/// <summary>
/// Reads element "joint" with required attributes "name" and "type".
/// </summary>
/// <param name="element">Optional element "joint".</param>
/// <param name="optional">Unused.</param>
public override void Read(XElement element, bool optional = true)
{
if (element == null)
{
return;
}
base.Read(element, false);
var type = Utils.ReadString(element, "type", false);
Type = type == "revolute" ?
JointType.Revolute :
type == "continuous" ?
JointType.Continuous :
type == "prismatic" ?
JointType.Prismatic :
type == "fixed" ?
JointType.Fixed:
type == "planar" ?
JointType.Planar :
JointType.Unknown;
if (Type == JointType.Unknown)
{
throw new UrdfIOException($"{Utils.GetLineInfo( element )}: Unknown joint type '{type}'.");
}
Parent = Utils.ReadString(element.Element("parent"), "link", false);
Child = Utils.ReadString(element.Element("child"), "link", false);
if (element.Element("axis") != null)
{
Axis = Utils.ReadVector3(element.Element("axis"), "xyz", false);
}
Calibration = CalibrationData.ReadOptional(element);
Dynamics = DynamicsData.ReadOptional(element);
Limit = LimitData.Read(element, type != "revolute" && type != "prismatic");
Mimic = MimicData.ReadOptional(element);
SafetyController = SafetyControllerData.ReadOptional(element);
}