public XmlElement getXml(XmlDocument doc, XmlElement parent) { XmlElement nodeComp = doc.CreateElement("SteersmanComponents"); parent.AppendChild(nodeComp); XmlElement nodeGeom = doc.CreateElement("SteersmanGeometry"); nodeComp.AppendChild(nodeGeom); nodeGeom.AppendChild( robot_geometry.getXml(doc, nodeGeom)); XmlElement nodeBuffer = doc.CreateElement("SteersmanBuffer"); nodeComp.AppendChild(nodeBuffer); nodeBuffer.AppendChild( buffer.getXml(doc, nodeBuffer)); if (robot_geometry.sensormodel != null) { XmlElement nodeModels = doc.CreateElement("SteersmanSensorModels"); nodeComp.AppendChild(nodeModels); nodeModels.AppendChild( robot_geometry.getXmlSensorModels(doc, nodeModels)); } return(nodeComp); }