├── test_pub.cpp
├── eigen-3.3.8
├── robot_basic_params.h
├── main.cpp
├── my_dynamic.h
├── my_dynamic.cpp
├── symrobotic.h
├── README.md
├── pugiconfig.hpp
├── urdf
    ├── puma560_robot.urdf
    ├── test.SLDASM.urdf
    ├── gluon.urdf
    └── ur5.urdf
├── symrobotic.cpp
└── pugixml.hpp


/test_pub.cpp:
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1 | 


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/eigen-3.3.8:
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1 | 
2 | 


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/robot_basic_params.h:
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1 | #pragma once
2 | #define DOF 6


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/main.cpp:
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https://raw.githubusercontent.com/OTT123/screw_based_robot_dynamic/HEAD/main.cpp


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/my_dynamic.h:
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https://raw.githubusercontent.com/OTT123/screw_based_robot_dynamic/HEAD/my_dynamic.h


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/my_dynamic.cpp:
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https://raw.githubusercontent.com/OTT123/screw_based_robot_dynamic/HEAD/my_dynamic.cpp


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/symrobotic.h:
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1 | #pragma once
2 | #include <cmath>
3 | #include "Eigen/Dense"
4 | #include "robot_basic_params.h"
5 | #include <iostream>
6 | 
7 | Eigen::Matrix<double, DOF* DOF, 1> M_gluon(const double* parms, const double* q);
8 | Eigen::Matrix<double, DOF, DOF> sym_M_gluon(const double* parms, const double* q);


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/README.md:
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 1 | # 基于旋量理论的固定基座开链机械臂动力学解算
 2 | 基于《现代机器人学》编写。实现了从urdf文件解析旋量理论参数的解析器以及迭代动力学算法。
 3 | 该工程仅能实现urdf的解析，以及动力学参数的数值解算。不具备其他任何功能。
 4 | 
 5 | # 编译方法
 6 | ## Windows
 7 | 将该工程下载到工作空间文件夹，在工作空间文件夹打开shell，（假设你的eigen路径为DIR）
 8 | 
 9 | `g++ symrobotic.cpp pugixml.cpp my_dynamic.cpp main.cpp -o main -IDIR`
10 | 
11 | 运行
12 | 
13 | `./main`
14 | 
15 | # screw_based_robot_dynamic
16 | ## 1. main.cpp
17 | 提供了一些测试方法。给出了如何计算样例机器人动力学参数的例子。
18 | 
19 | ## 2. my_dynamic.h
20 | 动力学算法头文件，注释都写在这个文件
21 | 
22 | ## 3. my_dynamic.cpp
23 | 动力学算法
24 | 
25 | ## 4.pugixml.cpp\pugixml.hpp\pugiconfig.hpp
26 | 解析xml语言的轻量级库
27 | 
28 | ## 5.robot_basic_params.h
29 | 留一个接口来设置机器人的一些基本参数，目前主要是设置机器人自由度DOF，默认是6
30 | 
31 | ## 6.symrobotic.cpp\symrobotic.h
32 | 计划的符号运算功能，还未实现，请忽略。
33 | 
34 | # 使用方法
35 | 在main.cpp中可以看到，可以切换一些机器人型号，设置关节角度，角速度，角加速度等。
36 | 
37 | 如果想要新增机器人，必须获得该机器人的urdf文件，并按照模板的格式设置urdf解析器的参数。
38 | 


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/pugiconfig.hpp:
--------------------------------------------------------------------------------
 1 | /**
 2 |  * pugixml parser - version 1.13
 3 |  * --------------------------------------------------------
 4 |  * Copyright (C) 2006-2022, by Arseny Kapoulkine (arseny.kapoulkine@gmail.com)
 5 |  * Report bugs and download new versions at https://pugixml.org/
 6 |  *
 7 |  * This library is distributed under the MIT License. See notice at the end
 8 |  * of this file.
 9 |  *
10 |  * This work is based on the pugxml parser, which is:
11 |  * Copyright (C) 2003, by Kristen Wegner (kristen@tima.net)
12 |  */
13 | 
14 | #ifndef HEADER_PUGICONFIG_HPP
15 | #define HEADER_PUGICONFIG_HPP
16 | 
17 |  // Uncomment this to enable wchar_t mode
18 |  // #define PUGIXML_WCHAR_MODE
19 | 
20 |  // Uncomment this to enable compact mode
21 |  // #define PUGIXML_COMPACT
22 | 
23 |  // Uncomment this to disable XPath
24 |  // #define PUGIXML_NO_XPATH
25 | 
26 |  // Uncomment this to disable STL
27 | #define PUGIXML_NO_STL
28 | 
29 | // Uncomment this to disable exceptions
30 | // #define PUGIXML_NO_EXCEPTIONS
31 | 
32 | // Set this to control attributes for public classes/functions, i.e.:
33 | // #define PUGIXML_API __declspec(dllexport) // to export all public symbols from DLL
34 | // #define PUGIXML_CLASS __declspec(dllimport) // to import all classes from DLL
35 | // #define PUGIXML_FUNCTION __fastcall // to set calling conventions to all public functions to fastcall
36 | // In absence of PUGIXML_CLASS/PUGIXML_FUNCTION definitions PUGIXML_API is used instead
37 | 
38 | // Tune these constants to adjust memory-related behavior
39 | // #define PUGIXML_MEMORY_PAGE_SIZE 32768
40 | // #define PUGIXML_MEMORY_OUTPUT_STACK 10240
41 | // #define PUGIXML_MEMORY_XPATH_PAGE_SIZE 4096
42 | 
43 | // Tune this constant to adjust max nesting for XPath queries
44 | // #define PUGIXML_XPATH_DEPTH_LIMIT 1024
45 | 
46 | // Uncomment this to switch to header-only version
47 | // #define PUGIXML_HEADER_ONLY
48 | 
49 | // Uncomment this to enable long long support
50 | // #define PUGIXML_HAS_LONG_LONG
51 | 
52 | #endif
53 | 
54 | /**
55 |  * Copyright (c) 2006-2022 Arseny Kapoulkine
56 |  *
57 |  * Permission is hereby granted, free of charge, to any person
58 |  * obtaining a copy of this software and associated documentation
59 |  * files (the "Software"), to deal in the Software without
60 |  * restriction, including without limitation the rights to use,
61 |  * copy, modify, merge, publish, distribute, sublicense, and/or sell
62 |  * copies of the Software, and to permit persons to whom the
63 |  * Software is furnished to do so, subject to the following
64 |  * conditions:
65 |  *
66 |  * The above copyright notice and this permission notice shall be
67 |  * included in all copies or substantial portions of the Software.
68 |  *
69 |  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
70 |  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
71 |  * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
72 |  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
73 |  * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
74 |  * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
75 |  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
76 |  * OTHER DEALINGS IN THE SOFTWARE.
77 |  */
78 | 


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/urdf/puma560_robot.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot name="PUMA560">
  3 | 
  4 |  <material name="color3">
  5 |      <color rgba="0.4 0.4 0.4 1"/>
  6 |   </material>
  7 | 
  8 |   <material name="color4">
  9 |      <color rgba="0.7 0.7 0.7 1"/>
 10 |   </material>
 11 | 
 12 |   <link name="base_link">
 13 |     <visual>
 14 |       <origin xyz="0 0 0" rpy="0 0 0"/>
 15 |       <geometry>
 16 |         
 17 |       </geometry>
 18 |       <material name="color3" />
 19 |     </visual>
 20 | 
 21 |     <collision>
 22 |       <origin xyz="0 0 0" rpy="0 0 0"/>
 23 |       <geometry>
 24 |         
 25 |       </geometry>
 26 |     </collision>
 27 |   </link>
 28 | 
 29 |   <joint name="J1" type="revolute">
 30 |     <parent link="base_link"/>
 31 |     <child  link="Link1"/>
 32 |     <origin xyz="0 0 0" rpy="0 0 0"/>
 33 |     <axis   xyz="0 0 1"/>
 34 |     <limit  effort="56" lower="-2.792526803" upper="2.792526803" velocity ="1.92" />
 35 |   </joint>
 36 | 
 37 |   <link name="Link1">
 38 |     <visual>
 39 |       <origin xyz="0 0 0.664" rpy="-1.570796 0 0"/>
 40 |       <geometry>
 41 |         
 42 |       </geometry>
 43 |       <material name="color4" />
 44 |     </visual>
 45 | 
 46 |     <collision>
 47 |       <origin xyz="0 0 0.664" rpy="-1.570796 0 0"/>
 48 |       <geometry>
 49 |         
 50 |       </geometry>
 51 |     </collision>
 52 | 
 53 |     <inertial>
 54 | 	<origin xyz="0 0 0.664" rpy ="0 0 0" />
 55 |         <mass value="0" /> 
 56 | 	<inertia ixx="0" ixy="0" ixz="0" iyy="0.35" iyz="0" izz="0" />	
 57 |     </inertial>
 58 |   </link>
 59 | 
 60 |   <joint name="J2" type="revolute">
 61 |     <parent link="Link1"/>
 62 |     <child  link="Link2"/>
 63 |     <origin xyz="0 0 0.664" rpy="-1.570796 0 0"/>
 64 |     <axis   xyz="0 0 1"/>
 65 |     <limit  effort="97" lower="-3.892084232" upper="0.750491578" velocity ="1.51" />
 66 |   </joint>
 67 | 
 68 |   <link name="Link2">
 69 |     <visual>
 70 |       <origin xyz="0.4318 0 0.129100" rpy="0 0 0"/>
 71 |       <geometry>
 72 |         
 73 |       </geometry>
 74 |       <material name="color4" />
 75 |     </visual>
 76 | 
 77 |     <collision>
 78 |       <origin xyz="0.4318 0 0.129100" rpy="0 0 0"/>
 79 |       <geometry>
 80 |         
 81 |       </geometry>
 82 |     </collision>
 83 | 
 84 |     <inertial>
 85 | 	<origin xyz="0.13 0.524 0.539" rpy ="0 0 0" />
 86 |         <mass value="17.4" /> 
 87 | 	<inertia ixx="-0.3638" ixy="0" ixz="0" iyy="0.006" iyz="0" izz="0.2275" />	
 88 |     </inertial>
 89 |   </link>
 90 | 
 91 |   <joint name="J3" type="revolute">
 92 |     <parent link="Link2"/>
 93 |     <child  link="Link3"/>
 94 |     <origin xyz="0.4318 0 0.1291" rpy="0 0 0"/>
 95 |     <axis   xyz="0 0 1"/>
 96 |     <limit  effort="52" lower="-0.907571211" upper="4.049163865" velocity ="2.40" />
 97 |   </joint>
 98 | 
 99 |   <link name="Link3">
100 |     <visual>
101 |       <origin xyz="-0.020300 0 0" rpy="1.570796327 0 0"/>
102 |       <geometry>
103 |         
104 |       </geometry>
105 |       <material name="color4" />
106 |     </visual>
107 | 
108 |     <collision>
109 |       <origin xyz="-0.020300 0 0" rpy="1.570796327 0 0"/>
110 |       <geometry>
111 |         <mesh filename="file:///root/puma-urdf/vrml/link3-convex.dae" />
112 |       </geometry>
113 |     </collision>
114 | 
115 |     <inertial>
116 | 	<origin xyz="-0.0203 -0.0141 0.07" rpy ="0 0 0" />
117 |         <mass value="4.8" /> 
118 | 	<inertia ixx="0.066" ixy="0" ixz="0" iyy="0.086" iyz="0" izz="0.0125" />	
119 |     </inertial>
120 |   </link>
121 | 
122 |   <joint name="J4" type="revolute">
123 |     <parent link="Link3"/>
124 |     <child  link="Link4"/>
125 |     <origin xyz="-0.0203 0 0" rpy="1.570796 0 0"/>
126 |     <axis   xyz="0 0 1"/>
127 |     <limit  effort="10" lower="-1.919862177" upper="3.141592654" velocity ="5.34" />
128 |   </joint>
129 | 
130 |   <link name="Link4">
131 |     <visual>
132 |       <origin xyz="0 0 0.433100" rpy="-1.570796 0 0"/>
133 |       <geometry>
134 |         
135 |       </geometry>
136 |       <material name="color3" />
137 |     </visual>
138 | 
139 |     <collision>
140 |       <origin xyz="0 0 0.433100" rpy="-1.570796 0 0"/>
141 |       <geometry>
142 |         
143 |       </geometry>
144 |     </collision>
145 | 
146 |     <inertial>
147 | 	<origin xyz="0 0.19 0" rpy ="0 0 0" />
148 |         <mass value="0.82" /> 
149 | 	<inertia ixx="1.8e-3" ixy="0" ixz="0" iyy="1.3e-3" iyz="0" izz="1.8e-3" />	
150 |     </inertial>
151 |   </link>
152 | 
153 |   <joint name="J5" type="revolute">
154 |     <parent link="Link4"/>
155 |     <child  link="Link5"/>
156 |     <origin xyz="0.0 0.0 0.4331" rpy="-1.570796 0 0"/>
157 |     <axis   xyz="0 0 1"/>
158 |     <limit  effort="10" lower="-1.745329252" upper="1.745329252" velocity ="5.09" />
159 |   </joint>
160 | 
161 |   <link name="Link5">
162 |     <visual>
163 |       <origin xyz="0 0 0" rpy="1.570796 0 0"/>
164 |       <geometry>
165 |         
166 |       </geometry>
167 |       <material name="color4" />
168 |     </visual>
169 | 
170 |     <collision>
171 |       <origin xyz="0 0 0" rpy="1.570796 0 0"/>
172 |       <geometry>
173 |         
174 |       </geometry>
175 |     </collision>
176 | 
177 |     <inertial>
178 | 	<origin xyz="0 0 0" rpy ="0 0 0" />
179 |         <mass value="0.34" /> 
180 | 	<inertia ixx="0.3e-3" ixy="0" ixz="0" iyy="0.4e-3" iyz="0" izz="0.3e-3" />	
181 |     </inertial>
182 |   </link>
183 | 
184 |   <joint name="J6" type="revolute">
185 |     <parent link="Link5"/>
186 |     <child  link="Link6"/>
187 |     <origin xyz="0 0 0" rpy="1.570796 0 0"/>
188 |     <axis   xyz="0 0 1"/>
189 |     <limit  effort="10" lower="-4.64257581" upper="+4.64257581" velocity ="5.74" />
190 |   </joint>
191 | 
192 |   <link name="Link6">
193 |     <visual>
194 |       <origin xyz="0 0 0.04125" rpy="0 0 0"/>
195 |       <geometry>
196 |         
197 |       </geometry>
198 |       <material name="color3" />
199 |     </visual>
200 | 
201 |     <collision>
202 |       <origin xyz="0 0 0.04125" rpy="0 0 0"/>
203 |       <geometry>
204 |         
205 |       </geometry>
206 |     </collision>
207 | 
208 |     <inertial>
209 | 	<origin xyz="0 0 0.032" rpy ="0 0 0" />
210 |         <mass value="0.09" /> 
211 | 	<inertia ixx="0.15e-3" ixy="0" ixz="0" iyy="0.15e-3" iyz="0" izz="0.04e-3" />	
212 |     </inertial>
213 |   </link>
214 | 
215 | </robot>


--------------------------------------------------------------------------------
/symrobotic.cpp:
--------------------------------------------------------------------------------
  1 | #include "symrobotic.h"
  2 | 
  3 | Eigen::Matrix<double, DOF* DOF, 1> M_gluon(const double* parms, const double* q)
  4 | {
  5 | 	Eigen::Matrix<double, DOF* DOF, 1> M;
  6 | 	double x0 = cos(q[1]);
  7 | 	double x1 = sin(q[1]);
  8 | 	double x2 = -x1;
  9 | 	double x3 = cos(q[2]);
 10 | 	double x4 = -x0;
 11 | 	double x5 = sin(q[2]);
 12 | 	double x6 = x2 * x3 + x4 * x5;
 13 | 	double x7 = -x6;
 14 | 	double x8 = cos(q[3]);
 15 | 	double x9 = x0 * x3 + x2 * x5;
 16 | 	double x10 = sin(q[3]);
 17 | 	double x11 = x10 * x9 + x7 * x8;
 18 | 	double x12 = x10 * x6 + x8 * x9;
 19 | 	double x13 = -0.08 * x1;
 20 | 	double x14 = -x13;
 21 | 	double x15 = -0.08 * x0;
 22 | 	double x16 = x14 * x5 + x15 * x3;
 23 | 	double x17 = -x9;
 24 | 	double x18 = x16 + 0.005 * x17;
 25 | 	double x19 = x13 * x3 + x15 * x5;
 26 | 	double x20 = x19 + 0.005 * x6;
 27 | 	double x21 = x10 * x18 + x20 * x8;
 28 | 	double x22 = -x21;
 29 | 	double x23 = -0.175 * x2;
 30 | 	double x24 = x23 + 0.17 * x7;
 31 | 	double x25 = cos(q[4]);
 32 | 	double x26 = x11 * x25;
 33 | 	double x27 = -x26;
 34 | 	double x28 = sin(q[5]);
 35 | 	double x29 = cos(q[5]);
 36 | 	double x30 = x12 * x29 + x27 * x28;
 37 | 	double x31 = x12 * x28 + x26 * x29;
 38 | 	double x32 = -x11;
 39 | 	double x33 = sin(q[4]);
 40 | 	double x34 = x32 * x33;
 41 | 	double x35 = -x34;
 42 | 	double x36 = -0.08 * x11 - x24;
 43 | 	double x37 = -x8;
 44 | 	double x38 = x10 * x20 + x18 * x37;
 45 | 	double x39 = x25 * x38 + x33 * x36;
 46 | 	double x40 = x21 * x28 + x29 * x39;
 47 | 	double x41 = -parms[56];
 48 | 	double x42 = -x38;
 49 | 	double x43 = x25 * x36 + x33 * x42;
 50 | 	double x44 = -x43;
 51 | 	double x45 = parms[51] * x31 + parms[53] * x30 + parms[54] * x35 + parms[58] * x40 + x41 * x44;
 52 | 	double x46 = -x28;
 53 | 	double x47 = -parms[58];
 54 | 	double x48 = -x39;
 55 | 	double x49 = x21 * x29 + x28 * x48;
 56 | 	double x50 = parms[50] * x31 + parms[51] * x30 + parms[52] * x35 + parms[57] * x44 + x47 * x49;
 57 | 	double x51 = parms[40] * x26 + parms[41] * x34 + parms[42] * x12 + parms[47] * x21 + parms[48] * x44 + x29 * x50 + x45 * x46;
 58 | 	double x52 = parms[56] * x35 - parms[58] * x31 + parms[59] * x49;
 59 | 	double x53 = -parms[57] * x35 + parms[58] * x30 + parms[59] * x40;
 60 | 	double x54 = -x12;
 61 | 	double x55 = parms[47] * x54 + parms[48] * x34 + parms[49] * x39 + x29 * x53 + x46 * x52;
 62 | 	double x56 = -parms[57];
 63 | 	double x57 = parms[52] * x31 + parms[54] * x30 + parms[55] * x35 + parms[56] * x49 + x40 * x56;
 64 | 	double x58 = parms[41] * x26 + parms[43] * x34 + parms[44] * x12 + parms[46] * x22 + parms[48] * x39 - x57;
 65 | 	double x59 = -x33;
 66 | 	double x60 = parms[46] * x12 + parms[48] * x27 + parms[49] * x43 + parms[56] * x30 - parms[57] * x31 - parms[59] * x44;
 67 | 	double x61 = -0.08 * x25;
 68 | 	double x62 = parms[30] * x11 + parms[31] * x12 + parms[37] * x24 + parms[38] * x22 + x25 * x51 - 0.08 * x33 * x55 + x58 * x59 + x60 * x61;
 69 | 	double x63 = parms[42] * x26 + parms[44] * x34 + parms[45] * x12 + parms[46] * x43 + parms[47] * x48 + x28 * x50 + x29 * x45;
 70 | 	double x64 = parms[31] * x11 + parms[33] * x12 - parms[36] * x24 + parms[38] * x38 + x63;
 71 | 	double x65 = -x60;
 72 | 	double x66 = parms[36] * x54 + parms[37] * x11 + parms[39] * x24 + x25 * x65 + x55 * x59;
 73 | 	double x67 = x25 * x55;
 74 | 	double x68 = parms[38] * x12 + parms[39] * x38 + x33 * x65 + x67;
 75 | 	double x69 = x10 * x68;
 76 | 	double x70 = parms[38] * x32 + parms[39] * x21 + parms[46] * x35 + parms[47] * x26 + parms[49] * x21 + x28 * x53 + x29 * x52;
 77 | 	double x71 = x70 * x8;
 78 | 	double x72 = parms[21] * x9 + parms[23] * x6 - parms[26] * x23 + parms[28] * x19 + x10 * x64 + x37 * x62 - 0.17 * x66 + 0.005 * x69 + 0.005 * x71;
 79 | 	double x73 = -x5;
 80 | 	double x74 = x68 * x8;
 81 | 	double x75 = x10 * x70;
 82 | 	double x76 = parms[20] * x9 + parms[21] * x6 + parms[27] * x23 - parms[28] * x16 + x10 * x62 + x64 * x8 + 0.005 * x74 - 0.005 * x75;
 83 | 	double x77 = parms[28] * x6 + parms[29] * x19 + x69 + x71;
 84 | 	double x78 = x5 * x77;
 85 | 	double x79 = parms[28] * x17 + parms[29] * x16 + x37 * x68 + x75;
 86 | 	double x80 = x3 * x79;
 87 | 	double x81 = 0.08 * x33;
 88 | 	double x82 = -x25;
 89 | 	double x83 = parms[32] * x11 + parms[34] * x12 + parms[36] * x21 + parms[37] * x42 + x51 * x59 + x58 * x82 + x60 * x81 - 0.08 * x67;
 90 | 	double x84 = -parms[27];
 91 | 	double x85 = parms[22] * x9 + parms[24] * x6 + parms[26] * x16 + x19 * x84 - 0.17 * x74 + 0.17 * x75 + x83;
 92 | 	double x86 = parms[12] * x0 + parms[14] * x2 + parms[16] * x15 + parms[17] * x14 + 0.175 * x78 + 0.175 * x80 + x85;
 93 | 	double x87 = -x82;
 94 | 	double x88 = x29 * x59;
 95 | 	double x89 = parms[56] * x87 - parms[58] * x88;
 96 | 	double x90 = 0.175 * x3;
 97 | 	double x91 = x90 + 0.17;
 98 | 	double x92 = 0.175 * x5;
 99 | 	double x93 = x10 * x91 + x8 * x92;
100 | 	double x94 = x10 * x92 + x37 * x91;
101 | 	double x95 = x94 - 0.08;
102 | 	double x96 = x25 * x95;
103 | 	double x97 = x29 * x93 + x46 * x96;
104 | 	double x98 = parms[59] * x97 + x89;
105 | 	double x99 = parms[46] * x87 + parms[47] * x59;
106 | 	double x100 = x46 * x59;
107 | 	double x101 = -parms[57] * x87 + parms[58] * x100;
108 | 	double x102 = x28 * x93 + x29 * x96;
109 | 	double x103 = parms[59] * x102 + x101;
110 | 	double x104 = parms[36] + parms[39] * x93 + parms[49] * x93 + x103 * x28 + x29 * x98 + x99;
111 | 	double x105 = x10 * x104;
112 | 	double x106 = x59 * x95;
113 | 	double x107 = -parms[48] * x59;
114 | 	double x108 = -x106;
115 | 	double x109 = -parms[56] * x100 + parms[57] * x88;
116 | 	double x110 = parms[49] * x106 - parms[59] * x108 + x107 - x109;
117 | 	double x111 = -parms[37];
118 | 	double x112 = parms[48] * x82;
119 | 	double x113 = x25 * (parms[49] * x96 + x103 * x29 + x112 + x46 * x98);
120 | 	double x114 = parms[39] * x94 + x110 * x59 + x111 + x113;
121 | 	double x115 = parms[41] * x59 + parms[43] * x82;
122 | 	double x116 = parms[52] * x88 + parms[54] * x100 + parms[55] * x87;
123 | 	double x117 = parms[56] * x97 + x102 * x56 + x116;
124 | 	double x118 = parms[50] * x88 + parms[51] * x100 + parms[52] * x87;
125 | 	double x119 = parms[57] * x108 + x118 + x47 * x97;
126 | 	double x120 = parms[40] * x59 + parms[41] * x82;
127 | 	double x121 = parms[51] * x88 + parms[53] * x100 + parms[54] * x87;
128 | 	double x122 = parms[58] * x102 + x108 * x41 + x121;
129 | 	double x123 = parms[35] + parms[36] * x93 + x110 * x81 + x111 * x94 - 0.08 * x113 + x59 * (parms[47] * x93 + parms[48] * x108 + x119 * x29 + x120 + x122 * x46) + x82 * (-parms[46] * x93 + parms[48] * x96 + x115 - x117);
130 | 	double x124 = parms[25] + parms[26] * x90 + 0.17 * x105 - 0.17 * x114 * x8 + x123 + x84 * x92;
131 | 	double x125 = -parms[47];
132 | 	double x126 = parms[42] * x59 + parms[44] * x82;
133 | 	double x127 = parms[46] * x106 + x119 * x28 + x122 * x29 + x125 * x96 + x126;
134 | 	double x128 = -0.17 * x8;
135 | 	double x129 = x128 - 0.08;
136 | 	double x130 = x129 * x59;
137 | 	double x131 = -x130;
138 | 	double x132 = parms[49] * x130 - parms[59] * x131 + x107 - x109;
139 | 	double x133 = 0.17 * x10;
140 | 	double x134 = x129 * x25;
141 | 	double x135 = x133 * x28 + x134 * x29;
142 | 	double x136 = parms[58] * x135 + x121 + x131 * x41;
143 | 	double x137 = x133 * x29 + x134 * x46;
144 | 	double x138 = parms[57] * x131 + x118 + x137 * x47;
145 | 	double x139 = parms[56] * x137 + x116 + x135 * x56;
146 | 	double x140 = parms[59] * x135 + x101;
147 | 	double x141 = parms[59] * x137 + x89;
148 | 	double x142 = parms[49] * x134 + x112 + x140 * x29 + x141 * x46;
149 | 	double x143 = parms[35] + parms[36] * x133 + x111 * x128 + x132 * x81 + x142 * x61 + x59 * (parms[47] * x133 + parms[48] * x131 + x120 + x136 * x46 + x138 * x29) + x82 * (-parms[46] * x133 + parms[48] * x134 + x115 - x139);
150 | 	double x144 = parms[46] * x130 + x125 * x134 + x126 + x136 * x29 + x138 * x28;
151 | 	double x145 = x29 * x61;
152 | 	double x146 = x46 * x61;
153 | 	double x147 = -x81;
154 | 	double x148 = parms[57] * x147 + x118 + x146 * x47;
155 | 	double x149 = parms[58] * x145 + x121 + x147 * x41;
156 | 	double x150 = parms[56] * x146 + x116 + x145 * x56;
157 | 	double x151 = parms[46] * x81 + x125 * x61 + x126 + x148 * x28 + x149 * x29;
158 | 	double x152 = parms[52] * x28 + parms[54] * x29;
159 | 	//
160 | 	M[0] = parms[5] + x0 * (parms[10] * x0 + parms[11] * x2 - parms[18] * x15 + x3 * x76 + x72 * x73) + x13 * (parms[18] * x2 + parms[19] * x13 + x3 * x77 + x73 * x79) + x15 * (parms[18] * x4 + parms[19] * x15 + x78 + x80) + x2 * (parms[11] * x0 + parms[13] * x2 + parms[18] * x13 - 0.175 * parms[26] * x7 - 0.175 * parms[27] * x9 - 0.175 * parms[29] * x23 + x3 * x72 + x5 * x76 - 0.175 * x66);
161 | 	M[1] = x86;
162 | 	M[2] = x85;
163 | 	M[3] = x83;
164 | 	M[4] = x63;
165 | 	M[5] = x57;
166 | 	M[6] = x86;
167 | 	M[7] = parms[15] + x124 + x90 * (parms[26] + parms[29] * x90 + x105 + x114 * x37) + x92 * (parms[29] * x92 + x10 * x114 + x104 * x8 + x84);
168 | 	M[8] = x124;
169 | 	M[9] = x123;
170 | 	M[10] = x127;
171 | 	M[11] = x117;
172 | 	M[12] = x85;
173 | 	M[13] = x124;
174 | 	M[14] = parms[25] + x128 * (parms[39] * x128 + x111 + x132 * x59 + x142 * x25) + x133 * (parms[36] + parms[39] * x133 + parms[49] * x133 + x140 * x28 + x141 * x29 + x99) + x143;
175 | 	M[15] = x143;
176 | 	M[16] = x144;
177 | 	M[17] = x139;
178 | 	M[18] = x83;
179 | 	M[19] = x123;
180 | 	M[20] = x143;
181 | 	M[21] = parms[35] + x59 * (parms[48] * x147 + x120 + x148 * x29 + x149 * x46) + x61 * (parms[49] * x61 + x112 + x29 * (parms[59] * x145 + x101) + x46 * (parms[59] * x146 + x89)) + x81 * (parms[49] * x81 - parms[59] * x147 + x107 - x109) + x82 * (parms[48] * x61 + x115 - x150);
182 | 	M[22] = x151;
183 | 	M[23] = x150;
184 | 	M[24] = x63;
185 | 	M[25] = x127;
186 | 	M[26] = x144;
187 | 	M[27] = x151;
188 | 	M[28] = parms[45] + x28 * (parms[50] * x28 + parms[51] * x29) + x29 * (parms[51] * x28 + parms[53] * x29);
189 | 	M[29] = x152;
190 | 	M[30] = x57;
191 | 	M[31] = x117;
192 | 	M[32] = x139;
193 | 	M[33] = x150;
194 | 	M[34] = x152;
195 | 	M[35] = parms[55];
196 | 	//
197 | 	return M;
198 | }
199 | 
200 | 
201 | Eigen::Matrix<double, DOF, DOF> sym_M_gluon(const double* parms, const double* q)
202 | {
203 | 	Eigen::Matrix<double, DOF* DOF, 1> M_temp;
204 | 	Eigen::Matrix<double, DOF, DOF> M;
205 | 	M_temp = M_gluon(parms, q);
206 | 	for (int i = 0; i < DOF; ++i)
207 | 	{
208 | 		M.row(i) = M_temp.block(i * DOF, 0, DOF, 1).transpose();
209 | 		std::cout << M_temp.block(i * DOF, 0, DOF, 1) << std::endl;
210 | 	}
211 | 	return M;
212 | }


--------------------------------------------------------------------------------
/urdf/test.SLDASM.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
  3 |      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
  4 |      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
  5 | <robot
  6 |   name="test.SLDASM">
  7 |   <link
  8 |     name="base_link">
  9 |     <inertial>
 10 |       <origin
 11 |         xyz="-0.00720666779353158 0.000713064762091468 0.0609883687542267"
 12 |         rpy="0 0 0" />
 13 |       <mass
 14 |         value="7.53159037017662" />
 15 |       <inertia
 16 |         ixx="0.0423766261650879"
 17 |         ixy="-4.99479611520214E-05"
 18 |         ixz="-0.00139074287766042"
 19 |         iyy="0.0529893120301322"
 20 |         iyz="9.61012161250237E-05"
 21 |         izz="0.0720686241360898" />
 22 |     </inertial>
 23 |     <visual>
 24 |       <origin
 25 |         xyz="0 0 0"
 26 |         rpy="0 0 0" />
 27 |       <geometry>
 28 |         <mesh
 29 |           filename="package://test.SLDASM/meshes/base_link.STL" />
 30 |       </geometry>
 31 |       <material
 32 |         name="">
 33 |         <color
 34 |           rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
 35 |       </material>
 36 |     </visual>
 37 |     <collision>
 38 |       <origin
 39 |         xyz="0 0 0"
 40 |         rpy="0 0 0" />
 41 |       <geometry>
 42 |         <mesh
 43 |           filename="package://test.SLDASM/meshes/base_link.STL" />
 44 |       </geometry>
 45 |     </collision>
 46 |   </link>
 47 |   <link
 48 |     name="1_Link">
 49 |     <inertial>
 50 |       <origin
 51 |         xyz="-1.9165E-06 -0.014607 0.19786"
 52 |         rpy="0 0 0" />
 53 |       <mass
 54 |         value="13.83" />
 55 |       <inertia
 56 |         ixx="0.19598"
 57 |         ixy="-7.2096E-08"
 58 |         ixz="-2.9964E-07"
 59 |         iyy="0.18896"
 60 |         iyz="0.018237"
 61 |         izz="0.086038" />
 62 |     </inertial>
 63 |     <visual>
 64 |       <origin
 65 |         xyz="0 0 0"
 66 |         rpy="0 0 0" />
 67 |       <geometry>
 68 |         <mesh
 69 |           filename="package://test.SLDASM/meshes/1_Link.STL" />
 70 |       </geometry>
 71 |       <material
 72 |         name="">
 73 |         <color
 74 |           rgba="0.59216 0.66667 0.68235 1" />
 75 |       </material>
 76 |     </visual>
 77 |     <collision>
 78 |       <origin
 79 |         xyz="0 0 0"
 80 |         rpy="0 0 0" />
 81 |       <geometry>
 82 |         <mesh
 83 |           filename="package://test.SLDASM/meshes/1_Link.STL" />
 84 |       </geometry>
 85 |     </collision>
 86 |   </link>
 87 |   <joint
 88 |     name="1_joint"
 89 |     type="revolute">
 90 |     <origin
 91 |       xyz="0 -0.13 0"
 92 |       rpy="1.5708 0 0" />
 93 |     <parent
 94 |       link="base_link" />
 95 |     <child
 96 |       link="1_Link" />
 97 |     <axis
 98 |       xyz="0 0 1" />
 99 |     <limit
100 |       lower="-3.0543"
101 |       upper="3.0543"
102 |       effort="0"
103 |       velocity="0" />
104 |   </joint>
105 |   <link
106 |     name="2_Link">
107 |     <inertial>
108 |       <origin
109 |         xyz="1.0986E-05 -0.1326 0.40956"
110 |         rpy="0 0 0" />
111 |       <mass
112 |         value="29.381" />
113 |       <inertia
114 |         ixx="3.4345"
115 |         ixy="6.7106E-06"
116 |         ixz="-1.9695E-05"
117 |         iyy="3.4143"
118 |         iyz="-0.0090302"
119 |         izz="0.14907" />
120 |     </inertial>
121 |     <visual>
122 |       <origin
123 |         xyz="0 0 0"
124 |         rpy="0 0 0" />
125 |       <geometry>
126 |         <mesh
127 |           filename="package://test.SLDASM/meshes/2_Link.STL" />
128 |       </geometry>
129 |       <material
130 |         name="">
131 |         <color
132 |           rgba="0.59216 0.66667 0.68235 1" />
133 |       </material>
134 |     </visual>
135 |     <collision>
136 |       <origin
137 |         xyz="0 0 0"
138 |         rpy="0 0 0" />
139 |       <geometry>
140 |         <mesh
141 |           filename="package://test.SLDASM/meshes/2_Link.STL" />
142 |       </geometry>
143 |     </collision>
144 |   </link>
145 |   <joint
146 |     name="2_joint"
147 |     type="revolute">
148 |     <origin
149 |       xyz="0 -0.12 0.288"
150 |       rpy="0 0 0" />
151 |     <parent
152 |       link="1_Link" />
153 |     <child
154 |       link="2_Link" />
155 |     <axis
156 |       xyz="0 1 0" />
157 |     <limit
158 |       lower="-3.0543"
159 |       upper="3.0543"
160 |       effort="0"
161 |       velocity="0" />
162 |   </joint>
163 |   <link
164 |     name="3_Link">
165 |     <inertial>
166 |       <origin
167 |         xyz="4.5701E-07 0.092326 0.054276"
168 |         rpy="0 0 0" />
169 |       <mass
170 |         value="7.4404" />
171 |       <inertia
172 |         ixx="0.068411"
173 |         ixy="3.2532E-07"
174 |         ixz="2.7573E-07"
175 |         iyy="0.061947"
176 |         iyz="-0.010933"
177 |         izz="0.034899" />
178 |     </inertial>
179 |     <visual>
180 |       <origin
181 |         xyz="0 0 0"
182 |         rpy="0 0 0" />
183 |       <geometry>
184 |         <mesh
185 |           filename="package://test.SLDASM/meshes/3_Link.STL" />
186 |       </geometry>
187 |       <material
188 |         name="">
189 |         <color
190 |           rgba="0.59216 0.66667 0.68235 1" />
191 |       </material>
192 |     </visual>
193 |     <collision>
194 |       <origin
195 |         xyz="0 0 0"
196 |         rpy="0 0 0" />
197 |       <geometry>
198 |         <mesh
199 |           filename="package://test.SLDASM/meshes/3_Link.STL" />
200 |       </geometry>
201 |     </collision>
202 |   </link>
203 |   <joint
204 |     name="3_joint"
205 |     type="revolute">
206 |     <origin
207 |       xyz="0 0 0.9"
208 |       rpy="0 0 0" />
209 |     <parent
210 |       link="2_Link" />
211 |     <child
212 |       link="3_Link" />
213 |     <axis
214 |       xyz="0 1 0" />
215 |     <limit
216 |       lower="-2.9671"
217 |       upper="2.9671"
218 |       effort="0"
219 |       velocity="0" />
220 |   </joint>
221 |   <link
222 |     name="4_Link">
223 |     <inertial>
224 |       <origin
225 |         xyz="-1.44453984207843E-07 0.00598790790425299 0.289432406549872"
226 |         rpy="0 0 0" />
227 |       <mass
228 |         value="8.24860100313096" />
229 |       <inertia
230 |         ixx="0.262124260493829"
231 |         ixy="-1.39130755979019E-07"
232 |         ixz="6.46040974907991E-07"
233 |         iyy="0.259187262563309"
234 |         iyz="-0.012407604856629"
235 |         izz="0.0204448753387164" />
236 |     </inertial>
237 |     <visual>
238 |       <origin
239 |         xyz="0 0 0"
240 |         rpy="0 0 0" />
241 |       <geometry>
242 |         <mesh
243 |           filename="package://test.SLDASM/meshes/4_Link.STL" />
244 |       </geometry>
245 |       <material
246 |         name="">
247 |         <color
248 |           rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
249 |       </material>
250 |     </visual>
251 |     <collision>
252 |       <origin
253 |         xyz="0 0 0"
254 |         rpy="0 0 0" />
255 |       <geometry>
256 |         <mesh
257 |           filename="package://test.SLDASM/meshes/4_Link.STL" />
258 |       </geometry>
259 |     </collision>
260 |   </link>
261 |   <joint
262 |     name="4_joint"
263 |     type="revolute">
264 |     <origin
265 |       xyz="0 0.12 0.208"
266 |       rpy="0 0 0" />
267 |     <parent
268 |       link="3_Link" />
269 |     <child
270 |       link="4_Link" />
271 |     <axis
272 |       xyz="0 0 1" />
273 |     <limit
274 |       lower="-3.0543"
275 |       upper="3.0543"
276 |       effort="0"
277 |       velocity="0" />
278 |   </joint>
279 |   <link
280 |     name="5_Link">
281 |     <inertial>
282 |       <origin
283 |         xyz="1.3378E-06 0.10045 0.0031584"
284 |         rpy="0 0 0" />
285 |       <mass
286 |         value="2.0105" />
287 |       <inertia
288 |         ixx="0.0080294"
289 |         ixy="-2.6609E-08"
290 |         ixz="-3.6677E-08"
291 |         iyy="0.0078418"
292 |         iyz="-9.7837E-05"
293 |         izz="0.003417" />
294 |     </inertial>
295 |     <visual>
296 |       <origin
297 |         xyz="0 0 0"
298 |         rpy="0 0 0" />
299 |       <geometry>
300 |         <mesh
301 |           filename="package://test.SLDASM/meshes/5_Link.STL" />
302 |       </geometry>
303 |       <material
304 |         name="">
305 |         <color
306 |           rgba="0.59216 0.66667 0.68235 1" />
307 |       </material>
308 |     </visual>
309 |     <collision>
310 |       <origin
311 |         xyz="0 0 0"
312 |         rpy="0 0 0" />
313 |       <geometry>
314 |         <mesh
315 |           filename="package://test.SLDASM/meshes/5_Link.STL" />
316 |       </geometry>
317 |     </collision>
318 |   </link>
319 |   <joint
320 |     name="5_joint"
321 |     type="revolute">
322 |     <origin
323 |       xyz="0 0.061743 0.542"
324 |       rpy="0 0 0" />
325 |     <parent
326 |       link="4_Link" />
327 |     <child
328 |       link="5_Link" />
329 |     <axis
330 |       xyz="0 1 0" />
331 |     <limit
332 |       lower="-3.0543"
333 |       upper="3.0543"
334 |       effort="0"
335 |       velocity="0" />
336 |   </joint>
337 |   <link
338 |     name="6_Link">
339 |     <inertial>
340 |       <origin
341 |         xyz="-7.9542E-07 -0.00012277 0.028218"
342 |         rpy="0 0 0" />
343 |       <mass
344 |         value="0.42363" />
345 |       <inertia
346 |         ixx="0.00043543"
347 |         ixy="5.921E-09"
348 |         ixz="6.203E-09"
349 |         iyy="0.00043831"
350 |         iyz="3.6736E-07"
351 |         izz="0.00073111" />
352 |     </inertial>
353 |     <visual>
354 |       <origin
355 |         xyz="0 0 0"
356 |         rpy="0 0 0" />
357 |       <geometry>
358 |         <mesh
359 |           filename="package://test.SLDASM/meshes/6_Link.STL" />
360 |       </geometry>
361 |       <material
362 |         name="">
363 |         <color
364 |           rgba="0.59216 0.66667 0.68235 1" />
365 |       </material>
366 |     </visual>
367 |     <collision>
368 |       <origin
369 |         xyz="0 0 0"
370 |         rpy="0 0 0" />
371 |       <geometry>
372 |         <mesh
373 |           filename="package://test.SLDASM/meshes/6_Link.STL" />
374 |       </geometry>
375 |     </collision>
376 |   </link>
377 |   <joint
378 |     name="6_joint"
379 |     type="revolute">
380 |     <origin
381 |       xyz="0 0.10826 0.0876"
382 |       rpy="0 0 0" />
383 |     <parent
384 |       link="5_Link" />
385 |     <child
386 |       link="6_Link" />
387 |     <axis
388 |       xyz="0 0 1" />
389 |     <limit
390 |       lower="-3.0543"
391 |       upper="3.0543"
392 |       effort="0"
393 |       velocity="0" />
394 |   </joint>
395 | </robot>


--------------------------------------------------------------------------------
/urdf/gluon.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
  3 |      Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
  4 |      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
  5 | <robot
  6 |   name="gluon">
  7 |   <link
  8 |     name="dummy">
  9 |   </link>
 10 |   <link
 11 |     name="base_link">
 12 |     <inertial>
 13 |       <origin
 14 |         xyz="4.33680868994202E-18 -6.00214600243731E-11 0.0271404483614374"
 15 |         rpy="0 0 0" />
 16 |       <mass
 17 |         value="0.524001417146026" />
 18 |       <inertia
 19 |         ixx="0.000535467082580035"
 20 |         ixy="-5.8056109802237E-10"
 21 |         ixz="3.22416889484249E-20"
 22 |         iyy="0.000535467122847014"
 23 |         iyz="-1.91837356854663E-11"
 24 |         izz="0.000799852045598815" />
 25 |     </inertial>
 26 |     <visual>
 27 |       <origin
 28 |         xyz="0 0 0"
 29 |         rpy="0 0 0" />
 30 |       <geometry>
 31 |         <mesh
 32 |           filename="package://gluon/meshes/base_link.STL" />
 33 |       </geometry>
 34 |       <material
 35 |         name="">
 36 |         <color
 37 |           rgba="1 1 1 1" />
 38 |       </material>
 39 |     </visual>
 40 |     <collision>
 41 |       <origin
 42 |         xyz="0 0 0"
 43 |         rpy="0 0 0" />
 44 |       <geometry>
 45 |         <mesh
 46 |           filename="package://gluon/meshes/base_link.STL" />
 47 |       </geometry>
 48 |     </collision>
 49 |   </link>
 50 |   <joint
 51 |     name="dummy_joint"
 52 |     type="fixed">
 53 |     <origin
 54 |         xyz="0 0 0"
 55 |         rpy="0 0 0" />
 56 |     <parent
 57 |         link="dummy" />
 58 |     <child
 59 |         link="base_link" />
 60 |   </joint>
 61 |   <link
 62 |     name="1_Link">
 63 |     <inertial>
 64 |       <origin
 65 |         xyz="0.00464247258603146 -3.55800695980568E-05 -0.000556506974114818"
 66 |         rpy="0 0 0" />
 67 |       <mass
 68 |         value="0.166259789544396" />
 69 |       <inertia
 70 |         ixx="6.76518298922659E-05"
 71 |         ixy="-1.5556489245956E-08"
 72 |         ixz="-8.15879264327807E-06"
 73 |         iyy="6.70385565720365E-05"
 74 |         iyz="4.11369338798553E-08"
 75 |         izz="6.03698353342124E-05" />
 76 |     </inertial>
 77 |     <visual>
 78 |       <origin
 79 |         xyz="0 0 0"
 80 |         rpy="0 0 0" />
 81 |       <geometry>
 82 |         <mesh
 83 |           filename="package://gluon/meshes/1_Link.STL" />
 84 |       </geometry>
 85 |       <material
 86 |         name="">
 87 |         <color
 88 |           rgba="1 1 1 1" />
 89 |       </material>
 90 |     </visual>
 91 |     <collision>
 92 |       <origin
 93 |         xyz="0 0 0"
 94 |         rpy="0 0 0" />
 95 |       <geometry>
 96 |         <mesh
 97 |           filename="package://gluon/meshes/1_Link.STL" />
 98 |       </geometry>
 99 |     </collision>
100 |   </link>
101 |   <joint
102 |     name="axis_joint_1"
103 |     type="revolute">
104 |     <origin
105 |       xyz="-2.4327E-05 2.2695E-05 0.105"
106 |       rpy="0 0 0" />
107 |     <parent
108 |       link="base_link" />
109 |     <child
110 |       link="1_Link" />
111 |     <axis
112 |       xyz="0 0 -1" />
113 |     <limit
114 |       lower="-2.79"
115 |       upper="2.79"
116 |       effort="30"
117 |       velocity="3.14" />
118 |   </joint>
119 |   <link
120 |     name="2_Link">
121 |     <inertial>
122 |       <origin
123 |         xyz="-0.00354399449686532 6.83167072432211E-06 0.0535596075762168"
124 |         rpy="0 0 0" />
125 |       <mass
126 |         value="0.316094041078938" />
127 |       <inertia
128 |         ixx="0.000174638310500152"
129 |         ixy="-4.1835416811351E-08"
130 |         ixz="-2.08841744154906E-07"
131 |         iyy="0.000184936237600061"
132 |         iyz="1.60668786323061E-08"
133 |         izz="0.000107780595065675" />
134 |     </inertial>
135 |     <visual>
136 |       <origin
137 |         xyz="0 0 0"
138 |         rpy="0 0 0" />
139 |       <geometry>
140 |         <mesh
141 |           filename="package://gluon/meshes/2_Link.STL" />
142 |       </geometry>
143 |       <material
144 |         name="">
145 |         <color
146 |           rgba="1 1 1 1" />
147 |       </material>
148 |     </visual>
149 |     <collision>
150 |       <origin
151 |         xyz="0 0 0"
152 |         rpy="0 0 0" />
153 |       <geometry>
154 |         <mesh
155 |           filename="package://gluon/meshes/2_Link.STL" />
156 |       </geometry>
157 |     </collision>
158 |   </link>
159 |   <joint
160 |     name="axis_joint_2"
161 |     type="revolute">
162 |     <origin
163 |       xyz="0.080113 -2.2695E-05 0"
164 |       rpy="0 0 0" />
165 |     <parent
166 |       link="1_Link" />
167 |     <child
168 |       link="2_Link" />
169 |     <axis
170 |       xyz="-1 0 0" />
171 |     <limit
172 |       lower="-1.54"
173 |       upper="1.54"
174 |       effort="30"
175 |       velocity="3.14" />
176 |   </joint>
177 |   <link
178 |     name="3_Link">
179 |     <inertial>
180 |       <origin
181 |         xyz="-0.046552753550141 -6.68259662081616E-06 0.0523242797053055"
182 |         rpy="0 0 0" />
183 |       <mass
184 |         value="0.323135746651779" />
185 |       <inertia
186 |         ixx="0.000176611314431077"
187 |         ixy="4.18325643591624E-08"
188 |         ixz="2.08841259569185E-07"
189 |         iyy="0.000185932099122903"
190 |         iyz="1.40317731158265E-08"
191 |         izz="0.000108776454638344" />
192 |     </inertial>
193 |     <visual>
194 |       <origin
195 |         xyz="0 0 0"
196 |         rpy="0 0 0" />
197 |       <geometry>
198 |         <mesh
199 |           filename="package://gluon/meshes/3_Link.STL" />
200 |       </geometry>
201 |       <material
202 |         name="">
203 |         <color
204 |           rgba="1 1 1 1" />
205 |       </material>
206 |     </visual>
207 |     <collision>
208 |       <origin
209 |         xyz="0 0 0"
210 |         rpy="0 0 0" />
211 |       <geometry>
212 |         <mesh
213 |           filename="package://gluon/meshes/3_Link.STL" />
214 |       </geometry>
215 |     </collision>
216 |   </link>
217 |   <joint
218 |     name="axis_joint_3"
219 |     type="revolute">
220 |     <origin
221 |       xyz="0 0 0.17447"
222 |       rpy="0 0 0" />
223 |     <parent
224 |       link="2_Link" />
225 |     <child
226 |       link="3_Link" />
227 |     <axis
228 |       xyz="1 0 0" />
229 |     <limit
230 |       lower="-2.79"
231 |       upper="2.79"
232 |       effort="30"
233 |       velocity="3.14" />
234 |   </joint>
235 |   <link
236 |     name="4_Link">
237 |     <inertial>
238 |       <origin
239 |         xyz="0.0182269184920331 1.24412678982888E-05 0.00395855146065832"
240 |         rpy="0 0 0" />
241 |       <mass
242 |         value="0.174947986817189" />
243 |       <inertia
244 |         ixx="6.61039276820243E-05"
245 |         ixy="4.2340099438174E-08"
246 |         ixz="-8.15879264340351E-06"
247 |         iyy="6.76311730651952E-05"
248 |         iyz="-1.4353323683088E-08"
249 |         izz="6.34296690009448E-05" />
250 |     </inertial>
251 |     <visual>
252 |       <origin
253 |         xyz="0 0 0"
254 |         rpy="0 0 0" />
255 |       <geometry>
256 |         <mesh
257 |           filename="package://gluon/meshes/4_Link.STL" />
258 |       </geometry>
259 |       <material
260 |         name="">
261 |         <color
262 |           rgba="1 1 1 1" />
263 |       </material>
264 |     </visual>
265 |     <collision>
266 |       <origin
267 |         xyz="0 0 0"
268 |         rpy="0 0 0" />
269 |       <geometry>
270 |         <mesh
271 |           filename="package://gluon/meshes/4_Link.STL" />
272 |       </geometry>
273 |     </collision>
274 |   </link>
275 |   <joint
276 |     name="axis_joint_4"
277 |     type="revolute">
278 |     <origin
279 |       xyz="-0.084516 0 0.17442"
280 |       rpy="0 0 0" />
281 |     <parent
282 |       link="3_Link" />
283 |     <child
284 |       link="4_Link" />
285 |     <axis
286 |       xyz="-1 0 0" />
287 |     <limit
288 |       lower="-2.79"
289 |       upper="2.79"
290 |       effort="30"
291 |       velocity="3.14" />
292 |   </joint>
293 |   <link
294 |     name="5_Link">
295 |     <inertial>
296 |       <origin
297 |         xyz="0.00395855202736296 -3.51379306736399E-05 0.0182025903111476"
298 |         rpy="0 0 0" />
299 |       <mass
300 |         value="0.174947985033356" />
301 |       <inertia
302 |         ixx="6.34296685392068E-05"
303 |         ixy="1.43441999593359E-08"
304 |         ixz="-8.15879467982627E-06"
305 |         iyy="6.76311733496419E-05"
306 |         iyz="-4.23418981680198E-08"
307 |         izz="6.61039240611986E-05" />
308 |     </inertial>
309 |     <visual>
310 |       <origin
311 |         xyz="0 0 0"
312 |         rpy="0 0 0" />
313 |       <geometry>
314 |         <mesh
315 |           filename="package://gluon/meshes/5_Link.STL" />
316 |       </geometry>
317 |       <material
318 |         name="">
319 |         <color
320 |           rgba="1 1 1 1" />
321 |       </material>
322 |     </visual>
323 |     <collision>
324 |       <origin
325 |         xyz="0 0 0"
326 |         rpy="0 0 0" />
327 |       <geometry>
328 |         <mesh
329 |           filename="package://gluon/meshes/5_Link.STL" />
330 |       </geometry>
331 |     </collision>
332 |   </link>
333 |   <joint
334 |     name="axis_joint_5"
335 |     type="revolute">
336 |     <origin
337 |       xyz="0.080113 2.2695E-05 0"
338 |       rpy="0 0 0" />
339 |     <parent
340 |       link="4_Link" />
341 |     <child
342 |       link="5_Link" />
343 |     <axis
344 |       xyz="0 0 -1" />
345 |     <limit
346 |       lower="-2.79"
347 |       upper="2.79"
348 |       effort="30"
349 |       velocity="3.14" />
350 |   </joint>
351 |   <link
352 |     name="6_Link">
353 |     <inertial>
354 |       <origin
355 |         xyz="-0.00231632591813243 4.03819823737578E-05 -5.08515816782795E-05"
356 |         rpy="0 0 0" />
357 |       <mass
358 |         value="0.122091979083374" />
359 |       <inertia
360 |         ixx="3.76561532469651E-05"
361 |         ixy="4.18325643595058E-08"
362 |         ixz="-2.08841259371089E-07"
363 |         iyy="4.00422747874576E-05"
364 |         iyz="-1.50489542382975E-08"
365 |         izz="3.97966719504564E-05" />
366 |     </inertial>
367 |     <visual>
368 |       <origin
369 |         xyz="0 0 0"
370 |         rpy="0 0 0" />
371 |       <geometry>
372 |         <mesh
373 |           filename="package://gluon/meshes/6_Link.STL" />
374 |       </geometry>
375 |       <material
376 |         name="">
377 |         <color
378 |           rgba="1 1 1 1" />
379 |       </material>
380 |     </visual>
381 |     <collision>
382 |       <origin
383 |         xyz="0 0 0"
384 |         rpy="0 0 0" />
385 |       <geometry>
386 |         <mesh
387 |           filename="package://gluon/meshes/6_Link.STL" />
388 |       </geometry>
389 |     </collision>
390 |   </link>
391 |   <joint
392 |     name="axis_joint_6"
393 |     type="revolute">
394 |     <origin
395 |       xyz="0 -4.5391E-05 0.080089"
396 |       rpy="0 0 0" />
397 |     <parent
398 |       link="5_Link" />
399 |     <child
400 |       link="6_Link" />
401 |     <axis
402 |       xyz="-1 0 0" />
403 |     <limit
404 |       lower="-2.79"
405 |       upper="2.79"
406 |       effort="30"
407 |       velocity="3.14" />
408 |   </joint>
409 | </robot>
410 | 


--------------------------------------------------------------------------------
/urdf/ur5.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | <!-- =================================================================================== -->
  3 | <!-- |    This document was autogenerated by xacro from ur5_robot.urdf.xacro           | -->
  4 | <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5 | <!-- =================================================================================== -->
  6 | <robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
  7 |   <!-- common stuff -->
  8 |   <gazebo>
  9 |     <plugin filename="libgazebo_ros_control.so" name="ros_control">
 10 |       <!--robotNamespace>/</robotNamespace-->
 11 |       <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
 12 |     </plugin>
 13 |     <!--
 14 |     <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
 15 |       <alwaysOn>true</alwaysOn>
 16 |       <updateRate>1.0</updateRate>
 17 |       <timeout>5</timeout>
 18 |       <powerStateTopic>power_state</powerStateTopic>
 19 |       <powerStateRate>10.0</powerStateRate>
 20 |       <fullChargeCapacity>87.78</fullChargeCapacity>
 21 |       <dischargeRate>-474</dischargeRate>
 22 |       <chargeRate>525</chargeRate>
 23 |       <dischargeVoltage>15.52</dischargeVoltage>
 24 |       <chargeVoltage>16.41</chargeVoltage>
 25 |     </plugin>
 26 | -->
 27 |   </gazebo>
 28 |   <!-- ur5 -->
 29 |   <!-- Inertia parameters -->
 30 |   <!-- This mass might be incorrect -->
 31 |   <!-- Kinematic model -->
 32 |   <!-- Properties from urcontrol.conf -->
 33 |   <!--
 34 |     DH for UR5:
 35 |     a = [0.00000, -0.42500, -0.39225,  0.00000,  0.00000,  0.0000]
 36 |     d = [0.089159,  0.00000,  0.00000,  0.10915,  0.09465,  0.0823]
 37 |     alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
 38 |     q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
 39 |     joint_direction = [-1, -1, 1, 1, 1, 1]
 40 |     mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
 41 |     center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
 42 |   -->
 43 |   <!-- Arbitrary offsets for shoulder/elbow joints -->
 44 |   <!-- measured from model -->
 45 |   <!-- measured from model -->
 46 |   <!-- link lengths used in model -->
 47 |   <!--property name="shoulder_height" value="0.089159" /-->
 48 |   <!--property name="shoulder_offset" value="0.13585" /-->
 49 |   <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
 50 |   <!--property name="upper_arm_length" value="0.42500" /-->
 51 |   <!--property name="elbow_offset" value="0.1197" /-->
 52 |   <!-- CAD measured -->
 53 |   <!--property name="forearm_length" value="0.39225" /-->
 54 |   <!--property name="wrist_1_length" value="0.093" /-->
 55 |   <!-- CAD measured -->
 56 |   <!--property name="wrist_2_length" value="0.09465" /-->
 57 |   <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
 58 |   <!--property name="wrist_3_length" value="0.0823" /-->
 59 |   <!-- manually measured -->
 60 |   <!-- manually measured -->
 61 |   <!-- manually measured -->
 62 |   <!-- manually measured -->
 63 |   <!-- manually measured -->
 64 |   <!-- arm -->
 65 |   <link name="base_link">
 66 |     <visual>
 67 |       <geometry>
 68 |         <mesh filename="package://ur_description/meshes/ur5/visual/base.dae"/>
 69 |       </geometry>
 70 |       <material name="LightGrey">
 71 |         <color rgba="0.7 0.7 0.7 1.0"/>
 72 |       </material>
 73 |     </visual>
 74 |     <collision>
 75 |       <geometry>
 76 |         <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
 77 |       </geometry>
 78 |     </collision>
 79 |     <inertial>
 80 |       <mass value="4.0"/>
 81 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
 82 |       <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
 83 |     </inertial>
 84 |   </link>
 85 |   <joint name="shoulder_pan_joint" type="revolute">
 86 |     <parent link="base_link"/>
 87 |     <child link="shoulder_link"/>
 88 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
 89 |     <axis xyz="0 0 1"/>
 90 |     <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
 91 |     <dynamics damping="0.0" friction="0.0"/>
 92 |   </joint>
 93 |   <link name="shoulder_link">
 94 |     <visual>
 95 |       <geometry>
 96 |         <mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae"/>
 97 |       </geometry>
 98 |       <material name="LightGrey">
 99 |         <color rgba="0.7 0.7 0.7 1.0"/>
100 |       </material>
101 |     </visual>
102 |     <collision>
103 |       <geometry>
104 |         <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
105 |       </geometry>
106 |     </collision>
107 |     <inertial>
108 |       <mass value="3.7"/>
109 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
110 |       <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
111 |     </inertial>
112 |   </link>
113 |   <joint name="shoulder_lift_joint" type="revolute">
114 |     <parent link="shoulder_link"/>
115 |     <child link="upper_arm_link"/>
116 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.13585 0.0"/>
117 |     <axis xyz="0 1 0"/>
118 |     <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
119 |     <dynamics damping="0.0" friction="0.0"/>
120 |   </joint>
121 |   <link name="upper_arm_link">
122 |     <visual>
123 |       <geometry>
124 |         <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae"/>
125 |       </geometry>
126 |       <material name="LightGrey">
127 |         <color rgba="0.7 0.7 0.7 1.0"/>
128 |       </material>
129 |     </visual>
130 |     <collision>
131 |       <geometry>
132 |         <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
133 |       </geometry>
134 |     </collision>
135 |     <inertial>
136 |       <mass value="8.393"/>
137 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
138 |       <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
139 |     </inertial>
140 |   </link>
141 |   <joint name="elbow_joint" type="revolute">
142 |     <parent link="upper_arm_link"/>
143 |     <child link="forearm_link"/>
144 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
145 |     <axis xyz="0 1 0"/>
146 |     <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
147 |     <dynamics damping="0.0" friction="0.0"/>
148 |   </joint>
149 |   <link name="forearm_link">
150 |     <visual>
151 |       <geometry>
152 |         <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae"/>
153 |       </geometry>
154 |       <material name="LightGrey">
155 |         <color rgba="0.7 0.7 0.7 1.0"/>
156 |       </material>
157 |     </visual>
158 |     <collision>
159 |       <geometry>
160 |         <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
161 |       </geometry>
162 |     </collision>
163 |     <inertial>
164 |       <mass value="2.275"/>
165 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
166 |       <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
167 |     </inertial>
168 |   </link>
169 |   <joint name="wrist_1_joint" type="revolute">
170 |     <parent link="forearm_link"/>
171 |     <child link="wrist_1_link"/>
172 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.39225"/>
173 |     <axis xyz="0 1 0"/>
174 |     <limit effort="28.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
175 |     <dynamics damping="0.0" friction="0.0"/>
176 |   </joint>
177 |   <link name="wrist_1_link">
178 |     <visual>
179 |       <geometry>
180 |         <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae"/>
181 |       </geometry>
182 |       <material name="LightGrey">
183 |         <color rgba="0.7 0.7 0.7 1.0"/>
184 |       </material>
185 |     </visual>
186 |     <collision>
187 |       <geometry>
188 |         <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
189 |       </geometry>
190 |     </collision>
191 |     <inertial>
192 |       <mass value="1.219"/>
193 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
194 |       <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
195 |     </inertial>
196 |   </link>
197 |   <joint name="wrist_2_joint" type="revolute">
198 |     <parent link="wrist_1_link"/>
199 |     <child link="wrist_2_link"/>
200 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
201 |     <axis xyz="0 0 1"/>
202 |     <limit effort="28.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
203 |     <dynamics damping="0.0" friction="0.0"/>
204 |   </joint>
205 |   <link name="wrist_2_link">
206 |     <visual>
207 |       <geometry>
208 |         <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae"/>
209 |       </geometry>
210 |       <material name="LightGrey">
211 |         <color rgba="0.7 0.7 0.7 1.0"/>
212 |       </material>
213 |     </visual>
214 |     <collision>
215 |       <geometry>
216 |         <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
217 |       </geometry>
218 |     </collision>
219 |     <inertial>
220 |       <mass value="1.219"/>
221 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
222 |       <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
223 |     </inertial>
224 |   </link>
225 |   <joint name="wrist_3_joint" type="revolute">
226 |     <parent link="wrist_2_link"/>
227 |     <child link="wrist_3_link"/>
228 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
229 |     <axis xyz="0 1 0"/>
230 |     <limit effort="28.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
231 |     <dynamics damping="0.0" friction="0.0"/>
232 |   </joint>
233 |   <link name="wrist_3_link">
234 |     <visual>
235 |       <geometry>
236 |         <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae"/>
237 |       </geometry>
238 |       <material name="LightGrey">
239 |         <color rgba="0.7 0.7 0.7 1.0"/>
240 |       </material>
241 |     </visual>
242 |     <collision>
243 |       <geometry>
244 |         <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
245 |       </geometry>
246 |     </collision>
247 |     <inertial>
248 |       <mass value="0.1879"/>
249 |       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
250 |       <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
251 |     </inertial>
252 |   </link>
253 |   <joint name="ee_fixed_joint" type="fixed">
254 |     <parent link="wrist_3_link"/>
255 |     <child link="ee_link"/>
256 |     <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
257 |   </joint>
258 |   <link name="ee_link">
259 |     <collision>
260 |       <geometry>
261 |         <box size="0.01 0.01 0.01"/>
262 |       </geometry>
263 |       <origin rpy="0 0 0" xyz="-0.01 0 0"/>
264 |     </collision>
265 |   </link>
266 |   <transmission name="shoulder_pan_trans">
267 |     <type>transmission_interface/SimpleTransmission</type>
268 |     <joint name="shoulder_pan_joint">
269 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
270 |     </joint>
271 |     <actuator name="shoulder_pan_motor">
272 |       <mechanicalReduction>1</mechanicalReduction>
273 |     </actuator>
274 |   </transmission>
275 |   <transmission name="shoulder_lift_trans">
276 |     <type>transmission_interface/SimpleTransmission</type>
277 |     <joint name="shoulder_lift_joint">
278 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
279 |     </joint>
280 |     <actuator name="shoulder_lift_motor">
281 |       <mechanicalReduction>1</mechanicalReduction>
282 |     </actuator>
283 |   </transmission>
284 |   <transmission name="elbow_trans">
285 |     <type>transmission_interface/SimpleTransmission</type>
286 |     <joint name="elbow_joint">
287 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
288 |     </joint>
289 |     <actuator name="elbow_motor">
290 |       <mechanicalReduction>1</mechanicalReduction>
291 |     </actuator>
292 |   </transmission>
293 |   <transmission name="wrist_1_trans">
294 |     <type>transmission_interface/SimpleTransmission</type>
295 |     <joint name="wrist_1_joint">
296 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
297 |     </joint>
298 |     <actuator name="wrist_1_motor">
299 |       <mechanicalReduction>1</mechanicalReduction>
300 |     </actuator>
301 |   </transmission>
302 |   <transmission name="wrist_2_trans">
303 |     <type>transmission_interface/SimpleTransmission</type>
304 |     <joint name="wrist_2_joint">
305 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
306 |     </joint>
307 |     <actuator name="wrist_2_motor">
308 |       <mechanicalReduction>1</mechanicalReduction>
309 |     </actuator>
310 |   </transmission>
311 |   <transmission name="wrist_3_trans">
312 |     <type>transmission_interface/SimpleTransmission</type>
313 |     <joint name="wrist_3_joint">
314 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
315 |     </joint>
316 |     <actuator name="wrist_3_motor">
317 |       <mechanicalReduction>1</mechanicalReduction>
318 |     </actuator>
319 |   </transmission>
320 |   <!-- nothing to do here at the moment -->
321 |   <!-- ROS base_link to UR 'Base' Coordinates transform -->
322 |   <link name="base"/>
323 |   <joint name="base_link-base_fixed_joint" type="fixed">
324 |     <!-- NOTE: this rotation is only needed as long as base_link itself is
325 |                  not corrected wrt the real robot (ie: rotated over 180
326 |                  degrees)
327 |       -->
328 |     <origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
329 |     <parent link="base_link"/>
330 |     <child link="base"/>
331 |   </joint>
332 |   <!-- Frame coincident with all-zeros TCP on UR controller -->
333 |   <link name="tool0"/>
334 |   <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
335 |     <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
336 |     <parent link="wrist_3_link"/>
337 |     <child link="tool0"/>
338 |   </joint>
339 |   <link name="world"/>
340 |   <joint name="world_joint" type="fixed">
341 |     <parent link="world"/>
342 |     <child link="base_link"/>
343 |     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
344 |   </joint>
345 | </robot>
346 | 


--------------------------------------------------------------------------------
/pugixml.hpp:
--------------------------------------------------------------------------------
   1 | /**
   2 |  * pugixml parser - version 1.13
   3 |  * --------------------------------------------------------
   4 |  * Copyright (C) 2006-2022, by Arseny Kapoulkine (arseny.kapoulkine@gmail.com)
   5 |  * Report bugs and download new versions at https://pugixml.org/
   6 |  *
   7 |  * This library is distributed under the MIT License. See notice at the end
   8 |  * of this file.
   9 |  *
  10 |  * This work is based on the pugxml parser, which is:
  11 |  * Copyright (C) 2003, by Kristen Wegner (kristen@tima.net)
  12 |  */
  13 | 
  14 |  // Define version macro; evaluates to major * 1000 + minor * 10 + patch so that it's safe to use in less-than comparisons
  15 |  // Note: pugixml used major * 100 + minor * 10 + patch format up until 1.9 (which had version identifier 190); starting from pugixml 1.10, the minor version number is two digits
  16 | #ifndef PUGIXML_VERSION
  17 | #	define PUGIXML_VERSION 1130 // 1.13
  18 | #endif
  19 | 
  20 | // Include user configuration file (this can define various configuration macros)
  21 | #include "pugiconfig.hpp"
  22 | 
  23 | #ifndef HEADER_PUGIXML_HPP
  24 | #define HEADER_PUGIXML_HPP
  25 | 
  26 | // Include stddef.h for size_t and ptrdiff_t
  27 | #include <stddef.h>
  28 | 
  29 | // Include exception header for XPath
  30 | #if !defined(PUGIXML_NO_XPATH) && !defined(PUGIXML_NO_EXCEPTIONS)
  31 | #	include <exception>
  32 | #endif
  33 | 
  34 | // Include STL headers
  35 | #ifndef PUGIXML_NO_STL
  36 | #	include <iterator>
  37 | #	include <iosfwd>
  38 | #	include <string>
  39 | #endif
  40 | 
  41 | // Macro for deprecated features
  42 | #ifndef PUGIXML_DEPRECATED
  43 | #	if defined(__GNUC__)
  44 | #		define PUGIXML_DEPRECATED __attribute__((deprecated))
  45 | #	elif defined(_MSC_VER) && _MSC_VER >= 1300
  46 | #		define PUGIXML_DEPRECATED __declspec(deprecated)
  47 | #	else
  48 | #		define PUGIXML_DEPRECATED
  49 | #	endif
  50 | #endif
  51 | 
  52 | // If no API is defined, assume default
  53 | #ifndef PUGIXML_API
  54 | #	define PUGIXML_API
  55 | #endif
  56 | 
  57 | // If no API for classes is defined, assume default
  58 | #ifndef PUGIXML_CLASS
  59 | #	define PUGIXML_CLASS PUGIXML_API
  60 | #endif
  61 | 
  62 | // If no API for functions is defined, assume default
  63 | #ifndef PUGIXML_FUNCTION
  64 | #	define PUGIXML_FUNCTION PUGIXML_API
  65 | #endif
  66 | 
  67 | // If the platform is known to have long long support, enable long long functions
  68 | #ifndef PUGIXML_HAS_LONG_LONG
  69 | #	if __cplusplus >= 201103
  70 | #		define PUGIXML_HAS_LONG_LONG
  71 | #	elif defined(_MSC_VER) && _MSC_VER >= 1400
  72 | #		define PUGIXML_HAS_LONG_LONG
  73 | #	endif
  74 | #endif
  75 | 
  76 | // If the platform is known to have move semantics support, compile move ctor/operator implementation
  77 | #ifndef PUGIXML_HAS_MOVE
  78 | #	if __cplusplus >= 201103
  79 | #		define PUGIXML_HAS_MOVE
  80 | #	elif defined(_MSC_VER) && _MSC_VER >= 1600
  81 | #		define PUGIXML_HAS_MOVE
  82 | #	endif
  83 | #endif
  84 | 
  85 | // If C++ is 2011 or higher, add 'noexcept' specifiers
  86 | #ifndef PUGIXML_NOEXCEPT
  87 | #	if __cplusplus >= 201103
  88 | #		define PUGIXML_NOEXCEPT noexcept
  89 | #	elif defined(_MSC_VER) && _MSC_VER >= 1900
  90 | #		define PUGIXML_NOEXCEPT noexcept
  91 | #	else
  92 | #		define PUGIXML_NOEXCEPT
  93 | #	endif
  94 | #endif
  95 | 
  96 | // Some functions can not be noexcept in compact mode
  97 | #ifdef PUGIXML_COMPACT
  98 | #	define PUGIXML_NOEXCEPT_IF_NOT_COMPACT
  99 | #else
 100 | #	define PUGIXML_NOEXCEPT_IF_NOT_COMPACT PUGIXML_NOEXCEPT
 101 | #endif
 102 | 
 103 | // If C++ is 2011 or higher, add 'override' qualifiers
 104 | #ifndef PUGIXML_OVERRIDE
 105 | #	if __cplusplus >= 201103
 106 | #		define PUGIXML_OVERRIDE override
 107 | #	elif defined(_MSC_VER) && _MSC_VER >= 1700
 108 | #		define PUGIXML_OVERRIDE override
 109 | #	else
 110 | #		define PUGIXML_OVERRIDE
 111 | #	endif
 112 | #endif
 113 | 
 114 | // If C++ is 2011 or higher, use 'nullptr'
 115 | #ifndef PUGIXML_NULL
 116 | #	if __cplusplus >= 201103
 117 | #		define PUGIXML_NULL nullptr
 118 | #	elif defined(_MSC_VER) && _MSC_VER >= 1600
 119 | #		define PUGIXML_NULL nullptr
 120 | #	else
 121 | #		define PUGIXML_NULL 0
 122 | #	endif
 123 | #endif
 124 | 
 125 | // Character interface macros
 126 | #ifdef PUGIXML_WCHAR_MODE
 127 | #	define PUGIXML_TEXT(t) L ## t
 128 | #	define PUGIXML_CHAR wchar_t
 129 | #else
 130 | #	define PUGIXML_TEXT(t) t
 131 | #	define PUGIXML_CHAR char
 132 | #endif
 133 | 
 134 | namespace pugi
 135 | {
 136 | 	// Character type used for all internal storage and operations; depends on PUGIXML_WCHAR_MODE
 137 | 	typedef PUGIXML_CHAR char_t;
 138 | 
 139 | #ifndef PUGIXML_NO_STL
 140 | 	// String type used for operations that work with STL string; depends on PUGIXML_WCHAR_MODE
 141 | 	typedef std::basic_string<PUGIXML_CHAR, std::char_traits<PUGIXML_CHAR>, std::allocator<PUGIXML_CHAR> > string_t;
 142 | #endif
 143 | }
 144 | 
 145 | // The PugiXML namespace
 146 | namespace pugi
 147 | {
 148 | 	// Tree node types
 149 | 	enum xml_node_type
 150 | 	{
 151 | 		node_null,			// Empty (null) node handle
 152 | 		node_document,		// A document tree's absolute root
 153 | 		node_element,		// Element tag, i.e. '<node/>'
 154 | 		node_pcdata,		// Plain character data, i.e. 'text'
 155 | 		node_cdata,			// Character data, i.e. '<![CDATA[text]]>'
 156 | 		node_comment,		// Comment tag, i.e. '<!-- text -->'
 157 | 		node_pi,			// Processing instruction, i.e. '<?name?>'
 158 | 		node_declaration,	// Document declaration, i.e. '<?xml version="1.0"?>'
 159 | 		node_doctype		// Document type declaration, i.e. '<!DOCTYPE doc>'
 160 | 	};
 161 | 
 162 | 	// Parsing options
 163 | 
 164 | 	// Minimal parsing mode (equivalent to turning all other flags off).
 165 | 	// Only elements and PCDATA sections are added to the DOM tree, no text conversions are performed.
 166 | 	const unsigned int parse_minimal = 0x0000;
 167 | 
 168 | 	// This flag determines if processing instructions (node_pi) are added to the DOM tree. This flag is off by default.
 169 | 	const unsigned int parse_pi = 0x0001;
 170 | 
 171 | 	// This flag determines if comments (node_comment) are added to the DOM tree. This flag is off by default.
 172 | 	const unsigned int parse_comments = 0x0002;
 173 | 
 174 | 	// This flag determines if CDATA sections (node_cdata) are added to the DOM tree. This flag is on by default.
 175 | 	const unsigned int parse_cdata = 0x0004;
 176 | 
 177 | 	// This flag determines if plain character data (node_pcdata) that consist only of whitespace are added to the DOM tree.
 178 | 	// This flag is off by default; turning it on usually results in slower parsing and more memory consumption.
 179 | 	const unsigned int parse_ws_pcdata = 0x0008;
 180 | 
 181 | 	// This flag determines if character and entity references are expanded during parsing. This flag is on by default.
 182 | 	const unsigned int parse_escapes = 0x0010;
 183 | 
 184 | 	// This flag determines if EOL characters are normalized (converted to #xA) during parsing. This flag is on by default.
 185 | 	const unsigned int parse_eol = 0x0020;
 186 | 
 187 | 	// This flag determines if attribute values are normalized using CDATA normalization rules during parsing. This flag is on by default.
 188 | 	const unsigned int parse_wconv_attribute = 0x0040;
 189 | 
 190 | 	// This flag determines if attribute values are normalized using NMTOKENS normalization rules during parsing. This flag is off by default.
 191 | 	const unsigned int parse_wnorm_attribute = 0x0080;
 192 | 
 193 | 	// This flag determines if document declaration (node_declaration) is added to the DOM tree. This flag is off by default.
 194 | 	const unsigned int parse_declaration = 0x0100;
 195 | 
 196 | 	// This flag determines if document type declaration (node_doctype) is added to the DOM tree. This flag is off by default.
 197 | 	const unsigned int parse_doctype = 0x0200;
 198 | 
 199 | 	// This flag determines if plain character data (node_pcdata) that is the only child of the parent node and that consists only
 200 | 	// of whitespace is added to the DOM tree.
 201 | 	// This flag is off by default; turning it on may result in slower parsing and more memory consumption.
 202 | 	const unsigned int parse_ws_pcdata_single = 0x0400;
 203 | 
 204 | 	// This flag determines if leading and trailing whitespace is to be removed from plain character data. This flag is off by default.
 205 | 	const unsigned int parse_trim_pcdata = 0x0800;
 206 | 
 207 | 	// This flag determines if plain character data that does not have a parent node is added to the DOM tree, and if an empty document
 208 | 	// is a valid document. This flag is off by default.
 209 | 	const unsigned int parse_fragment = 0x1000;
 210 | 
 211 | 	// This flag determines if plain character data is be stored in the parent element's value. This significantly changes the structure of
 212 | 	// the document; this flag is only recommended for parsing documents with many PCDATA nodes in memory-constrained environments.
 213 | 	// This flag is off by default.
 214 | 	const unsigned int parse_embed_pcdata = 0x2000;
 215 | 
 216 | 	// The default parsing mode.
 217 | 	// Elements, PCDATA and CDATA sections are added to the DOM tree, character/reference entities are expanded,
 218 | 	// End-of-Line characters are normalized, attribute values are normalized using CDATA normalization rules.
 219 | 	const unsigned int parse_default = parse_cdata | parse_escapes | parse_wconv_attribute | parse_eol;
 220 | 
 221 | 	// The full parsing mode.
 222 | 	// Nodes of all types are added to the DOM tree, character/reference entities are expanded,
 223 | 	// End-of-Line characters are normalized, attribute values are normalized using CDATA normalization rules.
 224 | 	const unsigned int parse_full = parse_default | parse_pi | parse_comments | parse_declaration | parse_doctype;
 225 | 
 226 | 	// These flags determine the encoding of input data for XML document
 227 | 	enum xml_encoding
 228 | 	{
 229 | 		encoding_auto,		// Auto-detect input encoding using BOM or < / <? detection; use UTF8 if BOM is not found
 230 | 		encoding_utf8,		// UTF8 encoding
 231 | 		encoding_utf16_le,	// Little-endian UTF16
 232 | 		encoding_utf16_be,	// Big-endian UTF16
 233 | 		encoding_utf16,		// UTF16 with native endianness
 234 | 		encoding_utf32_le,	// Little-endian UTF32
 235 | 		encoding_utf32_be,	// Big-endian UTF32
 236 | 		encoding_utf32,		// UTF32 with native endianness
 237 | 		encoding_wchar,		// The same encoding wchar_t has (either UTF16 or UTF32)
 238 | 		encoding_latin1
 239 | 	};
 240 | 
 241 | 	// Formatting flags
 242 | 
 243 | 	// Indent the nodes that are written to output stream with as many indentation strings as deep the node is in DOM tree. This flag is on by default.
 244 | 	const unsigned int format_indent = 0x01;
 245 | 
 246 | 	// Write encoding-specific BOM to the output stream. This flag is off by default.
 247 | 	const unsigned int format_write_bom = 0x02;
 248 | 
 249 | 	// Use raw output mode (no indentation and no line breaks are written). This flag is off by default.
 250 | 	const unsigned int format_raw = 0x04;
 251 | 
 252 | 	// Omit default XML declaration even if there is no declaration in the document. This flag is off by default.
 253 | 	const unsigned int format_no_declaration = 0x08;
 254 | 
 255 | 	// Don't escape attribute values and PCDATA contents. This flag is off by default.
 256 | 	const unsigned int format_no_escapes = 0x10;
 257 | 
 258 | 	// Open file using text mode in xml_document::save_file. This enables special character (i.e. new-line) conversions on some systems. This flag is off by default.
 259 | 	const unsigned int format_save_file_text = 0x20;
 260 | 
 261 | 	// Write every attribute on a new line with appropriate indentation. This flag is off by default.
 262 | 	const unsigned int format_indent_attributes = 0x40;
 263 | 
 264 | 	// Don't output empty element tags, instead writing an explicit start and end tag even if there are no children. This flag is off by default.
 265 | 	const unsigned int format_no_empty_element_tags = 0x80;
 266 | 
 267 | 	// Skip characters belonging to range [0; 32) instead of "&#xNN;" encoding. This flag is off by default.
 268 | 	const unsigned int format_skip_control_chars = 0x100;
 269 | 
 270 | 	// Use single quotes ' instead of double quotes " for enclosing attribute values. This flag is off by default.
 271 | 	const unsigned int format_attribute_single_quote = 0x200;
 272 | 
 273 | 	// The default set of formatting flags.
 274 | 	// Nodes are indented depending on their depth in DOM tree, a default declaration is output if document has none.
 275 | 	const unsigned int format_default = format_indent;
 276 | 
 277 | 	const int default_double_precision = 17;
 278 | 	const int default_float_precision = 9;
 279 | 
 280 | 	// Forward declarations
 281 | 	struct xml_attribute_struct;
 282 | 	struct xml_node_struct;
 283 | 
 284 | 	class xml_node_iterator;
 285 | 	class xml_attribute_iterator;
 286 | 	class xml_named_node_iterator;
 287 | 
 288 | 	class xml_tree_walker;
 289 | 
 290 | 	struct xml_parse_result;
 291 | 
 292 | 	class xml_node;
 293 | 
 294 | 	class xml_text;
 295 | 
 296 | #ifndef PUGIXML_NO_XPATH
 297 | 	class xpath_node;
 298 | 	class xpath_node_set;
 299 | 	class xpath_query;
 300 | 	class xpath_variable_set;
 301 | #endif
 302 | 
 303 | 	// Range-based for loop support
 304 | 	template <typename It> class xml_object_range
 305 | 	{
 306 | 	public:
 307 | 		typedef It const_iterator;
 308 | 		typedef It iterator;
 309 | 
 310 | 		xml_object_range(It b, It e) : _begin(b), _end(e)
 311 | 		{
 312 | 		}
 313 | 
 314 | 		It begin() const { return _begin; }
 315 | 		It end() const { return _end; }
 316 | 
 317 | 		bool empty() const { return _begin == _end; }
 318 | 
 319 | 	private:
 320 | 		It _begin, _end;
 321 | 	};
 322 | 
 323 | 	// Writer interface for node printing (see xml_node::print)
 324 | 	class PUGIXML_CLASS xml_writer
 325 | 	{
 326 | 	public:
 327 | 		virtual ~xml_writer() {}
 328 | 
 329 | 		// Write memory chunk into stream/file/whatever
 330 | 		virtual void write(const void* data, size_t size) = 0;
 331 | 	};
 332 | 
 333 | 	// xml_writer implementation for FILE*
 334 | 	class PUGIXML_CLASS xml_writer_file : public xml_writer
 335 | 	{
 336 | 	public:
 337 | 		// Construct writer from a FILE* object; void* is used to avoid header dependencies on stdio
 338 | 		xml_writer_file(void* file);
 339 | 
 340 | 		virtual void write(const void* data, size_t size) PUGIXML_OVERRIDE;
 341 | 
 342 | 	private:
 343 | 		void* file;
 344 | 	};
 345 | 
 346 | #ifndef PUGIXML_NO_STL
 347 | 	// xml_writer implementation for streams
 348 | 	class PUGIXML_CLASS xml_writer_stream : public xml_writer
 349 | 	{
 350 | 	public:
 351 | 		// Construct writer from an output stream object
 352 | 		xml_writer_stream(std::basic_ostream<char, std::char_traits<char> >& stream);
 353 | 		xml_writer_stream(std::basic_ostream<wchar_t, std::char_traits<wchar_t> >& stream);
 354 | 
 355 | 		virtual void write(const void* data, size_t size) PUGIXML_OVERRIDE;
 356 | 
 357 | 	private:
 358 | 		std::basic_ostream<char, std::char_traits<char> >* narrow_stream;
 359 | 		std::basic_ostream<wchar_t, std::char_traits<wchar_t> >* wide_stream;
 360 | 	};
 361 | #endif
 362 | 
 363 | 	// A light-weight handle for manipulating attributes in DOM tree
 364 | 	class PUGIXML_CLASS xml_attribute
 365 | 	{
 366 | 		friend class xml_attribute_iterator;
 367 | 		friend class xml_node;
 368 | 
 369 | 	private:
 370 | 		xml_attribute_struct* _attr;
 371 | 
 372 | 		typedef void (*unspecified_bool_type)(xml_attribute***);
 373 | 
 374 | 	public:
 375 | 		// Default constructor. Constructs an empty attribute.
 376 | 		xml_attribute();
 377 | 
 378 | 		// Constructs attribute from internal pointer
 379 | 		explicit xml_attribute(xml_attribute_struct* attr);
 380 | 
 381 | 		// Safe bool conversion operator
 382 | 		operator unspecified_bool_type() const;
 383 | 
 384 | 		// Borland C++ workaround
 385 | 		bool operator!() const;
 386 | 
 387 | 		// Comparison operators (compares wrapped attribute pointers)
 388 | 		bool operator==(const xml_attribute& r) const;
 389 | 		bool operator!=(const xml_attribute& r) const;
 390 | 		bool operator<(const xml_attribute& r) const;
 391 | 		bool operator>(const xml_attribute& r) const;
 392 | 		bool operator<=(const xml_attribute& r) const;
 393 | 		bool operator>=(const xml_attribute& r) const;
 394 | 
 395 | 		// Check if attribute is empty
 396 | 		bool empty() const;
 397 | 
 398 | 		// Get attribute name/value, or "" if attribute is empty
 399 | 		const char_t* name() const;
 400 | 		const char_t* value() const;
 401 | 
 402 | 		// Get attribute value, or the default value if attribute is empty
 403 | 		const char_t* as_string(const char_t* def = PUGIXML_TEXT("")) const;
 404 | 
 405 | 		// Get attribute value as a number, or the default value if conversion did not succeed or attribute is empty
 406 | 		int as_int(int def = 0) const;
 407 | 		unsigned int as_uint(unsigned int def = 0) const;
 408 | 		double as_double(double def = 0) const;
 409 | 		float as_float(float def = 0) const;
 410 | 
 411 | #ifdef PUGIXML_HAS_LONG_LONG
 412 | 		long long as_llong(long long def = 0) const;
 413 | 		unsigned long long as_ullong(unsigned long long def = 0) const;
 414 | #endif
 415 | 
 416 | 		// Get attribute value as bool (returns true if first character is in '1tTyY' set), or the default value if attribute is empty
 417 | 		bool as_bool(bool def = false) const;
 418 | 
 419 | 		// Set attribute name/value (returns false if attribute is empty or there is not enough memory)
 420 | 		bool set_name(const char_t* rhs);
 421 | 		bool set_value(const char_t* rhs, size_t sz);
 422 | 		bool set_value(const char_t* rhs);
 423 | 
 424 | 		// Set attribute value with type conversion (numbers are converted to strings, boolean is converted to "true"/"false")
 425 | 		bool set_value(int rhs);
 426 | 		bool set_value(unsigned int rhs);
 427 | 		bool set_value(long rhs);
 428 | 		bool set_value(unsigned long rhs);
 429 | 		bool set_value(double rhs);
 430 | 		bool set_value(double rhs, int precision);
 431 | 		bool set_value(float rhs);
 432 | 		bool set_value(float rhs, int precision);
 433 | 		bool set_value(bool rhs);
 434 | 
 435 | #ifdef PUGIXML_HAS_LONG_LONG
 436 | 		bool set_value(long long rhs);
 437 | 		bool set_value(unsigned long long rhs);
 438 | #endif
 439 | 
 440 | 		// Set attribute value (equivalent to set_value without error checking)
 441 | 		xml_attribute& operator=(const char_t* rhs);
 442 | 		xml_attribute& operator=(int rhs);
 443 | 		xml_attribute& operator=(unsigned int rhs);
 444 | 		xml_attribute& operator=(long rhs);
 445 | 		xml_attribute& operator=(unsigned long rhs);
 446 | 		xml_attribute& operator=(double rhs);
 447 | 		xml_attribute& operator=(float rhs);
 448 | 		xml_attribute& operator=(bool rhs);
 449 | 
 450 | #ifdef PUGIXML_HAS_LONG_LONG
 451 | 		xml_attribute& operator=(long long rhs);
 452 | 		xml_attribute& operator=(unsigned long long rhs);
 453 | #endif
 454 | 
 455 | 		// Get next/previous attribute in the attribute list of the parent node
 456 | 		xml_attribute next_attribute() const;
 457 | 		xml_attribute previous_attribute() const;
 458 | 
 459 | 		// Get hash value (unique for handles to the same object)
 460 | 		size_t hash_value() const;
 461 | 
 462 | 		// Get internal pointer
 463 | 		xml_attribute_struct* internal_object() const;
 464 | 	};
 465 | 
 466 | #ifdef __BORLANDC__
 467 | 	// Borland C++ workaround
 468 | 	bool PUGIXML_FUNCTION operator&&(const xml_attribute& lhs, bool rhs);
 469 | 	bool PUGIXML_FUNCTION operator||(const xml_attribute& lhs, bool rhs);
 470 | #endif
 471 | 
 472 | 	// A light-weight handle for manipulating nodes in DOM tree
 473 | 	class PUGIXML_CLASS xml_node
 474 | 	{
 475 | 		friend class xml_attribute_iterator;
 476 | 		friend class xml_node_iterator;
 477 | 		friend class xml_named_node_iterator;
 478 | 
 479 | 	protected:
 480 | 		xml_node_struct* _root;
 481 | 
 482 | 		typedef void (*unspecified_bool_type)(xml_node***);
 483 | 
 484 | 	public:
 485 | 		// Default constructor. Constructs an empty node.
 486 | 		xml_node();
 487 | 
 488 | 		// Constructs node from internal pointer
 489 | 		explicit xml_node(xml_node_struct* p);
 490 | 
 491 | 		// Safe bool conversion operator
 492 | 		operator unspecified_bool_type() const;
 493 | 
 494 | 		// Borland C++ workaround
 495 | 		bool operator!() const;
 496 | 
 497 | 		// Comparison operators (compares wrapped node pointers)
 498 | 		bool operator==(const xml_node& r) const;
 499 | 		bool operator!=(const xml_node& r) const;
 500 | 		bool operator<(const xml_node& r) const;
 501 | 		bool operator>(const xml_node& r) const;
 502 | 		bool operator<=(const xml_node& r) const;
 503 | 		bool operator>=(const xml_node& r) const;
 504 | 
 505 | 		// Check if node is empty.
 506 | 		bool empty() const;
 507 | 
 508 | 		// Get node type
 509 | 		xml_node_type type() const;
 510 | 
 511 | 		// Get node name, or "" if node is empty or it has no name
 512 | 		const char_t* name() const;
 513 | 
 514 | 		// Get node value, or "" if node is empty or it has no value
 515 | 		// Note: For <node>text</node> node.value() does not return "text"! Use child_value() or text() methods to access text inside nodes.
 516 | 		const char_t* value() const;
 517 | 
 518 | 		// Get attribute list
 519 | 		xml_attribute first_attribute() const;
 520 | 		xml_attribute last_attribute() const;
 521 | 
 522 | 		// Get children list
 523 | 		xml_node first_child() const;
 524 | 		xml_node last_child() const;
 525 | 
 526 | 		// Get next/previous sibling in the children list of the parent node
 527 | 		xml_node next_sibling() const;
 528 | 		xml_node previous_sibling() const;
 529 | 
 530 | 		// Get parent node
 531 | 		xml_node parent() const;
 532 | 
 533 | 		// Get root of DOM tree this node belongs to
 534 | 		xml_node root() const;
 535 | 
 536 | 		// Get text object for the current node
 537 | 		xml_text text() const;
 538 | 
 539 | 		// Get child, attribute or next/previous sibling with the specified name
 540 | 		xml_node child(const char_t* name) const;
 541 | 		xml_attribute attribute(const char_t* name) const;
 542 | 		xml_node next_sibling(const char_t* name) const;
 543 | 		xml_node previous_sibling(const char_t* name) const;
 544 | 
 545 | 		// Get attribute, starting the search from a hint (and updating hint so that searching for a sequence of attributes is fast)
 546 | 		xml_attribute attribute(const char_t* name, xml_attribute& hint) const;
 547 | 
 548 | 		// Get child value of current node; that is, value of the first child node of type PCDATA/CDATA
 549 | 		const char_t* child_value() const;
 550 | 
 551 | 		// Get child value of child with specified name. Equivalent to child(name).child_value().
 552 | 		const char_t* child_value(const char_t* name) const;
 553 | 
 554 | 		// Set node name/value (returns false if node is empty, there is not enough memory, or node can not have name/value)
 555 | 		bool set_name(const char_t* rhs);
 556 | 		bool set_value(const char_t* rhs, size_t sz);
 557 | 		bool set_value(const char_t* rhs);
 558 | 
 559 | 		// Add attribute with specified name. Returns added attribute, or empty attribute on errors.
 560 | 		xml_attribute append_attribute(const char_t* name);
 561 | 		xml_attribute prepend_attribute(const char_t* name);
 562 | 		xml_attribute insert_attribute_after(const char_t* name, const xml_attribute& attr);
 563 | 		xml_attribute insert_attribute_before(const char_t* name, const xml_attribute& attr);
 564 | 
 565 | 		// Add a copy of the specified attribute. Returns added attribute, or empty attribute on errors.
 566 | 		xml_attribute append_copy(const xml_attribute& proto);
 567 | 		xml_attribute prepend_copy(const xml_attribute& proto);
 568 | 		xml_attribute insert_copy_after(const xml_attribute& proto, const xml_attribute& attr);
 569 | 		xml_attribute insert_copy_before(const xml_attribute& proto, const xml_attribute& attr);
 570 | 
 571 | 		// Add child node with specified type. Returns added node, or empty node on errors.
 572 | 		xml_node append_child(xml_node_type type = node_element);
 573 | 		xml_node prepend_child(xml_node_type type = node_element);
 574 | 		xml_node insert_child_after(xml_node_type type, const xml_node& node);
 575 | 		xml_node insert_child_before(xml_node_type type, const xml_node& node);
 576 | 
 577 | 		// Add child element with specified name. Returns added node, or empty node on errors.
 578 | 		xml_node append_child(const char_t* name);
 579 | 		xml_node prepend_child(const char_t* name);
 580 | 		xml_node insert_child_after(const char_t* name, const xml_node& node);
 581 | 		xml_node insert_child_before(const char_t* name, const xml_node& node);
 582 | 
 583 | 		// Add a copy of the specified node as a child. Returns added node, or empty node on errors.
 584 | 		xml_node append_copy(const xml_node& proto);
 585 | 		xml_node prepend_copy(const xml_node& proto);
 586 | 		xml_node insert_copy_after(const xml_node& proto, const xml_node& node);
 587 | 		xml_node insert_copy_before(const xml_node& proto, const xml_node& node);
 588 | 
 589 | 		// Move the specified node to become a child of this node. Returns moved node, or empty node on errors.
 590 | 		xml_node append_move(const xml_node& moved);
 591 | 		xml_node prepend_move(const xml_node& moved);
 592 | 		xml_node insert_move_after(const xml_node& moved, const xml_node& node);
 593 | 		xml_node insert_move_before(const xml_node& moved, const xml_node& node);
 594 | 
 595 | 		// Remove specified attribute
 596 | 		bool remove_attribute(const xml_attribute& a);
 597 | 		bool remove_attribute(const char_t* name);
 598 | 
 599 | 		// Remove all attributes
 600 | 		bool remove_attributes();
 601 | 
 602 | 		// Remove specified child
 603 | 		bool remove_child(const xml_node& n);
 604 | 		bool remove_child(const char_t* name);
 605 | 
 606 | 		// Remove all children
 607 | 		bool remove_children();
 608 | 
 609 | 		// Parses buffer as an XML document fragment and appends all nodes as children of the current node.
 610 | 		// Copies/converts the buffer, so it may be deleted or changed after the function returns.
 611 | 		// Note: append_buffer allocates memory that has the lifetime of the owning document; removing the appended nodes does not immediately reclaim that memory.
 612 | 		xml_parse_result append_buffer(const void* contents, size_t size, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
 613 | 
 614 | 		// Find attribute using predicate. Returns first attribute for which predicate returned true.
 615 | 		template <typename Predicate> xml_attribute find_attribute(Predicate pred) const
 616 | 		{
 617 | 			if (!_root) return xml_attribute();
 618 | 
 619 | 			for (xml_attribute attrib = first_attribute(); attrib; attrib = attrib.next_attribute())
 620 | 				if (pred(attrib))
 621 | 					return attrib;
 622 | 
 623 | 			return xml_attribute();
 624 | 		}
 625 | 
 626 | 		// Find child node using predicate. Returns first child for which predicate returned true.
 627 | 		template <typename Predicate> xml_node find_child(Predicate pred) const
 628 | 		{
 629 | 			if (!_root) return xml_node();
 630 | 
 631 | 			for (xml_node node = first_child(); node; node = node.next_sibling())
 632 | 				if (pred(node))
 633 | 					return node;
 634 | 
 635 | 			return xml_node();
 636 | 		}
 637 | 
 638 | 		// Find node from subtree using predicate. Returns first node from subtree (depth-first), for which predicate returned true.
 639 | 		template <typename Predicate> xml_node find_node(Predicate pred) const
 640 | 		{
 641 | 			if (!_root) return xml_node();
 642 | 
 643 | 			xml_node cur = first_child();
 644 | 
 645 | 			while (cur._root && cur._root != _root)
 646 | 			{
 647 | 				if (pred(cur)) return cur;
 648 | 
 649 | 				if (cur.first_child()) cur = cur.first_child();
 650 | 				else if (cur.next_sibling()) cur = cur.next_sibling();
 651 | 				else
 652 | 				{
 653 | 					while (!cur.next_sibling() && cur._root != _root) cur = cur.parent();
 654 | 
 655 | 					if (cur._root != _root) cur = cur.next_sibling();
 656 | 				}
 657 | 			}
 658 | 
 659 | 			return xml_node();
 660 | 		}
 661 | 
 662 | 		// Find child node by attribute name/value
 663 | 		xml_node find_child_by_attribute(const char_t* name, const char_t* attr_name, const char_t* attr_value) const;
 664 | 		xml_node find_child_by_attribute(const char_t* attr_name, const char_t* attr_value) const;
 665 | 
 666 | #ifndef PUGIXML_NO_STL
 667 | 		// Get the absolute node path from root as a text string.
 668 | 		string_t path(char_t delimiter = '/') const;
 669 | #endif
 670 | 
 671 | 		// Search for a node by path consisting of node names and . or .. elements.
 672 | 		xml_node first_element_by_path(const char_t* path, char_t delimiter = '/') const;
 673 | 
 674 | 		// Recursively traverse subtree with xml_tree_walker
 675 | 		bool traverse(xml_tree_walker& walker);
 676 | 
 677 | #ifndef PUGIXML_NO_XPATH
 678 | 		// Select single node by evaluating XPath query. Returns first node from the resulting node set.
 679 | 		xpath_node select_node(const char_t* query, xpath_variable_set* variables = PUGIXML_NULL) const;
 680 | 		xpath_node select_node(const xpath_query& query) const;
 681 | 
 682 | 		// Select node set by evaluating XPath query
 683 | 		xpath_node_set select_nodes(const char_t* query, xpath_variable_set* variables = PUGIXML_NULL) const;
 684 | 		xpath_node_set select_nodes(const xpath_query& query) const;
 685 | 
 686 | 		// (deprecated: use select_node instead) Select single node by evaluating XPath query.
 687 | 		PUGIXML_DEPRECATED xpath_node select_single_node(const char_t* query, xpath_variable_set* variables = PUGIXML_NULL) const;
 688 | 		PUGIXML_DEPRECATED xpath_node select_single_node(const xpath_query& query) const;
 689 | 
 690 | #endif
 691 | 
 692 | 		// Print subtree using a writer object
 693 | 		void print(xml_writer& writer, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, xml_encoding encoding = encoding_auto, unsigned int depth = 0) const;
 694 | 
 695 | #ifndef PUGIXML_NO_STL
 696 | 		// Print subtree to stream
 697 | 		void print(std::basic_ostream<char, std::char_traits<char> >& os, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, xml_encoding encoding = encoding_auto, unsigned int depth = 0) const;
 698 | 		void print(std::basic_ostream<wchar_t, std::char_traits<wchar_t> >& os, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, unsigned int depth = 0) const;
 699 | #endif
 700 | 
 701 | 		// Child nodes iterators
 702 | 		typedef xml_node_iterator iterator;
 703 | 
 704 | 		iterator begin() const;
 705 | 		iterator end() const;
 706 | 
 707 | 		// Attribute iterators
 708 | 		typedef xml_attribute_iterator attribute_iterator;
 709 | 
 710 | 		attribute_iterator attributes_begin() const;
 711 | 		attribute_iterator attributes_end() const;
 712 | 
 713 | 		// Range-based for support
 714 | 		xml_object_range<xml_node_iterator> children() const;
 715 | 		xml_object_range<xml_named_node_iterator> children(const char_t* name) const;
 716 | 		xml_object_range<xml_attribute_iterator> attributes() const;
 717 | 
 718 | 		// Get node offset in parsed file/string (in char_t units) for debugging purposes
 719 | 		ptrdiff_t offset_debug() const;
 720 | 
 721 | 		// Get hash value (unique for handles to the same object)
 722 | 		size_t hash_value() const;
 723 | 
 724 | 		// Get internal pointer
 725 | 		xml_node_struct* internal_object() const;
 726 | 	};
 727 | 
 728 | #ifdef __BORLANDC__
 729 | 	// Borland C++ workaround
 730 | 	bool PUGIXML_FUNCTION operator&&(const xml_node& lhs, bool rhs);
 731 | 	bool PUGIXML_FUNCTION operator||(const xml_node& lhs, bool rhs);
 732 | #endif
 733 | 
 734 | 	// A helper for working with text inside PCDATA nodes
 735 | 	class PUGIXML_CLASS xml_text
 736 | 	{
 737 | 		friend class xml_node;
 738 | 
 739 | 		xml_node_struct* _root;
 740 | 
 741 | 		typedef void (*unspecified_bool_type)(xml_text***);
 742 | 
 743 | 		explicit xml_text(xml_node_struct* root);
 744 | 
 745 | 		xml_node_struct* _data_new();
 746 | 		xml_node_struct* _data() const;
 747 | 
 748 | 	public:
 749 | 		// Default constructor. Constructs an empty object.
 750 | 		xml_text();
 751 | 
 752 | 		// Safe bool conversion operator
 753 | 		operator unspecified_bool_type() const;
 754 | 
 755 | 		// Borland C++ workaround
 756 | 		bool operator!() const;
 757 | 
 758 | 		// Check if text object is empty
 759 | 		bool empty() const;
 760 | 
 761 | 		// Get text, or "" if object is empty
 762 | 		const char_t* get() const;
 763 | 
 764 | 		// Get text, or the default value if object is empty
 765 | 		const char_t* as_string(const char_t* def = PUGIXML_TEXT("")) const;
 766 | 
 767 | 		// Get text as a number, or the default value if conversion did not succeed or object is empty
 768 | 		int as_int(int def = 0) const;
 769 | 		unsigned int as_uint(unsigned int def = 0) const;
 770 | 		double as_double(double def = 0) const;
 771 | 		float as_float(float def = 0) const;
 772 | 
 773 | #ifdef PUGIXML_HAS_LONG_LONG
 774 | 		long long as_llong(long long def = 0) const;
 775 | 		unsigned long long as_ullong(unsigned long long def = 0) const;
 776 | #endif
 777 | 
 778 | 		// Get text as bool (returns true if first character is in '1tTyY' set), or the default value if object is empty
 779 | 		bool as_bool(bool def = false) const;
 780 | 
 781 | 		// Set text (returns false if object is empty or there is not enough memory)
 782 | 		bool set(const char_t* rhs, size_t sz);
 783 | 		bool set(const char_t* rhs);
 784 | 
 785 | 		// Set text with type conversion (numbers are converted to strings, boolean is converted to "true"/"false")
 786 | 		bool set(int rhs);
 787 | 		bool set(unsigned int rhs);
 788 | 		bool set(long rhs);
 789 | 		bool set(unsigned long rhs);
 790 | 		bool set(double rhs);
 791 | 		bool set(double rhs, int precision);
 792 | 		bool set(float rhs);
 793 | 		bool set(float rhs, int precision);
 794 | 		bool set(bool rhs);
 795 | 
 796 | #ifdef PUGIXML_HAS_LONG_LONG
 797 | 		bool set(long long rhs);
 798 | 		bool set(unsigned long long rhs);
 799 | #endif
 800 | 
 801 | 		// Set text (equivalent to set without error checking)
 802 | 		xml_text& operator=(const char_t* rhs);
 803 | 		xml_text& operator=(int rhs);
 804 | 		xml_text& operator=(unsigned int rhs);
 805 | 		xml_text& operator=(long rhs);
 806 | 		xml_text& operator=(unsigned long rhs);
 807 | 		xml_text& operator=(double rhs);
 808 | 		xml_text& operator=(float rhs);
 809 | 		xml_text& operator=(bool rhs);
 810 | 
 811 | #ifdef PUGIXML_HAS_LONG_LONG
 812 | 		xml_text& operator=(long long rhs);
 813 | 		xml_text& operator=(unsigned long long rhs);
 814 | #endif
 815 | 
 816 | 		// Get the data node (node_pcdata or node_cdata) for this object
 817 | 		xml_node data() const;
 818 | 	};
 819 | 
 820 | #ifdef __BORLANDC__
 821 | 	// Borland C++ workaround
 822 | 	bool PUGIXML_FUNCTION operator&&(const xml_text& lhs, bool rhs);
 823 | 	bool PUGIXML_FUNCTION operator||(const xml_text& lhs, bool rhs);
 824 | #endif
 825 | 
 826 | 	// Child node iterator (a bidirectional iterator over a collection of xml_node)
 827 | 	class PUGIXML_CLASS xml_node_iterator
 828 | 	{
 829 | 		friend class xml_node;
 830 | 
 831 | 	private:
 832 | 		mutable xml_node _wrap;
 833 | 		xml_node _parent;
 834 | 
 835 | 		xml_node_iterator(xml_node_struct* ref, xml_node_struct* parent);
 836 | 
 837 | 	public:
 838 | 		// Iterator traits
 839 | 		typedef ptrdiff_t difference_type;
 840 | 		typedef xml_node value_type;
 841 | 		typedef xml_node* pointer;
 842 | 		typedef xml_node& reference;
 843 | 
 844 | #ifndef PUGIXML_NO_STL
 845 | 		typedef std::bidirectional_iterator_tag iterator_category;
 846 | #endif
 847 | 
 848 | 		// Default constructor
 849 | 		xml_node_iterator();
 850 | 
 851 | 		// Construct an iterator which points to the specified node
 852 | 		xml_node_iterator(const xml_node& node);
 853 | 
 854 | 		// Iterator operators
 855 | 		bool operator==(const xml_node_iterator& rhs) const;
 856 | 		bool operator!=(const xml_node_iterator& rhs) const;
 857 | 
 858 | 		xml_node& operator*() const;
 859 | 		xml_node* operator->() const;
 860 | 
 861 | 		xml_node_iterator& operator++();
 862 | 		xml_node_iterator operator++(int);
 863 | 
 864 | 		xml_node_iterator& operator--();
 865 | 		xml_node_iterator operator--(int);
 866 | 	};
 867 | 
 868 | 	// Attribute iterator (a bidirectional iterator over a collection of xml_attribute)
 869 | 	class PUGIXML_CLASS xml_attribute_iterator
 870 | 	{
 871 | 		friend class xml_node;
 872 | 
 873 | 	private:
 874 | 		mutable xml_attribute _wrap;
 875 | 		xml_node _parent;
 876 | 
 877 | 		xml_attribute_iterator(xml_attribute_struct* ref, xml_node_struct* parent);
 878 | 
 879 | 	public:
 880 | 		// Iterator traits
 881 | 		typedef ptrdiff_t difference_type;
 882 | 		typedef xml_attribute value_type;
 883 | 		typedef xml_attribute* pointer;
 884 | 		typedef xml_attribute& reference;
 885 | 
 886 | #ifndef PUGIXML_NO_STL
 887 | 		typedef std::bidirectional_iterator_tag iterator_category;
 888 | #endif
 889 | 
 890 | 		// Default constructor
 891 | 		xml_attribute_iterator();
 892 | 
 893 | 		// Construct an iterator which points to the specified attribute
 894 | 		xml_attribute_iterator(const xml_attribute& attr, const xml_node& parent);
 895 | 
 896 | 		// Iterator operators
 897 | 		bool operator==(const xml_attribute_iterator& rhs) const;
 898 | 		bool operator!=(const xml_attribute_iterator& rhs) const;
 899 | 
 900 | 		xml_attribute& operator*() const;
 901 | 		xml_attribute* operator->() const;
 902 | 
 903 | 		xml_attribute_iterator& operator++();
 904 | 		xml_attribute_iterator operator++(int);
 905 | 
 906 | 		xml_attribute_iterator& operator--();
 907 | 		xml_attribute_iterator operator--(int);
 908 | 	};
 909 | 
 910 | 	// Named node range helper
 911 | 	class PUGIXML_CLASS xml_named_node_iterator
 912 | 	{
 913 | 		friend class xml_node;
 914 | 
 915 | 	public:
 916 | 		// Iterator traits
 917 | 		typedef ptrdiff_t difference_type;
 918 | 		typedef xml_node value_type;
 919 | 		typedef xml_node* pointer;
 920 | 		typedef xml_node& reference;
 921 | 
 922 | #ifndef PUGIXML_NO_STL
 923 | 		typedef std::bidirectional_iterator_tag iterator_category;
 924 | #endif
 925 | 
 926 | 		// Default constructor
 927 | 		xml_named_node_iterator();
 928 | 
 929 | 		// Construct an iterator which points to the specified node
 930 | 		xml_named_node_iterator(const xml_node& node, const char_t* name);
 931 | 
 932 | 		// Iterator operators
 933 | 		bool operator==(const xml_named_node_iterator& rhs) const;
 934 | 		bool operator!=(const xml_named_node_iterator& rhs) const;
 935 | 
 936 | 		xml_node& operator*() const;
 937 | 		xml_node* operator->() const;
 938 | 
 939 | 		xml_named_node_iterator& operator++();
 940 | 		xml_named_node_iterator operator++(int);
 941 | 
 942 | 		xml_named_node_iterator& operator--();
 943 | 		xml_named_node_iterator operator--(int);
 944 | 
 945 | 	private:
 946 | 		mutable xml_node _wrap;
 947 | 		xml_node _parent;
 948 | 		const char_t* _name;
 949 | 
 950 | 		xml_named_node_iterator(xml_node_struct* ref, xml_node_struct* parent, const char_t* name);
 951 | 	};
 952 | 
 953 | 	// Abstract tree walker class (see xml_node::traverse)
 954 | 	class PUGIXML_CLASS xml_tree_walker
 955 | 	{
 956 | 		friend class xml_node;
 957 | 
 958 | 	private:
 959 | 		int _depth;
 960 | 
 961 | 	protected:
 962 | 		// Get current traversal depth
 963 | 		int depth() const;
 964 | 
 965 | 	public:
 966 | 		xml_tree_walker();
 967 | 		virtual ~xml_tree_walker();
 968 | 
 969 | 		// Callback that is called when traversal begins
 970 | 		virtual bool begin(xml_node& node);
 971 | 
 972 | 		// Callback that is called for each node traversed
 973 | 		virtual bool for_each(xml_node& node) = 0;
 974 | 
 975 | 		// Callback that is called when traversal ends
 976 | 		virtual bool end(xml_node& node);
 977 | 	};
 978 | 
 979 | 	// Parsing status, returned as part of xml_parse_result object
 980 | 	enum xml_parse_status
 981 | 	{
 982 | 		status_ok = 0,				// No error
 983 | 
 984 | 		status_file_not_found,		// File was not found during load_file()
 985 | 		status_io_error,			// Error reading from file/stream
 986 | 		status_out_of_memory,		// Could not allocate memory
 987 | 		status_internal_error,		// Internal error occurred
 988 | 
 989 | 		status_unrecognized_tag,	// Parser could not determine tag type
 990 | 
 991 | 		status_bad_pi,				// Parsing error occurred while parsing document declaration/processing instruction
 992 | 		status_bad_comment,			// Parsing error occurred while parsing comment
 993 | 		status_bad_cdata,			// Parsing error occurred while parsing CDATA section
 994 | 		status_bad_doctype,			// Parsing error occurred while parsing document type declaration
 995 | 		status_bad_pcdata,			// Parsing error occurred while parsing PCDATA section
 996 | 		status_bad_start_element,	// Parsing error occurred while parsing start element tag
 997 | 		status_bad_attribute,		// Parsing error occurred while parsing element attribute
 998 | 		status_bad_end_element,		// Parsing error occurred while parsing end element tag
 999 | 		status_end_element_mismatch,// There was a mismatch of start-end tags (closing tag had incorrect name, some tag was not closed or there was an excessive closing tag)
1000 | 
1001 | 		status_append_invalid_root,	// Unable to append nodes since root type is not node_element or node_document (exclusive to xml_node::append_buffer)
1002 | 
1003 | 		status_no_document_element	// Parsing resulted in a document without element nodes
1004 | 	};
1005 | 
1006 | 	// Parsing result
1007 | 	struct PUGIXML_CLASS xml_parse_result
1008 | 	{
1009 | 		// Parsing status (see xml_parse_status)
1010 | 		xml_parse_status status;
1011 | 
1012 | 		// Last parsed offset (in char_t units from start of input data)
1013 | 		ptrdiff_t offset;
1014 | 
1015 | 		// Source document encoding
1016 | 		xml_encoding encoding;
1017 | 
1018 | 		// Default constructor, initializes object to failed state
1019 | 		xml_parse_result();
1020 | 
1021 | 		// Cast to bool operator
1022 | 		operator bool() const;
1023 | 
1024 | 		// Get error description
1025 | 		const char* description() const;
1026 | 	};
1027 | 
1028 | 	// Document class (DOM tree root)
1029 | 	class PUGIXML_CLASS xml_document : public xml_node
1030 | 	{
1031 | 	private:
1032 | 		char_t* _buffer;
1033 | 
1034 | 		char _memory[192];
1035 | 
1036 | 		// Non-copyable semantics
1037 | 		xml_document(const xml_document&);
1038 | 		xml_document& operator=(const xml_document&);
1039 | 
1040 | 		void _create();
1041 | 		void _destroy();
1042 | 		void _move(xml_document& rhs) PUGIXML_NOEXCEPT_IF_NOT_COMPACT;
1043 | 
1044 | 	public:
1045 | 		// Default constructor, makes empty document
1046 | 		xml_document();
1047 | 
1048 | 		// Destructor, invalidates all node/attribute handles to this document
1049 | 		~xml_document();
1050 | 
1051 | #ifdef PUGIXML_HAS_MOVE
1052 | 		// Move semantics support
1053 | 		xml_document(xml_document&& rhs) PUGIXML_NOEXCEPT_IF_NOT_COMPACT;
1054 | 		xml_document& operator=(xml_document&& rhs) PUGIXML_NOEXCEPT_IF_NOT_COMPACT;
1055 | #endif
1056 | 
1057 | 		// Removes all nodes, leaving the empty document
1058 | 		void reset();
1059 | 
1060 | 		// Removes all nodes, then copies the entire contents of the specified document
1061 | 		void reset(const xml_document& proto);
1062 | 
1063 | #ifndef PUGIXML_NO_STL
1064 | 		// Load document from stream.
1065 | 		xml_parse_result load(std::basic_istream<char, std::char_traits<char> >& stream, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
1066 | 		xml_parse_result load(std::basic_istream<wchar_t, std::char_traits<wchar_t> >& stream, unsigned int options = parse_default);
1067 | #endif
1068 | 
1069 | 		// (deprecated: use load_string instead) Load document from zero-terminated string. No encoding conversions are applied.
1070 | 		PUGIXML_DEPRECATED xml_parse_result load(const char_t* contents, unsigned int options = parse_default);
1071 | 
1072 | 		// Load document from zero-terminated string. No encoding conversions are applied.
1073 | 		xml_parse_result load_string(const char_t* contents, unsigned int options = parse_default);
1074 | 
1075 | 		// Load document from file
1076 | 		xml_parse_result load_file(const char* path, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
1077 | 		xml_parse_result load_file(const wchar_t* path, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
1078 | 
1079 | 		// Load document from buffer. Copies/converts the buffer, so it may be deleted or changed after the function returns.
1080 | 		xml_parse_result load_buffer(const void* contents, size_t size, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
1081 | 
1082 | 		// Load document from buffer, using the buffer for in-place parsing (the buffer is modified and used for storage of document data).
1083 | 		// You should ensure that buffer data will persist throughout the document's lifetime, and free the buffer memory manually once document is destroyed.
1084 | 		xml_parse_result load_buffer_inplace(void* contents, size_t size, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
1085 | 
1086 | 		// Load document from buffer, using the buffer for in-place parsing (the buffer is modified and used for storage of document data).
1087 | 		// You should allocate the buffer with pugixml allocation function; document will free the buffer when it is no longer needed (you can't use it anymore).
1088 | 		xml_parse_result load_buffer_inplace_own(void* contents, size_t size, unsigned int options = parse_default, xml_encoding encoding = encoding_auto);
1089 | 
1090 | 		// Save XML document to writer (semantics is slightly different from xml_node::print, see documentation for details).
1091 | 		void save(xml_writer& writer, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, xml_encoding encoding = encoding_auto) const;
1092 | 
1093 | #ifndef PUGIXML_NO_STL
1094 | 		// Save XML document to stream (semantics is slightly different from xml_node::print, see documentation for details).
1095 | 		void save(std::basic_ostream<char, std::char_traits<char> >& stream, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, xml_encoding encoding = encoding_auto) const;
1096 | 		void save(std::basic_ostream<wchar_t, std::char_traits<wchar_t> >& stream, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default) const;
1097 | #endif
1098 | 
1099 | 		// Save XML to file
1100 | 		bool save_file(const char* path, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, xml_encoding encoding = encoding_auto) const;
1101 | 		bool save_file(const wchar_t* path, const char_t* indent = PUGIXML_TEXT("\t"), unsigned int flags = format_default, xml_encoding encoding = encoding_auto) const;
1102 | 
1103 | 		// Get document element
1104 | 		xml_node document_element() const;
1105 | 	};
1106 | 
1107 | #ifndef PUGIXML_NO_XPATH
1108 | 	// XPath query return type
1109 | 	enum xpath_value_type
1110 | 	{
1111 | 		xpath_type_none,	  // Unknown type (query failed to compile)
1112 | 		xpath_type_node_set,  // Node set (xpath_node_set)
1113 | 		xpath_type_number,	  // Number
1114 | 		xpath_type_string,	  // String
1115 | 		xpath_type_boolean	  // Boolean
1116 | 	};
1117 | 
1118 | 	// XPath parsing result
1119 | 	struct PUGIXML_CLASS xpath_parse_result
1120 | 	{
1121 | 		// Error message (0 if no error)
1122 | 		const char* error;
1123 | 
1124 | 		// Last parsed offset (in char_t units from string start)
1125 | 		ptrdiff_t offset;
1126 | 
1127 | 		// Default constructor, initializes object to failed state
1128 | 		xpath_parse_result();
1129 | 
1130 | 		// Cast to bool operator
1131 | 		operator bool() const;
1132 | 
1133 | 		// Get error description
1134 | 		const char* description() const;
1135 | 	};
1136 | 
1137 | 	// A single XPath variable
1138 | 	class PUGIXML_CLASS xpath_variable
1139 | 	{
1140 | 		friend class xpath_variable_set;
1141 | 
1142 | 	protected:
1143 | 		xpath_value_type _type;
1144 | 		xpath_variable* _next;
1145 | 
1146 | 		xpath_variable(xpath_value_type type);
1147 | 
1148 | 		// Non-copyable semantics
1149 | 		xpath_variable(const xpath_variable&);
1150 | 		xpath_variable& operator=(const xpath_variable&);
1151 | 
1152 | 	public:
1153 | 		// Get variable name
1154 | 		const char_t* name() const;
1155 | 
1156 | 		// Get variable type
1157 | 		xpath_value_type type() const;
1158 | 
1159 | 		// Get variable value; no type conversion is performed, default value (false, NaN, empty string, empty node set) is returned on type mismatch error
1160 | 		bool get_boolean() const;
1161 | 		double get_number() const;
1162 | 		const char_t* get_string() const;
1163 | 		const xpath_node_set& get_node_set() const;
1164 | 
1165 | 		// Set variable value; no type conversion is performed, false is returned on type mismatch error
1166 | 		bool set(bool value);
1167 | 		bool set(double value);
1168 | 		bool set(const char_t* value);
1169 | 		bool set(const xpath_node_set& value);
1170 | 	};
1171 | 
1172 | 	// A set of XPath variables
1173 | 	class PUGIXML_CLASS xpath_variable_set
1174 | 	{
1175 | 	private:
1176 | 		xpath_variable* _data[64];
1177 | 
1178 | 		void _assign(const xpath_variable_set& rhs);
1179 | 		void _swap(xpath_variable_set& rhs);
1180 | 
1181 | 		xpath_variable* _find(const char_t* name) const;
1182 | 
1183 | 		static bool _clone(xpath_variable* var, xpath_variable** out_result);
1184 | 		static void _destroy(xpath_variable* var);
1185 | 
1186 | 	public:
1187 | 		// Default constructor/destructor
1188 | 		xpath_variable_set();
1189 | 		~xpath_variable_set();
1190 | 
1191 | 		// Copy constructor/assignment operator
1192 | 		xpath_variable_set(const xpath_variable_set& rhs);
1193 | 		xpath_variable_set& operator=(const xpath_variable_set& rhs);
1194 | 
1195 | #ifdef PUGIXML_HAS_MOVE
1196 | 		// Move semantics support
1197 | 		xpath_variable_set(xpath_variable_set&& rhs) PUGIXML_NOEXCEPT;
1198 | 		xpath_variable_set& operator=(xpath_variable_set&& rhs) PUGIXML_NOEXCEPT;
1199 | #endif
1200 | 
1201 | 		// Add a new variable or get the existing one, if the types match
1202 | 		xpath_variable* add(const char_t* name, xpath_value_type type);
1203 | 
1204 | 		// Set value of an existing variable; no type conversion is performed, false is returned if there is no such variable or if types mismatch
1205 | 		bool set(const char_t* name, bool value);
1206 | 		bool set(const char_t* name, double value);
1207 | 		bool set(const char_t* name, const char_t* value);
1208 | 		bool set(const char_t* name, const xpath_node_set& value);
1209 | 
1210 | 		// Get existing variable by name
1211 | 		xpath_variable* get(const char_t* name);
1212 | 		const xpath_variable* get(const char_t* name) const;
1213 | 	};
1214 | 
1215 | 	// A compiled XPath query object
1216 | 	class PUGIXML_CLASS xpath_query
1217 | 	{
1218 | 	private:
1219 | 		void* _impl;
1220 | 		xpath_parse_result _result;
1221 | 
1222 | 		typedef void (*unspecified_bool_type)(xpath_query***);
1223 | 
1224 | 		// Non-copyable semantics
1225 | 		xpath_query(const xpath_query&);
1226 | 		xpath_query& operator=(const xpath_query&);
1227 | 
1228 | 	public:
1229 | 		// Construct a compiled object from XPath expression.
1230 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws xpath_exception on compilation errors.
1231 | 		explicit xpath_query(const char_t* query, xpath_variable_set* variables = PUGIXML_NULL);
1232 | 
1233 | 		// Constructor
1234 | 		xpath_query();
1235 | 
1236 | 		// Destructor
1237 | 		~xpath_query();
1238 | 
1239 | #ifdef PUGIXML_HAS_MOVE
1240 | 		// Move semantics support
1241 | 		xpath_query(xpath_query&& rhs) PUGIXML_NOEXCEPT;
1242 | 		xpath_query& operator=(xpath_query&& rhs) PUGIXML_NOEXCEPT;
1243 | #endif
1244 | 
1245 | 		// Get query expression return type
1246 | 		xpath_value_type return_type() const;
1247 | 
1248 | 		// Evaluate expression as boolean value in the specified context; performs type conversion if necessary.
1249 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws std::bad_alloc on out of memory errors.
1250 | 		bool evaluate_boolean(const xpath_node& n) const;
1251 | 
1252 | 		// Evaluate expression as double value in the specified context; performs type conversion if necessary.
1253 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws std::bad_alloc on out of memory errors.
1254 | 		double evaluate_number(const xpath_node& n) const;
1255 | 
1256 | #ifndef PUGIXML_NO_STL
1257 | 		// Evaluate expression as string value in the specified context; performs type conversion if necessary.
1258 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws std::bad_alloc on out of memory errors.
1259 | 		string_t evaluate_string(const xpath_node& n) const;
1260 | #endif
1261 | 
1262 | 		// Evaluate expression as string value in the specified context; performs type conversion if necessary.
1263 | 		// At most capacity characters are written to the destination buffer, full result size is returned (includes terminating zero).
1264 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws std::bad_alloc on out of memory errors.
1265 | 		// If PUGIXML_NO_EXCEPTIONS is defined, returns empty  set instead.
1266 | 		size_t evaluate_string(char_t* buffer, size_t capacity, const xpath_node& n) const;
1267 | 
1268 | 		// Evaluate expression as node set in the specified context.
1269 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws xpath_exception on type mismatch and std::bad_alloc on out of memory errors.
1270 | 		// If PUGIXML_NO_EXCEPTIONS is defined, returns empty node set instead.
1271 | 		xpath_node_set evaluate_node_set(const xpath_node& n) const;
1272 | 
1273 | 		// Evaluate expression as node set in the specified context.
1274 | 		// Return first node in document order, or empty node if node set is empty.
1275 | 		// If PUGIXML_NO_EXCEPTIONS is not defined, throws xpath_exception on type mismatch and std::bad_alloc on out of memory errors.
1276 | 		// If PUGIXML_NO_EXCEPTIONS is defined, returns empty node instead.
1277 | 		xpath_node evaluate_node(const xpath_node& n) const;
1278 | 
1279 | 		// Get parsing result (used to get compilation errors in PUGIXML_NO_EXCEPTIONS mode)
1280 | 		const xpath_parse_result& result() const;
1281 | 
1282 | 		// Safe bool conversion operator
1283 | 		operator unspecified_bool_type() const;
1284 | 
1285 | 		// Borland C++ workaround
1286 | 		bool operator!() const;
1287 | 	};
1288 | 
1289 | #ifndef PUGIXML_NO_EXCEPTIONS
1290 | #if defined(_MSC_VER)
1291 | 	// C4275 can be ignored in Visual C++ if you are deriving
1292 | 	// from a type in the Standard C++ Library
1293 | #pragma warning(push)
1294 | #pragma warning(disable: 4275)
1295 | #endif
1296 | // XPath exception class
1297 | 	class PUGIXML_CLASS xpath_exception : public std::exception
1298 | 	{
1299 | 	private:
1300 | 		xpath_parse_result _result;
1301 | 
1302 | 	public:
1303 | 		// Construct exception from parse result
1304 | 		explicit xpath_exception(const xpath_parse_result& result);
1305 | 
1306 | 		// Get error message
1307 | 		virtual const char* what() const throw() PUGIXML_OVERRIDE;
1308 | 
1309 | 		// Get parse result
1310 | 		const xpath_parse_result& result() const;
1311 | 	};
1312 | #if defined(_MSC_VER)
1313 | #pragma warning(pop)
1314 | #endif
1315 | #endif
1316 | 
1317 | 	// XPath node class (either xml_node or xml_attribute)
1318 | 	class PUGIXML_CLASS xpath_node
1319 | 	{
1320 | 	private:
1321 | 		xml_node _node;
1322 | 		xml_attribute _attribute;
1323 | 
1324 | 		typedef void (*unspecified_bool_type)(xpath_node***);
1325 | 
1326 | 	public:
1327 | 		// Default constructor; constructs empty XPath node
1328 | 		xpath_node();
1329 | 
1330 | 		// Construct XPath node from XML node/attribute
1331 | 		xpath_node(const xml_node& node);
1332 | 		xpath_node(const xml_attribute& attribute, const xml_node& parent);
1333 | 
1334 | 		// Get node/attribute, if any
1335 | 		xml_node node() const;
1336 | 		xml_attribute attribute() const;
1337 | 
1338 | 		// Get parent of contained node/attribute
1339 | 		xml_node parent() const;
1340 | 
1341 | 		// Safe bool conversion operator
1342 | 		operator unspecified_bool_type() const;
1343 | 
1344 | 		// Borland C++ workaround
1345 | 		bool operator!() const;
1346 | 
1347 | 		// Comparison operators
1348 | 		bool operator==(const xpath_node& n) const;
1349 | 		bool operator!=(const xpath_node& n) const;
1350 | 	};
1351 | 
1352 | #ifdef __BORLANDC__
1353 | 	// Borland C++ workaround
1354 | 	bool PUGIXML_FUNCTION operator&&(const xpath_node& lhs, bool rhs);
1355 | 	bool PUGIXML_FUNCTION operator||(const xpath_node& lhs, bool rhs);
1356 | #endif
1357 | 
1358 | 	// A fixed-size collection of XPath nodes
1359 | 	class PUGIXML_CLASS xpath_node_set
1360 | 	{
1361 | 	public:
1362 | 		// Collection type
1363 | 		enum type_t
1364 | 		{
1365 | 			type_unsorted,			// Not ordered
1366 | 			type_sorted,			// Sorted by document order (ascending)
1367 | 			type_sorted_reverse		// Sorted by document order (descending)
1368 | 		};
1369 | 
1370 | 		// Constant iterator type
1371 | 		typedef const xpath_node* const_iterator;
1372 | 
1373 | 		// We define non-constant iterator to be the same as constant iterator so that various generic algorithms (i.e. boost foreach) work
1374 | 		typedef const xpath_node* iterator;
1375 | 
1376 | 		// Default constructor. Constructs empty set.
1377 | 		xpath_node_set();
1378 | 
1379 | 		// Constructs a set from iterator range; data is not checked for duplicates and is not sorted according to provided type, so be careful
1380 | 		xpath_node_set(const_iterator begin, const_iterator end, type_t type = type_unsorted);
1381 | 
1382 | 		// Destructor
1383 | 		~xpath_node_set();
1384 | 
1385 | 		// Copy constructor/assignment operator
1386 | 		xpath_node_set(const xpath_node_set& ns);
1387 | 		xpath_node_set& operator=(const xpath_node_set& ns);
1388 | 
1389 | #ifdef PUGIXML_HAS_MOVE
1390 | 		// Move semantics support
1391 | 		xpath_node_set(xpath_node_set&& rhs) PUGIXML_NOEXCEPT;
1392 | 		xpath_node_set& operator=(xpath_node_set&& rhs) PUGIXML_NOEXCEPT;
1393 | #endif
1394 | 
1395 | 		// Get collection type
1396 | 		type_t type() const;
1397 | 
1398 | 		// Get collection size
1399 | 		size_t size() const;
1400 | 
1401 | 		// Indexing operator
1402 | 		const xpath_node& operator[](size_t index) const;
1403 | 
1404 | 		// Collection iterators
1405 | 		const_iterator begin() const;
1406 | 		const_iterator end() const;
1407 | 
1408 | 		// Sort the collection in ascending/descending order by document order
1409 | 		void sort(bool reverse = false);
1410 | 
1411 | 		// Get first node in the collection by document order
1412 | 		xpath_node first() const;
1413 | 
1414 | 		// Check if collection is empty
1415 | 		bool empty() const;
1416 | 
1417 | 	private:
1418 | 		type_t _type;
1419 | 
1420 | 		xpath_node _storage[1];
1421 | 
1422 | 		xpath_node* _begin;
1423 | 		xpath_node* _end;
1424 | 
1425 | 		void _assign(const_iterator begin, const_iterator end, type_t type);
1426 | 		void _move(xpath_node_set& rhs) PUGIXML_NOEXCEPT;
1427 | 	};
1428 | #endif
1429 | 
1430 | #ifndef PUGIXML_NO_STL
1431 | 	// Convert wide string to UTF8
1432 | 	std::basic_string<char, std::char_traits<char>, std::allocator<char> > PUGIXML_FUNCTION as_utf8(const wchar_t* str);
1433 | 	std::basic_string<char, std::char_traits<char>, std::allocator<char> > PUGIXML_FUNCTION as_utf8(const std::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >& str);
1434 | 
1435 | 	// Convert UTF8 to wide string
1436 | 	std::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> > PUGIXML_FUNCTION as_wide(const char* str);
1437 | 	std::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> > PUGIXML_FUNCTION as_wide(const std::basic_string<char, std::char_traits<char>, std::allocator<char> >& str);
1438 | #endif
1439 | 
1440 | 	// Memory allocation function interface; returns pointer to allocated memory or NULL on failure
1441 | 	typedef void* (*allocation_function)(size_t size);
1442 | 
1443 | 	// Memory deallocation function interface
1444 | 	typedef void (*deallocation_function)(void* ptr);
1445 | 
1446 | 	// Override default memory management functions. All subsequent allocations/deallocations will be performed via supplied functions.
1447 | 	void PUGIXML_FUNCTION set_memory_management_functions(allocation_function allocate, deallocation_function deallocate);
1448 | 
1449 | 	// Get current memory management functions
1450 | 	allocation_function PUGIXML_FUNCTION get_memory_allocation_function();
1451 | 	deallocation_function PUGIXML_FUNCTION get_memory_deallocation_function();
1452 | }
1453 | 
1454 | #if !defined(PUGIXML_NO_STL) && (defined(_MSC_VER) || defined(__ICC))
1455 | namespace std
1456 | {
1457 | 	// Workarounds for (non-standard) iterator category detection for older versions (MSVC7/IC8 and earlier)
1458 | 	std::bidirectional_iterator_tag PUGIXML_FUNCTION _Iter_cat(const pugi::xml_node_iterator&);
1459 | 	std::bidirectional_iterator_tag PUGIXML_FUNCTION _Iter_cat(const pugi::xml_attribute_iterator&);
1460 | 	std::bidirectional_iterator_tag PUGIXML_FUNCTION _Iter_cat(const pugi::xml_named_node_iterator&);
1461 | }
1462 | #endif
1463 | 
1464 | #if !defined(PUGIXML_NO_STL) && defined(__SUNPRO_CC)
1465 | namespace std
1466 | {
1467 | 	// Workarounds for (non-standard) iterator category detection
1468 | 	std::bidirectional_iterator_tag PUGIXML_FUNCTION __iterator_category(const pugi::xml_node_iterator&);
1469 | 	std::bidirectional_iterator_tag PUGIXML_FUNCTION __iterator_category(const pugi::xml_attribute_iterator&);
1470 | 	std::bidirectional_iterator_tag PUGIXML_FUNCTION __iterator_category(const pugi::xml_named_node_iterator&);
1471 | }
1472 | #endif
1473 | 
1474 | #endif
1475 | 
1476 | // Make sure implementation is included in header-only mode
1477 | // Use macro expansion in #include to work around QMake (QTBUG-11923)
1478 | #if defined(PUGIXML_HEADER_ONLY) && !defined(PUGIXML_SOURCE)
1479 | #	define PUGIXML_SOURCE "pugixml.cpp"
1480 | #	include PUGIXML_SOURCE
1481 | #endif
1482 | 
1483 | /**
1484 |  * Copyright (c) 2006-2022 Arseny Kapoulkine
1485 |  *
1486 |  * Permission is hereby granted, free of charge, to any person
1487 |  * obtaining a copy of this software and associated documentation
1488 |  * files (the "Software"), to deal in the Software without
1489 |  * restriction, including without limitation the rights to use,
1490 |  * copy, modify, merge, publish, distribute, sublicense, and/or sell
1491 |  * copies of the Software, and to permit persons to whom the
1492 |  * Software is furnished to do so, subject to the following
1493 |  * conditions:
1494 |  *
1495 |  * The above copyright notice and this permission notice shall be
1496 |  * included in all copies or substantial portions of the Software.
1497 |  *
1498 |  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
1499 |  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
1500 |  * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
1501 |  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
1502 |  * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
1503 |  * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
1504 |  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
1505 |  * OTHER DEALINGS IN THE SOFTWARE.
1506 |  */
1507 | 


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