public bool Equals(Parent?other)
{
if (ReferenceEquals(null, other))
{
return(false);
}
if (ReferenceEquals(this, other))
{
return(true);
}
return(other.ParentID == ParentID && other.Value1.Equals(Value1));
}
internal Joint(XmlNode node)
{
Name = Utils.ParseString(node.Attributes?["name"]);
string typeStr = Utils.ParseString(node.Attributes?["type"]);
Type = GetJointType(typeStr, node);
Origin?origin = null;
Parent?parent = null;
Child? child = null;
Axis? axis = null;
Limit? limit = null;
foreach (XmlNode childNode in node.ChildNodes)
{
switch (childNode.Name)
{
case "origin":
origin = new Origin(childNode);
break;
case "parent":
parent = new Parent(childNode);
break;
case "child":
child = new Child(childNode);
break;
case "axis":
axis = new Axis(childNode);
break;
case "limit":
limit = new Limit(childNode);
break;
}
}
Origin = origin ?? Origin.Identity;
Parent = parent ?? throw new MalformedUrdfException(node);
Child = child ?? throw new MalformedUrdfException(node);
Axis = axis ?? Axis.Right;
Limit = limit ?? Limit.Empty;
}
public static bool GetBool3(Parent?obj)
{
throw new InvalidOperationException();
}