public virtual void SetElement(URDFElement externalElement)
{
if (externalElement.GetType() != GetType())
{
throw new Exception("URDFElements need to be the same type to set the internal values");
}
foreach (Tuple <URDFAttribute, URDFAttribute> pair in
Enumerable.Zip(Attributes, externalElement.Attributes, Tuple.Create))
{
if (pair.Item2.Value != null && pair.Item2.Value.GetType() == typeof(double[]))
{
double[] valueArray = (double[])pair.Item2.Value;
pair.Item1.Value = valueArray.Clone();
}
else
{
pair.Item1.Value = pair.Item2.Value;
}
}
foreach (Tuple <URDFElement, URDFElement> pair in
Enumerable.Zip(ChildElements, externalElement.ChildElements, Tuple.Create))
{
pair.Item1.SetElement(pair.Item2);
}
}
public override void SetElement(URDFElement externalElement)
{
base.SetElement(externalElement);
// The base method already performs the type check, so we don't have to for this cast
Joint joint = (Joint)externalElement;
// These strings aren't kept as URDFAttribute objects and so they are tracked separately
CoordinateSystemName = joint.CoordinateSystemName;
AxisName = joint.AxisName;
}
public override void SetElement(URDFElement externalElement)
{
base.SetElement(externalElement);
SetSWComponents((Link)externalElement);
}