.. _program_listing_file_include_srdfdom_srdf_writer.h:

Program Listing for File srdf_writer.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_srdfdom_srdf_writer.h>` (``include/srdfdom/srdf_writer.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2012, Willow Garage, Inc.
    *  All rights reserved.
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    *  Redistribution and use in source and binary forms, with or without
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    *
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    *     copyright notice, this list of conditions and the following
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    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
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    *********************************************************************/
   
   /* Author: Dave Coleman */
   
   #ifndef _SRDFDOM_SRDF_WRITER_
   #define _SRDFDOM_SRDF_WRITER_
   
   #include <memory>
   #include <srdfdom/model.h>  // use their struct datastructures
   
   namespace srdf
   {
   // ******************************************************************************************
   // ******************************************************************************************
   // Class
   // ******************************************************************************************
   // ******************************************************************************************
   
   class SRDFWriter
   {
   public:
     // ******************************************************************************************
     // Public Functions
     // ******************************************************************************************
     SRDFWriter();
   
     ~SRDFWriter();
   
     bool initString(const urdf::ModelInterface& robot_model, const std::string& srdf_string);
   
     void initModel(const urdf::ModelInterface& robot_model, const srdf::Model& srdf_model);
   
     void updateSRDFModel(const urdf::ModelInterface& robot_model);
   
     bool writeSRDF(const std::string& file_path);
   
     std::string getSRDFString();
   
     void generateSRDF(tinyxml2::XMLDocument& document);
   
     void createGroupsXML(tinyxml2::XMLElement* root);
   
     void createLinkSphereApproximationsXML(tinyxml2::XMLElement* root);
   
     void createCollisionDefaultsXML(tinyxml2::XMLElement* root);
   
     void createDisabledCollisionPairsXML(tinyxml2::XMLElement* root);
   
     void createGroupStatesXML(tinyxml2::XMLElement* root);
   
     void createEndEffectorsXML(tinyxml2::XMLElement* root);
   
     void createVirtualJointsXML(tinyxml2::XMLElement* root);
   
     void createPassiveJointsXML(tinyxml2::XMLElement* root);
   
     void createJointPropertiesXML(tinyxml2::XMLElement* root);
   
   protected:
     void createCollisionPairsXML(tinyxml2::XMLElement* root, const char* tag_name,
                                  const std::vector<Model::CollisionPair>& pairs);
   
   public:
     // ******************************************************************************************
     // Group Datastructures
     // ******************************************************************************************
   
     std::vector<Model::Group> groups_;
     std::vector<Model::GroupState> group_states_;
     std::vector<Model::VirtualJoint> virtual_joints_;
     std::vector<Model::EndEffector> end_effectors_;
     std::vector<Model::LinkSpheres> link_sphere_approximations_;
     std::vector<std::string> no_default_collision_links_;
     std::vector<Model::CollisionPair> disabled_collision_pairs_;
     std::vector<Model::CollisionPair> enabled_collision_pairs_;
     std::vector<Model::PassiveJoint> passive_joints_;
     std::map<std::string, std::vector<srdf::Model::JointProperty>> joint_properties_;
   
     // Store the SRDF Model for updating the kinematic_model
     ModelSharedPtr srdf_model_;
   
     // Robot name
     std::string robot_name_;
   };
   
   // ******************************************************************************************
   // Typedef
   // ******************************************************************************************
   typedef std::shared_ptr<SRDFWriter> SRDFWriterPtr;
   }  // namespace srdf
   
   #endif