Types.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * 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 SDFORMAT_TYPES_HH_
#define SDFORMAT_TYPES_HH_
 
#include <algorithm>
#include <cmath>
#include <cstdint>
#include <sstream>
#include <string>
#include <utility>
#include <vector>
 
#include <sdf/sdf_config.h>
#include "sdf/system_util.hh"
#include "sdf/Error.hh"
 
#if defined(__GNUC__) || defined(__clang__)
#define SDF_DEPRECATED(version) __attribute__((deprecated))
#define SDF_FORCEINLINE __attribute__((always_inline))
#elif defined(_MSC_VER)
#define SDF_DEPRECATED(version)
#define SDF_FORCEINLINE __forceinline
#else
#define SDF_DEPRECATED(version)
#define SDF_FORCEINLINE
#endif
 
#if defined(__GNUC__)
#  define SDF_SUPPRESS_DEPRECATED_BEGIN \
     _Pragma("GCC diagnostic push") \
     _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
#  define SDF_SUPPRESS_DEPRECATED_END _Pragma("GCC diagnostic pop")
#elif defined(__clang__)
#  define SDF_SUPPRESS_DEPRECATED_BEGIN \
     _Pragma("clang diagnostic push") \
     _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
#  define SDF_SUPPRESS_DEPRECATED_END _Pragma("clang diagnostic pop")
#else
#  define SDF_SUPPRESS_DEPRECATED_BEGIN
#  define SDF_SUPPRESS_DEPRECATED_END
#endif
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  const std::string kSdfScopeDelimiter = "::";
 
  constexpr char kSdfStringSource[] = "data-string";
 
  constexpr char kUrdfStringSource[] = "urdf string";
 
  SDFORMAT_VISIBLE
  std::vector<std::string> split(const std::string &_str,
                                 const std::string &_splitter);
 
  SDFORMAT_VISIBLE
  std::string trim(const char *_in);
 
  SDFORMAT_VISIBLE
  std::string trim(const std::string &_in);
 
  template<typename T>
  inline bool equal(const T &_a, const T &_b,
                    const T &_epsilon = 1e-6f)
  {
    return std::fabs(_a - _b) <= _epsilon;
  }
 
  using Errors = std::vector<Error>;
 
  SDFORMAT_VISIBLE std::ostream &operator<<(
      std::ostream &_out, const sdf::Errors &_errs);
 
  class SDFORMAT_VISIBLE Color
  {
    public: Color(float _r = 0.0f, float _g = 0.0f,
                  float _b = 0.0f, float _a = 1.0f) SDF_DEPRECATED(6.0)
            : r(_r), g(_g), b(_b), a(_a)
    {}
 
    public: friend std::ostream &operator<< (std::ostream &_out,
                                             const Color &_pt)
    {
      _out << _pt.r << " " << _pt.g << " " << _pt.b << " " << _pt.a;
      return _out;
    }
 
    public: friend std::istream &operator>> (std::istream &_in, Color &_pt)
    {
      // Skip white spaces
      _in.setf(std::ios_base::skipws);
      _in >> _pt.r >> _pt.g >> _pt.b >> _pt.a;
      return _in;
    }
 
    public: bool operator ==(const Color &_clr) const
    {
      return equal(this->r, _clr.r) &&
        equal(this->g, _clr.g) &&
        equal(this->b, _clr.b) &&
        equal(this->a, _clr.a);
    }
 
    public: float r;
 
    public: float g;
 
    public: float b;
 
    public: float a;
  };
 
  class SDFORMAT_VISIBLE Time
  {
    public: Time()
            : sec(0), nsec(0)
    {
    }
 
    public: Time(int32_t _sec, int32_t _nsec)
            : sec(_sec), nsec(_nsec)
    {
    }
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                                            const Time &_time)
    {
      _out << _time.sec << " " << _time.nsec;
      return _out;
    }
 
    public: friend std::istream &operator>>(std::istream &_in,
                                            Time &_time)
    {
      // Skip white spaces
      _in.setf(std::ios_base::skipws);
      _in >> _time.sec >> _time.nsec;
      return _in;
    }
 
    public: bool operator ==(const Time &_time) const
    {
      return this->sec == _time.sec && this->nsec == _time.nsec;
    }
 
    public: int32_t sec;
 
    public: int32_t nsec;
  };
 
  class SDFORMAT_VISIBLE Inertia
  {
    public: double mass;
  };
 
  std::string SDFORMAT_VISIBLE lowercase(const std::string &_in);
 
  SDFORMAT_VISIBLE
  std::pair<std::string, std::string> SplitName(
      const std::string &_absoluteName);
 
  SDFORMAT_VISIBLE
  std::string JoinName(
      const std::string &_scopeName, const std::string &_localName);
  }
}
#endif