Switch from TinyXML to TinyXML2

.travis.yml

@@ -6,9 +6,6 @@ compiler:
   - clang
   - gcc
 script: "./.travis/build"
-before_install:
-  - sudo apt-get update -qq
-  - sudo apt-get install -qq libtinyxml-dev
 matrix:
   allow_failures:
     - compiler: clang

.travis/build

@@ -6,6 +6,7 @@ root_dir=`pwd`
 build_dir="$root_dir/_travis/build"
 console_bridge_dir="$build_dir/console_bridge"
 urdfdom_headers_dir="$build_dir/urdfdom_headers"
+tinyxml2_dir="$build_dir/tinyxml2"
 
 # Shortcuts.
 git_clone="git clone --quiet --recursive"
@@ -30,6 +31,14 @@ cd "$urdfdom_headers_dir"
 cmake .
 sudo make install
 
+# Retrieve tinyxml2
+echo "--> Compiling tinyxml2"
+cd "$build_dir"
+$git_clone "git://github.com/leethomason/tinyxml2.git"
+cd "$tinyxml2_dir"
+cmake .
+sudo make install
+
 # Compile
 echo "--> Compiling urdfdom"
 cd "$root_dir"

CMakeLists.txt

@@ -32,8 +32,9 @@ endif (MSVC OR MSVC90 OR MSVC10)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-find_package(TinyXML REQUIRED)
-include_directories(SYSTEM ${TinyXML_INCLUDE_DIRS})
+find_package(TinyXML2 REQUIRED)
+include_directories(SYSTEM ${TinyXML2_INCLUDE_DIRS})
+link_libraries(${TinyXML2_LIBRARIES})
 
 find_package(urdfdom_headers 1.0 REQUIRED)
 include_directories(SYSTEM ${urdfdom_headers_INCLUDE_DIRS})

cmake/FindTinyXML2.cmake

@@ -0,0 +1,74 @@
+##################################################################################################
+# 
+# CMake script for finding TinyXML2.
+# 
+# Input variables:
+# 
+# - TinyXML2_ROOT_DIR (optional): When specified, header files and libraries will be searched for in
+#     ${TinyXML2_ROOT_DIR}/include
+#     ${TinyXML2_ROOT_DIR}/libs
+#   respectively, and the default CMake search order will be ignored. When unspecified, the default
+#   CMake search order is used.
+#   This variable can be specified either as a CMake or environment variable. If both are set,
+#   preference is given to the CMake variable.
+#   Use this variable for finding packages installed in a nonstandard location, or for enforcing
+#   that one of multiple package installations is picked up.
+# 
+# 
+# Cache variables (not intended to be used in CMakeLists.txt files)
+# 
+# - TinyXML2_INCLUDE_DIR: Absolute path to package headers.
+# - TinyXML2_LIBRARY: Absolute path to library.
+# 
+# 
+# Output variables:
+# 
+# - TinyXML2_FOUND: Boolean that indicates if the package was found
+# - TinyXML2_INCLUDE_DIRS: Paths to the necessary header files
+# - TinyXML2_LIBRARIES: Package libraries
+# 
+# 
+# Example usage:
+# 
+#  find_package(TinyXML2)
+#  if(NOT TinyXML2_FOUND)
+#    # Error handling
+#  endif()
+#  ...
+#  include_directories(${TinyXML2_INCLUDE_DIRS} ...)
+#  ...
+#  target_link_libraries(my_target ${TinyXML2_LIBRARIES})
+# 
+##################################################################################################
+
+# Get package location hint from environment variable (if any)
+if(NOT TinyXML2_ROOT_DIR AND DEFINED ENV{TinyXML2_ROOT_DIR})
+  set(TinyXML2_ROOT_DIR "$ENV{TinyXML2_ROOT_DIR}" CACHE PATH
+      "TinyXML2 base directory location (optional, used for nonstandard installation paths)")
+endif()
+
+# Search path for nonstandard package locations
+if(TinyXML2_ROOT_DIR)
+  set(TinyXML2_INCLUDE_PATH PATHS "${TinyXML2_ROOT_DIR}/include" NO_DEFAULT_PATH)
+  set(TinyXML2_LIBRARY_PATH PATHS "${TinyXML2_ROOT_DIR}/lib"     NO_DEFAULT_PATH)
+endif()
+
+# Find headers and libraries
+find_path(TinyXML2_INCLUDE_DIR NAMES tinyxml2.h PATH_SUFFIXES "tinyxml2" ${TinyXML2_INCLUDE_PATH})
+find_library(TinyXML2_LIBRARY  NAMES tinyxml2   PATH_SUFFIXES "tinyxml2" ${TinyXML2_LIBRARY_PATH})
+
+mark_as_advanced(TinyXML2_INCLUDE_DIR
+                 TinyXML2_LIBRARY)
+
+# Output variables generation
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TinyXML2_LIBRARY
+                                                       TinyXML2_INCLUDE_DIR)
+
+set(TinyXML2_FOUND ${TINYXML2_FOUND}) # Enforce case-correctness: Set appropriately cased variable...
+unset(TINYXML2_FOUND) # ...and unset uppercase variable generated by find_package_handle_standard_args
+
+if(TinyXML2_FOUND)
+  set(TinyXML2_INCLUDE_DIRS ${TinyXML2_INCLUDE_DIR})
+  set(TinyXML2_LIBRARIES ${TinyXML2_LIBRARY})
+endif()

urdf_parser/include/urdf_parser/urdf_parser.h

@@ -39,7 +39,7 @@
 
 #include <string>
 #include <map>
-#include <tinyxml.h>
+#include <tinyxml2.h>
 #include <urdf_model/model.h>
 #include <urdf_model/color.h>
 #include <urdf_world/types.h>
@@ -60,9 +60,9 @@ namespace urdf{
 
   URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
   URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
-  URDFDOM_DLLAPI TiXmlDocument*  exportURDF(ModelInterfaceSharedPtr &model);
-  URDFDOM_DLLAPI TiXmlDocument*  exportURDF(const ModelInterface &model);
-  URDFDOM_DLLAPI bool parsePose(Pose&, TiXmlElement*);
+  URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model);
+  URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model);
+  URDFDOM_DLLAPI bool parsePose(Pose&, tinyxml2::XMLElement*);
 }
 
 #endif