Merge pull request #1 from EmbarkStudios/master

Add spherical joint support + update dependencies

Cargo.toml

@@ -10,8 +10,8 @@ repository = "https://github.com/OTL/urdf-rs"
 documentation = "http://docs.rs/urdf-rs"
 
 [dependencies]
-serde-xml-rs = "0.1.2"
-serde = "0.9.7"
-serde_derive = "0.9.7"
+serde-xml-rs = "0.3.1"
+serde = "1.0.89"
+serde_derive = "1.0.89"
 RustyXML = "0.1.1"
-regex = "0.1"
+regex = "1.1.2"

src/deserialize.rs

@@ -29,6 +29,7 @@ pub enum Geometry {
         size: [f64; 3],
     },
     Cylinder { radius: f64, length: f64 },
+    Capsule { radius: f64, length: f64 },
     Sphere { radius: f64 },
     Mesh {
         filename: String,
@@ -124,9 +125,9 @@ pub struct Vec3 {
 
 mod urdf_vec3 {
     use serde::{self, Deserialize, Deserializer};
-    pub fn deserialize<D>(deserializer: D) -> Result<[f64; 3], D::Error>
+    pub fn deserialize<'a,D>(deserializer: D) -> Result<[f64; 3], D::Error>
     where
-        D: Deserializer,
+        D: Deserializer<'a>,
     {
         let s = String::deserialize(deserializer)?;
         let vec = s.split(' ')
@@ -147,9 +148,9 @@ mod urdf_vec3 {
 
 mod urdf_vec4 {
     use serde::{self, Deserialize, Deserializer};
-    pub fn deserialize<D>(deserializer: D) -> Result<[f64; 4], D::Error>
+    pub fn deserialize<'a,D>(deserializer: D) -> Result<[f64; 4], D::Error>
     where
-        D: Deserializer,
+        D: Deserializer<'a>,
     {
         let s = String::deserialize(deserializer)?;
         let vec = s.split(' ')
@@ -222,6 +223,7 @@ pub enum JointType {
     Fixed,
     Floating,
     Planar,
+    Spherical,
 }
 
 #[derive(Debug, Deserialize, Default, Clone)]

src/funcs.rs

@@ -103,7 +103,7 @@ pub fn read_file<P: AsRef<Path>>(path: P) -> Result<Robot> {
 
 pub fn read_from_string(string: &str) -> Result<Robot> {
     let sorted_string = sort_link_joint(string)?;
-    serde_xml_rs::deserialize(sorted_string.as_bytes()).map_err(From::from)
+    serde_xml_rs::from_str(&sorted_string).map_err(From::from)
 }
 
 #[test]

src/utils.rs

@@ -59,7 +59,7 @@ pub fn expand_package_path(filename: &str, base_dir: Option<&Path>) -> String {
                 Some(found_path) => found_path + "/",
                 None => panic!("failed to find ros package {}", &ma[1]),
             },
-        )
+        ).to_string()
     } else {
         let mut relative_path_from_urdf = base_dir.unwrap_or(Path::new("")).to_owned();
         relative_path_from_urdf.push(filename);