urdf.py 文件源码

def to_xml(self, orderbytree=False, orderbytype=False):
        doc = Document()
        root = doc.createElement("robot")
        doc.appendChild(root)
        root.setAttribute("name", self.name)

        baselink = self.parent_map
        if orderbytree:
            # Walk child map sequentially and export
            pass
        if orderbytype:
            pass

        for element in self.elements:
            root.appendChild(element.to_xml(doc))

        return doc.toprettyxml()