/// <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()); }