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2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2008, Willow Garage, Inc.
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34
35 /* Author: John Hsu */
36 #pragma warning(push, 0)
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 return false;
61 }
62 }
63
64 const char* angular_char = xml->Attribute("angular");
65 if (angular_char != NULL)
66 {
67 try {
68 twist.angular.init(angular_char);
69 }
70 catch (ParseError &e) {
71 twist.angular.clear();
72 return false;
73 }
74 }
75 }
76 return true;
77 }
78
79 }
80
81 #pragma warning(pop)
82