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Switch from TinyXML to TinyXML2
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The library TinyXML is considered to be unmaintained and
since all future development is focused on TinyXML2 this
patch updates srdfdom to use TinyXML2.

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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@rhaschke
Dmitry Rozhkov authored and rhaschke committed Aug 19, 2020
1 parent 647ebfb commit f96609f
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Showing 6 changed files with 185 additions and 173 deletions.
8 changes: 4 additions & 4 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,12 +8,12 @@ find_package(urdfdom_headers REQUIRED)

find_package(catkin REQUIRED COMPONENTS cmake_modules urdf)

find_package(TinyXML REQUIRED)
find_package(TinyXML2 REQUIRED)

include_directories(
include
${Boost_INCLUDE_DIR}
${TinyXML_INCLUDE_DIRS}
${TinyXML2_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${console_bridge_INCLUDE_DIRS}
${urdfdom_headers_INCLUDE_DIRS}
Expand All @@ -26,15 +26,15 @@ catkin_python_setup()
catkin_package(
LIBRARIES ${PROJECT_NAME}
INCLUDE_DIRS include
DEPENDS TinyXML console_bridge urdfdom_headers
DEPENDS TinyXML2 console_bridge urdfdom_headers
)

add_library(${PROJECT_NAME}
src/model.cpp
src/srdf_writer.cpp
)
set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_headers_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${TinyXML2_LIBRARIES} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_headers_LIBRARIES})


install(TARGETS ${PROJECT_NAME}
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26 changes: 13 additions & 13 deletions include/srdfdom/model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,9 @@
#include <string>
#include <vector>
#include <utility>
#include <urdf/model.h> // TODO: replace with urdf_model/types.h in Lunar
#include <urdf/model.h>
#include <memory>
#include <tinyxml.h>
#include <tinyxml2.h>

/// Main namespace
namespace srdf
Expand All @@ -60,10 +60,10 @@ class Model
{
}

/// \brief Load Model from TiXMLElement
bool initXml(const urdf::ModelInterface& urdf_model, TiXmlElement* xml);
/// \brief Load Model from TiXMLDocument
bool initXml(const urdf::ModelInterface& urdf_model, TiXmlDocument* xml);
/// \brief Load Model from XMLElement
bool initXml(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* xml);
/// \brief Load Model from XMLDocument
bool initXml(const urdf::ModelInterface& urdf_model, tinyxml2::XMLDocument* xml);
/// \brief Load Model given a filename
bool initFile(const urdf::ModelInterface& urdf_model, const std::string& filename);
/// \brief Load Model from a XML-string
Expand Down Expand Up @@ -251,13 +251,13 @@ class Model
void clear();

private:
void loadVirtualJoints(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadGroupStates(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadEndEffectors(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadLinkSphereApproximations(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadDisabledCollisions(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadPassiveJoints(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml);
void loadVirtualJoints(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
void loadGroups(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
void loadGroupStates(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
void loadEndEffectors(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
void loadLinkSphereApproximations(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
void loadDisabledCollisions(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);
void loadPassiveJoints(const urdf::ModelInterface& urdf_model, tinyxml2::XMLElement* robot_xml);

std::string name_;
std::vector<Group> groups_;
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16 changes: 8 additions & 8 deletions include/srdfdom/srdf_writer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -109,56 +109,56 @@ class SRDFWriter
*
* @return TinyXML document that contains current SRDF data in this class
*/
TiXmlDocument generateSRDF();
void generateSRDF(tinyxml2::XMLDocument& document);

/**
* Generate XML for SRDF groups
*
* @param root - TinyXML root element to attach sub elements to
*/
void createGroupsXML(TiXmlElement* root);
void createGroupsXML(tinyxml2::XMLElement* root);

/**
* Generate XML for SRDF link collision spheres
*
* @param root - TinyXML root element to attach sub elements to
*/
void createLinkSphereApproximationsXML(TiXmlElement* root);
void createLinkSphereApproximationsXML(tinyxml2::XMLElement* root);

/**
* Generate XML for SRDF disabled collisions of robot link pairs
*
* @param root - TinyXML root element to attach sub elements to
*/
void createDisabledCollisionsXML(TiXmlElement* root);
void createDisabledCollisionsXML(tinyxml2::XMLElement* root);

/**
* Generate XML for SRDF group states of each joint's position
*
* @param root - TinyXML root element to attach sub elements to
*/
void createGroupStatesXML(TiXmlElement* root);
void createGroupStatesXML(tinyxml2::XMLElement* root);

/**
* Generate XML for SRDF end effectors
*
* @param root - TinyXML root element to attach sub elements to
*/
void createEndEffectorsXML(TiXmlElement* root);
void createEndEffectorsXML(tinyxml2::XMLElement* root);

/**
* Generate XML for SRDF virtual joints
*
* @param root - TinyXML root element to attach sub elements to
*/
void createVirtualJointsXML(TiXmlElement* root);
void createVirtualJointsXML(tinyxml2::XMLElement* root);

/**
* Generate XML for SRDF passive joints
*
* @param root - TinyXML root element to attach sub elements to
*/
void createPassiveJointsXML(TiXmlElement* root);
void createPassiveJointsXML(tinyxml2::XMLElement* root);

// ******************************************************************************************
// Group Datastructures
Expand Down
2 changes: 1 addition & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@

<depend>boost</depend>
<depend>urdf</depend>
<depend>tinyxml</depend>
<depend>tinyxml2</depend>

<build_depend>cmake_modules</build_depend>
<build_depend>libconsole-bridge-dev</build_depend>
Expand Down
60 changes: 33 additions & 27 deletions src/model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,9 +43,11 @@
#include <set>
#include <limits>

void srdf::Model::loadVirtualJoints(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
using namespace tinyxml2;

void srdf::Model::loadVirtualJoints(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* vj_xml = robot_xml->FirstChildElement("virtual_joint"); vj_xml;
for (XMLElement* vj_xml = robot_xml->FirstChildElement("virtual_joint"); vj_xml;
vj_xml = vj_xml->NextSiblingElement("virtual_joint"))
{
const char* jname = vj_xml->Attribute("name");
Expand Down Expand Up @@ -98,9 +100,9 @@ void srdf::Model::loadVirtualJoints(const urdf::ModelInterface& urdf_model, TiXm
}
}

void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* group_xml = robot_xml->FirstChildElement("group"); group_xml;
for (XMLElement* group_xml = robot_xml->FirstChildElement("group"); group_xml;
group_xml = group_xml->NextSiblingElement("group"))
{
const char* gname = group_xml->Attribute("name");
Expand All @@ -114,7 +116,7 @@ void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElemen
boost::trim(g.name_);

// get the links in the groups
for (TiXmlElement* link_xml = group_xml->FirstChildElement("link"); link_xml;
for (XMLElement* link_xml = group_xml->FirstChildElement("link"); link_xml;
link_xml = link_xml->NextSiblingElement("link"))
{
const char* lname = link_xml->Attribute("name");
Expand All @@ -133,7 +135,7 @@ void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElemen
}

// get the joints in the groups
for (TiXmlElement* joint_xml = group_xml->FirstChildElement("joint"); joint_xml;
for (XMLElement* joint_xml = group_xml->FirstChildElement("joint"); joint_xml;
joint_xml = joint_xml->NextSiblingElement("joint"))
{
const char* jname = joint_xml->Attribute("name");
Expand Down Expand Up @@ -162,7 +164,7 @@ void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElemen
}

// get the chains in the groups
for (TiXmlElement* chain_xml = group_xml->FirstChildElement("chain"); chain_xml;
for (XMLElement* chain_xml = group_xml->FirstChildElement("chain"); chain_xml;
chain_xml = chain_xml->NextSiblingElement("chain"))
{
const char* base = chain_xml->Attribute("base_link");
Expand Down Expand Up @@ -221,7 +223,7 @@ void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElemen
}

// get the subgroups in the groups
for (TiXmlElement* subg_xml = group_xml->FirstChildElement("group"); subg_xml;
for (XMLElement* subg_xml = group_xml->FirstChildElement("group"); subg_xml;
subg_xml = subg_xml->NextSiblingElement("group"))
{
const char* sub = subg_xml->Attribute("name");
Expand Down Expand Up @@ -280,9 +282,9 @@ void srdf::Model::loadGroups(const urdf::ModelInterface& urdf_model, TiXmlElemen
}
}

void srdf::Model::loadGroupStates(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
void srdf::Model::loadGroupStates(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* gstate_xml = robot_xml->FirstChildElement("group_state"); gstate_xml;
for (XMLElement* gstate_xml = robot_xml->FirstChildElement("group_state"); gstate_xml;
gstate_xml = gstate_xml->NextSiblingElement("group_state"))
{
const char* sname = gstate_xml->Attribute("name");
Expand Down Expand Up @@ -316,7 +318,7 @@ void srdf::Model::loadGroupStates(const urdf::ModelInterface& urdf_model, TiXmlE
}

// get the joint values in the group state
for (TiXmlElement* joint_xml = gstate_xml->FirstChildElement("joint"); joint_xml;
for (XMLElement* joint_xml = gstate_xml->FirstChildElement("joint"); joint_xml;
joint_xml = joint_xml->NextSiblingElement("joint"))
{
const char* jname = joint_xml->Attribute("name");
Expand Down Expand Up @@ -376,9 +378,9 @@ void srdf::Model::loadGroupStates(const urdf::ModelInterface& urdf_model, TiXmlE
}
}

void srdf::Model::loadEndEffectors(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
void srdf::Model::loadEndEffectors(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* eef_xml = robot_xml->FirstChildElement("end_effector"); eef_xml;
for (XMLElement* eef_xml = robot_xml->FirstChildElement("end_effector"); eef_xml;
eef_xml = eef_xml->NextSiblingElement("end_effector"))
{
const char* ename = eef_xml->Attribute("name");
Expand Down Expand Up @@ -434,9 +436,9 @@ void srdf::Model::loadEndEffectors(const urdf::ModelInterface& urdf_model, TiXml
}
}

void srdf::Model::loadLinkSphereApproximations(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
void srdf::Model::loadLinkSphereApproximations(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* cslink_xml = robot_xml->FirstChildElement("link_sphere_approximation"); cslink_xml;
for (XMLElement* cslink_xml = robot_xml->FirstChildElement("link_sphere_approximation"); cslink_xml;
cslink_xml = cslink_xml->NextSiblingElement("link_sphere_approximation"))
{
int non_0_radius_sphere_cnt = 0;
Expand All @@ -457,7 +459,7 @@ void srdf::Model::loadLinkSphereApproximations(const urdf::ModelInterface& urdf_

// get the spheres for this link
int cnt = 0;
for (TiXmlElement* sphere_xml = cslink_xml->FirstChildElement("sphere"); sphere_xml;
for (XMLElement* sphere_xml = cslink_xml->FirstChildElement("sphere"); sphere_xml;
sphere_xml = sphere_xml->NextSiblingElement("sphere"), cnt++)
{
const char* s_center = sphere_xml->Attribute("center");
Expand Down Expand Up @@ -531,9 +533,9 @@ void srdf::Model::loadLinkSphereApproximations(const urdf::ModelInterface& urdf_
}
}

void srdf::Model::loadDisabledCollisions(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
void srdf::Model::loadDisabledCollisions(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* c_xml = robot_xml->FirstChildElement("disable_collisions"); c_xml;
for (XMLElement* c_xml = robot_xml->FirstChildElement("disable_collisions"); c_xml;
c_xml = c_xml->NextSiblingElement("disable_collisions"))
{
const char* link1 = c_xml->Attribute("link1");
Expand Down Expand Up @@ -563,10 +565,14 @@ void srdf::Model::loadDisabledCollisions(const urdf::ModelInterface& urdf_model,
}
}

void srdf::Model::loadPassiveJoints(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
void srdf::Model::loadPassiveJoints(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
for (TiXmlElement* c_xml = robot_xml->FirstChildElement("passive_joint"); c_xml;
c_xml = c_xml->NextSiblingElement("passive_joint"))
for (XMLElement* c_xml = robot_xml->FirstChildElement("passive_joint"); c_xml; c_xml = c_xml->NextSiblingElement("pas"
"siv"
"e_"
"joi"
"n"
"t"))
{
const char* name = c_xml->Attribute("name");
if (!name)
Expand All @@ -592,10 +598,10 @@ void srdf::Model::loadPassiveJoints(const urdf::ModelInterface& urdf_model, TiXm
}
}

bool srdf::Model::initXml(const urdf::ModelInterface& urdf_model, TiXmlElement* robot_xml)
bool srdf::Model::initXml(const urdf::ModelInterface& urdf_model, XMLElement* robot_xml)
{
clear();
if (!robot_xml || robot_xml->ValueStr() != "robot")
if (!robot_xml || strcmp(robot_xml->Value(), "robot") != 0)
{
CONSOLE_BRIDGE_logError("Could not find the 'robot' element in the xml file");
return false;
Expand Down Expand Up @@ -624,9 +630,9 @@ bool srdf::Model::initXml(const urdf::ModelInterface& urdf_model, TiXmlElement*
return true;
}

bool srdf::Model::initXml(const urdf::ModelInterface& urdf_model, TiXmlDocument* xml)
bool srdf::Model::initXml(const urdf::ModelInterface& urdf_model, XMLDocument* xml)
{
TiXmlElement* robot_xml = xml ? xml->FirstChildElement("robot") : NULL;
XMLElement* robot_xml = xml ? xml->FirstChildElement("robot") : NULL;
if (!robot_xml)
{
CONSOLE_BRIDGE_logError("Could not find the 'robot' element in the xml file");
Expand Down Expand Up @@ -660,11 +666,11 @@ bool srdf::Model::initFile(const urdf::ModelInterface& urdf_model, const std::st

bool srdf::Model::initString(const urdf::ModelInterface& urdf_model, const std::string& xmlstring)
{
TiXmlDocument xml_doc;
XMLDocument xml_doc;
xml_doc.Parse(xmlstring.c_str());
if (xml_doc.Error())
{
CONSOLE_BRIDGE_logError("Could not parse the SRDF XML File. %s", xml_doc.ErrorDesc());
CONSOLE_BRIDGE_logError("Could not parse the SRDF XML File. %s", xml_doc.ErrorStr());
return false;
}
return initXml(urdf_model, &xml_doc);
Expand Down
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