Public Member Functions | List of all members
sdf::v10::Root Class Reference

Root class that acts as an entry point to the SDF document model. More...

#include <Root.hh>

Public Member Functions

 Root ()
 Default constructor. More...
 
 ~Root ()
 Destructor. More...
 
const ActorActorByIndex (const uint64_t _index) const
 Get an actor based on an index. More...
 
uint64_t ActorCount () const
 Get the number of actors. More...
 
bool ActorNameExists (const std::string &_name) const
 Get whether an actor name exists. More...
 
sdf::ElementPtr Element () const
 Get a pointer to the SDF element that was generated during load. More...
 
const LightLightByIndex (const uint64_t _index) const
 Get a light based on an index. More...
 
uint64_t LightCount () const
 Get the number of lights. More...
 
bool LightNameExists (const std::string &_name) const
 Get whether a light name exists. More...
 
Errors Load (const std::string &_filename)
 Parse the given SDF file, and generate objects based on types specified in the SDF file. More...
 
Errors Load (const SDFPtr _sdf)
 Parse the given SDF pointer, and generate objects based on types specified in the SDF file. More...
 
Errors LoadSdfString (const std::string &_sdf)
 Parse the given SDF string, and generate objects based on types specified in the SDF file. More...
 
const ModelModelByIndex (const uint64_t _index) const
 Get a model based on an index. More...
 
uint64_t ModelCount () const
 Get the number of models. More...
 
bool ModelNameExists (const std::string &_name) const
 Get whether a model name exists. More...
 
void SetVersion (const std::string &_version)
 Set the SDF version string. More...
 
std::string Version () const
 Get the SDF version specified in the parsed file or SDF pointer. More...
 
const WorldWorldByIndex (const uint64_t _index) const
 Get a world based on an index. More...
 
uint64_t WorldCount () const
 Get the number of worlds. More...
 
bool WorldNameExists (const std::string &_name) const
 Get whether a world name exists. More...
 

Detailed Description

Root class that acts as an entry point to the SDF document model.

Multiple worlds can exist in a single SDF file. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.

Usage

In this example, a root object is loaded from a file specified in the first command line argument to a program.

sdf::Root root;
sdf::Errors errors = root.Load(argv[1]);
if (errors.empty())
{
std::cerr << "Valid SDF file.\n";
return 0;
}
else
{
std::cerr << "Errors encountered: \n";
for (auto const &e : errors)
{
std::cout << e << std::endl;
}
}

Constructor & Destructor Documentation

◆ Root()

sdf::v10::Root::Root ( )

Default constructor.

◆ ~Root()

sdf::v10::Root::~Root ( )

Destructor.

Member Function Documentation

◆ ActorByIndex()

const Actor* sdf::v10::Root::ActorByIndex ( const uint64_t  _index) const

Get an actor based on an index.

Parameters
[in]_indexIndex of the actor. The actor should be in the range [0..ActorCount()).
Returns
Pointer to the actor. Nullptr if the index does not exist.
See also
uint64_t ActorCount() const

◆ ActorCount()

uint64_t sdf::v10::Root::ActorCount ( ) const

Get the number of actors.

Returns
Number of actors contained in this Root object.

◆ ActorNameExists()

bool sdf::v10::Root::ActorNameExists ( const std::string &  _name) const

Get whether an actor name exists.

Parameters
[in]_nameName of the actor to check.
Returns
True if there exists an actor with the given name.

◆ Element()

sdf::ElementPtr sdf::v10::Root::Element ( ) const

Get a pointer to the SDF element that was generated during load.

Returns
SDF element pointer. The value will be nullptr if Load has not been called.

◆ LightByIndex()

const Light* sdf::v10::Root::LightByIndex ( const uint64_t  _index) const

Get a light based on an index.

Parameters
[in]_indexIndex of the light. The index should be in the range [0..LightCount()).
Returns
Pointer to the light. Nullptr if the index does not exist.
See also
uint64_t LightCount() const

◆ LightCount()

uint64_t sdf::v10::Root::LightCount ( ) const

Get the number of lights.

Returns
Number of lights contained in this Root object.

◆ LightNameExists()

bool sdf::v10::Root::LightNameExists ( const std::string &  _name) const

Get whether a light name exists.

Parameters
[in]_nameName of the light to check.
Returns
True if there exists a light with the given name.

◆ Load() [1/2]

Errors sdf::v10::Root::Load ( const std::string &  _filename)

Parse the given SDF file, and generate objects based on types specified in the SDF file.

Parameters
[in]_filenameName of the SDF file to parse.
Returns
Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [2/2]

Errors sdf::v10::Root::Load ( const SDFPtr  _sdf)

Parse the given SDF pointer, and generate objects based on types specified in the SDF file.

Parameters
[in]_sdfSDF pointer to parse.
Returns
Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ LoadSdfString()

Errors sdf::v10::Root::LoadSdfString ( const std::string &  _sdf)

Parse the given SDF string, and generate objects based on types specified in the SDF file.

Parameters
[in]_sdfSDF string to parse.
Returns
Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ ModelByIndex()

const Model* sdf::v10::Root::ModelByIndex ( const uint64_t  _index) const

Get a model based on an index.

Parameters
[in]_indexIndex of the model. The index should be in the range [0..ModelCount()).
Returns
Pointer to the model. Nullptr if the index does not exist.
See also
uint64_t ModelCount() const

◆ ModelCount()

uint64_t sdf::v10::Root::ModelCount ( ) const

Get the number of models.

Returns
Number of models contained in this Root object.

◆ ModelNameExists()

bool sdf::v10::Root::ModelNameExists ( const std::string &  _name) const

Get whether a model name exists.

Parameters
[in]_nameName of the model to check.
Returns
True if there exists a model with the given name.

◆ SetVersion()

void sdf::v10::Root::SetVersion ( const std::string &  _version)

Set the SDF version string.

Parameters
[in]_versionThe new SDF version.
See also
std::string Version()

◆ Version()

std::string sdf::v10::Root::Version ( ) const

Get the SDF version specified in the parsed file or SDF pointer.

Returns
SDF version string.
See also
void SetVersion(const std::string &_version)

◆ WorldByIndex()

const World* sdf::v10::Root::WorldByIndex ( const uint64_t  _index) const

Get a world based on an index.

Parameters
[in]_indexIndex of the world. The index should be in the range [0..WorldCount()).
Returns
Pointer to the world. Nullptr if the index does not exist.
See also
uint64_t WorldCount() const

◆ WorldCount()

uint64_t sdf::v10::Root::WorldCount ( ) const

Get the number of worlds.

Returns
Number of worlds contained in this Root object.

◆ WorldNameExists()

bool sdf::v10::Root::WorldNameExists ( const std::string &  _name) const

Get whether a world name exists.

Parameters
[in]_nameName of the world to check.
Returns
True if there exists a world with the given name.

The documentation for this class was generated from the following file: