Alessio Quaglino
015bdeb756
PiperOrigin-RevId: 675114055 Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
76 lines
3.1 KiB
C++
76 lines
3.1 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
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#define THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
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#include <map>
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#include <string>
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#include <unordered_set>
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#include <vector>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjspec.h>
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#include "xml/xml_base.h"
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#include "tinyxml2.h"
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// rgb data
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typedef struct _mjRGBA {
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float val[4];
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} mjRGBA;
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// XML parser for URDF files
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class mjXURDF : public mjXBase {
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public:
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mjXURDF(); // constructor
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virtual ~mjXURDF(); // destructor
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// parse and set frame of base link and append a prefix to the name
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void Parse(
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tinyxml2::XMLElement* root,
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const std::string& prefix,
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double* pos,
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double* quat,
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bool static_body);
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void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // main parser
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private:
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std::string GetPrefixedName(const std::string& name); // get prefix/name of element
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int FindName(std::string name, std::vector<std::string>& list); // find name in list
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void AddName(std::string name, std::vector<std::string>& list); // add name to list
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void AddBody(std::string name); // add body to local table
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void AddToTree(int n); // add body to mjCModel tree
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void Body(tinyxml2::XMLElement* body_elem); // parse body
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void Joint(tinyxml2::XMLElement* joint_elem); // parse joint
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mjsGeom* Geom(tinyxml2::XMLElement* geom_elem,
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mjsBody* pbody, bool collision); // parse origin and geometry of geom
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void Origin(tinyxml2::XMLElement* origin_elem, double* pos, double* quat); // parse origin element
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void MakeMaterials(tinyxml2::XMLElement* elem); // find all materials recursively
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void Clear(void); // clear local objects
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// URDF parser variables
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std::vector<std::string> urName; // body name
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std::vector<int> urParent; // body parent (index in name vector)
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std::vector<std::vector<int> > urChildren; // body children (index in name vector)
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std::vector<std::string> urMat; // material name
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std::vector<mjRGBA> urRGBA; // material RBG value
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std::unordered_set<std::string> urGeomNames; // geom name
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std::map<std::string, std::vector<mjsMesh*>> meshes; // map from name to mjsMesh
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std::string urPrefix; // prefix to apply to all names
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};
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#endif // THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
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