>\r\n<two/>\r\n</hello>";
XmlStringBuilder sb = new XmlStringBuilder("hello");
sb.AddSubElement("<one/>").AddSubElement("<two/>");
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()
{
XmlStringBuilder sb = new XmlStringBuilder(UrdfSchema.INERTIAL_ELEMENT_NAME)
.AddSubElement(this.Mass.ToString()).AddSubElement(this.Inertia.ToString());
if (!this.Origin.Equals(Origin.DEFAULT_ORIGIN))
{
sb.AddSubElement(this.Origin.ToString());
}
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.LINK_ELEMENT_NAME)
.AddAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME, this.Name);
foreach (Visual visual in this.Visual)
{
sb.AddSubElement(visual.ToString());
}
foreach (Collision collision in this.Collision)
{
sb.AddSubElement(collision.ToString());
}
if (this.Inertial != null)
{
sb.AddSubElement(this.Inertial.ToString());
}
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.VISUAL_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());
}
if (this.Material != null)
{
sb.AddSubElement(this.Material.ToString());
}
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.JOINT_ELEMENT_NAME)
.AddAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME, this.Name)
.AddAttribute(UrdfSchema.JOINT_TYPE_ATTRIBUTE_NAME, this.Type.ToString().ToLower())
.AddSubElement(new XmlStringBuilder(UrdfSchema.PARENT_ELEMENT_NAME).AddAttribute(UrdfSchema.LINK_ATTRIBUTE_NAME, this.Parent.Name).ToString())
.AddSubElement(new XmlStringBuilder(UrdfSchema.CHILD_ELEMENT_NAME).AddAttribute(UrdfSchema.LINK_ATTRIBUTE_NAME, this.Child.Name).ToString());
if (!this.Origin.Equals(Origin.DEFAULT_ORIGIN))
{
sb.AddSubElement(this.Origin.ToString());
}
if (!this.Axis.Equals(Axis.DEFAULT_AXIS))
{
sb.AddSubElement(this.Axis.ToString());
}
if (this.Calibration != null)
{
sb.AddSubElement(this.Calibration.ToString());
}
if (this.Dynamics != null)
{
sb.AddSubElement(this.Dynamics.ToString());
}
if (this.Limit != null)
{
sb.AddSubElement(this.Limit.ToString());
}
if (this.Mimic != null)
{
sb.AddSubElement(this.Mimic.ToString());
}
if (this.SafetyController != null)
{
sb.AddSubElement(this.SafetyController.ToString());
}
return(sb.ToString());
}
