strings.xml
This example shows the functionality of the different string operations
Models used
skill_lin: lines 88, 95, 101, 107
skill_sequence: lines 84
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!--
4 This example shows the functionality of the different string operations
5-->
6
7<pitasc>
8
9 <models>
10 <include package="pitasc_library" file="models/pitasc.xml"/>
11 <include package="pitasc_library" file="universal_robots/ur.xml"/>
12 <include package="pitasc_library" file="models/skills.xml"/>
13 <include package="pitasc_library" file="models/parameters.xml"/>
14 </models>
15
16
17 <clone prototype="project">
18
19 <member id="configuration">
20 <clone id="configuration" prototype="default_configuration"/>
21 </member>
22
23 <member id="environment">
24 <clone prototype="robot_ur5">
25 <member id="robot_driver.max_velocity">2.0</member>
26 <member id="robot_driver.max_acceleration">3.0</member>
27 </clone>
28 </member>
29
30 <!-- Axes that should be used -->
31
32 <!-- As string -->
33 <type id="axis_x" prototype="string_parameter">
34 <data>x</data>
35 </type>
36
37 <type id="axis_y" prototype="string_parameter">
38 <data>y</data>
39 </type>
40
41 <!-- As string list -->
42 <type id="axes_xz" prototype="string_list">
43 <data>
44 <clone prototype="string_parameter">x</clone>
45 <clone prototype="string_parameter">z</clone>
46 </data>
47 </type>
48
49 <!-- As string csv -->
50 <type id="axes_abc" prototype="string_csv">
51 <data>a,b,c</data>
52 </type>
53
54
55 <!-- Init string list extension to merge these lists as necessary -->
56
57 <!-- string and string -->
58 <type id="axes_1" prototype="string_list_extension">
59 <data>
60 <reference reference_id="axis_x"/>
61 <reference reference_id="axis_y"/>
62 </data>
63 </type>
64
65 <!-- string_list and string -->
66 <type id="axes_2" prototype="string_list_extension">
67 <data>
68 <reference reference_id="axes_xz"/>
69 <reference reference_id="axis_y"/>
70 </data>
71 </type>
72
73 <!-- string_list, string_csv and string -->
74 <type id="axes_3" prototype="string_list_extension">
75 <data>
76 <reference reference_id="axes_xz"/>
77 <reference reference_id="axis_y"/>
78 <reference reference_id="axes_abc"/>
79 </data>
80 </type>
81
82
83 <member id="applications">
84 <clone prototype="skill_sequence">
85 <member id="robot" reference_id="environment.robot_ur5"/>
86 <member id="skills">
87
88 <clone prototype="skill_lin">
89 <member id="tool_frame">tool</member>
90 <member id="target_frame">target1</member>
91 </clone>
92
93
94 <!-- Use string extension to define the axes -->
95 <clone prototype="skill_lin">
96 <member id="tool_frame">tool</member>
97 <member id="target_frame">target2</member>
98 <member id="axes" reference_id="axes_1"/>
99 </clone>
100
101 <clone prototype="skill_lin">
102 <member id="tool_frame">tool</member>
103 <member id="target_frame">target3</member>
104 <member id="axes" reference_id="axes_2"/>
105 </clone>
106
107 <clone prototype="skill_lin">
108 <member id="tool_frame">tool</member>
109 <member id="target_frame">target1</member>
110 <member id="axes" reference_id="axes_3"/>
111 </clone>
112
113 </member>
114
115 </clone>
116
117 </member>
118
119 </clone>
120
121</pitasc>