/// <summary>
/// Writes an attachment to the .URDF file
/// </summary>
/// <param name="att"> Attachment to be written </param>
/// <param name="parentLink"> The Link that contains this attachment </param>
/// <param name="writer"> The writer that will be used to write the URDF</param>
private void WriteAttachment(Attachment att, Link parentLink, XmlWriter writer)
{
att.WriteElements(log, writer);
log.WriteMessage("Finished writing attachment " + att.Name + " to URDF.");
}
/// <summary>
/// Writes an attachment of a Joint to the .SDF file
/// </summary>
/// <param name="att"> Attachment to be written </param>
/// <param name="parentJoint"> The joint that contains this attachment </param>
/// <param name="writer"> The writer that will be used to write the URDF</param>
private void WriteAttachmentSDF(Attachment att, Joint parentJoint, XmlWriter writer)
{
att.WriteElements(log, writer);
log.WriteMessage("Finished writing attachment " + att.Name + " to SDF.");
}
/// <summary>
/// removes the inputed Attachment from this link
/// </summary>
/// <param name="att"> Attachment to be removed </param>
public void RemoveAttachment(Attachment att)
{
RobotInfo.WriteToLogFile("Removing attachment (Link)");
attachments.Remove(att);
attachmentNums.RemoveItem(Convert.ToInt32(att.Path.Remove(0, path.Length + 13)));
RobotInfo.WriteToLogFile("Successfully removed attachment from link (Link)");
}
/// <summary>
/// Writes an attachment of a Link to the .SDF file
/// </summary>
/// <param name="att"> Attachment to be written </param>
/// <param name="parentLink"> The Link that contains this attachment </param>
/// <param name="writer"> The writer that will be used to write the URDF</param>
private void WriteAttachmentSDF(Attachment att, Link parentLink, XmlWriter writer)
{
att.WritePlugins(log, writer);
log.WriteMessage("Finished writing attachment " + att.Name + " to SDF.");
}
