<reponame>OrangeSodahub/RMMDet<filename>src/roslibjs/src/urdf/UrdfVisual.js<gh_stars>0/**
 * @fileOverview 
 * @author Benjamin Pitzer - hzdkv@example.com
 * @author Russell Toris - lyhxr@example.com
 */

var Pose = require('../math/Pose');
var Vector3 = require('../math/Vector3');
var Quaternion = require('../math/Quaternion');

var UrdfCylinder = require('./UrdfCylinder');
var UrdfBox = require('./UrdfBox');
var UrdfMaterial = require('./UrdfMaterial');
var UrdfMesh = require('./UrdfMesh');
var UrdfSphere = require('./UrdfSphere');

/**
 * A Visual element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfVisual(options) {
  var xml = options.xml;
  this.origin = null;
  this.geometry = null;
  this.material = null;

  this.name = options.xml.getAttribute('name');

  // Origin
  var origins = xml.getElementsByTagName('origin');
  if (origins.length === 0) {
    // use the identity as the default
    this.origin = new Pose();
  } else {
    // Check the XYZ
    var xyz = origins[0].getAttribute('xyz');
    var position = new Vector3();
    if (xyz) {
      xyz = xyz.split(' ');
      position = new Vector3({
        x : parseFloat(xyz[0]),
        y : parseFloat(xyz[1]),
        z : parseFloat(xyz[2])
      });
    }

    // Check the RPY
    var rpy = origins[0].getAttribute('rpy');
    var orientation = new Quaternion();
    if (rpy) {
      rpy = rpy.split(' ');
      // Convert from RPY
      var roll = parseFloat(rpy[0]);
      var pitch = parseFloat(rpy[1]);
      var yaw = parseFloat(rpy[2]);
      var phi = roll / 2.0;
      var the = pitch / 2.0;
      var psi = yaw / 2.0;
      var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)
          * Math.sin(psi);
      var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)
          * Math.sin(psi);
      var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)
          * Math.cos(psi);
      var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
          * Math.sin(psi);

      orientation = new Quaternion({
        x : x,
        y : y,
        z : z,
        w : w
      });
      orientation.normalize();
    }
    this.origin = new Pose({
      position : position,
      orientation : orientation
    });
  }

  // Geometry
  var geoms = xml.getElementsByTagName('geometry');
  if (geoms.length > 0) {
    var geom = geoms[0];
    var shape = null;
    // Check for the shape
    for (var i = 0; i < geom.childNodes.length; i++) {
      var node = geom.childNodes[i];
      if (node.nodeType === 1) {
        shape = node;
        break;
      }
    }
    // Check the type
    var type = shape.nodeName;
    if (type === 'sphere') {
      this.geometry = new UrdfSphere({
        xml : shape
      });
    } else if (type === 'box') {
      this.geometry = new UrdfBox({
        xml : shape
      });
    } else if (type === 'cylinder') {
      this.geometry = new UrdfCylinder({
        xml : shape
      });
    } else if (type === 'mesh') {
      this.geometry = new UrdfMesh({
        xml : shape
      });
    } else {
      console.warn('Unknown geometry type ' + type);
    }
  }

  // Material
  var materials = xml.getElementsByTagName('material');
  if (materials.length > 0) {
    this.material = new UrdfMaterial({
      xml : materials[0]
    });
  }
}

module.exports = UrdfVisual;