us.ihmc.scs2.definition.robot.urdf.items.URDFInertial Maven / Gradle / Ivy

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package us.ihmc.scs2.definition.robot.urdf.items;

import java.util.List;

import javax.xml.bind.annotation.XmlElement;
import javax.xml.bind.annotation.XmlType;

/**
 *  ROS Specification link.
 *
 * @author Sylvain Bertrand
 */
@XmlType(propOrder = {"mass", "origin", "inertia"})
public class URDFInertial implements URDFItem
{
   private URDFOrigin origin;
   private URDFMass mass;
   private URDFInertia inertia;

   @XmlElement(name = "origin")
   public void setOrigin(URDFOrigin origin)
   {
      this.origin = origin;
   }

   @XmlElement(name = "mass")
   public void setMass(URDFMass mass)
   {
      this.mass = mass;
   }

   @XmlElement(name = "inertia")
   public void setInertia(URDFInertia inertia)
   {
      this.inertia = inertia;
   }

   public URDFOrigin getOrigin()
   {
      return origin;
   }

   public URDFMass getMass()
   {
      return mass;
   }

   public URDFInertia getInertia()
   {
      return inertia;
   }

   @Override
   public String getContentAsString()
   {
      return format("[origin: %s, mass: %s, inertia: %s.]", origin, mass, inertia);
   }

   @Override
   public String toString()
   {
      return itemToString();
   }

   @Override
   public List getFilenameHolders()
   {
      return URDFItem.combineItemFilenameHolders(origin, mass, inertia);
   }
}