public Texture() : base("texture", false)
{
wFilename = "";
FilenameAttribute = new URDFAttribute("filename", true, null);
Attributes.Add(FilenameAttribute);
}
/// <summary>
/// Axis is similar to Origin in that its attribute is stored as a double array.
/// </summary>
/// <param name="context"></param>
/// <param name="dictionary"></param>
public override void SetElementFromData(List <string> context, StringDictionary dictionary)
{
string typeName = GetType().Name;
List <string> updatedContext = new List <string>(context)
{
typeName
};
double[] xyz = new double[3];
string contextString = string.Join(".", updatedContext) + ".xyz";
for (int i = 0; i < xyz.Length; i++)
{
string lookupString = contextString + "." + "xyz"[i];
if (!dictionary.ContainsKey(lookupString))
{
logger.Info("CSV file does not contain column for " + lookupString);
continue;
}
object value = URDFAttribute.GetValueFromString(dictionary[lookupString]);
if (value != null && value.GetType() == typeof(double))
{
xyz[i] = (double)value;
}
}
XYZAttribute.Value = xyz;
}
public Joint() : base("joint", false)
{
Origin = new Origin("Joint", false);
Parent = new ParentLink();
Child = new ChildLink();
Axis = new Axis();
Limit = new Limit();
Calibration = new Calibration();
Dynamics = new Dynamics();
Safety = new SafetyController();
Mimic = new Mimic();
NameAttribute = new URDFAttribute("name", true, "");
TypeAttribute = new URDFAttribute("type", true, "");
Attributes.Add(NameAttribute);
Attributes.Add(TypeAttribute);
ChildElements.Add(Origin);
ChildElements.Add(Parent);
ChildElements.Add(Child);
ChildElements.Add(Axis);
ChildElements.Add(Limit);
ChildElements.Add(Calibration);
ChildElements.Add(Dynamics);
ChildElements.Add(Safety);
ChildElements.Add(Mimic);
}
public Calibration() : base("calibration", false)
{
RisingAttribute = new URDFAttribute("rising", false, null);
FallingAttribute = new URDFAttribute("falling", false, null);
Attributes.Add(RisingAttribute);
Attributes.Add(FallingAttribute);
}
public Robot() : base("robot", true)
{
BaseLink = new Link(null);
NameAttribute = new URDFAttribute("name", true, "");
ChildElements.Add(BaseLink);
Attributes.Add(NameAttribute);
}
public Dynamics() : base("dynamics", false)
{
DampingAttribute = new URDFAttribute("damping", false, null);
FrictionAttribute = new URDFAttribute("friction", false, null);
Attributes.Add(DampingAttribute);
Attributes.Add(FrictionAttribute);
}
public Material() : base("material", false)
{
Color = new Color();
Texture = new Texture();
NameAttribute = new URDFAttribute("name", true, "");
Attributes.Add(NameAttribute);
ChildElements.Add(Color);
ChildElements.Add(Texture);
}
public Origin(string csvContext, bool isRequired) : base("origin", isRequired)
{
isCustomized = false;
XYZAttribute = new URDFAttribute("xyz", true, new double[] { 0, 0, 0 });
RPYAttribute = new URDFAttribute("rpy", true, new double[] { 0, 0, 0 });
Attributes.Add(XYZAttribute);
Attributes.Add(RPYAttribute);
}
public Limit() : base("limit", false)
{
EffortAttribute = new URDFAttribute("effort", true, null);
VelocityAttribute = new URDFAttribute("velocity", true, null);
LowerAttribute = new URDFAttribute("lower", false, null);
UpperAttribute = new URDFAttribute("upper", false, null);
Attributes.Add(LowerAttribute);
Attributes.Add(UpperAttribute);
Attributes.Add(EffortAttribute);
Attributes.Add(VelocityAttribute);
}
public SafetyController() : base("safety_controller", false)
{
SoftUpperAttribute = new URDFAttribute("soft_upper", false, null);
SoftLowerAttribute = new URDFAttribute("soft_lower", false, null);
KPositionAttribute = new URDFAttribute("k_position", false, null);
KVelocityAttribute = new URDFAttribute("k_velocity", true, 0.0);
Attributes.Add(SoftUpperAttribute);
Attributes.Add(SoftLowerAttribute);
Attributes.Add(KPositionAttribute);
Attributes.Add(KVelocityAttribute);
}
public Inertia() : base("inertia", false)
{
IxxAttribute = new URDFAttribute("ixx", true, 0.0);
IxyAttribute = new URDFAttribute("ixy", true, 0.0);
IxzAttribute = new URDFAttribute("ixz", true, 0.0);
IyyAttribute = new URDFAttribute("iyy", true, 0.0);
IyzAttribute = new URDFAttribute("iyz", true, 0.0);
IzzAttribute = new URDFAttribute("izz", true, 0.0);
Attributes.Add(IxxAttribute);
Attributes.Add(IxyAttribute);
Attributes.Add(IxzAttribute);
Attributes.Add(IyyAttribute);
Attributes.Add(IyzAttribute);
Attributes.Add(IzzAttribute);
}
public Link() : base("link", true)
{
Parent = null;
Children = new List <Link>();
SWComponents = new List <Component2>();
SWComponentPIDs = new List <byte[]>();
NameAttribute = new URDFAttribute("name", true, "");
Inertial = new Inertial();
Visual = new Visual();
Collision = new Collision();
Joint = new Joint();
isFixedFrame = false;
Attributes.Add(NameAttribute);
ChildElements.Add(Inertial);
ChildElements.Add(Visual);
ChildElements.Add(Collision);
ChildElements.Add(Joint);
}
public Color() : base("color", false)
{
RGBAAttribute = new URDFAttribute("rgba", true, new double[] { 1, 1, 1, 1 });
Attributes.Add(RGBAAttribute);
}
public Axis() : base("axis", false)
{
XYZAttribute = new URDFAttribute("xyz", true, new double[] { 0, 0, 0 });
Attributes.Add(XYZAttribute);
}
public Mass() : base("mass", false)
{
ValueAttribute = new URDFAttribute("value", true, 0.0);
Attributes.Add(ValueAttribute);
}
public ChildLink() : base("child", true)
{
NameAttribute = new URDFAttribute("link", true, "");
Attributes.Add(NameAttribute);
}
public Mesh() : base("mesh", false)
{
FilenameAttribute = new URDFAttribute("filename", true, null);
Attributes.Add(FilenameAttribute);
}
public ParentLink() : base("parent", true)
{
NameAttribute = new URDFAttribute("link", true, "");
Attributes.Add(NameAttribute);
}
