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import type IUrdfBox from "./IUrdfBox";
import type IUrdfCylinder from "./IUrdfCylinder";
import type IUrdfMesh from "./IUrdfMesh";
// 1) Box‐type visual
interface IUrdfVisualBox {
name: string;
origin_xyz: [x: number, y: number, z: number];
origin_rpy: [roll: number, pitch: number, yaw: number];
geometry: IUrdfBox;
material?: {
name: string;
color?: string;
texture?: string;
},
type: 'box';
// optional RGBA color override
color_rgba?: [r: number, g: number, b: number, a: number];
// XML Element reference
elem: Element;
}
// 2) Cylinder‐type visual
interface IUrdfVisualCylinder {
name: string;
origin_xyz: [x: number, y: number, z: number];
origin_rpy: [roll: number, pitch: number, yaw: number];
geometry: IUrdfCylinder;
material?: {
name: string;
color?: string;
texture?: string;
},
type: 'cylinder';
color_rgba?: [r: number, g: number, b: number, a: number];
elem: Element;
}
// 3) Mesh‐type visual
interface IUrdfVisualMesh {
name: string;
origin_xyz: [x: number, y: number, z: number];
origin_rpy: [roll: number, pitch: number, yaw: number];
geometry: IUrdfMesh;
material?: {
name: string;
color?: string;
texture?: string;
},
type: 'mesh';
color_rgba?: [r: number, g: number, b: number, a: number];
elem: Element;
}
// Now make a union of the three:
export type IUrdfVisual = IUrdfVisualBox | IUrdfVisualCylinder | IUrdfVisualMesh;
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