#include <sdf/sdf.hh>

Inheritance diagram for sdf::v11::Element:

Public Member Functions
	Element ()
	Constructor. More...

virtual	~Element ()
	Destructor. More...

void	AddAttribute (const std::string &_key, const std::string &_type, const std::string &_defaultvalue, bool _required, const std::string &_description="")
	Add an attribute value. More...

ElementPtr	AddElement (const std::string &_name)
	Add a named element. More...

void	AddValue (const std::string &_type, const std::string &_defaultValue, bool _required, const std::string &_description="")
	Add a value to this Element. More...

void	AddValue (const std::string &_type, const std::string &_defaultValue, bool _required, const std::string &_minValue, const std::string &_maxValue, const std::string &_description="")
	Add a value to this Element. More...

void	Clear ()
	Remove all child elements and reset file path and original version. More...

void	ClearElements ()
	Remove all child elements. More...

ElementPtr	Clone () const
	Create a copy of this Element. More...

void	Copy (const ElementPtr _elem)
	Copy values from an Element. More...

std::map< std::string, std::size_t >	CountNamedElements (const std::string &_type="") const
	Count the number of child elements of the specified element type that have the same name attribute value. More...

const std::string &	FilePath () const
	Get the path to the SDF document where this element came from. More...

template<typename T >
std::pair< T, bool >	Get (const std::string &_key, const T &_defaultValue) const
	Get the value of a key. More...

template<typename T >
bool	Get (const std::string &_key, T &_param, const T &_defaultValue) const
	Get the value of a key. More...

template<typename T >
T	Get (const std::string &_key="") const
	Get the value of a key. More...

std::any	GetAny (const std::string &_key="") const
	Get the element value/attribute as a std::any. More...

ParamPtr	GetAttribute (const std::string &_key) const
	Get the param of an attribute. More...

ParamPtr	GetAttribute (unsigned int _index) const
	Get an attribute using an index. More...

size_t	GetAttributeCount () const
	Get the number of attributes. More...

bool	GetAttributeSet (const std::string &_key) const
	Return true if the attribute was set (i.e. More...

bool	GetCopyChildren () const
	Return true if this Element's child elements should be copied during parsing. More...

ElementPtr	GetElement (const std::string &_name)
	Return a pointer to the child element with the provided name. More...

ElementPtr	GetElementDescription (const std::string &_key) const
	Get an element description using a key. More...

ElementPtr	GetElementDescription (unsigned int _index) const
	Get an element description using an index. More...

size_t	GetElementDescriptionCount () const
	Get the number of element descriptions. More...

std::set< std::string >	GetElementTypeNames () const
	Get set of child element type names. More...

bool	GetExplicitlySetInFile () const
	Return if the element was been explicitly set in the file. More...

ElementPtr	GetFirstElement () const
	Get the first child element. More...

std::string	GetInclude () const SDF_DEPRECATED(11.0)
	Get the include filename. More...

sdf::ElementPtr	GetIncludeElement () const
	Get the element that was used to load this element. More...

const std::string &	GetName () const
	Get the Element's name. More...

ElementPtr	GetNextElement (const std::string &_name="") const
	Get the next sibling of this element. More...

ElementPtr	GetParent () const
	Get a pointer to this Element's parent. More...

const std::string &	GetRequired () const
	Get the requirement string. More...

ParamPtr	GetValue () const
	Get the param of the elements value return A Param pointer to the value of this element. More...

bool	HasAttribute (const std::string &_key) const
	Return true if an attribute exists. More...

bool	HasElement (const std::string &_name) const
	Return true if the named element exists. More...

bool	HasElementDescription (const std::string &_name) const
	Return true if an element description exists. More...

bool	HasUniqueChildNames (const std::string &_type="") const
	Checks whether any child elements of the specified element type have identical name attribute values and returns false if so. More...

void	InsertElement (ElementPtr _elem)
	Add an element object. More...

std::optional< int >	LineNumber () const
	Get the line number of this element within the SDF document. More...

void	PrintDescription (const std::string &_prefix) const
	Output Element's description to stdout. More...

void	PrintDocLeftPane (std::string &_html, int _spacing, int &_index) const
	Helper function for SDF::PrintDoc. More...

void	PrintDocRightPane (std::string &_html, int _spacing, int &_index) const
	Helper function for SDF::PrintDoc. More...

void	PrintValues (std::string _prefix) const
	Output Element's values to stdout. More...

std::string	ReferenceSDF () const
	Get the name of the reference SDF element. More...

void	RemoveAllAttributes ()
	Removes all attributes. More...

void	RemoveAttribute (const std::string &_key)
	Remove an attribute. More...

void	RemoveChild (ElementPtr _child)
	Remove a child element. More...

void	RemoveFromParent ()
	Remove this element from its parent. More...

void	Reset ()
	Call reset on each element and element description before deleting all of them. More...

template<typename T >
bool	Set (const T &_value)
	Set the value of this element. More...

void	SetCopyChildren (bool _value)
	Set whether this element should copy its child elements during parsing. More...

void	SetExplicitlySetInFile (const bool _value)
	Set if the element and children where set or default in the original file. More...

void	SetFilePath (const std::string &_path)
	Set the path to the SDF document where this element came from. More...

void	SetInclude (const std::string &_filename) SDF_DEPRECATED(11.0)
	Set the include filename to the passed in filename. More...

void	SetIncludeElement (sdf::ElementPtr _includeElem)
	Set the element that was used to load this element. More...

void	SetLineNumber (int _lineNumber)
	Set the line number of this element within the SDF document. More...

void	SetName (const std::string &_name)
	Set the name of the Element. More...

void	SetParent (const ElementPtr _parent)
	Set the parent of this Element. More...

void	SetReferenceSDF (const std::string &_value)
	Set reference SDF element. More...

void	SetRequired (const std::string &_req)
	Set the requirement type. More...

std::string	ToString (const std::string &_prefix) const
	Convert the element values to a string representation. More...

void	Update ()
	Call the Update() callback on each element, as well as the embedded Param. More...

="default"]/model[@name="robot1"]/link[@name="link"])

Set the XML path of this element.

Parameters

[in] _path Full XML path (i.e., XPath) to the SDF element. E.g., a SDF document: <sdf> <world name="default"> <model name="robot1"> <link name="link"> ... </link> </model> </world> </sdf> The full XML path to the SDF link element would be: /sdf/world[

void SetXmlPath (const std::string &_path)

Private data pointer. More...

const std::string & XmlPath () const

Get the XML path of this element. More...

void SetOriginalVersion (const std::string &_version)

Set the spec version that this was originally parsed from. More...

const std::string & OriginalVersion () const

Get the spec version that this was originally parsed from. More...

std::string GetDescription () const

Get a text description of the element. More...

void SetDescription (const std::string &_desc)

Set a text description for the element. More...

void AddElementDescription (ElementPtr _elem)

Add a new element description. More...

ElementPtr GetElementImpl (const std::string &_name) const

Get a pointer to the named element. More...

Detailed Description

SDF Element class.

Constructor & Destructor Documentation

◆ Element()

sdf::v11::Element::Element ( )

Constructor.

◆ ~Element()

virtual sdf::v11::Element::~Element ( )

virtual

Destructor.

Member Function Documentation

◆ AddAttribute()

void sdf::v11::Element::AddAttribute	(	const std::string &	_key,
		const std::string &	_type,
		const std::string &	_defaultvalue,
		bool	_required,
		const std::string &	_description = `""`
	)

Add an attribute value.

Parameters

[in]	_key	Key value.
[in]	_type	Type of data the attribute will hold.
[in]	_defaultValue	Default value for the attribute.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_description	A text description of the attribute.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddElement()

ElementPtr sdf::v11::Element::AddElement ( const std::string & _name )

Add a named element.

Parameters

[in] _name the name of the element to add.

Returns: A pointer to the newly created Element object.

◆ AddElementDescription()

void sdf::v11::Element::AddElementDescription ( ElementPtr _elem )

Add a new element description.

Parameters

[in] _elem the Element object to add to the descriptions.

◆ AddValue() [1/2]

void sdf::v11::Element::AddValue	(	const std::string &	_type,
		const std::string &	_defaultValue,
		bool	_required,
		const std::string &	_description = `""`
	)

Add a value to this Element.

Parameters

[in]	_type	Type of data the parameter will hold.
[in]	_defaultValue	Default value for the parameter.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_description	A text description of the parameter.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddValue() [2/2]

void sdf::v11::Element::AddValue	(	const std::string &	_type,
		const std::string &	_defaultValue,
		bool	_required,
		const std::string &	_minValue,
		const std::string &	_maxValue,
		const std::string &	_description = `""`
	)

Add a value to this Element.

This override allows passing min and max values of the parameter.

Parameters

[in]	_type	Type of data the parameter will hold.
[in]	_defaultValue	Default value for the parameter.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_minValue	Minimum allowed value for the parameter.
[in]	_maxValue	Maximum allowed value for the parameter.
[in]	_description	A text description of the parameter.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ Clear()

void sdf::v11::Element::Clear ( )

Remove all child elements and reset file path and original version.

◆ ClearElements()

void sdf::v11::Element::ClearElements ( )

Remove all child elements.

◆ Clone()

ElementPtr sdf::v11::Element::Clone ( ) const

Create a copy of this Element.

Returns: A copy of this Element.

◆ Copy()

void sdf::v11::Element::Copy ( const ElementPtr _elem )

Copy values from an Element.

Parameters

[in] _elem Element to copy value from.

◆ CountNamedElements()

std::map<std::string, std::size_t> sdf::v11::Element::CountNamedElements ( const std::string & _type = "" ) const

Count the number of child elements of the specified element type that have the same name attribute value.

Parameters

[in] _type The type of Element to check. If empty, count names of all child elements.

Returns: Map from Element names to a count of how many times the name occurs. The count should never be 0. If all 2nd values are 1, then there are exclusively unique names.

◆ FilePath()

const std::string& sdf::v11::Element::FilePath ( ) const

Get the path to the SDF document where this element came from.

Returns: Full path to SDF document.

◆ GetAny()

std::any sdf::v11::Element::GetAny ( const std::string & _key = "" ) const

Get the element value/attribute as a std::any.

Parameters

[in] _key The key of the attribute. If empty, get the value of the element. Defaults to empty.

Returns: The element as a std::any.

◆ GetAttribute() [1/2]

ParamPtr sdf::v11::Element::GetAttribute ( const std::string & _key ) const

Get the param of an attribute.

Parameters

[in] _key the name of the attribute.

Returns: The parameter attribute value. NULL if the key is invalid.

◆ GetAttribute() [2/2]

ParamPtr sdf::v11::Element::GetAttribute ( unsigned int _index ) const

Get an attribute using an index.

Parameters

[in] _index the index of the attribute to get.

Returns: A Param pointer to the attribute.

◆ GetAttributeCount()

size_t sdf::v11::Element::GetAttributeCount ( ) const

Get the number of attributes.

Returns: The number of attributes.

◆ GetAttributeSet()

bool sdf::v11::Element::GetAttributeSet ( const std::string & _key ) const

Return true if the attribute was set (i.e.

not default value)

Parameters

[in] _key the key to use to find the attribute.

Returns: True if the attribute is set, false otherwise.

◆ GetCopyChildren()

bool sdf::v11::Element::GetCopyChildren ( ) const

Return true if this Element's child elements should be copied during parsing.

Returns: True to copy child elements during parsing.

◆ GetDescription()

std::string sdf::v11::Element::GetDescription ( ) const

Get a text description of the element.

Returns: The text description of the element.

◆ GetElement()

ElementPtr sdf::v11::Element::GetElement ( const std::string & _name )

Return a pointer to the child element with the provided name.

A new child element, with the provided name, is added to this element if there is no existing child element.

Remarks: If there are multiple elements with the given tag, it returns the first one.

Parameters

[in] _name Name of the child element to retreive.

Returns: Pointer to the existing child element, or a new child element if an existing child element did not exist.

◆ GetElementDescription() [1/2]

ElementPtr sdf::v11::Element::GetElementDescription ( const std::string & _key ) const

Get an element description using a key.

Parameters

[in] _key the key to use to find the element.

Returns: An Element pointer to the found element.

◆ GetElementDescription() [2/2]

ElementPtr sdf::v11::Element::GetElementDescription ( unsigned int _index ) const

Get an element description using an index.

Parameters

[in] _index the index of the element description to get.

Returns: An Element pointer to the found element.

◆ GetElementDescriptionCount()

size_t sdf::v11::Element::GetElementDescriptionCount ( ) const

Get the number of element descriptions.

Returns: The number of element descriptions.

◆ GetElementImpl()

ElementPtr sdf::v11::Element::GetElementImpl ( const std::string & _name ) const

Get a pointer to the named element.

Parameters

[in] _name the name of the element to look for.

Returns: A pointer to the named element if found, nullptr otherwise.

◆ GetElementTypeNames()

std::set<std::string> sdf::v11::Element::GetElementTypeNames ( ) const

Get set of child element type names.

Returns: A set of the names of the child elements.

◆ GetExplicitlySetInFile()

bool sdf::v11::Element::GetExplicitlySetInFile ( ) const

Return if the element was been explicitly set in the file.

Returns: True if the element was set in the file

◆ GetFirstElement()

ElementPtr sdf::v11::Element::GetFirstElement ( ) const

Get the first child element.

Returns: A smart pointer to the first child of this element, or sdf::ElementPtr(nullptr) if there are no children.

◆ GetInclude()

std::string sdf::v11::Element::GetInclude ( ) const

Get the include filename.

Returns: The include filename.

◆ GetIncludeElement()

sdf::ElementPtr sdf::v11::Element::GetIncludeElement ( ) const

Get the element that was used to load this element.

Returns: The Element pointer to the element, if this element was loaded from an included file. Otherwise, nullptr. This is also nullptr for Elements that cannot be included.

◆ GetName()

const std::string& sdf::v11::Element::GetName ( ) const

Get the Element's name.

Returns: The name of this Element.

◆ GetNextElement()

ElementPtr sdf::v11::Element::GetNextElement ( const std::string & _name = "" ) const

Get the next sibling of this element.

Parameters

[in] _name if given then filter siblings by their xml tag.

Remarks: This function does not alter or store any state Repeated calls to "GetNextElement()" with the same string will always return a pointer to the same element.

Returns: A pointer to the next element if it exists, sdf::ElementPtr(nullptr) otherwise.

This can be used in combination with GetFirstElement() to walk the SDF tree. First call parent->GetFirstElement() to get the first child. Call child = child->GetNextElement() to iterate through the children.

◆ GetParent()

ElementPtr sdf::v11::Element::GetParent ( ) const

Get a pointer to this Element's parent.

Returns: Pointer to this Element's parent, NULL if there is no parent.

◆ GetRequired()

const std::string& sdf::v11::Element::GetRequired ( ) const

Get the requirement string.

Returns: The requirement string.

See also: Element::SetRequired

◆ GetValue()

ParamPtr sdf::v11::Element::GetValue ( ) const

Get the param of the elements value return A Param pointer to the value of this element.

◆ HasAttribute()

bool sdf::v11::Element::HasAttribute ( const std::string & _key ) const

Return true if an attribute exists.

Parameters

[in] _key the key to use to find the attribute.

Returns: True if the attribute exists, false otherwise.

◆ HasElement()

bool sdf::v11::Element::HasElement ( const std::string & _name ) const

Return true if the named element exists.

Parameters

[in] _name the name of the element to look for.

Returns: True if the named element was found, false otherwise.

◆ HasElementDescription()

bool sdf::v11::Element::HasElementDescription ( const std::string & _name ) const

Return true if an element description exists.

Parameters

[in] _name the name of the element to find.

Returns: True if the element description exists, false otherwise.

◆ HasUniqueChildNames()

bool sdf::v11::Element::HasUniqueChildNames ( const std::string & _type = "" ) const

Checks whether any child elements of the specified element type have identical name attribute values and returns false if so.

Parameters

[in] _type The type of Element to check. If empty, check names of all child elements.

Returns: True if all child elements with name attributes of the specified type have unique names, return false if there are duplicated names. Also return true if no elements of the specified type are found.

◆ InsertElement()

void sdf::v11::Element::InsertElement ( ElementPtr _elem )

Add an element object.

Parameters

[in] _elem the element object to add.

◆ LineNumber()

std::optional<int> sdf::v11::Element::LineNumber ( ) const

Get the line number of this element within the SDF document.

Returns: Line number of this element if it has been set, nullopt otherwise.

◆ OriginalVersion()

const std::string& sdf::v11::Element::OriginalVersion ( ) const

Get the spec version that this was originally parsed from.

Returns: Spec version string.

◆ PrintDescription()

void sdf::v11::Element::PrintDescription ( const std::string & _prefix ) const

Output Element's description to stdout.

Parameters

[in] _prefix String value to prefix to the output.

◆ PrintDocLeftPane()

void sdf::v11::Element::PrintDocLeftPane	(	std::string &	_html,
		int	_spacing,
		int &	_index
	)		const

Helper function for SDF::PrintDoc.

This generates the SDF html documentation.

Parameters

[out]	_html	Accumulated HTML for output.
[in]	_spacing	Amount of spacing for this element.
[in]	_index	Unique index for this element.

◆ PrintDocRightPane()

void sdf::v11::Element::PrintDocRightPane	(	std::string &	_html,
		int	_spacing,
		int &	_index
	)		const

Helper function for SDF::PrintDoc.

This generates the SDF html documentation.

Parameters

[out]	_html	Accumulated HTML for output.
[in]	_spacing	Amount of spacing for this element.

◆ PrintValues()

void sdf::v11::Element::PrintValues ( std::string _prefix ) const

Output Element's values to stdout.

Parameters

[in] _prefix String value to prefix to the output.

◆ ReferenceSDF()

std::string sdf::v11::Element::ReferenceSDF ( ) const

Get the name of the reference SDF element.

Returns: Name of the reference SDF element.

◆ RemoveAllAttributes()

void sdf::v11::Element::RemoveAllAttributes ( )

Removes all attributes.

◆ RemoveAttribute()

void sdf::v11::Element::RemoveAttribute ( const std::string & _key )

Remove an attribute.

Parameters

[in] _key the key of the attribute.

◆ RemoveChild()

void sdf::v11::Element::RemoveChild ( ElementPtr _child )

Remove a child element.

Parameters

[in] _child Pointer to the child to remove.

◆ RemoveFromParent()

void sdf::v11::Element::RemoveFromParent ( )

Remove this element from its parent.

◆ Reset()

void sdf::v11::Element::Reset ( )

Call reset on each element and element description before deleting all of them.

Also clear out the embedded Param.

◆ SetCopyChildren()

void sdf::v11::Element::SetCopyChildren ( bool _value )

Set whether this element should copy its child elements during parsing.

Parameters

[in] _value True to copy Element's children.

◆ SetDescription()

void sdf::v11::Element::SetDescription ( const std::string & _desc )

Set a text description for the element.

Parameters

[in] _desc the text description to set for the element.

◆ SetExplicitlySetInFile()

void sdf::v11::Element::SetExplicitlySetInFile ( const bool _value )

Set if the element and children where set or default in the original file.

This is meant to be used by the parser to indicate whether the element was set by the user in the original file or added by default during parsing.

Parameters

[in] _value True if the element was set

◆ SetFilePath()

void sdf::v11::Element::SetFilePath ( const std::string & _path )

Set the path to the SDF document where this element came from.

Parameters

[in] _path Full path to SDF document.

◆ SetInclude()

void sdf::v11::Element::SetInclude ( const std::string & _filename )

Set the include filename to the passed in filename.

Parameters

[in] _filename the filename to set the include filename to.

◆ SetIncludeElement()

void sdf::v11::Element::SetIncludeElement ( sdf::ElementPtr _includeElem )

Set the element that was used to load this element.

This is set by the parser on the first element of the included object (eg. Model, Actor, Light, etc). It is not passed down to children elements.

Parameters

[in] _includeELem The Element

◆ SetLineNumber()

void sdf::v11::Element::SetLineNumber ( int _lineNumber )

Set the line number of this element within the SDF document.

Parameters

[in] _lineNumber Line number of element.

◆ SetName()

void sdf::v11::Element::SetName ( const std::string & _name )

Set the name of the Element.

Parameters

[in] _name The new name for this Element.

◆ SetOriginalVersion()

void sdf::v11::Element::SetOriginalVersion ( const std::string & _version )

Set the spec version that this was originally parsed from.

Parameters

[in] _version Spec version string.

◆ SetParent()

void sdf::v11::Element::SetParent ( const ElementPtr _parent )

Set the parent of this Element.

Parameters

[in] _parent Paren for this element.

◆ SetReferenceSDF()

void sdf::v11::Element::SetReferenceSDF ( const std::string & _value )

Set reference SDF element.

Parameters

[in] _value Name of the reference sdf element.

◆ SetRequired()

void sdf::v11::Element::SetRequired ( const std::string & _req )

Set the requirement type.

Parameters

[in] _req Requirement type for this element: -1: Deprecated. 0: Not required. 1: Exactly one element is required. +: One or more elements are required. *: Zero or more elements are required.

◆ SetXmlPath()

void sdf::v11::Element::SetXmlPath ( const std::string & _path )

Private data pointer.

◆ ToString()

std::string sdf::v11::Element::ToString ( const std::string & _prefix ) const

Convert the element values to a string representation.

Parameters

[in] _prefix String value to prefix to the output.

Returns: The string representation.

◆ Update()

void sdf::v11::Element::Update ( )

Call the Update() callback on each element, as well as the embedded Param.

◆ XmlPath()

const std::string& sdf::v11::Element::XmlPath ( ) const

Get the XML path of this element.

Returns: Full XML path to the SDF element.

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

Element.hh

Public Member Functions

="default"]/model[@name="robot1"]/link[@name="link"])

Detailed Description

Constructor & Destructor Documentation

◆ Element()

◆ ~Element()

Member Function Documentation

◆ AddAttribute()

◆ AddElement()

◆ AddElementDescription()

◆ AddValue() [1/2]

◆ AddValue() [2/2]

◆ Clear()

◆ ClearElements()

◆ Clone()

◆ Copy()

◆ CountNamedElements()

◆ FilePath()

◆ GetAny()

◆ GetAttribute() [1/2]

◆ GetAttribute() [2/2]

◆ GetAttributeCount()

◆ GetAttributeSet()

◆ GetCopyChildren()

◆ GetDescription()

◆ GetElement()

◆ GetElementDescription() [1/2]

◆ GetElementDescription() [2/2]

◆ GetElementDescriptionCount()

◆ GetElementImpl()

◆ GetElementTypeNames()

◆ GetExplicitlySetInFile()

◆ GetFirstElement()

◆ GetInclude()

◆ GetIncludeElement()

◆ GetName()

◆ GetNextElement()

◆ GetParent()

◆ GetRequired()

◆ GetValue()

◆ HasAttribute()

◆ HasElement()

◆ HasElementDescription()

◆ HasUniqueChildNames()

◆ InsertElement()

◆ LineNumber()

◆ OriginalVersion()

◆ PrintDescription()

◆ PrintDocLeftPane()

◆ PrintDocRightPane()

◆ PrintValues()

◆ ReferenceSDF()

◆ RemoveAllAttributes()

◆ RemoveAttribute()

◆ RemoveChild()

◆ RemoveFromParent()

◆ Reset()

◆ SetCopyChildren()

◆ SetDescription()

◆ SetExplicitlySetInFile()

◆ SetFilePath()

◆ SetInclude()

◆ SetIncludeElement()

◆ SetLineNumber()

◆ SetName()

◆ SetOriginalVersion()

◆ SetParent()

◆ SetReferenceSDF()

◆ SetRequired()

◆ SetXmlPath()

◆ ToString()

◆ Update()

◆ XmlPath()