Convert URDF definitions to typescript

Author: ahoenerBE

src/urdf/UrdfBox.js

@@ -0,0 +1,33 @@
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - [email protected]
+ * @author Russell Toris - [email protected]
+ */
+
+
+import {Vector3} from "../math/index.js";
+import {UrdfAttrs, UrdfDefaultOptions, UrdfType} from "./UrdfTypes.js";
+
+/**
+ * A Box element in a URDF.
+ */
+export default class UrdfBox {
+  type: UrdfType;
+  dimension: Vector3 | null = null;
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.type = UrdfType.BOX;
+
+    // Parse the xml string
+    const size: string[] | undefined = xml.getAttribute(UrdfAttrs.Size)?.split(' ');
+    if(!size || size.length !== 3) {
+      return;
+    }
+
+    this.dimension = new Vector3({
+      x: parseFloat(size[0]),
+      y: parseFloat(size[1]),
+      z: parseFloat(size[2])
+    });
+  }
+}

src/urdf/UrdfBox.ts

@@ -0,0 +1,43 @@
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - [email protected]
+ * @author Russell Toris - [email protected]
+ */
+
+import {UrdfAttrs, UrdfDefaultOptions} from "./UrdfTypes.js";
+
+/**
+ * A Color element in a URDF.
+ */
+export default class UrdfColor {
+
+  /**
+   * Color Red, [0, 1]
+   */
+  r: number = 0.0;
+  /**
+   * Color Green, [0, 1]
+   */
+  g: number = 0.0;
+  /**
+   * Color Blue, [0, 1]
+   */
+  b: number = 0.0;
+  /**
+   * Alpha/Opacity, [0, 1]
+   */
+  a: number = 1.0;
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    // Parse the xml string
+    const rgba: string[] | undefined = xml.getAttribute(UrdfAttrs.Rgba)?.split(' ');
+    if (!rgba || rgba.length !== 4) {
+      return;
+    }
+
+    this.r = parseFloat(rgba[0]);
+    this.g = parseFloat(rgba[1]);
+    this.b = parseFloat(rgba[2]);
+    this.a = parseFloat(rgba[3]);
+  }
+}

src/urdf/UrdfColor.js

@@ -0,0 +1,24 @@
+/**
+ * @fileOverview
+ * @author Benjamin Pitzer - [email protected]
+ * @author Russell Toris - [email protected]
+ */
+
+import {UrdfDefaultOptions, UrdfType, UrdfAttrs} from "./UrdfTypes.js";
+
+/**
+ * A Cylinder element in a URDF.
+ */
+export default class UrdfCylinder {
+
+  type: UrdfType;
+  length: number;
+  radius: number;
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.type = UrdfType.CYLINDER;
+
+    this.length = parseFloat(xml.getAttribute(UrdfAttrs.Length) ?? 'NaN');
+    this.radius = parseFloat(xml.getAttribute(UrdfAttrs.Radius) ?? 'NaN');
+  }
+}

src/urdf/UrdfColor.ts

@@ -0,0 +1,50 @@
+/**
+ * @fileOverview
+ * @author David V. Lu!! - [email protected]
+ */
+
+import {UrdfAttrs, UrdfDefaultOptions} from "./UrdfTypes.js";
+import {Pose} from "../math/index.js";
+import {parseUrdfOrigin} from "./UrdfUtils.js";
+
+/**
+ * A Joint element in a URDF.
+ */
+export default class UrdfJoint {
+
+  name: string;
+  type: string | null;
+  parent: string | null = null;
+  child: string | null = null;
+  minval: number = NaN;
+  maxval: number = NaN;
+  origin: Pose = new Pose();
+
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.name = xml.getAttribute(UrdfAttrs.Name) ?? "unknown_name";
+    this.type = xml.getAttribute(UrdfAttrs.Type);
+
+    const parents = xml.getElementsByTagName(UrdfAttrs.Parent);
+    if (parents.length > 0) {
+      this.parent = parents[0].getAttribute(UrdfAttrs.Link);
+    }
+
+    const children = xml.getElementsByTagName(UrdfAttrs.Child);
+    if (children.length > 0) {
+      this.child = children[0].getAttribute(UrdfAttrs.Link);
+    }
+
+    const limits = xml.getElementsByTagName(UrdfAttrs.Limit);
+    if (limits.length > 0) {
+      this.minval = parseFloat(limits[0].getAttribute(UrdfAttrs.Lower) ?? 'NaN');
+      this.maxval = parseFloat(limits[0].getAttribute(UrdfAttrs.Upper) ?? 'NaN');
+    }
+
+    // Origin
+    const origins = xml.getElementsByTagName(UrdfAttrs.Origin);
+    if(origins.length > 0) {
+      this.origin = parseUrdfOrigin(origins[0]);
+    }
+  }
+}

src/urdf/UrdfCylinder.js

@@ -5,21 +5,21 @@
  */
 
 import UrdfVisual from './UrdfVisual.js';
+import {UrdfAttrs, UrdfDefaultOptions} from "./UrdfTypes.js";
 
 /**
  * A Link element in a URDF.
  */
 export default class UrdfLink {
-  /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
-   */
-  constructor(options) {
-    this.name = options.xml.getAttribute('name');
-    this.visuals = [];
-    var visuals = options.xml.getElementsByTagName('visual');
 
-    for (var i = 0; i < visuals.length; i++) {
+  name: string;
+  visuals: UrdfVisual[] = [];
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.name = xml.getAttribute(UrdfAttrs.Name) ?? "unknown_name";
+    const visuals = xml.getElementsByTagName(UrdfAttrs.Visuals);
+
+    for (let i = 0; i < visuals.length; i++) {
       this.visuals.push(
         new UrdfVisual({
           xml: visuals[i]