parser.hh
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1/*
2 * Copyright 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef SDF_PARSER_HH_
18#define SDF_PARSER_HH_
19
20#include <string>
21
22#include "sdf/SDFImpl.hh"
23#include "sdf/sdf_config.h"
24#include "sdf/system_util.hh"
25
36namespace sdf
37{
38 // Inline bracket to help doxygen filtering.
39 inline namespace SDF_VERSION_NAMESPACE {
40 //
41 class Root;
42
47 bool init(SDFPtr _sdf);
48
54 bool init(SDFPtr _sdf, const ParserConfig &_config);
55
61 bool initFile(const std::string &_filename, SDFPtr _sdf);
62
70 const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf);
71
77 bool initFile(const std::string &_filename, ElementPtr _sdf);
78
85 bool initFile(const std::string &_filename, const ParserConfig &_config,
86 ElementPtr _sdf);
87
93 bool initString(const std::string &_xmlString, SDFPtr _sdf);
94
102 const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf);
103
112 sdf::SDFPtr readFile(const std::string &_filename);
113
123 sdf::SDFPtr readFile(const std::string &_filename, Errors &_errors);
124
135 sdf::SDFPtr readFile(const std::string &_filename,
136 const ParserConfig &_config, Errors &_errors);
137
148 bool readFile(const std::string &_filename, SDFPtr _sdf, Errors &_errors);
149
161 bool readFile(const std::string &_filename, const ParserConfig &_config,
162 SDFPtr _sdf, Errors &_errors);
163
177 const std::string &_filename, SDFPtr _sdf, Errors &_errors);
178
192 bool readFileWithoutConversion(const std::string &_filename,
193 const ParserConfig &_config, SDFPtr _sdf, Errors &_errors);
194
204 bool readFile(const std::string &_filename, SDFPtr _sdf);
205
216 bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
217
229 bool readString(const std::string &_xmlString, const ParserConfig &_config,
230 SDFPtr _sdf, Errors &_errors);
231
241 bool readString(const std::string &_xmlString, SDFPtr _sdf);
242
253 bool readString(const std::string &_xmlString, ElementPtr _sdf,
254 Errors &_errors);
255
267 bool readString(const std::string &_xmlString, const ParserConfig &_config,
268 ElementPtr _sdf, Errors &_errors);
269
283 const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
284
296 bool readStringWithoutConversion(const std::string &_xmlString,
297 const ParserConfig &_config, SDFPtr _sdf, Errors &_errors);
298
308 bool readString(const std::string &_xmlString, ElementPtr _sdf);
309
316 std::string getModelFilePath(const std::string &_modelDirPath);
317
324 bool convertFile(const std::string &_filename, const std::string &_version,
325 SDFPtr _sdf);
326
334 bool convertFile(const std::string &_filename, const std::string &_version,
335 const ParserConfig &_config, SDFPtr _sdf);
336
343 bool convertString(const std::string &_sdfString,
344 const std::string &_version, SDFPtr _sdf);
345
353 bool convertString(const std::string &_sdfString, const std::string &_version,
354 const ParserConfig &_config, SDFPtr _sdf);
355
365
376
387
397
406 void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors);
407
418
427
436
446
454
460 std::string computeMergedModelProxyFrameName(const std::string &_modelName);
461 }
462}
463#endif
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:85
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:57
IGNITION_SDFORMAT_VISIBLE bool checkFrameAttachedToGraph(const sdf::Root *_root)
For the world and each model, check that the attached_to graphs build without errors and have no cycl...
IGNITION_SDFORMAT_VISIBLE std::string computeMergedModelProxyFrameName(const std::string &_modelName)
Function to compute a merged model's proxy frame name.
IGNITION_SDFORMAT_VISIBLE bool initFile(const std::string &_filename, SDFPtr _sdf)
Initialize the SDF interface using a file.
IGNITION_SDFORMAT_VISIBLE bool convertFile(const std::string &_filename, const std::string &_version, SDFPtr _sdf)
Convert an SDF file to a specific SDF version.
IGNITION_SDFORMAT_VISIBLE sdf::SDFPtr readFile(const std::string &_filename)
Populate the SDF values from a file.
IGNITION_SDFORMAT_VISIBLE bool convertString(const std::string &_sdfString, const std::string &_version, SDFPtr _sdf)
Convert an SDF string to a specific SDF version.
IGNITION_SDFORMAT_VISIBLE bool shouldValidateElement(sdf::ElementPtr _elem)
Check whether the element should be validated.
IGNITION_SDFORMAT_VISIBLE bool checkFrameAttachedToNames(const sdf::Root *_root)
Check that for each frame, the attached_to attribute value does not match its own frame name but does...
IGNITION_SDFORMAT_VISIBLE bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a string.
IGNITION_SDFORMAT_VISIBLE bool recursiveSiblingNoDoubleColonInNames(sdf::ElementPtr _elem)
Check that all sibling elements do not contain the delimiter double colons '::' in element names,...
IGNITION_SDFORMAT_VISIBLE bool init(SDFPtr _sdf)
Initialize the SDF interface from the embedded root spec file.
IGNITION_SDFORMAT_VISIBLE bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem)
Check that all sibling elements of the same type have unique names.
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:52
IGNITION_SDFORMAT_VISIBLE bool checkPoseRelativeToGraph(const sdf::Root *_root)
For the world and each model, check that the attached_to graphs build without errors and have no cycl...
IGNITION_SDFORMAT_VISIBLE void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
Check that all joints in contained models specify parent and child names that match the names of sibl...
IGNITION_SDFORMAT_VISIBLE bool checkCanonicalLinkNames(const sdf::Root *_root)
Check that for each model, the canonical_link attribute value matches the name of a link in the model...
IGNITION_SDFORMAT_VISIBLE bool recursiveSiblingUniqueNames(sdf::ElementPtr _elem)
Check that all sibling elements of the any type have unique names.
IGNITION_SDFORMAT_VISIBLE std::string getModelFilePath(const std::string &_modelDirPath)
Get the file path to the model file.
IGNITION_SDFORMAT_VISIBLE bool initString(const std::string &_xmlString, SDFPtr _sdf)
Initialize the SDF interface using a string.
IGNITION_SDFORMAT_VISIBLE bool readFileWithoutConversion(const std::string &_filename, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a file without converting to the latest SDF version.
IGNITION_SDFORMAT_VISIBLE bool readStringWithoutConversion(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a string without converting to the latest SDF version.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
IGNITION_SDFORMAT_VISIBLE bool checkJointParentChildLinkNames(const sdf::Root *_root)
Check that all joints in contained models specify parent and child link names that match the names of...
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25