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Switch from tinyxml -> tinyxml2 #17

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Switch from tinyxml -> tinyxml2 #17

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2 changes: 1 addition & 1 deletion .travis.yml
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Expand Up @@ -8,7 +8,7 @@ compiler:
script: "./.travis/build"
before_install:
- sudo apt-get update -qq
- sudo apt-get install -qq libtinyxml-dev
- sudo apt-get install -qq libtinyxml2-dev
matrix:
allow_failures:
- compiler: clang
6 changes: 3 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -32,9 +32,9 @@ endif (MSVC OR MSVC90 OR MSVC10)

set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

find_package(tinyxml_vendor REQUIRED)
find_package(TinyXML REQUIRED)
include_directories(SYSTEM ${TinyXML_INCLUDE_DIRS})
find_package(tinyxml2_vendor REQUIRED)
find_package(TinyXML2 REQUIRED)
include_directories(SYSTEM ${TinyXML2_INCLUDE_DIRS})

find_package(urdfdom_headers 1.0 REQUIRED)
include_directories(SYSTEM ${urdfdom_headers_INCLUDE_DIRS})
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74 changes: 0 additions & 74 deletions cmake/FindTinyXML.cmake
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2 changes: 1 addition & 1 deletion cmake/urdfdom-config.cmake.in
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Expand Up @@ -3,7 +3,7 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
endif()
set(@PKG_NAME@_CONFIG_INCLUDED TRUE)

set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/include" "@TinyXML2_INCLUDE_DIRS@")

foreach(lib @PKG_LIBRARIES@)
set(onelib "${lib}-NOTFOUND")
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8 changes: 4 additions & 4 deletions package.xml
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Expand Up @@ -13,16 +13,16 @@

<build_depend>console_bridge_vendor</build_depend>
<build_depend>libconsole-bridge-dev</build_depend>
<build_depend>tinyxml</build_depend>
<build_depend>tinyxml_vendor</build_depend>
<build_depend>tinyxml2</build_depend>
<build_depend>tinyxml2_vendor</build_depend>
<build_depend version_gte="0.2.3">urdfdom_headers</build_depend>

<buildtool_depend>cmake</buildtool_depend>

<exec_depend>console_bridge_vendor</exec_depend>
<exec_depend>libconsole-bridge-dev</exec_depend>
<exec_depend>tinyxml</exec_depend>
<exec_depend>tinyxml_vendor</exec_depend>
<exec_depend>tinyxml2</exec_depend>
<exec_depend>tinyxml2_vendor</exec_depend>
<exec_depend version_gte="0.2.3">urdfdom_headers</exec_depend>

<export>
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8 changes: 4 additions & 4 deletions urdf_parser/CMakeLists.txt
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@@ -1,25 +1,25 @@
add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp src/xml_helpers.cpp)
target_include_directories(urdfdom_world PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
set_target_properties(urdfdom_world PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})

add_library(urdfdom_model SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp)
add_library(urdfdom_model SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/xml_helpers.cpp)
target_include_directories(urdfdom_model PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_link_libraries(urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})

add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp src/xml_helpers.cpp)
target_include_directories(urdfdom_sensor PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})

add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp)
add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp src/xml_helpers.cpp)
target_include_directories(urdfdom_model_state PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
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7 changes: 4 additions & 3 deletions urdf_parser/include/urdf_parser/urdf_parser.h
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Expand Up @@ -39,7 +39,7 @@

#include <string>
#include <map>
#include <tinyxml.h>
#include <tinyxml2.h>
#include <urdf_model/model.h>
#include <urdf_model/color.h>
#include <urdf_world/types.h>
Expand All @@ -48,18 +48,19 @@

#include "exportdecl.h"

using TiXmlDocument = tinyxml2::XMLDocument;
using TiXmlElement = tinyxml2::XMLElement;
Comment on lines +51 to +52
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I'd really rather not pretend that tinyxml2 APIs are the same as the tinyxml ones; this is changing the API below, but in a sneaky way. Let's remove this, deprecate the tinyxml APIs, and also add in the tinyxml2 APIs.


namespace urdf_export_helpers {

URDFDOM_DLLAPI std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
URDFDOM_DLLAPI std::string values2str(urdf::Vector3 vec);
URDFDOM_DLLAPI std::string values2str(urdf::Rotation rot);
URDFDOM_DLLAPI std::string values2str(urdf::Color c);
URDFDOM_DLLAPI std::string values2str(double d);

}

namespace urdf{

URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
URDFDOM_DLLAPI TiXmlDocument* exportURDF(ModelInterfaceSharedPtr &model);
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80 changes: 38 additions & 42 deletions urdf_parser/src/joint.cpp
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Expand Up @@ -34,13 +34,16 @@

/* Author: John Hsu */

#include <console_bridge/console.h>
#include <tinyxml2.h>
#include <urdf_model/joint.h>
#include <urdf_parser/urdf_parser.h>

#include <sstream>
#include <stdexcept>
#include <string>
#include <urdf_model/joint.h>
#include <console_bridge/console.h>
#include <tinyxml.h>
#include <urdf_parser/urdf_parser.h>

#include "xml_helpers.h"

namespace urdf{

Expand Down Expand Up @@ -639,46 +642,42 @@ bool exportPose(Pose &pose, TiXmlElement* xml);

bool exportJointDynamics(JointDynamics &jd, TiXmlElement* xml)
{
TiXmlElement *dynamics_xml = new TiXmlElement("dynamics");
dynamics_xml->SetAttribute("damping", urdf_export_helpers::values2str(jd.damping) );
dynamics_xml->SetAttribute("friction", urdf_export_helpers::values2str(jd.friction) );
xml->LinkEndChild(dynamics_xml);
auto * dynamics_xml = xmlAppendChild(xml, "dynamics");
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I really prefer not to use auto unless it is blindingly obvious from this line of code what the type is. It doesn't seem to be the case here, so I'd much prefer using tinyxml2::XMLElement* here. The same goes for most uses of auto below.

dynamics_xml->SetAttribute("damping", jd.damping );
dynamics_xml->SetAttribute("friction", jd.friction );
return true;
}

bool exportJointLimits(JointLimits &jl, TiXmlElement* xml)
{
TiXmlElement *limit_xml = new TiXmlElement("limit");
limit_xml->SetAttribute("effort", urdf_export_helpers::values2str(jl.effort) );
limit_xml->SetAttribute("velocity", urdf_export_helpers::values2str(jl.velocity) );
limit_xml->SetAttribute("lower", urdf_export_helpers::values2str(jl.lower) );
limit_xml->SetAttribute("upper", urdf_export_helpers::values2str(jl.upper) );
xml->LinkEndChild(limit_xml);
auto * limit_xml = xmlAppendChild(xml, "limit");
limit_xml->SetAttribute("effort", jl.effort);
limit_xml->SetAttribute("velocity", jl.velocity );
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Nit: no space before the closing parentheses. There are more instances of this below.

limit_xml->SetAttribute("lower", jl.lower );
limit_xml->SetAttribute("upper", jl.upper );
return true;
}

bool exportJointSafety(JointSafety &js, TiXmlElement* xml)
{
TiXmlElement *safety_xml = new TiXmlElement("safety_controller");
safety_xml->SetAttribute("k_position", urdf_export_helpers::values2str(js.k_position) );
safety_xml->SetAttribute("k_velocity", urdf_export_helpers::values2str(js.k_velocity) );
safety_xml->SetAttribute("soft_lower_limit", urdf_export_helpers::values2str(js.soft_lower_limit) );
safety_xml->SetAttribute("soft_upper_limit", urdf_export_helpers::values2str(js.soft_upper_limit) );
xml->LinkEndChild(safety_xml);
auto * safety_xml = xmlAppendChild(xml, "safety_controller");
safety_xml->SetAttribute("k_position", js.k_position );
safety_xml->SetAttribute("k_velocity", js.k_velocity );
safety_xml->SetAttribute("soft_lower_limit", js.soft_lower_limit );
safety_xml->SetAttribute("soft_upper_limit", js.soft_upper_limit );
return true;
}

bool exportJointCalibration(JointCalibration &jc, TiXmlElement* xml)
{
if (jc.falling || jc.rising)
{
TiXmlElement *calibration_xml = new TiXmlElement("calibration");
auto * calibration_xml = xmlAppendChild(xml, "calibration");
if (jc.falling)
calibration_xml->SetAttribute("falling", urdf_export_helpers::values2str(*jc.falling) );
calibration_xml->SetAttribute("falling", *jc.falling );
if (jc.rising)
calibration_xml->SetAttribute("rising", urdf_export_helpers::values2str(*jc.rising) );
calibration_xml->SetAttribute("rising", *jc.rising );
//calibration_xml->SetAttribute("reference_position", urdf_export_helpers::values2str(jc.reference_position) );
xml->LinkEndChild(calibration_xml);
}
return true;
}
Expand All @@ -687,19 +686,20 @@ bool exportJointMimic(JointMimic &jm, TiXmlElement* xml)
{
if (!jm.joint_name.empty())
{
TiXmlElement *mimic_xml = new TiXmlElement("mimic");
mimic_xml->SetAttribute("offset", urdf_export_helpers::values2str(jm.offset) );
mimic_xml->SetAttribute("multiplier", urdf_export_helpers::values2str(jm.multiplier) );
mimic_xml->SetAttribute("joint", jm.joint_name );
xml->LinkEndChild(mimic_xml);
auto * mimic_xml = xmlAppendChild(xml, "mimic");

mimic_xml->SetAttribute("offset", jm.offset );
mimic_xml->SetAttribute("multiplier", jm.multiplier );
mimic_xml->SetAttribute("joint", jm.joint_name.c_str() );
}
return true;
}

bool exportJoint(Joint &joint, TiXmlElement* xml)
{
TiXmlElement * joint_xml = new TiXmlElement("joint");
joint_xml->SetAttribute("name", joint.name);
auto * joint_xml = xmlAppendChild(xml, "joint");

joint_xml->SetAttribute("name", joint.name.c_str());
if (joint.type == urdf::Joint::PLANAR)
joint_xml->SetAttribute("type", "planar");
else if (joint.type == urdf::Joint::FLOATING)
Expand All @@ -719,19 +719,16 @@ bool exportJoint(Joint &joint, TiXmlElement* xml)
exportPose(joint.parent_to_joint_origin_transform, joint_xml);

// axis
TiXmlElement * axis_xml = new TiXmlElement("axis");
axis_xml->SetAttribute("xyz", urdf_export_helpers::values2str(joint.axis));
joint_xml->LinkEndChild(axis_xml);
auto * axis_xml = xmlAppendChild(joint_xml, "axis");
axis_xml->SetAttribute("xyz", urdf_export_helpers::values2str(joint.axis).c_str());

// parent
TiXmlElement * parent_xml = new TiXmlElement("parent");
parent_xml->SetAttribute("link", joint.parent_link_name);
joint_xml->LinkEndChild(parent_xml);
// parent
auto * parent_xml = xmlAppendChild(joint_xml, "parent");
parent_xml->SetAttribute("link", joint.parent_link_name.c_str());

// child
TiXmlElement * child_xml = new TiXmlElement("child");
child_xml->SetAttribute("link", joint.child_link_name);
joint_xml->LinkEndChild(child_xml);
auto * child_xml = xmlAppendChild(joint_xml, "child");
child_xml->SetAttribute("link", joint.child_link_name.c_str());

if (joint.dynamics)
exportJointDynamics(*(joint.dynamics), joint_xml);
Expand All @@ -744,7 +741,6 @@ bool exportJoint(Joint &joint, TiXmlElement* xml)
if (joint.mimic)
exportJointMimic(*(joint.mimic), joint_xml);

xml->LinkEndChild(joint_xml);
return true;
}

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