sdf Namespace Reference

namespace for Simulation Description Format parser More...

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	Converter
	Convert from one version of SDF to another. More...
class	Element
	SDF Element class. More...
class	Exception
	Class for generating exceptions. More...
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	Pose
	Encapsulates a position and rotation in three space. More...
class	Quaternion
	A quaternion class. More...
class	SDF
	Base SDF class. More...
class	SDFExtension
	A class for holding sdf extension elements in urdf. More...
class	Time
	A Time class, can be used to hold wall- or sim-time. More...
class	URDF2SDF
	URDF to SDF converter. More...
class	Vector2d
	Generic double x, y vector. More...
class	Vector2i
	Generic integer x, y vector. More...
class	Vector3
	The Vector3 class represents the generic vector containing 3 elements. More...

Typedefs
typedef Element *	ElementPtr
typedef std::vector< ElementPtr >	ElementPtr_V
typedef std::vector< ParamPtr >	Param_V
typedef Param *	ParamPtr
typedef SDF *	SDFPtr

Functions
void	addNestedModel (ElementPtr _sdf, ElementPtr _includeSDF)
void	addURIPath (const std::string &_uri, const std::string &_path)
	Associate paths to a URI. More...
void	copyChildren (ElementPtr _sdf, TiXmlElement *_xml)
template<typename T >
bool	equal (const T &_a, const T &_b, const T &_epsilon=1e-6)
	check if two values are equal, within a tolerance More...
std::string	findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...
bool	init (SDFPtr _sdf)
	Init based on the installed sdf_format.xml file. More...
bool	initDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf)
bool	initDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf)
bool	initFile (const std::string &_filename, SDFPtr _sdf)
bool	initFile (const std::string &_filename, ElementPtr _sdf)
bool	initString (const std::string &_xmlString, SDFPtr _sdf)
bool	initXml (TiXmlElement *_xml, ElementPtr _sdf)
bool	readDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf, const std::string &_source)
	Populate the SDF values from a TinyXML document. More...
bool	readDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf, const std::string &_source)
bool	readFile (const std::string &_filename, SDFPtr _sdf)
	Populate the SDF values from a file. More...
bool	readString (const std::string &_xmlString, SDFPtr _sdf)
	Populate the SDF values from a string. More...
bool	readString (const std::string &_xmlString, ElementPtr _sdf)
bool	readXml (TiXmlElement *_xml, ElementPtr _sdf)
void	setFindCallback (boost::function< std::string(const std::string &)> _cb)
	Set the callback to use when SDF can't find a file. More...

Detailed Description

namespace for Simulation Description Format parser

Typedef Documentation

typedef Element* sdf::ElementPtr

typedef std::vector< ElementPtr > sdf::ElementPtr_V

typedef std::vector<ParamPtr> sdf::Param_V

typedef Param* sdf::ParamPtr

typedef SDF* sdf::SDFPtr

Function Documentation

void sdf::addNestedModel	(	ElementPtr	_sdf,
		ElementPtr	_includeSDF
	)

void sdf::copyChildren	(	ElementPtr	_sdf,
		TiXmlElement *	_xml
	)

template<typename T >

bool sdf::equal ( const T &  _a, const T &  _b, const T &  _epsilon = 1e-6  )

inline

check if two values are equal, within a tolerance

Parameters

[in]	_a	the first value
[in]	_b	the second value
[in]	_epsilon	the tolerance

Referenced by sdf::Quaternion::Correct(), sdf::Quaternion::GetInverse(), sdf::Quaternion::Normalize(), sdf::Color::operator==(), sdf::Vector2d::operator==(), and sdf::Vector3::operator==().

bool sdf::init

(

SDFPtr

_sdf

)

Init based on the installed sdf_format.xml file.

bool sdf::initDoc	(	TiXmlDocument *	_xmlDoc,
		SDFPtr	_sdf
	)

bool sdf::initDoc	(	TiXmlDocument *	_xmlDoc,
		ElementPtr	_sdf
	)

bool sdf::initFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

bool sdf::initFile	(	const std::string &	_filename,
		ElementPtr	_sdf
	)

bool sdf::initString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

bool sdf::initXml	(	TiXmlElement *	_xml,
		ElementPtr	_sdf
	)

bool sdf::readDoc	(	TiXmlDocument *	_xmlDoc,
		SDFPtr	_sdf,
		const std::string &	_source
	)

Populate the SDF values from a TinyXML document.

bool sdf::readDoc	(	TiXmlDocument *	_xmlDoc,
		ElementPtr	_sdf,
		const std::string &	_source
	)

bool sdf::readFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

Populate the SDF values from a file.

bool sdf::readString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

Populate the SDF values from a string.

bool sdf::readString	(	const std::string &	_xmlString,
		ElementPtr	_sdf
	)

bool sdf::readXml	(	TiXmlElement *	_xml,
		ElementPtr	_sdf
	)