Function urdf_rs::read_from_string
[−]
[src]
pub fn read_from_string(string: &str) -> Result<Robot>
Read from string instead of file.
Examples
let s = r##" <robot name="robo"> <link name="shoulder1"> <inertial> <origin xyz="0 0 0.5" rpy="0 0 0"/> <mass value="1"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" /> </inertial> <visual> <origin xyz="0.1 0.2 0.3" rpy="-0.1 -0.2 -0.3" /> <geometry> <box size="1.0 2.0 3.0" /> </geometry> <material name="Cyan"> <color rgba="0 1.0 1.0 1.0"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder radius="1" length="0.5"/> </geometry> </collision> </link> <link name="elbow1" /> <link name="wrist1" /> <joint name="shoulder_pitch" type="revolute"> <origin xyz="0.0 0.0 0.1" /> <parent link="shoulder1" /> <child link="elbow1" /> <axis xyz="0 1 -1" /> <limit lower="-1" upper="1.0" effort="0" velocity="1.0"/> </joint> <joint name="shoulder_pitch" type="revolute"> <origin xyz="0.0 0.0 0.0" /> <parent link="elbow1" /> <child link="wrist1" /> <axis xyz="0 1 0" /> <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/> </joint> </robot> "##; let urdf_robo = urdf_rs::read_from_string(s).unwrap(); println!("{:?}", urdf_robo.links[0].visual.origin.xyz);