text: /*********************************************************************
  * Software License Agreement (BSD License)
  * 
  *  Copyright (c) 2008, Willow Garage, Inc.
  *  All rights reserved.
  * 
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions
  *  are met:
  * 
  *   * Redistributions of source code must retain the above copyright
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  * 
  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
  
  /* Author: John Hsu */
  
  
  #include <urdf_model/twist.h>
  #include <fstream>
  #include <sstream>
  #include <boost/lexical_cast.hpp>
  #include <algorithm>
  #include <tinyxml.h>
  #include <console_bridge/console.h>
  
  namespace urdf{
  
  bool parseTwist(Twist &twist, TiXmlElement* xml)
  {
    twist.clear();
    if (xml)
    {
      const char* linear_char = xml->Attribute("linear");
      if (linear_char != NULL)
      {
        try {
          twist.linear.init(linear_char);
        }
        catch (ParseError &e) {
          twist.linear.clear();
          logError("Malformed linear string [%s]: %s", linear_char, e.what());
          return false;
        }
      }
  
      const char* angular_char = xml->Attribute("angular");
      if (angular_char != NULL)
      {
        try {
          twist.angular.init(angular_char);
        }
        catch (ParseError &e) {
          twist.angular.clear();
          logError("Malformed angular [%s]: %s", angular_char, e.what());
          return false;
        }
      }
    }
    return true;
  }
  
  }
  
  
  
  