urdf-loader - npm Package Compare versions

Comparing version 0.8.0 to 0.8.1

CHANGELOG.md

@@ -7,2 +7,6 @@ # Changelog
 
+## [0.8.1] - 2020-03-12
+### Added
+- Support for processing pre-parsed XML documents to the `parse` function. A `Document` or `Element` object as returned from `DOMParser` may be passed in place of the xml string.
+
 ## [0.8.0] - 2020-01-03
@@ -9,0 +13,0 @@ ### Changed

package.json

 {
   "name": "urdf-loader",
-  "version": "0.8.0",
+  "version": "0.8.1",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -5,0 +5,0 @@ "main": "umd/URDFLoader.js",

README.md

 # javascript urdf-loader
 
 [![npm version](https://img.shields.io/npm/v/urdf-loader.svg?style=flat-square)](https://www.npmjs.com/package/urdf-loader)
-[![travis build](https://img.shields.io/travis/gkjohnson/urdf-loaders.svg?style=flat-square)](https://travis-ci.com/gkjohnson/urdf-loaders)
+[![travis build](https://img.shields.io/travis/gkjohnson/urdf-loaders/master.svg?style=flat-square)](https://travis-ci.com/gkjohnson/urdf-loaders)
 [![lgtm code quality](https://img.shields.io/lgtm/grade/javascript/g/gkjohnson/urdf-loaders.svg?style=flat-square&label=code-quality)](https://lgtm.com/projects/g/gkjohnson/urdf-loaders/)
@@ -14,2 +14,5 @@
 # Use
+
+Loading a URDF file from a server.
+
 ```js
@@ -22,3 +25,3 @@ import { LoadingManager } from 'three';
 loader.packages = {
-    packageName : '.../package/dir/'            // The equivalent of a (list of) ROS package(s):// directory
+    packageName : './package/dir/'            // The equivalent of a (list of) ROS package(s):// directory
 };
@@ -32,2 +35,23 @@ loader.loadMeshCb = (path, manager, done) => { };
 
+Using [XacroParser](github.com/gkjohnson/xacro-parser) to process a Xacro URDF file and then parse it.
+
+```js
+import { LoaderUtils } from 'three';
+import { XacroLoader } from 'xacro-parser';
+import URDFLoader from 'urdf-loader';
+
+const url = './path/to/file.xacro';
+const xacroLoader = new XacroLoader();
+xacroLoader.load( url, xml => {
+
+    const urdfLoader = new URDFLoader();
+    urdfLoader.workingPath = LoaderUtils.extractUrlBase( url );
+    
+    const robot = urdfLoader.parse( xml );
+
+    // robot is loaded!
+
+} );
+```
+
 ## Limitations
@@ -55,4 +79,4 @@ - Only `prismatic`, `continuous`, `revolute`, and `fixed` joints are supported.
 {
-  "package1": ".../path/to/package1",
-  "package2": ".../path/to/package2",
+  "package1": "./path/to/package1",
+  "package2": "./path/to/package2",
   ...
@@ -84,3 +108,3 @@ }
 ```js
-fetchOptions : Object
+fetchOptions = null : Object
 ```
@@ -93,3 +117,3 @@
 ```js
-workingPath : string
+workingPath = '' : string
 ```
@@ -104,3 +128,3 @@
 ```js
-parseVisual : boolean
+parseVisual = true : boolean
 ```
@@ -113,3 +137,3 @@
 ```js
-parseCollision : boolean
+parseCollision = false : boolean
 ```
@@ -147,3 +171,3 @@
 ```js
-parse( urdfContent : string ) : URDFRobot
+parse( urdfContent : string | Document | Element ) : URDFRobot
 ```
@@ -153,2 +177,4 @@
 
+If the XML document has already been parsed using `DOMParser` then either the returned `Document` or root `Element` can be passed into this function in place of the string, as well.
+
 Note that geometry will not necessarily be loaded when the robot is returned.
@@ -155,0 +181,0 @@

src/URDFClasses.d.ts

@@ -0,0 +0,0 @@ import { Object3D, Vector3 } from 'three';

src/URDFLoader.d.ts

@@ -32,4 +32,4 @@ import { LoadingManager, Object3D } from 'three';
     ): void;
-    parse(content: string): URDFRobot;
+    parse(content: string | Element | Document): URDFRobot;
 
 }

src/URDFLoader.js

@@ -177,6 +177,19 @@ import * as THREE from 'three';
 
-            const parser = new DOMParser();
-            const urdf = parser.parseFromString(data, 'text/xml');
-            const children = [ ...urdf.children ];
+            let children;
+            if (data instanceof Document) {
 
+                children = [ ...data.children ];
+
+            } else if (data instanceof Element) {
+
+                children = [ data ];
+
+            } else {
+
+                const parser = new DOMParser();
+                const urdf = parser.parseFromString(data, 'text/xml');
+                children = [ ...urdf.children ];
+
+            }
+
             const robotNode = children.filter(c => c.nodeName === 'robot').pop();
@@ -183,0 +196,0 @@ return processRobot(robotNode);

umd/urdf-viewer-element.js

@@ -504,15 +504,8 @@ (function (global, factory) {
 
-                new URDFLoader(manager).load(
-                    urdf,
-                    model => robot = model,
+                const loader = new URDFLoader(manager);
+                loader.packages = pkg;
+                loader.loadMeshCb = this.loadMeshFunc;
+                loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+                loader.load(urdf, model => robot = model);
 
-                    // options
-                    {
-
-                        packages: pkg,
-                        loadMeshCb: this.loadMeshFunc,
-                        fetchOptions: { mode: 'cors', credentials: 'same-origin' },
-
-                    });
-
             }
@@ -519,0 +512,0 @@

umd/URDFLoader.js

@@ -324,2 +324,8 @@ (function (global, factory) {
             this.manager = manager || THREE.DefaultLoadingManager;
+            this.loadMeshCb = this.defaultMeshLoader.bind(this);
+            this.parseVisual = true;
+            this.parseCollision = false;
+            this.packages = '';
+            this.workingPath = '';
+            this.fetchOptions = null;
 
@@ -331,3 +337,3 @@ }
         // onComplete:      Callback that is passed the model once loaded
-        load(urdf, onComplete, options) {
+        load(urdf, onComplete, onProgress, onError) {
 
@@ -340,12 +346,19 @@ // Check if a full URI is specified before
 
-            options = Object.assign({
-                workingPath,
-            }, options);
-
             manager.itemStart(urdfPath);
-            fetch(urdfPath, options.fetchOptions)
-                .then(res => res.text())
+            fetch(urdfPath, this.fetchOptions)
+                .then(res => {
+                    if (onProgress) {
+                        onProgress(null);
+                    }
+                    return res.text();
+                })
                 .then(data => {
 
-                    const model = this.parse(data, options);
+                    if (this.workingPath === '') {
+
+                        this.workingPath = workingPath;
+
+                    }
+
+                    const model = this.parse(data);
                     onComplete(model);
@@ -357,4 +370,7 @@ manager.itemEnd(urdfPath);
 
-                    // TODO: Add onProgress and onError functions here
-                    console.error('URDFLoader: Error parsing file.', e);
+                    if (onError) {
+                        onError(e);
+                    } else {
+                        console.error('URDFLoader: Error loading file.', e);
+                    }
                     manager.itemError(urdfPath);
@@ -367,9 +383,9 @@ manager.itemEnd(urdfPath);
 
-        parse(content, options = {}) {
+        parse(content) {
 
-            const packages = options.packages || '';
-            const loadMeshCb = options.loadMeshCb || this.defaultMeshLoader.bind(this);
-            const workingPath = options.workingPath || '';
-            const parseVisual = ('parseVisual' in options) ? options.parseVisual : true;
-            const parseCollision = options.parseCollision || false;
+            const packages = this.packages;
+            const loadMeshCb = this.loadMeshCb;
+            const parseVisual = this.parseVisual;
+            const parseCollision = this.parseCollision;
+            const workingPath = this.workingPath;
             const manager = this.manager;
@@ -428,6 +444,19 @@ const linkMap = {};
 
-                const parser = new DOMParser();
-                const urdf = parser.parseFromString(data, 'text/xml');
-                const children = [ ...urdf.children ];
+                let children;
+                if (data instanceof Document) {
 
+                    children = [ ...data.children ];
+
+                } else if (data instanceof Element) {
+
+                    children = [ data ];
+
+                } else {
+
+                    const parser = new DOMParser();
+                    const urdf = parser.parseFromString(data, 'text/xml');
+                    children = [ ...urdf.children ];
+
+                }
+
                 const robotNode = children.filter(c => c.nodeName === 'robot').pop();
@@ -434,0 +463,0 @@ return processRobot(robotNode);

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Improved metrics

Total package byte prevSize

253484

increased by1.2%

Lines of code

2879

increased by0.88%

Number of lines in readme file

440

increased by6.28%

No dependency changes