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Make parsePose() public again #253

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Make parsePose() public again #253

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3 changes: 3 additions & 0 deletions urdf_parser/include/urdf_parser/urdf_parser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,9 @@ class URDFVersion final
namespace urdf{
URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);

URDFDOM_DLLAPI bool parsePose(Pose& pose, tinyxml2::XMLElement* element,
const urdf_export_helpers::URDFVersion version);
}

#endif
2 changes: 1 addition & 1 deletion urdf_parser/src/joint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -450,7 +450,7 @@ bool parseJoint(Joint &joint, tinyxml2::XMLElement* config,
}
else
{
if (!parsePoseInternal(joint.parent_to_joint_origin_transform, origin_xml, version))
if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml, version))
{
joint.parent_to_joint_origin_transform.clear();
CONSOLE_BRIDGE_logError("Malformed parent origin element for joint [%s]", joint.name.c_str());
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6 changes: 3 additions & 3 deletions urdf_parser/src/link.cpp
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Expand Up @@ -322,7 +322,7 @@ bool parseInertial(Inertial &i, tinyxml2::XMLElement *config,
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parsePoseInternal(i.origin, o, version))
if (!parsePose(i.origin, o, version))
return false;
}

Expand Down Expand Up @@ -402,7 +402,7 @@ bool parseVisual(Visual &vis, tinyxml2::XMLElement *config,
// Origin
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o) {
if (!parsePoseInternal(vis.origin, o, version))
if (!parsePose(vis.origin, o, version))
return false;
}

Expand Down Expand Up @@ -445,7 +445,7 @@ bool parseCollision(Collision &col, tinyxml2::XMLElement* config,
// Origin
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o) {
if (!parsePoseInternal(col.origin, o, version))
if (!parsePose(col.origin, o, version))
return false;
}

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2 changes: 1 addition & 1 deletion urdf_parser/src/pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ std::string values2str(double d)

namespace urdf{

bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml,
bool parsePose(Pose &pose, tinyxml2::XMLElement* xml,
const urdf_export_helpers::URDFVersion version)
{
pose.clear();
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4 changes: 2 additions & 2 deletions urdf_parser/src/pose.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@

namespace urdf {

URDFDOM_DLLAPI bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml,
const urdf_export_helpers::URDFVersion version);
URDFDOM_DLLAPI bool parsePose(Pose &pose, tinyxml2::XMLElement* xml,
const urdf_export_helpers::URDFVersion version);

}
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