Moved URDF element name definitions to source files

tesseract-robotics · Jan 11, 2025 · f7b1f72 · f7b1f72
1 parent c7ab162
commit f7b1f72
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Showing 46 changed files with 69 additions and 23 deletions.
diff --git a/tesseract_urdf/include/tesseract_urdf/box.h b/tesseract_urdf/include/tesseract_urdf/box.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* BOX_ELEMENT_NAME = "box";  // NOLINT
+extern const char* BOX_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml box element

diff --git a/tesseract_urdf/include/tesseract_urdf/calibration.h b/tesseract_urdf/include/tesseract_urdf/calibration.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* CALIBRATION_ELEMENT_NAME = "calibration";  // NOLINT
+extern const char* CALIBRATION_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml calibration element

diff --git a/tesseract_urdf/include/tesseract_urdf/capsule.h b/tesseract_urdf/include/tesseract_urdf/capsule.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* CAPSULE_ELEMENT_NAME = "tesseract:capsule";  // NOLINT
+extern const char* CAPSULE_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml capsule element

diff --git a/tesseract_urdf/include/tesseract_urdf/collision.h b/tesseract_urdf/include/tesseract_urdf/collision.h
@@ -43,7 +43,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* COLLISION_ELEMENT_NAME = "collision";  // NOLINT
+extern const char* COLLISION_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element collision

diff --git a/tesseract_urdf/include/tesseract_urdf/cone.h b/tesseract_urdf/include/tesseract_urdf/cone.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* CONE_ELEMENT_NAME = "tesseract:cone";  // NOLINT
+extern const char* CONE_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml cone element

diff --git a/tesseract_urdf/include/tesseract_urdf/cylinder.h b/tesseract_urdf/include/tesseract_urdf/cylinder.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* CYLINDER_ELEMENT_NAME = "cylinder";  // NOLINT
+extern const char* CYLINDER_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml cylinder element

diff --git a/tesseract_urdf/include/tesseract_urdf/dynamics.h b/tesseract_urdf/include/tesseract_urdf/dynamics.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* DYNAMICS_ELEMENT_NAME = "dynamics";  // NOLINT
+extern const char* DYNAMICS_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml dynamics element

diff --git a/tesseract_urdf/include/tesseract_urdf/geometry.h b/tesseract_urdf/include/tesseract_urdf/geometry.h
@@ -43,7 +43,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* GEOMETRY_ELEMENT_NAME = "geometry";  // NOLINT
+extern const char* GEOMETRY_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element geometry

diff --git a/tesseract_urdf/include/tesseract_urdf/inertial.h b/tesseract_urdf/include/tesseract_urdf/inertial.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* INERTIAL_ELEMENT_NAME = "inertial";  // NOLINT
+extern const char* INERTIAL_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element inertial

diff --git a/tesseract_urdf/include/tesseract_urdf/joint.h b/tesseract_urdf/include/tesseract_urdf/joint.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* JOINT_ELEMENT_NAME = "joint";  // NOLINT
+extern const char* JOINT_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element joint

diff --git a/tesseract_urdf/include/tesseract_urdf/limits.h b/tesseract_urdf/include/tesseract_urdf/limits.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* LIMITS_ELEMENT_NAME = "limit";  // NOLINT
+extern const char* LIMITS_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element limits

diff --git a/tesseract_urdf/include/tesseract_urdf/link.h b/tesseract_urdf/include/tesseract_urdf/link.h
@@ -43,7 +43,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* LINK_ELEMENT_NAME = "link";  // NOLINT
+extern const char* LINK_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element link

diff --git a/tesseract_urdf/include/tesseract_urdf/material.h b/tesseract_urdf/include/tesseract_urdf/material.h
@@ -42,7 +42,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* MATERIAL_ELEMENT_NAME = "material";  // NOLINT
+extern const char* MATERIAL_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element material

diff --git a/tesseract_urdf/include/tesseract_urdf/mesh.h b/tesseract_urdf/include/tesseract_urdf/mesh.h
@@ -43,7 +43,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* MESH_ELEMENT_NAME = "mesh";  // NOLINT
+extern const char* MESH_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element mesh

diff --git a/tesseract_urdf/include/tesseract_urdf/mimic.h b/tesseract_urdf/include/tesseract_urdf/mimic.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* MIMIC_ELEMENT_NAME = "mimic";  // NOLINT
+extern const char* MIMIC_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element mimic

diff --git a/tesseract_urdf/include/tesseract_urdf/octomap.h b/tesseract_urdf/include/tesseract_urdf/octomap.h
@@ -42,7 +42,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* OCTOMAP_ELEMENT_NAME = "tesseract:octomap";  // NOLINT
+extern const char* OCTOMAP_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element octomap

diff --git a/tesseract_urdf/include/tesseract_urdf/octree.h b/tesseract_urdf/include/tesseract_urdf/octree.h
@@ -42,7 +42,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* OCTREE_ELEMENT_NAME = "tesseract:octree";  // NOLINT
+extern const char* OCTREE_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element octree

diff --git a/tesseract_urdf/include/tesseract_urdf/origin.h b/tesseract_urdf/include/tesseract_urdf/origin.h
@@ -39,7 +39,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* ORIGIN_ELEMENT_NAME = "origin";  // NOLINT
+extern const char* ORIGIN_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element origin

diff --git a/tesseract_urdf/include/tesseract_urdf/point_cloud.h b/tesseract_urdf/include/tesseract_urdf/point_cloud.h
@@ -42,7 +42,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* POINT_CLOUD_ELEMENT_NAME = "tesseract:point_cloud";  // NOLINT
+extern const char* POINT_CLOUD_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element point_cloud

diff --git a/tesseract_urdf/include/tesseract_urdf/safety_controller.h b/tesseract_urdf/include/tesseract_urdf/safety_controller.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* SAFETY_CONTROLLER_ELEMENT_NAME = "safety_controller";  // NOLINT
+extern const char* SAFETY_CONTROLLER_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element safety_controller

diff --git a/tesseract_urdf/include/tesseract_urdf/sdf_mesh.h b/tesseract_urdf/include/tesseract_urdf/sdf_mesh.h
@@ -42,7 +42,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* SDF_MESH_ELEMENT_NAME = "tesseract:sdf_mesh";  // NOLINT
+extern const char* SDF_MESH_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element sdf_mesh

diff --git a/tesseract_urdf/include/tesseract_urdf/sphere.h b/tesseract_urdf/include/tesseract_urdf/sphere.h
@@ -41,7 +41,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* SPHERE_ELEMENT_NAME = "sphere";  // NOLINT
+extern const char* SPHERE_ELEMENT_NAME;
 
 /**
  * @brief Parse a xml sphere element

diff --git a/tesseract_urdf/include/tesseract_urdf/visual.h b/tesseract_urdf/include/tesseract_urdf/visual.h
@@ -44,7 +44,7 @@ class XMLDocument;
 
 namespace tesseract_urdf
 {
-static const char* VISUAL_ELEMENT_NAME = "visual";  // NOLINT
+extern const char* VISUAL_ELEMENT_NAME;
 
 /**
  * @brief Parse xml element visual

diff --git a/tesseract_urdf/src/box.cpp b/tesseract_urdf/src/box.cpp
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* BOX_ELEMENT_NAME = "box";
+
 tesseract_geometry::Box::Ptr parseBox(const tinyxml2::XMLElement* xml_element)
 {
   std::string size_string;

diff --git a/tesseract_urdf/src/calibration.cpp b/tesseract_urdf/src/calibration.cpp
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* CALIBRATION_ELEMENT_NAME = "calibration";
+
 tesseract_scene_graph::JointCalibration::Ptr parseCalibration(const tinyxml2::XMLElement* xml_element)
 {
   if (xml_element->Attribute("rising") == nullptr && xml_element->Attribute("falling") == nullptr)

diff --git a/tesseract_urdf/src/capsule.cpp b/tesseract_urdf/src/capsule.cpp
@@ -37,6 +37,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* CAPSULE_ELEMENT_NAME = "tesseract:capsule";
+
 tesseract_geometry::Capsule::Ptr parseCapsule(const tinyxml2::XMLElement* xml_element)
 {
   double r{ 0 }, l{ 0 };

diff --git a/tesseract_urdf/src/collision.cpp b/tesseract_urdf/src/collision.cpp
@@ -42,6 +42,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* COLLISION_ELEMENT_NAME = "collision";
+
 tesseract_scene_graph::Collision::Ptr parseCollision(const tinyxml2::XMLElement* xml_element,
                                                      const tesseract_common::ResourceLocator& locator,
                                                      bool make_convex_meshes)

diff --git a/tesseract_urdf/src/cone.cpp b/tesseract_urdf/src/cone.cpp
@@ -37,6 +37,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* CONE_ELEMENT_NAME = "tesseract:cone";
+
 tesseract_geometry::Cone::Ptr parseCone(const tinyxml2::XMLElement* xml_element)
 {
   double r{ 0 }, l{ 0 };

diff --git a/tesseract_urdf/src/cylinder.cpp b/tesseract_urdf/src/cylinder.cpp
@@ -37,6 +37,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* CYLINDER_ELEMENT_NAME = "cylinder";
+
 tesseract_geometry::Cylinder::Ptr parseCylinder(const tinyxml2::XMLElement* xml_element)
 {
   double r{ 0 }, l{ 0 };

diff --git a/tesseract_urdf/src/dynamics.cpp b/tesseract_urdf/src/dynamics.cpp
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* DYNAMICS_ELEMENT_NAME = "dynamics";
+
 tesseract_scene_graph::JointDynamics::Ptr parseDynamics(const tinyxml2::XMLElement* xml_element)
 {
   if (xml_element->Attribute("damping") == nullptr && xml_element->Attribute("friction") == nullptr)

diff --git a/tesseract_urdf/src/geometry.cpp b/tesseract_urdf/src/geometry.cpp
@@ -48,6 +48,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* GEOMETRY_ELEMENT_NAME = "geometry";
+
 tesseract_geometry::Geometry::Ptr parseGeometry(const tinyxml2::XMLElement* xml_element,
                                                 const tesseract_common::ResourceLocator& locator,
                                                 bool visual,

diff --git a/tesseract_urdf/src/inertial.cpp b/tesseract_urdf/src/inertial.cpp
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* INERTIAL_ELEMENT_NAME = "inertial";
+
 tesseract_scene_graph::Inertial::Ptr parseInertial(const tinyxml2::XMLElement* xml_element)
 {
   auto inertial = std::make_shared<tesseract_scene_graph::Inertial>();

diff --git a/tesseract_urdf/src/joint.cpp b/tesseract_urdf/src/joint.cpp
@@ -45,6 +45,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* JOINT_ELEMENT_NAME = "joint";
+
 tesseract_scene_graph::Joint::Ptr parseJoint(const tinyxml2::XMLElement* xml_element)
 {
   // get joint name

diff --git a/tesseract_urdf/src/limits.cpp b/tesseract_urdf/src/limits.cpp
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* LIMITS_ELEMENT_NAME = "limit";
+
 tesseract_scene_graph::JointLimits::Ptr parseLimits(const tinyxml2::XMLElement* xml_element)
 {
   auto limits = std::make_shared<tesseract_scene_graph::JointLimits>();

diff --git a/tesseract_urdf/src/link.cpp b/tesseract_urdf/src/link.cpp
@@ -43,6 +43,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* LINK_ELEMENT_NAME = "link";
+
 tesseract_scene_graph::Link::Ptr
 parseLink(const tinyxml2::XMLElement* xml_element,
           const tesseract_common::ResourceLocator& locator,

diff --git a/tesseract_urdf/src/material.cpp b/tesseract_urdf/src/material.cpp
@@ -41,6 +41,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* MATERIAL_ELEMENT_NAME = "material";
+
 tesseract_scene_graph::Material::Ptr
 parseMaterial(const tinyxml2::XMLElement* xml_element,
               std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr>& available_materials,

diff --git a/tesseract_urdf/src/mesh.cpp b/tesseract_urdf/src/mesh.cpp
@@ -44,6 +44,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* MESH_ELEMENT_NAME = "mesh";
+
 std::vector<tesseract_geometry::PolygonMesh::Ptr> parseMesh(const tinyxml2::XMLElement* xml_element,
                                                             const tesseract_common::ResourceLocator& locator,
                                                             bool visual,

diff --git a/tesseract_urdf/src/mimic.cpp b/tesseract_urdf/src/mimic.cpp
@@ -39,6 +39,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* MIMIC_ELEMENT_NAME = "mimic";
+
 tesseract_scene_graph::JointMimic::Ptr parseMimic(const tinyxml2::XMLElement* xml_element)
 {
   auto m = std::make_shared<tesseract_scene_graph::JointMimic>();

diff --git a/tesseract_urdf/src/octomap.cpp b/tesseract_urdf/src/octomap.cpp
@@ -44,6 +44,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* OCTOMAP_ELEMENT_NAME = "tesseract:octomap";
+
 tesseract_geometry::Octree::Ptr parseOctomap(const tinyxml2::XMLElement* xml_element,
                                              const tesseract_common::ResourceLocator& locator,
                                              const bool /*visual*/)

diff --git a/tesseract_urdf/src/octree.cpp b/tesseract_urdf/src/octree.cpp
@@ -42,6 +42,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* OCTREE_ELEMENT_NAME = "tesseract:octree";
+
 tesseract_geometry::Octree::Ptr parseOctree(const tinyxml2::XMLElement* xml_element,
                                             const tesseract_common::ResourceLocator& locator,
                                             tesseract_geometry::OctreeSubType shape_type,

diff --git a/tesseract_urdf/src/origin.cpp b/tesseract_urdf/src/origin.cpp
@@ -39,6 +39,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* ORIGIN_ELEMENT_NAME = "origin";
+
 Eigen::Isometry3d parseOrigin(const tinyxml2::XMLElement* xml_element)
 {
   Eigen::Isometry3d origin = Eigen::Isometry3d::Identity();

diff --git a/tesseract_urdf/src/point_cloud.cpp b/tesseract_urdf/src/point_cloud.cpp
@@ -42,6 +42,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* POINT_CLOUD_ELEMENT_NAME = "tesseract:point_cloud";
+
 tesseract_geometry::Octree::Ptr parsePointCloud(const tinyxml2::XMLElement* xml_element,
                                                 const tesseract_common::ResourceLocator& locator,
                                                 tesseract_geometry::OctreeSubType shape_type,

diff --git a/tesseract_urdf/src/safety_controller.cpp b/tesseract_urdf/src/safety_controller.cpp
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* SAFETY_CONTROLLER_ELEMENT_NAME = "safety_controller";
+
 tesseract_scene_graph::JointSafety::Ptr parseSafetyController(const tinyxml2::XMLElement* xml_element)
 {
   auto s = std::make_shared<tesseract_scene_graph::JointSafety>();

diff --git a/tesseract_urdf/src/sdf_mesh.cpp b/tesseract_urdf/src/sdf_mesh.cpp
@@ -43,6 +43,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_urdf
 {
+const char* SDF_MESH_ELEMENT_NAME = "tesseract:sdf_mesh";
+
 std::vector<tesseract_geometry::SDFMesh::Ptr> parseSDFMesh(const tinyxml2::XMLElement* xml_element,
                                                            const tesseract_common::ResourceLocator& locator,
                                                            bool visual)