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34
35 /* Author: John Hsu */
36
37
38 #include <urdf_model/twist.h>
39 #include <fstream>
40 #include <sstream>
41 #include <algorithm>
42 #include <tinyxml.h>
43 #include <console_bridge/console.h>
44
45 namespace urdf{
46
parseTwist(Twist & twist,TiXmlElement * xml)47 bool parseTwist(Twist &twist, TiXmlElement* xml)
48 {
49 twist.clear();
50 if (xml)
51 {
52 const char* linear_char = xml->Attribute("linear");
53 if (linear_char != NULL)
54 {
55 try {
56 twist.linear.init(linear_char);
57 }
58 catch (ParseError &e) {
59 twist.linear.clear();
60 CONSOLE_BRIDGE_logError("Malformed linear string [%s]: %s", linear_char, e.what());
61 return false;
62 }
63 }
64
65 const char* angular_char = xml->Attribute("angular");
66 if (angular_char != NULL)
67 {
68 try {
69 twist.angular.init(angular_char);
70 }
71 catch (ParseError &e) {
72 twist.angular.clear();
73 CONSOLE_BRIDGE_logError("Malformed angular [%s]: %s", angular_char, e.what());
74 return false;
75 }
76 }
77 }
78 return true;
79 }
80
81 }
82
83
84
85