SVGLoader.hh

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/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */

#ifndef _GAZEBO_SVGLOADER_HH_
#define _GAZEBO_SVGLOADER_HH_

#include <stdexcept>
#include <string>
#include <vector>

#include <ignition/math/Vector2.hh>
#include <ignition/math/Matrix3.hh>

#include <gazebo/common/Console.hh>
#include <gazebo/math/Vector2d.hh>
#include <gazebo/math/Matrix3.hh>

class TiXmlElement;
class TiXmlNode;

namespace gazebo
{
  namespace common
  {
    class SVGLoaderPrivate;

    class GZ_COMMON_VISIBLE SvgError: public std::runtime_error
    {
      public: SvgError(const std::string &_what);
    };

    class GZ_COMMON_VISIBLE SVGCommand
    {
      public: SVGCommand() : cmd(' ') {}

      public: virtual ~SVGCommand() = default;

      public: char cmd;

      public: std::vector<double> numbers;
    };

    struct GZ_COMMON_VISIBLE SVGPath
    {
      std::string id;

      std::string style;

      ignition::math::Matrix3d transform;

      std::vector< std::vector<SVGCommand> > subpaths;

      std::vector< std::vector<ignition::math::Vector2d> > polylines;
    };

    class GZ_COMMON_VISIBLE SVGLoader
    {
      public: SVGLoader(unsigned int _samples);

      public: ~SVGLoader();

      public: bool Parse(const std::string &_filename,
                         std::vector<SVGPath> &_paths);

      public: static void PathsToClosedPolylines(
          const std::vector<common::SVGPath> &_paths,
          double _tol,
          std::vector< std::vector<ignition::math::Vector2d> > &_closedPolys,
          std::vector< std::vector<ignition::math::Vector2d> > &_openPolys);

      public: void DumpPaths(const std::vector<SVGPath> &_paths,
                             std::ostream &_out) const;

      private: void GetPathCommands(const std::vector<std::string> &_tokens,
                                    SVGPath &_path);

      private: void GetPathAttribs(TiXmlElement *_pElement, SVGPath &_path);

      private: void GetSvgPaths(TiXmlNode *_pParent,
                                  std::vector<SVGPath> &_paths);

      private: void ExpandCommands(
                      const std::vector< std::vector<SVGCommand> > &_subpaths,
                      SVGPath& _path);

      private: void SplitSubpaths(const std::vector<SVGCommand> &_cmds,
                      std::vector< std::vector<SVGCommand> > &_subpaths);

      private: void PathToPoints(const SVGPath &_path,
                  double _resolution,
                  std::vector< std::vector<ignition::math::Vector2d> > &_polys);

      private: ignition::math::Vector2d SubpathToPolyline(
                      const std::vector<SVGCommand> &_subpath,
                      ignition::math::Vector2d _last,
                      std::vector<ignition::math::Vector2d> &_polyline);

      private: SVGLoaderPrivate *dataPtr;
    };
  }
}

#endif