parseKinematicsAttachment method

Map<String, dynamic> parseKinematicsAttachment(
  1. XmlElement xml
)

Implementation

Map<String,dynamic> parseKinematicsAttachment(XmlElement xml ) {
  final Map<String,dynamic> data = {
    'joint': xml.getAttribute( 'joint' )?.split( '/' ).removeLast(),
    'transforms': [],
    'links': []
  };

  for (final child in xml.descendantElements) {
    switch ( child.name.local ) {
      case 'link':
        data['links'].add( parseKinematicsLink( child ) );
        break;
      case 'matrix':
      case 'translate':
      case 'rotate':
        data['transforms'].add( parseKinematicsTransform( child ) );
        break;
    }
  }

  return data;
}