/usr/include/kido/utils/sdf/SoftSdfParser.hpp is in libkido-utils-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2014-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_UTILS_SDF_SOFTSDFPARSER_HPP_
#define KIDO_UTILS_SDF_SOFTSDFPARSER_HPP_
#include <map>
#include <string>
#include <Eigen/Dense>
#include <Eigen/StdVector>
// TinyXML-2 Library
// http://www.grinninglizard.com/tinyxml2/index.html
#include <tinyxml2.h>
#include "kido/utils/sdf/SdfParser.hpp"
namespace kido {
namespace dynamics {
class Joint;
class SoftBodyNode;
class Skeleton;
} // namespace dynamics
namespace simulation {
class World;
} // namespace simulation
} // namespace kido
namespace kido {
namespace utils {
class SoftSdfParser : public SdfParser
{
public:
static simulation::WorldPtr readSoftSdfFile(
const common::Uri& _fileUri,
const common::ResourceRetrieverPtr& _retriever = nullptr);
static dynamics::SkeletonPtr readSkeleton(
const common::Uri& _fileName,
const common::ResourceRetrieverPtr& _retriever = nullptr);
static bool createSoftPair(dynamics::SkeletonPtr skeleton,
dynamics::BodyNode* parent,
const SDFJoint& newJoint,
const SDFBodyNode& newBody);
/// \brief
static simulation::WorldPtr readWorld(
tinyxml2::XMLElement* _worldElement,
const std::string& _skelPath,
const common::ResourceRetrieverPtr& _retriever);
/// \brief
static dynamics::SkeletonPtr readSkeleton(
tinyxml2::XMLElement* _skeletonElement,
const std::string& _skelPath,
const common::ResourceRetrieverPtr& _retriever);
/// \brief
static SDFBodyNode readSoftBodyNode(
tinyxml2::XMLElement* _softBodyNodeElement,
const Eigen::Isometry3d& _skeletonFrame,
const std::string& _skelPath,
const common::ResourceRetrieverPtr& _retriever);
};
} // namespace utils
} // namespace kido
#endif // #ifndef KIDO_UTILS_SDF_SOFTSDFPARSER_HPP_
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