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Remove direct dependency on TinyXML #7

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Remove direct dependency on TinyXML #7

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acd43d9
Deprecate treeFromXml
rotu May 1, 2020
bc1572e
stop using treeFromXml internally
rotu May 14, 2020
36444ce
stop using initXml internally
rotu May 18, 2020
e269252
Remove direct dependency on TinyXML
rotu May 14, 2020
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3 changes: 0 additions & 3 deletions kdl_parser/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,6 @@ project(kdl_parser)

find_package(ament_cmake_ros REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(tinyxml_vendor REQUIRED)
find_package(TinyXML REQUIRED)
find_package(urdf REQUIRED)
find_package(urdfdom_headers REQUIRED)
find_library(KDL_LIBRARY REQUIRED
Expand All @@ -26,7 +24,6 @@ target_include_directories(${PROJECT_NAME}
"$<INSTALL_INTERFACE:include>"
)
ament_target_dependencies(${PROJECT_NAME}
TinyXML
orocos_kdl
urdf
urdfdom_headers)
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9 changes: 0 additions & 9 deletions kdl_parser/include/kdl_parser/kdl_parser.hpp
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Expand Up @@ -38,7 +38,6 @@
#define KDL_PARSER__KDL_PARSER_HPP_

#include <string>
#include <tinyxml.h> // NOLINT

#include "kdl/tree.hpp"
#include "urdf_model/model.h"
Expand Down Expand Up @@ -72,14 +71,6 @@ bool treeFromParam(const std::string & param, KDL::Tree & tree);
KDL_PARSER_PUBLIC
bool treeFromString(const std::string & xml, KDL::Tree & tree);

/** Constructs a KDL tree from a TiXmlDocument
* \param xml_doc The TiXmlDocument containting the xml description of the robot
* \param tree The resulting KDL Tree
* returns true on success, false on failure
*/
KDL_PARSER_PUBLIC
bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree);

/** Constructs a KDL tree from a URDF robot model
* \param robot_model The URDF robot model
* \param tree The resulting KDL Tree
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4 changes: 0 additions & 4 deletions kdl_parser/package.xml
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Expand Up @@ -24,13 +24,9 @@

<depend version_gte="1.3.0">orocos_kdl</depend>

<build_depend>tinyxml</build_depend>
<build_depend>tinyxml_vendor</build_depend>
<build_depend>urdf</build_depend>
<build_depend>urdfdom_headers</build_depend>

<exec_depend>tinyxml</exec_depend>
<exec_depend>tinyxml_vendor</exec_depend>
<exec_depend>urdf</exec_depend>

<test_depend>ament_lint_auto</test_depend>
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18 changes: 6 additions & 12 deletions kdl_parser/src/kdl_parser.cpp
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Expand Up @@ -160,9 +160,11 @@ bool addChildrenToTree(urdf::LinkConstSharedPtr root, KDL::Tree & tree)

bool treeFromFile(const std::string & file, KDL::Tree & tree)
{
TiXmlDocument urdf_xml;
urdf_xml.LoadFile(file);
return treeFromXml(&urdf_xml, tree);
std::ifstream t(file);
std::stringstream buffer;
buffer << t.rdbuf();

return treeFromString(buffer.str(), tree);
}

bool treeFromParam(const std::string & param, KDL::Tree & tree)
Expand All @@ -180,23 +182,15 @@ bool treeFromParam(const std::string & param, KDL::Tree & tree)
}

bool treeFromString(const std::string & xml, KDL::Tree & tree)
{
TiXmlDocument urdf_xml;
urdf_xml.Parse(xml.c_str());
return treeFromXml(&urdf_xml, tree);
}

bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree)
{
urdf::Model robot_model;
if (!robot_model.initXml(xml_doc)) {
if (!robot_model.initString(xml.c_str())) {
fprintf(stderr, "Could not generate robot model\n");
return false;
}
return treeFromUrdfModel(robot_model, tree);
}


bool treeFromUrdfModel(const urdf::ModelInterface & robot_model, KDL::Tree & tree)
{
if (!robot_model.getRoot()) {
Expand Down