urdf, sdf: Use sealed XML reflection bits

Clean up tests.

Author: EricCousineau-TRI

src/urdf_parser_py/sdf.py

@@ -1,12 +1,10 @@
-from urdf_parser_py.xml_reflection.basics import *
-import urdf_parser_py.xml_reflection as xmlr
+from urdf_parser_py import _now_private_property
+import urdf_parser_py._xml_reflection as _xmlr
 
-# What is the scope of plugins? Model, World, Sensor?
+_xmlr.start_namespace('sdf')
 
-xmlr.start_namespace('sdf')
 
-
-class Pose(xmlr.Object):
+class Pose(_xmlr.Object):
     def __init__(self, vec=None, extra=None):
         self.xyz = None
         self.rpy = None
@@ -32,37 +30,37 @@ def as_vec(self):
         rpy = self.rpy if self.rpy else [0, 0, 0]
         return xyz + rpy
 
-    def read_xml(self, node):
+    def _read_xml(self, node):
         # Better way to do this? Define type?
-        vec = get_type('vector6').read_xml(node)
-        self.load_vec(vec)
+        vec = _xmlr.get_type('vector6').read_xml_value(node)
+        self.from_vec(vec)
 
-    def write_xml(self, node):
+    def _write_xml(self, node):
         vec = self.as_vec()
-        get_type('vector6').write_xml(node, vec)
+        _xmlr.get_type('vector6').write_xml_value(node, vec)
 
-    def check_valid(self):
+    def _check_valid(self):
         assert self.xyz is not None or self.rpy is not None
 
 
-name_attribute = xmlr.Attribute('name', str)
-pose_element = xmlr.Element('pose', Pose, False)
+_name_attribute = _xmlr.Attribute('name', str)
+_pose_element = _xmlr.Element('pose', Pose, required=False)
 
 
-class Entity(xmlr.Object):
+class Entity(_xmlr.Object):
     def __init__(self, name=None, pose=None):
         self.name = name
         self.pose = pose
 
 
-xmlr.reflect(Entity, params=[
-    name_attribute,
-    pose_element
+_xmlr.reflect(Entity, params=[
+    _name_attribute,
+    _pose_element
 ])
 
 
-class Inertia(xmlr.Object):
-    KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']
+class Inertia(_xmlr.Object):
+    _KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']
 
     def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0):
         self.ixx = ixx
@@ -79,24 +77,21 @@ def to_matrix(self):
             [self.ixz, self.iyz, self.izz]]
 
 
-xmlr.reflect(Inertia,
-             params=[xmlr.Element(key, float) for key in Inertia.KEYS])
-
-# Pretty much copy-paste... Better method?
-# Use multiple inheritance to separate the objects out so they are unique?
+_xmlr.reflect(Inertia, tag='inertia',
+             params=[_xmlr.Element(key, float) for key in Inertia._KEYS])
 
 
-class Inertial(xmlr.Object):
+class Inertial(_xmlr.Object):
     def __init__(self, mass=0.0, inertia=None, pose=None):
         self.mass = mass
         self.inertia = inertia
         self.pose = pose
 
 
-xmlr.reflect(Inertial, params=[
-    xmlr.Element('mass', float),
-    xmlr.Element('inertia', Inertia),
-    pose_element
+_xmlr.reflect(Inertial, tag='inertial', params=[
+    _xmlr.Element('mass', float),
+    _xmlr.Element('inertia', Inertia),
+    _pose_element
 ])
 
 
@@ -107,14 +102,21 @@ def __init__(self, name=None, pose=None, inertial=None, kinematic=False):
         self.kinematic = kinematic
 
 
-xmlr.reflect(Link, parent_cls=Entity, params=[
-    xmlr.Element('inertial', Inertial),
-    xmlr.Attribute('kinematic', bool, False),
-    xmlr.AggregateElement('visual', Visual, var='visuals'),
-    xmlr.AggregateElement('collision', Collision, var='collisions')
+_xmlr.reflect(Link, tag='link', parent_cls=Entity, params=[
+    _xmlr.Element('inertial', Inertial),
+    _xmlr.Attribute('kinematic', bool, False),
+    _xmlr.AggregateElement('visual', Visual, var='visuals'),
+    _xmlr.AggregateElement('collision', Collision, var='collisions')
 ])
 
 
+class Joint(Entity):
+    pass
+
+
+_xmlr.reflect(Joint, tag='joint', parent_cls=Entity, params=[])
+
+
 class Model(Entity):
     def __init__(self, name=None, pose=None):
         Entity.__init__(self, name, pose)
@@ -123,10 +125,10 @@ def __init__(self, name=None, pose=None):
         self.plugins = []
 
 
-xmlr.reflect(Model, parent_cls=Entity, params=[
-    xmlr.AggregateElement('link', Link, var='links'),
-    xmlr.AggregateElement('joint', Joint, var='joints'),
-    xmlr.AggregateElement('plugin', Plugin, var='plugins')
+_xmlr.reflect(Model, parent_cls=Entity, params=[
+    _xmlr.AggregateElement('link', Link, var='links'),
+    _xmlr.AggregateElement('joint', Joint, var='joints'),
+    _xmlr.AggregateElement('plugin', Plugin, var='plugins')
 ])
 
-xmlr.end_namespace('sdf')
+_xmlr.end_namespace('sdf')