@wip

Signed-off-by: Michael Carroll <[email protected]>

include/sdf/parser_urdf.hh

@@ -46,22 +46,27 @@ namespace sdf
     public: ~URDF2SDF();
 
     /// \brief convert urdf xml document string to sdf xml document
-    /// \param[in] _xmlDoc a tinyxml document containing the urdf model
-    /// \return a tinyxml document containing sdf of the model
-    public: tinyxml2::XMLDocument InitModelDoc(tinyxml2::XMLDocument* _xmlDoc);
+    /// \param[in] _xmlDoc document containing the urdf model.
+    /// \param[inout] _sdfXmlDoc document to populate with the sdf model.
+    public: void InitModelDoc(const tinyxml2::XMLDocument* _xmlDoc,
+                              tinyxml2::XMLDocument *_sdfXmlDoc);
 
     /// \brief convert urdf file to sdf xml document
-    /// \param[in] _urdfStr a string containing filename of the urdf model
+    /// \param[in] _urdfStr a string containing filename of the urdf model.
+    /// \param[inout] _sdfXmlDoc document to populate with the sdf model.
     /// \return a tinyxml document containing sdf of the model
-    public: tinyxml2::XMLDocument InitModelFile(const std::string &_filename);
+    public: void InitModelFile(const std::string &_filename,
+                               tinyxml2::XMLDocument *_sdfXmlDoc);
 
     /// \brief convert urdf string to sdf xml document, with option to enforce
     /// limits.
     /// \param[in] _urdfStr a string containing model urdf
+    /// \param[inout] _sdfXmlDoc document to populate with the sdf model.
     /// \param[in] _enforceLimits option to enforce joint limits
     /// \return a tinyxml document containing sdf of the model
-    public: tinyxml2::XMLDocument InitModelString(const std::string &_urdfStr,
-                                          bool _enforceLimits = true);
+    public: void InitModelString(const std::string &_urdfStr,
+                                 tinyxml2::XMLDocument *_sdfXmlDoc,
+                                 bool _enforceLimits = true);
 
     /// \brief Return true if the filename is a URDF model.
     /// \param[in] _filename File to check.

src/SDFExtension.hh

@@ -34,6 +34,8 @@ namespace sdf
   // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
   //
+  using XMLDocumentPtr= std::shared_ptr<tinyxml2::XMLDocument>;
+  using XMLElementPtr = std::shared_ptr<tinyxml2::XMLElement>;
 
   /// \internal
   /// \brief A class for holding sdf extension elements in urdf
@@ -57,7 +59,7 @@ namespace sdf
     public: std::string material;
 
     /// \brief blobs of xml to be copied into the visual sdf element
-    public: std::vector<std::shared_ptr<tinyxml2::XMLElement> > visual_blobs;
+    public: std::vector<XMLDocumentPtr> visual_blobs;
 
     /// \brief blobs of xml to be copied into the collision sdf element
     /// An example might be:
@@ -84,7 +86,7 @@ namespace sdf
     /// </gazebo>
     /// where all the contents of `<collision>` element is copied into the
     /// resulting collision sdf.
-    public: std::vector<std::shared_ptr<tinyxml2::XMLElement> > collision_blobs;
+    public: std::vector<XMLDocumentPtr> collision_blobs;
 
     // body, default off
     public: bool setStaticFlag;
@@ -118,7 +120,7 @@ namespace sdf
     public: bool implicitSpringDamper;
 
     // blobs into body or robot
-    public: std::vector<std::shared_ptr<tinyxml2::XMLElement> > blobs;
+    public: std::vector<XMLDocumentPtr> blobs;
 
     SDF_SUPPRESS_DEPRECATED_BEGIN
     friend class URDF2SDF;

src/XmlUtils.cc

@@ -53,6 +53,26 @@ tinyxml2::XMLNode* DeepClone(tinyxml2::XMLDocument *_doc, const tinyxml2::XMLNod
   return copy;
 }
 
+/////////////////////////////////////////////////
+std::string &TrimStringLeft(std::string &_s)
+{
+  _s.erase(_s.begin(),find_if_not(_s.begin(),_s.end(),[](int c){return isspace(c);}));
+  return _s;
+}
+
+/////////////////////////////////////////////////
+std::string &TrimStringRight(std::string &_s)
+{
+  _s.erase(find_if_not(_s.rbegin(),_s.rend(),[](int c){return isspace(c);}).base(), _s.end());
+  return _s;
+}
+
+/////////////////////////////////////////////////
+std::string TrimString(const std::string &_s)
+{
+  std::string t = _s;
+  return TrimStringLeft(TrimStringRight(t));
+}
 }
 }
 

src/XmlUtils.hh

@@ -31,6 +31,11 @@ namespace sdf
   /// \param[in] _src The node to deep copy
   /// \returns The newly copied node
   tinyxml2::XMLNode* DeepClone(tinyxml2::XMLDocument *_doc, const tinyxml2::XMLNode *_src);
+
+  /// \brief Trim whitespace from a string
+  /// \param[in] _s String to trim
+  /// \returns String _s with whitespace trimmed from both ends
+  std::string TrimString(const std::string &_s);
   }
 }
 #endif

src/parser.cc

@@ -474,7 +474,9 @@ bool readStringInternal(const std::string &_xmlString, SDFPtr _sdf,
     SDF_SUPPRESS_DEPRECATED_BEGIN
     URDF2SDF u2g;
     SDF_SUPPRESS_DEPRECATED_END
-    tinyxml2::XMLDocument doc = u2g.InitModelString(_xmlString);
+    tinyxml2::XMLDocument doc;
+    u2g.InitModelString(&doc, _xmlString);
+
     if (sdf::readDoc(&doc, _sdf, "urdf string", _convert, _errors))
     {
       sdfdbg << "Parsing from urdf.\n";