pcg_gazebo.parsers
pcg_gazebo.parsers¶
Parsing module to generated and convert SDF, URDF and SDF Configuration formats.
Sources
parse_sdf¶
parse_sdf(input_xml)
pcg_gazebo
SDF instance.
Input arguments
input_xml
(type:str
): Filename of the SDF file or SDF XML formatted text.
Returns
pcg_gazebo.parsers.types.XMLBase
object.
parse_urdf¶
parse_urdf(input_xml)
pcg_gazebo
URDF instance.
Input arguments
input_xml
(type:str
): Filename of the URDF file or URDF XML formatted text.
Returns
pcg_gazebo.parsers.types.XMLBase
object.
parse_sdf_config¶
parse_sdf_config(input_xml)
pcg_gazebo
SDF Configuration instance.
Input arguments
input_xml
(type:str
): Filename of the SDF Configuration file or SDF Configuration XML formatted text.
Returns
pcg_gazebo.parsers.types.XMLBase
object.
parse_xml¶
parse_xml(input_xml, type='sdf')
collections.OrderedDict
.
Input arguments
input_xml
(type:str
): Filename of the XML file or XML formatted text.type
(type:str
): Type of XML format used in the input file, options aresdf
,urdf
orsdf_config
.
Returns
collections.OrderedDict
: Dictionary where the XML tags are the keys.
parse_xml_str¶
parse_xml_str(xml_str, type='sdf')
collections.OrderedDict
.
Input arguments
input_xml
(type:str
): XML formatted text.type
(type:str
): Type of XML format used in the input file, options aresdf
,urdf
orsdf_config
.
Returns
collections.OrderedDict
: Dictionary where the XML tags are the keys.
parse_xml_dict¶
parse_xml_dict(xml_dict, type='sdf')
collections.OrderedDict
created from a XML file
and return an SDF, URDF or SDF Configuration pcg_gazebo
element.
Input arguments
xml_dict
(type:collections.OrderedDict
): XML contents.type
(type:str
): Type of XML format used in the input file, options aresdf
,urdf
orsdf_config
.
Returns
pcg_gazebo.parsers.types.XMLBase
object.
convert_to_dict¶
convert_to_dict(xml_dict)
xmltodict
output into a dictionary that can be
parsed into a pcg_gazebo.parsers.types.XMLBase
.
Input arguments
xml_dict
(type:collections.OrderedDict
): XML content in dictionary form.
Returns
dict
: Formatted XML dictionary.
convert_from_string¶
convert_from_string(str_input_xml)
Input arguments
str_input_xml
(type:str
): Input string
Returns
bool
, int
, float
, list of float
or str
.
sdf2urdf¶
sdf2urdf(sdf)
pcg_gazebo
element and its child elements
into an URDF pcg_gazebo
element.
Input arguments
sdf
(type:pcg_gazebo.parsers.types.XMLBase
): Valid SDF element
Returns
pcg_gazebo.parsers.types.XMLBase
as an URDF element.
urdf2sdf¶
urdf2sdf(urdf)
pcg_gazebo
element and its child elements
into a SDF pcg_gazebo
element.
Input arguments
urdf
(type:pcg_gazebo.parsers.types.XMLBase
): Valid URDF element
Returns
pcg_gazebo.parsers.types.XMLBase
as a SDF element.