text: /*********************************************************************
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  * 
  *  Copyright (c) 2008, Willow Garage, Inc.
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  *     with the distribution.
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  *     from this software without specific prior written permission.
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  *********************************************************************/
  
  /* Author: John Hsu */
  
  #include <locale>
  #include <sstream>
  #include <stdexcept>
  #include <string>
  #include <urdf_model/joint.h>
  #include <console_bridge/console.h>
  #include <tinyxml.h>
  #include <urdf_parser/urdf_parser.h>
  
  namespace urdf{
  
  bool parsePose(Pose &pose, TiXmlElement* xml);
  
  bool parseJointDynamics(JointDynamics &jd, TiXmlElement* config)
  {
    jd.clear();
  
    // Get joint damping
    const char* damping_str = config->Attribute("damping");
    if (damping_str == NULL){
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: no damping, defaults to 0");
      jd.damping = 0;
    }
    else
    {
      try {
        jd.damping = strToDouble(damping_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("damping value (%s) is not a valid float", damping_str);
        return false;
      }
    }
  
    // Get joint friction
    const char* friction_str = config->Attribute("friction");
    if (friction_str == NULL){
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: no friction, defaults to 0");
      jd.friction = 0;
    }
    else
    {
      try {
        jd.friction = strToDouble(friction_str);
      } catch (std::runtime_error &) {
        CONSOLE_BRIDGE_logError("friction value (%s) is not a valid float", friction_str);
        return false;
      }
    }
  
    if (damping_str == NULL && friction_str == NULL)
    {
      CONSOLE_BRIDGE_logError("joint dynamics element specified with no damping and no friction");
      return false;
    }
    else{
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: damping %f and friction %f", jd.damping, jd.friction);
      return true;
    }
  }
  
  bool parseJointLimits(JointLimits &jl, TiXmlElement* config)
  {
    jl.clear();
  
    // Get lower joint limit
    const char* lower_str = config->Attribute("lower");
    if (lower_str == NULL){
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no lower, defaults to 0");
      jl.lower = 0;
    }
    else
    {
      try {
        jl.lower = strToDouble(lower_str);
      } catch (std::runtime_error &) {
        CONSOLE_BRIDGE_logError("lower value (%s) is not a valid float", lower_str);
        return false;
      }
    }
  
    // Get upper joint limit
    const char* upper_str = config->Attribute("upper");
    if (upper_str == NULL){
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no upper, , defaults to 0");
      jl.upper = 0;
    }
    else
    {
      try {
        jl.upper = strToDouble(upper_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("upper value (%s) is not a valid float", upper_str);
        return false;
      }
    }
  
    // Get joint effort limit
    const char* effort_str = config->Attribute("effort");
    if (effort_str == NULL){
      CONSOLE_BRIDGE_logError("joint limit: no effort");
      return false;
    }
    else
    {
      try {
        jl.effort = strToDouble(effort_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("effort value (%s) is not a valid float", effort_str);
        return false;
      }
    }
  
    // Get joint velocity limit
    const char* velocity_str = config->Attribute("velocity");
    if (velocity_str == NULL){
      CONSOLE_BRIDGE_logError("joint limit: no velocity");
      return false;
    }
    else
    {
      try {
        jl.velocity = strToDouble(velocity_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("velocity value (%s) is not a valid float", velocity_str);
        return false;
      }
    }
  
    return true;
  }
  
  bool parseJointSafety(JointSafety &js, TiXmlElement* config)
  {
    js.clear();
  
    // Get soft_lower_limit joint limit
    const char* soft_lower_limit_str = config->Attribute("soft_lower_limit");
    if (soft_lower_limit_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_safety: no soft_lower_limit, using default value");
      js.soft_lower_limit = 0;
    }
    else
    {
      try {
        js.soft_lower_limit = strToDouble(soft_lower_limit_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("soft_lower_limit value (%s) is not a valid float", soft_lower_limit_str);
        return false;
      }
    }
  
    // Get soft_upper_limit joint limit
    const char* soft_upper_limit_str = config->Attribute("soft_upper_limit");
    if (soft_upper_limit_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_safety: no soft_upper_limit, using default value");
      js.soft_upper_limit = 0;
    }
    else
    {
      try {
        js.soft_upper_limit = strToDouble(soft_upper_limit_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("soft_upper_limit value (%s) is not a valid float", soft_upper_limit_str);
        return false;
      }
    }
  
    // Get k_position_ safety "position" gain - not exactly position gain
    const char* k_position_str = config->Attribute("k_position");
    if (k_position_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_safety: no k_position, using default value");
      js.k_position = 0;
    }
    else
    {
      try {
        js.k_position = strToDouble(k_position_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("k_position value (%s) is not a valid float", k_position_str);
        return false;
      }
    }
    // Get k_velocity_ safety velocity gain
    const char* k_velocity_str = config->Attribute("k_velocity");
    if (k_velocity_str == NULL)
    {
      CONSOLE_BRIDGE_logError("joint safety: no k_velocity");
      return false;
    }
    else
    {
      try {
        js.k_velocity = strToDouble(k_velocity_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("k_velocity value (%s) is not a valid float", k_velocity_str);
        return false;
      }
    }
  
    return true;
  }
  
  bool parseJointCalibration(JointCalibration &jc, TiXmlElement* config)
  {
    jc.clear();
  
    // Get rising edge position
    const char* rising_position_str = config->Attribute("rising");
    if (rising_position_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_calibration: no rising, using default value");
      jc.rising.reset();
    }
    else
    {
      try {
        jc.rising.reset(new double(strToDouble(rising_position_str)));
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("rising value (%s) is not a valid float", rising_position_str);
        return false;
      }
    }
  
    // Get falling edge position
    const char* falling_position_str = config->Attribute("falling");
    if (falling_position_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_calibration: no falling, using default value");
      jc.falling.reset();
    }
    else
    {
      try {
        jc.falling.reset(new double(strToDouble(falling_position_str)));
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("falling value (%s) is not a valid float", falling_position_str);
        return false;
      }
    }
  
    return true;
  }
  
  bool parseJointMimic(JointMimic &jm, TiXmlElement* config)
  {
    jm.clear();
  
    // Get name of joint to mimic
    const char* joint_name_str = config->Attribute("joint");
  
    if (joint_name_str == NULL)
    {
      CONSOLE_BRIDGE_logError("joint mimic: no mimic joint specified");
      return false;
    }
    else
      jm.joint_name = joint_name_str;
    
    // Get mimic multiplier
    const char* multiplier_str = config->Attribute("multiplier");
  
    if (multiplier_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_mimic: no multiplier, using default value of 1");
      jm.multiplier = 1;    
    }
    else
    {
      try {
        jm.multiplier = strToDouble(multiplier_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("multiplier value (%s) is not a valid float", multiplier_str);
        return false;
      }
    }
  
    
    // Get mimic offset
    const char* offset_str = config->Attribute("offset");
    if (offset_str == NULL)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom.joint_mimic: no offset, using default value of 0");
      jm.offset = 0;
    }
    else
    {
      try {
        jm.offset = strToDouble(offset_str);
      } catch(std::runtime_error &) {
        CONSOLE_BRIDGE_logError("offset value (%s) is not a valid float", offset_str);
        return false;
      }
    }
  
    return true;
  }
  
  bool parseJoint(Joint &joint, TiXmlElement* config)
  {
    joint.clear();
  
    // Get Joint Name
    const char *name = config->Attribute("name");
    if (!name)
    {
      CONSOLE_BRIDGE_logError("unnamed joint found");
      return false;
    }
    joint.name = name;
  
    // Get transform from Parent Link to Joint Frame
    TiXmlElement *origin_xml = config->FirstChildElement("origin");
    if (!origin_xml)
    {
      CONSOLE_BRIDGE_logDebug("urdfdom: Joint [%s] missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", joint.name.c_str());
      joint.parent_to_joint_origin_transform.clear();
    }
    else
    {
      if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml))
      {
        joint.parent_to_joint_origin_transform.clear();
        CONSOLE_BRIDGE_logError("Malformed parent origin element for joint [%s]", joint.name.c_str());
        return false;
      }
    }
  
    // Get Parent Link
    TiXmlElement *parent_xml = config->FirstChildElement("parent");
    if (parent_xml)
    {
      const char *pname = parent_xml->Attribute("link");
      if (!pname)
      {
        CONSOLE_BRIDGE_logInform("no parent link name specified for Joint link [%s]. this might be the root?", joint.name.c_str());
      }
      else
      {
        joint.parent_link_name = std::string(pname);
      }
    }
  
    // Get Child Link
    TiXmlElement *child_xml = config->FirstChildElement("child");
    if (child_xml)
    {
      const char *pname = child_xml->Attribute("link");
      if (!pname)
      {
        CONSOLE_BRIDGE_logInform("no child link name specified for Joint link [%s].", joint.name.c_str());
      }
      else
      {
        joint.child_link_name = std::string(pname);
      }
    }
  
    // Get Joint type
    const char* type_char = config->Attribute("type");
    if (!type_char)
    {
      CONSOLE_BRIDGE_logError("joint [%s] has no type, check to see if it's a reference.", joint.name.c_str());
      return false;
    }
    
    std::string type_str = type_char;
    if (type_str == "planar")
      joint.type = Joint::PLANAR;
    else if (type_str == "floating")
      joint.type = Joint::FLOATING;
    else if (type_str == "revolute")
      joint.type = Joint::REVOLUTE;
    else if (type_str == "continuous")
      joint.type = Joint::CONTINUOUS;
    else if (type_str == "prismatic")
      joint.type = Joint::PRISMATIC;
    else if (type_str == "fixed")
      joint.type = Joint::FIXED;
    else if (type_str == "continuum")
        joint.type = Joint::CONTINUUM;
    else
    {
      CONSOLE_BRIDGE_logError("Joint [%s] has no known type [%s]", joint.name.c_str(), type_str.c_str());
      return false;
    }
  
    // Get Joint Axis
    if (joint.type != Joint::FLOATING && joint.type != Joint::FIXED && joint.type !=Joint::CONTINUUM)
    {
      // axis
      TiXmlElement *axis_xml = config->FirstChildElement("axis");
      if (!axis_xml){
        CONSOLE_BRIDGE_logDebug("urdfdom: no axis elemement for Joint link [%s], defaulting to (1,0,0) axis", joint.name.c_str());
        joint.axis = Vector3(1.0, 0.0, 0.0);
      }
      else{
        if (axis_xml->Attribute("xyz")){
          try {
            joint.axis.init(axis_xml->Attribute("xyz"));
          }
          catch (ParseError &e) {
            joint.axis.clear();
            CONSOLE_BRIDGE_logError("Malformed axis element for joint [%s]: %s", joint.name.c_str(), e.what());
            return false;
          }
        }
      }
    }
  
    // Get limit
    TiXmlElement *limit_xml = config->FirstChildElement("limit");
    if (limit_xml)
    {
      joint.limits.reset(new JointLimits());
      if (!parseJointLimits(*joint.limits, limit_xml))
      {
        CONSOLE_BRIDGE_logError("Could not parse limit element for joint [%s]", joint.name.c_str());
        joint.limits.reset();
        return false;
      }
    }
    else if (joint.type == Joint::REVOLUTE)
    {
      CONSOLE_BRIDGE_logError("Joint [%s] is of type REVOLUTE but it does not specify limits", joint.name.c_str());
      return false;
    }
    else if (joint.type == Joint::PRISMATIC)
    {
      CONSOLE_BRIDGE_logError("Joint [%s] is of type PRISMATIC without limits", joint.name.c_str()); 
      return false;
    }
  
    // Get safety
    TiXmlElement *safety_xml = config->FirstChildElement("safety_controller");
    if (safety_xml)
    {
      joint.safety.reset(new JointSafety());
      if (!parseJointSafety(*joint.safety, safety_xml))
      {
        CONSOLE_BRIDGE_logError("Could not parse safety element for joint [%s]", joint.name.c_str());
        joint.safety.reset();
        return false;
      }
    }
  
    // Get calibration
    TiXmlElement *calibration_xml = config->FirstChildElement("calibration");
    if (calibration_xml)
    {
      joint.calibration.reset(new JointCalibration());
      if (!parseJointCalibration(*joint.calibration, calibration_xml))
      {
        CONSOLE_BRIDGE_logError("Could not parse calibration element for joint  [%s]", joint.name.c_str());
        joint.calibration.reset();
        return false;
      }
    }
  
    // Get Joint Mimic
    TiXmlElement *mimic_xml = config->FirstChildElement("mimic");
    if (mimic_xml)
    {
      joint.mimic.reset(new JointMimic());
      if (!parseJointMimic(*joint.mimic, mimic_xml))
      {
        CONSOLE_BRIDGE_logError("Could not parse mimic element for joint  [%s]", joint.name.c_str());
        joint.mimic.reset();
        return false;
      }
    }
  
    // Get Dynamics
    TiXmlElement *prop_xml = config->FirstChildElement("dynamics");
    if (prop_xml)
    {
      joint.dynamics.reset(new JointDynamics());
      if (!parseJointDynamics(*joint.dynamics, prop_xml))
      {
        CONSOLE_BRIDGE_logError("Could not parse joint_dynamics element for joint [%s]", joint.name.c_str());
        joint.dynamics.reset();
        return false;
      }
    }
  
    return true;
  }
  
  
  /* exports */
  bool exportPose(Pose &pose, TiXmlElement* xml);
  
  bool exportJointDynamics(JointDynamics &jd, TiXmlElement* xml)
  {
    TiXmlElement *dynamics_xml = new TiXmlElement("dynamics");
    dynamics_xml->SetAttribute("damping", urdf_export_helpers::values2str(jd.damping) );
    dynamics_xml->SetAttribute("friction", urdf_export_helpers::values2str(jd.friction) );
    xml->LinkEndChild(dynamics_xml);
    return true;
  }
  
  bool exportJointLimits(JointLimits &jl, TiXmlElement* xml)
  {
    TiXmlElement *limit_xml = new TiXmlElement("limit");
    limit_xml->SetAttribute("effort", urdf_export_helpers::values2str(jl.effort) );
    limit_xml->SetAttribute("velocity", urdf_export_helpers::values2str(jl.velocity) );
    limit_xml->SetAttribute("lower", urdf_export_helpers::values2str(jl.lower) );
    limit_xml->SetAttribute("upper", urdf_export_helpers::values2str(jl.upper) );
    xml->LinkEndChild(limit_xml);
    return true;
  }
  
  bool exportJointSafety(JointSafety &js, TiXmlElement* xml)
  {
    TiXmlElement *safety_xml = new TiXmlElement("safety_controller");
    safety_xml->SetAttribute("k_position", urdf_export_helpers::values2str(js.k_position) );
    safety_xml->SetAttribute("k_velocity", urdf_export_helpers::values2str(js.k_velocity) );
    safety_xml->SetAttribute("soft_lower_limit", urdf_export_helpers::values2str(js.soft_lower_limit) );
    safety_xml->SetAttribute("soft_upper_limit", urdf_export_helpers::values2str(js.soft_upper_limit) );
    xml->LinkEndChild(safety_xml);
    return true;
  }
  
  bool exportJointCalibration(JointCalibration &jc, TiXmlElement* xml)
  {
    if (jc.falling || jc.rising)
    {
      TiXmlElement *calibration_xml = new TiXmlElement("calibration");
      if (jc.falling)
        calibration_xml->SetAttribute("falling", urdf_export_helpers::values2str(*jc.falling) );
      if (jc.rising)
        calibration_xml->SetAttribute("rising", urdf_export_helpers::values2str(*jc.rising) );
      //calibration_xml->SetAttribute("reference_position", urdf_export_helpers::values2str(jc.reference_position) );
      xml->LinkEndChild(calibration_xml);
    }
    return true;
  }
  
  bool exportJointMimic(JointMimic &jm, TiXmlElement* xml)
  {
    if (!jm.joint_name.empty())
    {
      TiXmlElement *mimic_xml = new TiXmlElement("mimic");
      mimic_xml->SetAttribute("offset", urdf_export_helpers::values2str(jm.offset) );
      mimic_xml->SetAttribute("multiplier", urdf_export_helpers::values2str(jm.multiplier) );
      mimic_xml->SetAttribute("joint", jm.joint_name );
      xml->LinkEndChild(mimic_xml);
    }
    return true;
  }
  
  bool exportJoint(Joint &joint, TiXmlElement* xml)
  {
    TiXmlElement * joint_xml = new TiXmlElement("joint");
    joint_xml->SetAttribute("name", joint.name);
    if (joint.type == urdf::Joint::PLANAR)
      joint_xml->SetAttribute("type", "planar");
    else if (joint.type == urdf::Joint::FLOATING)
      joint_xml->SetAttribute("type", "floating");
    else if (joint.type == urdf::Joint::REVOLUTE)
      joint_xml->SetAttribute("type", "revolute");
    else if (joint.type == urdf::Joint::CONTINUOUS)
      joint_xml->SetAttribute("type", "continuous");
    else if (joint.type == urdf::Joint::PRISMATIC)
      joint_xml->SetAttribute("type", "prismatic");
    else if (joint.type == urdf::Joint::FIXED)
      joint_xml->SetAttribute("type", "fixed");
    else if (joint.type == urdf::Joint::CONTINUUM)
        joint_xml->SetAttribute("type", "continuum");
    else
      CONSOLE_BRIDGE_logError("ERROR:  Joint [%s] type [%d] is not a defined type.\n",joint.name.c_str(), joint.type);
  
    // origin
    exportPose(joint.parent_to_joint_origin_transform, joint_xml);
  
    // axis
    TiXmlElement * axis_xml = new TiXmlElement("axis");
    axis_xml->SetAttribute("xyz", urdf_export_helpers::values2str(joint.axis));
    joint_xml->LinkEndChild(axis_xml);
  
    // parent 
    TiXmlElement * parent_xml = new TiXmlElement("parent");
    parent_xml->SetAttribute("link", joint.parent_link_name);
    joint_xml->LinkEndChild(parent_xml);
  
    // child
    TiXmlElement * child_xml = new TiXmlElement("child");
    child_xml->SetAttribute("link", joint.child_link_name);
    joint_xml->LinkEndChild(child_xml);
  
    if (joint.dynamics)
      exportJointDynamics(*(joint.dynamics), joint_xml);
    if (joint.limits)
      exportJointLimits(*(joint.limits), joint_xml);
    if (joint.safety)
      exportJointSafety(*(joint.safety), joint_xml);
    if (joint.calibration)
      exportJointCalibration(*(joint.calibration), joint_xml);
    if (joint.mimic)
      exportJointMimic(*(joint.mimic), joint_xml);
  
    xml->LinkEndChild(joint_xml);
    return true;
  }
  
  
  
  }
  