namespace for Simulation Description Format parser More...
Namespaces | |
namespace | filesystem |
Classes | |
class | AssertionInternalError |
Class for generating Exceptions which come from sdf assertions. More... | |
class | Color |
Defines a color. More... | |
class | Console |
Message, error, warning, and logging functionality. More... | |
class | ConsolePrivate |
class | Converter |
Convert from one version of SDF to another. More... | |
class | Element |
SDF Element class. More... | |
class | ElementPrivate |
class | Error |
class | Exception |
Class for generating exceptions. More... | |
class | ExceptionPrivate |
class | Inertia |
A class for inertial information about a link. More... | |
class | InternalError |
Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More... | |
class | Param |
A parameter class. More... | |
class | ParamPrivate |
class | Root |
Root class that acts as an entry point to the SDF document model. More... | |
class | SDF |
Base SDF class. More... | |
class | SDFExtension |
class | SDFPrivate |
Private data for base SDF class. More... | |
class | Time |
A Time class, can be used to hold wall- or sim-time. More... | |
class | URDF2SDF |
URDF to SDF converter. More... | |
class | World |
Typedefs | |
typedef std::shared_ptr< Console > | ConsolePtr |
typedef std::shared_ptr< Element > | ElementPtr |
typedef std::vector< ElementPtr > | ElementPtr_V |
typedef std::weak_ptr< Element > | ElementWeakPtr |
using | Errors = std::vector<Error> |
A vector of Error. | |
typedef std::vector< ParamPtr > | Param_V |
typedef std::shared_ptr< Param > | ParamPtr |
typedef std::shared_ptr< SDF > | SDFPtr |
Enumerations | |
enum class | ErrorCode { NONE = 0 , FILE_READ , DUPLICATE_NAME , ATTRIBUTE_MISSING , ATTRIBUTE_INVALID , ATTRIBUTE_DEPRECATED , ELEMENT_MISSING , ELEMENT_INVALID , ELEMENT_DEPRECATED , ELEMENT_INCORRECT_TYPE , URI_INVALID , URI_LOOKUP , DIRECTORY_NONEXISTANT } |
Set of error codes. More... |
Functions | |
SDFORMAT_VISIBLE void | addNestedModel (ElementPtr _sdf, ElementPtr _includeSDF) |
SDFORMAT_VISIBLE void | addURIPath (const std::string &_uri, const std::string &_path) |
Associate paths to a URI. | |
SDFORMAT_VISIBLE bool | convertFile (const std::string &_filename, const std::string &_version, SDFPtr _sdf) |
Convert an SDF file to a specific SDF version. | |
SDFORMAT_VISIBLE bool | convertString (const std::string &_sdfString, const std::string &_version, SDFPtr _sdf) |
Convert an SDF string to a specific SDF version. | |
void | copyChildren (ElementPtr _sdf, TiXmlElement *_xml) |
template<typename T> | |
bool | equal (const T &_a, const T &_b, const T &_epsilon=1e-6f) |
check if two values are equal, within a tolerance | |
SDFORMAT_VISIBLE std::string | findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false) |
Find the absolute path of a file. | |
std::string | getBestSupportedModelVersion (TiXmlElement *_modelXML, std::string &_modelFileName) |
Get the best SDF version from models supported by this sdformat. | |
SDFORMAT_VISIBLE std::string | getModelFilePath (const std::string &_modelDirPath) |
Get the file path to the model file. | |
SDFORMAT_VISIBLE bool | init (SDFPtr _sdf) |
Init based on the installed sdf_format.xml file. | |
bool | initDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf) |
Initialize and SDF Element using a TinyXML document. | |
bool | initDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf) |
Initialize the SDF interface using a TinyXML document. | |
SDFORMAT_VISIBLE bool | initFile (const std::string &_filename, ElementPtr _sdf) |
Initialize an SDFElement interface using a file. | |
SDFORMAT_VISIBLE bool | initFile (const std::string &_filename, SDFPtr _sdf) |
Initialize the SDF interface using a file. | |
SDFORMAT_VISIBLE bool | initString (const std::string &_xmlString, SDFPtr _sdf) |
Initialize the SDF interface using a string. | |
bool | initXml (TiXmlElement *_xml, ElementPtr _sdf) |
For internal use only. Do not use this function. | |
bool | readDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf, const std::string &_source, bool _convert, Errors &_errors) |
bool | readDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf, const std::string &_source, bool _convert, Errors &_errors) |
Populate the SDF values from a TinyXML document. | |
SDFORMAT_VISIBLE sdf::SDFPtr | readFile (const std::string &_filename) |
Populate the SDF values from a file. | |
SDFORMAT_VISIBLE sdf::SDFPtr | readFile (const std::string &_filename, Errors &_errors) |
Populate the SDF values from a file. | |
SDFORMAT_VISIBLE bool | readFile (const std::string &_filename, SDFPtr _sdf) |
Populate the SDF values from a file. | |
SDFORMAT_VISIBLE bool | readFile (const std::string &_filename, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a file. | |
SDFORMAT_VISIBLE bool | readString (const std::string &_xmlString, ElementPtr _sdf) |
Populate the SDF values from a string. | |
SDFORMAT_VISIBLE bool | readString (const std::string &_xmlString, ElementPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. | |
SDFORMAT_VISIBLE bool | readString (const std::string &_xmlString, SDFPtr _sdf) |
Populate the SDF values from a string. | |
SDFORMAT_VISIBLE bool | readString (const std::string &_xmlString, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. | |
bool | readXml (TiXmlElement *_xml, ElementPtr _sdf, Errors &_errors) |
For internal use only. | |
SDFORMAT_VISIBLE bool | recursiveSameTypeUniqueNames (sdf::ElementPtr _elem) |
Check that all sibling elements of the same type have unique names. | |
SDFORMAT_VISIBLE void | setFindCallback (std::function< std::string(const std::string &)> _cb) |
Set the callback to use when SDF can't find a file. | |
SDFORMAT_VISIBLE std::vector< std::string > | split (const std::string &_str, const std::string &_splitter) |
Split a string using the delimiter in splitter. | |
SDFORMAT_VISIBLE std::string | trim (const char *_in) |
Trim leading and trailing whitespace from a string. |
Variables | |
class SDFORMAT_VISIBLE | Element |
class SDFORMAT_VISIBLE | Param |
class SDFORMAT_VISIBLE | SDF |
namespace for Simulation Description Format parser
typedef std::shared_ptr<Element> sdf::ElementPtr |
typedef std::vector<ElementPtr> sdf::ElementPtr_V |
typedef std::weak_ptr<Element> sdf::ElementWeakPtr |
using sdf::Errors = std::vector<Error> |
A vector of Error.
typedef std::vector<ParamPtr> sdf::Param_V |
typedef std::shared_ptr<Param> sdf::ParamPtr |
typedef std::shared_ptr<SDF> sdf::SDFPtr |
|
strong |
Set of error codes.
Usually one or more errors are returned in an Errors vector. The collection of Errors should be take as a whole, where an error toward the beginning of the vector can inform errors toward the end of the vector.
Enumerator | |
---|---|
NONE | |
FILE_READ | Indicates that reading an SDF file failed. |
DUPLICATE_NAME | A duplicate name was found for an element where unique names are required. |
ATTRIBUTE_MISSING | Indicates that a required SDF attribute is missing. |
ATTRIBUTE_INVALID | This error indicates that an SDF attribute is invalid. |
ATTRIBUTE_DEPRECATED | This error indicates that an SDF attribute is deprecated. |
ELEMENT_MISSING | Indicates that a required SDF element is missing. |
ELEMENT_INVALID | This error indicates that an SDF element is invalid. |
ELEMENT_DEPRECATED | This error indicates that an SDF element is deprecated. |
ELEMENT_INCORRECT_TYPE | Indicates that an incorrect SDF element type was encountered. This error is used when an element of certain type is expected, and an element of a different type was received. |
URI_INVALID | A URI is invalid. |
URI_LOOKUP | A error occured while trying to resolve a URI. |
DIRECTORY_NONEXISTANT | A filesystem directory does not exist. |
SDFORMAT_VISIBLE void sdf::addNestedModel | ( | ElementPtr | _sdf, |
ElementPtr | _includeSDF ) |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::convertFile | ( | const std::string & | _filename, |
const std::string & | _version, | ||
SDFPtr | _sdf ) |
Convert an SDF file to a specific SDF version.
[in] | _filename | Name of the SDF file to convert. |
[in] | _version | Version to convert _filename to. |
[out] | _sdf | Pointer to the converted SDF document. |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::convertString | ( | const std::string & | _sdfString, |
const std::string & | _version, | ||
SDFPtr | _sdf ) |
Convert an SDF string to a specific SDF version.
[in] | _sdfString | The SDF string to convert. |
[in] | _version | Version to convert _filename to. |
[out] | _sdf | Pointer to the converted SDF document. |
References SDFORMAT_VISIBLE.
void sdf::copyChildren | ( | ElementPtr | _sdf, |
TiXmlElement * | _xml ) |
|
inline |
check if two values are equal, within a tolerance
[in] | _a | the first value |
[in] | _b | the second value |
[in] | _epsilon | the tolerance |
Referenced by sdf::Color::operator==().
std::string sdf::getBestSupportedModelVersion | ( | TiXmlElement * | _modelXML, |
std::string & | _modelFileName ) |
SDFORMAT_VISIBLE std::string sdf::getModelFilePath | ( | const std::string & | _modelDirPath | ) |
Get the file path to the model file.
[in] | _modelDirPath | directory system path of the model |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::init | ( | SDFPtr | _sdf | ) |
Init based on the installed sdf_format.xml file.
References SDFORMAT_VISIBLE.
bool sdf::initDoc | ( | TiXmlDocument * | _xmlDoc, |
ElementPtr | _sdf ) |
bool sdf::initDoc | ( | TiXmlDocument * | _xmlDoc, |
SDFPtr | _sdf ) |
Initialize the SDF interface using a TinyXML document.
SDFORMAT_VISIBLE bool sdf::initFile | ( | const std::string & | _filename, |
ElementPtr | _sdf ) |
Initialize an SDFElement interface using a file.
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::initFile | ( | const std::string & | _filename, |
SDFPtr | _sdf ) |
Initialize the SDF interface using a file.
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::initString | ( | const std::string & | _xmlString, |
SDFPtr | _sdf ) |
Initialize the SDF interface using a string.
References SDFORMAT_VISIBLE.
bool sdf::initXml | ( | TiXmlElement * | _xml, |
ElementPtr | _sdf ) |
For internal use only. Do not use this function.
bool sdf::readDoc | ( | TiXmlDocument * | _xmlDoc, |
ElementPtr | _sdf, | ||
const std::string & | _source, | ||
bool | _convert, | ||
Errors & | _errors ) |
bool sdf::readDoc | ( | TiXmlDocument * | _xmlDoc, |
SDFPtr | _sdf, | ||
const std::string & | _source, | ||
bool | _convert, | ||
Errors & | _errors ) |
Populate the SDF values from a TinyXML document.
SDFORMAT_VISIBLE sdf::SDFPtr sdf::readFile | ( | const std::string & | _filename | ) |
Populate the SDF values from a file.
[in] | _filename | Name of the SDF file |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE sdf::SDFPtr sdf::readFile | ( | const std::string & | _filename, |
Errors & | _errors ) |
Populate the SDF values from a file.
[in] | _filename | Name of the SDF file |
[out] | _errors | Parsing errors will be appended to this variable. |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::readFile | ( | const std::string & | _filename, |
SDFPtr | _sdf ) |
Populate the SDF values from a file.
This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::readFile | ( | const std::string & | _filename, |
SDFPtr | _sdf, | ||
Errors & | _errors ) |
Populate the SDF values from a file.
This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version
[in] | _filename | Name of the SDF file |
[in] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::readString | ( | const std::string & | _xmlString, |
ElementPtr | _sdf ) |
Populate the SDF values from a string.
This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::readString | ( | const std::string & | _xmlString, |
ElementPtr | _sdf, | ||
Errors & | _errors ) |
Populate the SDF values from a string.
This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version
[out] | _errors | Parsing errors will be appended to this variable. |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::readString | ( | const std::string & | _xmlString, |
SDFPtr | _sdf ) |
Populate the SDF values from a string.
This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE bool sdf::readString | ( | const std::string & | _xmlString, |
SDFPtr | _sdf, | ||
Errors & | _errors ) |
Populate the SDF values from a string.
This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version
[out] | _errors | Parsing errors will be appended to this variable. |
References SDFORMAT_VISIBLE.
bool sdf::readXml | ( | TiXmlElement * | _xml, |
ElementPtr | _sdf, | ||
Errors & | _errors ) |
For internal use only.
Do not use this function.
[in] | _xml | Pointer to the XML document |
[in,out] | _sdf | SDF pointer to parse data into. |
[out] | _errors | Captures errors found during parsing. |
SDFORMAT_VISIBLE bool sdf::recursiveSameTypeUniqueNames | ( | sdf::ElementPtr | _elem | ) |
Check that all sibling elements of the same type have unique names.
This checks recursively and should check the files exhaustively rather than terminating early when the first duplicate name is found.
[in] | _elem | sdf Element to check recursively. |
SDFORMAT_VISIBLE std::vector< std::string > sdf::split | ( | const std::string & | _str, |
const std::string & | _splitter ) |
Split a string using the delimiter in splitter.
[in] | str | The string to split. |
[in] | splitter | The delimiter to use. |
References SDFORMAT_VISIBLE.
SDFORMAT_VISIBLE std::string sdf::trim | ( | const char * | _in | ) |
Trim leading and trailing whitespace from a string.
[in] | _in | The string to trim. |
class SDFORMAT_VISIBLE sdf::Element |
class SDFORMAT_VISIBLE sdf::Param |
class SDFORMAT_VISIBLE sdf::SDF |