How to use

JaxbSDFLoader

in

us.ihmc.modelFileLoaders.SdfLoader

public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName)
{
 removeVisualFromWorld(modelName);
 return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName);
}

private static GeneralizedSDFRobotModel loadSDFFile(String modelName, InputStream inputStream, List<String> resourceDirectories,
                          SDFDescriptionMutator mutator)
{
 GeneralizedSDFRobotModel generalizedSDFRobotModel = null;
 try
 {
   JaxbSDFLoader loader = new JaxbSDFLoader(inputStream, resourceDirectories, mutator);
   generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(modelName);
   //         resourceDirectories = generalizedSDFRobotModel.getResourceDirectories();
 }
 catch (FileNotFoundException | JAXBException e)
 {
   throw new RuntimeException("Cannot load model", e);
 }
 return generalizedSDFRobotModel;
}

public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException
{
 jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null);
 for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels())
 {
   String name = generalizedSDFRobotModel.getName();
   visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel));
 }
 for (Road road : jaxbSDFLoader.getRoads())
 {
   visuals.put(road.getName(), new SDFRoadVisual(road));
 }
}

public static JaxbSDFLoader loadDRCRobot(String[] resourceDirectories, InputStream sdfFile, SDFDescriptionMutator descriptionMutator)
{
 ArrayList<String> resources = new ArrayList<String>();
 for(String resource : resourceDirectories)
 {
   resources.add(resource);
 }
 if(sdfFile==null)
 {
  System.err.println("failed to load sdf file");
 }
 JaxbSDFLoader jaxbSDFLoader;
 try
 {
   jaxbSDFLoader = new JaxbSDFLoader(sdfFile, resources, descriptionMutator);
 }
 catch (FileNotFoundException e)
 {
   throw new RuntimeException("Cannot find SDF file: " + e.getMessage());
 }
 catch (JAXBException e)
 {
   e.printStackTrace();
   throw new RuntimeException("Invalid SDF file: " + e.getMessage());
 }
 return jaxbSDFLoader;
}

loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, transform);
   loader.addContactSensor(jointMap,sensorName, parentJointName, ThorSensorInformation.contactSensors.get(side).get(parentJointName).get(sensorName));

public WandererRobotModel(boolean runningOnRealRobot, boolean headless)
{
 this.runningOnRealRobot = runningOnRealRobot;
 sensorInformation = new WandererSensorInformation();
 this.loader = DRCRobotSDFLoader.loadDRCRobot(getResourceDirectories(), getSdfFileAsStream(), null);
 for (String forceSensorNames : getSensorInformation().getForceSensorNames())
 {
   loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, new RigidBodyTransform());
 }
 capturePointPlannerParameters = new WandererCapturePointPlannerParameters(runningOnRealRobot);
 walkingControllerParameters = new WandererWalkingControllerParameters(jointMap, runningOnRealRobot);
 highLevelControllerParameters = new WandererHighLevelControllerParameters(jointMap);
 robotDescription = createRobotDescription();
}

try
  return new JaxbSDFLoader(is, Arrays.asList(resourceDirectories), descriptionMutator);

loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, transform);
   loader.addContactSensor(jointMap, sensorName, parentJointName,
               ValkyrieSensorInformation.contactSensors.get(side).get(parentJointName).get(sensorName));

public BonoRobotModel(boolean runningOnRealRobot, boolean headless)
{
 this.runningOnRealRobot = runningOnRealRobot;
 sensorInformation = new BonoSensorInformation();
 this.loader = DRCRobotSDFLoader.loadDRCRobot(getResourceDirectories(), getSdfFileAsStream(), null);
 for (String forceSensorNames : getSensorInformation().getForceSensorNames())
 {
   loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, new RigidBodyTransform());
 }
 capturePointPlannerParameters = new BonoCapturePointPlannerParameters(runningOnRealRobot);
 walkingControllerParameters = new BonoWalkingControllerParameters(jointMap, runningOnRealRobot);
 highLevelControllerParameters = new BonoHighLevelControllerParameters(jointMap);
 robotDescription = createRobotDescription();
}

public GeneralizedSDFRobotModel getGeneralizedRobotModelAndRemoveFromWorld(String modelName)
{
 removeVisualFromWorld(modelName);
 return jaxbSDFLoader.getGeneralizedSDFRobotModel(modelName);
}

public SDFModelVisual loadDRCVehicle(boolean loadCollisionModel)
{
 ArrayList<String> resourceDirectories = new ArrayList<String>();
 resourceDirectories.add("models/");
 resourceDirectories.add("models/gazebo/");
 
 InputStream inputStream = DRCVehicleSDFLoader.class.getClassLoader().getResourceAsStream("models/polaris_ranger_xp900_no_roll_cage/model.sdf");
 try
 {
   JaxbSDFLoader jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null);
   GeneralizedSDFRobotModel generalizedSDFRobotModel = jaxbSDFLoader.getGeneralizedSDFRobotModel("polaris_ranger_xp900");
   return new SDFModelVisual(generalizedSDFRobotModel, loadCollisionModel);
 }
 catch (FileNotFoundException e)
 {
   throw new RuntimeException(e);
 }
 catch (JAXBException e)
 {
   throw new RuntimeException(e);
 }
}

public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException
{
 jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null);
 for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels())
 {
   String name = generalizedSDFRobotModel.getName();
   visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel));
 }
 for (Road road : jaxbSDFLoader.getRoads())
 {
   visuals.put(road.getName(), new SDFRoadVisual(road));
 }
}

try
  return new JaxbSDFLoader(is, Arrays.asList(resourceDirectories), descriptionMutator);

public GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

public SDFModelVisual loadDRCVehicle(boolean loadCollisionModel)
{
 ArrayList<String> resourceDirectories = new ArrayList<String>();
 resourceDirectories.add("models/");
 resourceDirectories.add("models/gazebo/");
 
 InputStream inputStream = DRCVehicleSDFLoader.class.getClassLoader().getResourceAsStream("models/polaris_ranger_xp900_no_roll_cage/model.sdf");
 try
 {
   JaxbSDFLoader jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null);
   GeneralizedSDFRobotModel generalizedSDFRobotModel = jaxbSDFLoader.getGeneralizedSDFRobotModel("polaris_ranger_xp900");
   return new SDFModelVisual(generalizedSDFRobotModel, loadCollisionModel);
 }
 catch (FileNotFoundException e)
 {
   throw new RuntimeException(e);
 }
 catch (JAXBException e)
 {
   throw new RuntimeException(e);
 }
}

private GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

public LLAQuadrupedModelFactory()
{
 jointMap = new LLAQuadrupedJointNameMap(new LLAQuadrupedPhysicalProperties());
 try
 {
   InputStream sdfAsInputStream = sdfParameters.getSdfAsInputStream();
   loader = new JaxbSDFLoader(sdfAsInputStream, sdfParameters.getResourceDirectories(), null);
   generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(sdfParameters.getSdfModelName());
 }
 catch (FileNotFoundException fileNotFoundException)
 {
   PrintTools.error(this, FileNotFoundException.class.getSimpleName() + ": " + fileNotFoundException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 catch (JAXBException jaxbException)
 {
   PrintTools.error(this, JAXBException.class.getSimpleName() + ": " + jaxbException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 boolean useCollisionMeshes = false;
 GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel();
 RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader();
 robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMap, useCollisionMeshes);
}

private GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}

public LLAQuadrupedModelFactory()
{
 jointMapAndContactInfo = new LLAQuadrupedJointNameMapAndContactDefinition(new LLAQuadrupedPhysicalProperties());
 try
 {
   InputStream sdfAsInputStream = sdfParameters.getSdfAsInputStream();
   loader = new JaxbSDFLoader(sdfAsInputStream, sdfParameters.getResourceDirectories(), null);
   generalizedSDFRobotModel = loader.getGeneralizedSDFRobotModel(sdfParameters.getSdfModelName());
 }
 catch (FileNotFoundException fileNotFoundException)
 {
   PrintTools.error(this, FileNotFoundException.class.getSimpleName() + ": " + fileNotFoundException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 catch (JAXBException jaxbException)
 {
   PrintTools.error(this, JAXBException.class.getSimpleName() + ": " + jaxbException.getMessage());
   throw new RuntimeException("Unrecoverable error.");
 }
 boolean useCollisionMeshes = false;
 GeneralizedSDFRobotModel generalizedSDFRobotModel = getGeneralizedRobotModel();
 RobotDescriptionFromSDFLoader loader = new RobotDescriptionFromSDFLoader();
 robotDescription = loader.loadRobotDescriptionFromSDF(generalizedSDFRobotModel, jointMapAndContactInfo, jointMapAndContactInfo, useCollisionMeshes);
}

public GeneralizedSDFRobotModel getGeneralizedRobotModel()
{
 return loader.getGeneralizedSDFRobotModel(getJointMap().getModelName());
}