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); }