Namespaces | |
filesystem | |
Classes | |
class | Actor |
Provides a description of an actor. More... | |
class | AirPressure |
AirPressure contains information about a general purpose fluid pressure sensor. More... | |
class | Altimeter |
Altimeter contains information about an altimeter sensor. More... | |
class | Animation |
Animation in Actor. More... | |
class | AssertionInternalError |
Class for generating Exceptions which come from sdf assertions. They include information about the assertion expression violated, function where problem appeared and assertion debug message. More... | |
class | Atmosphere |
The Atmosphere class contains information about an atmospheric model and related parameters such as temperature and pressure at sea level. More... | |
class | Box |
Box represents a box shape, and is usually accessed through a Geometry. More... | |
class | Camera |
Information about a monocular camera sensor. More... | |
class | Capsule |
Capsule represents a capsule shape, and is usually accessed through a Geometry. More... | |
class | Collision |
A collision element descibes the collision properties associated with a link. More... | |
class | Console |
Message, error, warning, and logging functionality. More... | |
class | ConsolePrivate |
class | Contact |
Contact information for a surface. More... | |
class | Cylinder |
Cylinder represents a cylinder shape, and is usually accessed through a Geometry. More... | |
class | Element |
SDF Element class. More... | |
class | ElementPrivate |
class | Ellipsoid |
Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry. More... | |
class | Error |
class | Exception |
Class for generating exceptions. More... | |
class | ForceTorque |
ForceTorque contains information about a force torque sensor. More... | |
class | Frame |
A Frame element descibes the properties associated with an explicit frame defined in a Model or World. More... | |
class | Geometry |
Geometry provides access to a shape, such as a Box. More... | |
class | Gui |
class | Heightmap |
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry. More... | |
class | HeightmapBlend |
Blend information to be used between textures on heightmaps. More... | |
class | HeightmapTexture |
Texture to be used on heightmaps. More... | |
class | Imu |
Imu contains information about an imu sensor. More... | |
class | Inertia |
A class for inertial information about a link. More... | |
class | InterfaceFrame |
Interface element representing an explicit frame. More... | |
class | InterfaceJoint |
Interface element representing a Joint. More... | |
class | InterfaceLink |
Interface element representing a Link. More... | |
class | InterfaceModel |
Interface element representing a Model. More... | |
class | InterfaceModelPoseGraph |
Class used in reposture callbacks of custom parsers to resolve poses. More... | |
class | InternalError |
Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More... | |
class | Joint |
class | JointAxis |
Parameters related to the axis of rotation for rotational joints, and the axis of translation for prismatic joints. More... | |
class | Lidar |
Lidar contains information about a Lidar sensor. More... | |
class | Light |
Provides a description of a light source. More... | |
class | Link |
class | Magnetometer |
Magnetometer contains information about a magnetometer sensor. More... | |
class | Material |
This class contains visual material properties. More... | |
class | Mesh |
Mesh represents a mesh shape, and is usually accessed through a Geometry. More... | |
class | Model |
class | NavSat |
NavSat contains information about a NavSat sensor. More... | |
class | NestedInclude |
Contains the necessary information about an included model file for custom model parsers to be able to find the file and parse it. More... | |
class | Noise |
The Noise class contains information about a noise model, such as a Gaussian distribution. More... | |
class | Param |
A parameter class. More... | |
class | ParamPrivate |
struct | ParamStreamer |
class | ParserConfig |
This class contains configuration options for the libsdformat parser. More... | |
class | ParticleEmitter |
A description of a particle emitter, which can be attached to a link. More... | |
class | Pbr |
This class provides access to Physically-Based-Rendering (PBR) material workflows. More... | |
class | PbrWorkflow |
This class contains Physically-Based-Rendering (PBR) workflow properties. More... | |
class | Physics |
The physics element specifies the type and properties of a dynamics engine. More... | |
class | Plane |
Plane represents a plane shape, and is usually accessed through a Geometry. More... | |
class | PrintConfig |
This class contains configuration options for printing elements. More... | |
class | Root |
Root class that acts as an entry point to the SDF document model. More... | |
class | Scene |
class | ScopedGraph |
class | SDF |
Base SDF class. More... | |
class | SemanticPose |
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a PoseRelativeToGraph. More... | |
class | Sensor |
Information about an SDF sensor. More... | |
class | Sky |
class | Sphere |
Sphere represents a sphere shape, and is usually accessed through a Geometry. More... | |
class | Surface |
Surface information for a collision. More... | |
class | Time |
A Time class, can be used to hold wall- or sim-time. More... | |
class | Trajectory |
Trajectory for Animation. More... | |
class | Visual |
class | Waypoint |
Waypoint for Trajectory. More... | |
class | World |
Typedefs | |
typedef std::shared_ptr< Console > | ConsolePtr |
using | CustomModelParser = std::function< sdf::InterfaceModelPtr(const sdf::NestedInclude &, Errors &)> |
Defines a custom model parser. More... | |
typedef std::shared_ptr< const Element > | ElementConstPtr |
using | ElementPtr = std::shared_ptr< Element > |
typedef std::vector< ElementPtr > | ElementPtr_V |
using | ElementWeakPtr = std::weak_ptr< Element > |
using | Errors = std::vector< Error > |
A vector of Error. More... | |
using | InterfaceModelConstPtr = std::shared_ptr< const InterfaceModel > |
using | InterfaceModelPtr = std::shared_ptr< InterfaceModel > |
typedef std::vector< ParamPtr > | Param_V |
typedef std::shared_ptr< Param > | ParamPtr |
using | RepostureFunction = std::function< void(const sdf::InterfaceModelPoseGraph &)> |
Function signature for the reposture callback function. More... | |
typedef std::shared_ptr< SDF > | SDFPtr |
Functions | |
void | addURIPath (const std::string &_uri, const std::string &_path) |
Associate paths to a URI. More... | |
bool | checkCanonicalLinkNames (const sdf::Root *_root) |
Check that for each model, the canonical_link attribute value matches the name of a link in the model if the attribute is set and not empty. More... | |
bool | checkFrameAttachedToGraph (const sdf::Root *_root) |
For the world and each model, check that the attached_to graphs build without errors and have no cycles. More... | |
bool | checkFrameAttachedToNames (const sdf::Root *_root) |
Check that for each frame, the attached_to attribute value does not match its own frame name but does match the name of a link, joint, or other frame in the model if the attribute is set and not empty. More... | |
bool | checkJointParentChildLinkNames (const sdf::Root *_root) |
Check that all joints in contained models specify parent and child link names that match the names of sibling links. More... | |
void | checkJointParentChildNames (const sdf::Root *_root, Errors &_errors) |
Check that all joints in contained models specify parent and child names that match the names of sibling links, joints, models, or frames. More... | |
bool | checkPoseRelativeToGraph (const sdf::Root *_root) |
For the world and each model, check that the attached_to graphs build without errors and have no cycles. More... | |
bool | convertFile (const std::string &_filename, const std::string &_version, const ParserConfig &_config, SDFPtr _sdf) |
Convert an SDF file to a specific SDF version. More... | |
bool | convertFile (const std::string &_filename, const std::string &_version, SDFPtr _sdf) |
Convert an SDF file to a specific SDF version. More... | |
bool | convertString (const std::string &_sdfString, const std::string &_version, const ParserConfig &_config, SDFPtr _sdf) |
Convert an SDF string to a specific SDF version. More... | |
bool | convertString (const std::string &_sdfString, const std::string &_version, SDFPtr _sdf) |
Convert an SDF string to a specific SDF version. More... | |
template<typename T > | |
bool | equal (const T &_a, const T &_b, const T &_epsilon=1e-6f) |
check if two values are equal, within a tolerance More... | |
std::string | findFile (const std::string &_filename, bool _searchLocalPath, bool _useCallback, const ParserConfig &_config) |
Find the absolute path of a file. More... | |
std::string | findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false) |
Find the absolute path of a file. More... | |
std::string | getModelFilePath (const std::string &_modelDirPath) |
Get the file path to the model file. More... | |
bool | init (SDFPtr _sdf) |
Initialize the SDF interface from the embedded root spec file. More... | |
bool | initFile (const std::string &_filename, const ParserConfig &_config, ElementPtr _sdf) |
Initialize an SDFElement interface using a file. More... | |
bool | initFile (const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf) |
Initialize the SDF interface using a file. More... | |
bool | initFile (const std::string &_filename, ElementPtr _sdf) |
Initialize an SDF Element interface using a file. More... | |
bool | initFile (const std::string &_filename, SDFPtr _sdf) |
Initialize the SDF interface using a file. More... | |
bool | initString (const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf) |
Initialize the SDF interface using a string. More... | |
bool | initString (const std::string &_xmlString, SDFPtr _sdf) |
Initialize the SDF interface using a string. More... | |
std::string | JoinName (const std::string &_scopeName, const std::string &_localName) |
Join two strings with the '::' delimiter. More... | |
std::string | lowercase (const std::string &_in) |
Transforms a string to its lowercase equivalent. More... | |
std::ostream & | operator<< (std::ostream &_out, const sdf::Errors &_errs) |
Output operator for a collection of errors. More... | |
template<> | |
std::ostream & | operator<< (std::ostream &os, ParamStreamer< double > s) |
template<> | |
std::ostream & | operator<< (std::ostream &os, ParamStreamer< float > s) |
template<class... Ts> | |
std::ostream & | operator<< (std::ostream &os, ParamStreamer< std::variant< Ts... >> sv) |
template<class T > | |
std::ostream & | operator<< (std::ostream &os, ParamStreamer< T > s) |
template<class T > | |
ParamStreamer (T) -> ParamStreamer< T > | |
sdf::SDFPtr | readFile (const std::string &_filename) |
Populate the SDF values from a file. More... | |
sdf::SDFPtr | readFile (const std::string &_filename, const ParserConfig &_config, Errors &_errors) |
Populate the SDF values from a file. More... | |
bool | readFile (const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a file. More... | |
sdf::SDFPtr | readFile (const std::string &_filename, Errors &_errors) |
Populate the SDF values from a file. More... | |
bool | readFile (const std::string &_filename, SDFPtr _sdf) |
Populate the SDF values from a file. More... | |
bool | readFile (const std::string &_filename, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a file. More... | |
bool | readFileWithoutConversion (const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a file without converting to the latest SDF version. More... | |
bool | readFileWithoutConversion (const std::string &_filename, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a file without converting to the latest SDF version. More... | |
bool | readString (const std::string &_xmlString, const ParserConfig &_config, ElementPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. More... | |
bool | readString (const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. More... | |
bool | readString (const std::string &_xmlString, ElementPtr _sdf) |
Populate the SDF values from a string. More... | |
bool | readString (const std::string &_xmlString, ElementPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. More... | |
bool | readString (const std::string &_xmlString, SDFPtr _sdf) |
Populate the SDF values from a string. More... | |
bool | readString (const std::string &_xmlString, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. More... | |
bool | readStringWithoutConversion (const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a string. More... | |
bool | readStringWithoutConversion (const std::string &_xmlString, SDFPtr _sdf, Errors &_errors) |
Populate the SDF values from a string without converting to the latest SDF version. More... | |
bool | recursiveSameTypeUniqueNames (sdf::ElementPtr _elem) |
Check that all sibling elements of the same type have unique names. More... | |
bool | recursiveSiblingNoDoubleColonInNames (sdf::ElementPtr _elem) |
Check that all sibling elements do not contain the delimiter double colons '::' in element names, which is reserved for forming scopes in SDFormat 1.8. More... | |
bool | recursiveSiblingUniqueNames (sdf::ElementPtr _elem) |
Check that all sibling elements of the any type have unique names. More... | |
void | setFindCallback (std::function< std::string(const std::string &)> _cb) |
Set the callback to use when SDF can't find a file. More... | |
bool | shouldValidateElement (sdf::ElementPtr _elem) |
Check whether the element should be validated. More... | |
std::vector< std::string > | split (const std::string &_str, const std::string &_splitter) |
Split a string using the delimiter in splitter. More... | |
std::pair< std::string, std::string > | SplitName (const std::string &_absoluteName) |
Split a name into a two strings based on the '::' delimeter. More... | |
std::string | trim (const char *_in) |
Trim leading and trailing whitespace from a string. More... | |
std::string | trim (const std::string &_in) |
Trim leading and trailing whitespace from a string. More... | |
Variables | |
const std::string | kSdfScopeDelimiter = "::" |
constexpr char | kSdfStringSource [] = "<data-string>" |
The source path replacement if it was parsed from a string, instead of a file. More... | |
constexpr char | kUrdfStringSource [] = "<urdf-string>" |
The source path replacement if the urdf was parsed from a string, instead of a file. More... | |
using sdf::v12::CustomModelParser = typedef std::function<sdf::InterfaceModelPtr(const sdf::NestedInclude &, Errors &)> |
Defines a custom model parser.
Every custom model parser should define it's own way of (quickly) determining if it should parse a model. This should generally be done by looking at the file extension of include.resolvedFileName
, and returning nullptr if it doesn't match a given criteria.
Custom model parsers are visited in the reverse of how they are defined. The latest parser gains precedence.
Custom model parsers are never checked if resolved file extension ends with *.sdf
or *.world
. If libsdformat encounters a *.urdf
file, it will first check custom parser. If no custom parser is found, it will then convert the URDF XML to SDFormat XML, and parse it as an SDFormat file.
[in] | include | The parsed //include information from which this model should be parsed. |
[out] | errors | Errors encountered during custom parsing. If any errors are reported, this must return nullptr. |
.yaml
, which may cover many different schemas).If an exception is raised by this callback, libsdformat will not try to intercept the exception.
To see an example implementation, please refer to test/integration/interface_api.cc
typedef std::shared_ptr<const Element> sdf::v12::ElementConstPtr |
typedef std::shared_ptr< Element > sdf::v12::ElementPtr |
typedef std::vector<ElementPtr> sdf::v12::ElementPtr_V |
typedef std::weak_ptr< Element > sdf::v12::ElementWeakPtr |
using sdf::v12::Errors = typedef std::vector<Error> |
A vector of Error.
using sdf::v12::InterfaceModelConstPtr = typedef std::shared_ptr<const InterfaceModel> |
using sdf::v12::InterfaceModelPtr = typedef std::shared_ptr<InterfaceModel> |
typedef std::vector<ParamPtr> sdf::v12::Param_V |
typedef std::shared_ptr<Param> sdf::v12::ParamPtr |
using sdf::v12::RepostureFunction = typedef std::function<void(const sdf::InterfaceModelPoseGraph &)> |
Function signature for the reposture callback function.
typedef std::shared_ptr<SDF> sdf::v12::SDFPtr |
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Enumerator | |
---|---|
NONE | |
FILE_READ | Indicates that reading an SDF file failed. |
DUPLICATE_NAME | A duplicate name was found for an element where unique names are required. |
RESERVED_NAME | A reserved name was used in an entity name attribute. |
ATTRIBUTE_MISSING | Indicates that a required SDF attribute is missing. |
ATTRIBUTE_INVALID | This error indicates that an SDF attribute is invalid. |
ATTRIBUTE_DEPRECATED | This error indicates that an SDF attribute is deprecated. |
ATTRIBUTE_INCORRECT_TYPE | Indicates an attribute was included that is not part of the sdf spec. |
ELEMENT_MISSING | Indicates that a required SDF element is missing. |
ELEMENT_INVALID | This error indicates that an SDF element is invalid. |
ELEMENT_DEPRECATED | This error indicates that an SDF element is deprecated. |
ELEMENT_INCORRECT_TYPE | Indicates that an incorrect SDF element type was encountered. This error is used when an element of certain type is expected, and an element of a different type was received. |
URI_INVALID | A URI is invalid. |
URI_LOOKUP | A error occured while trying to resolve a URI. |
DIRECTORY_NONEXISTANT | A filesystem directory does not exist. |
MODEL_CANONICAL_LINK_INVALID | A model with an invalid canonical link. |
MODEL_WITHOUT_LINK | A model without a link. |
NESTED_MODELS_UNSUPPORTED | Indicates that a DOM object tried to read a nested model. |
LINK_INERTIA_INVALID | A link has invalid inertia. |
JOINT_CHILD_LINK_INVALID | A joint has an invalid child link. |
JOINT_PARENT_LINK_INVALID | A joint has an invalid parent link. |
JOINT_PARENT_SAME_AS_CHILD | A joint has the same link specified as parent and child. |
FRAME_ATTACHED_TO_INVALID | The frame attached-to value does not match the name of an existing frame in the current scope. |
FRAME_ATTACHED_TO_CYCLE | The frame attached-to graph contains a cycle. |
FRAME_ATTACHED_TO_GRAPH_ERROR | The frame attached-to graph has an internal error. |
POSE_RELATIVE_TO_INVALID | The pose relative-to value does not match the name of an existing frame in the current scope. |
POSE_RELATIVE_TO_CYCLE | The pose relative-to graph contains a cycle. |
POSE_RELATIVE_TO_GRAPH_ERROR | The pose relative-to graph has an internal error. |
STRING_READ | Indicates that reading an SDF string failed. |
MODEL_PLACEMENT_FRAME_INVALID | The specified placement frame is invalid. |
VERSION_DEPRECATED | The provided version has been deprecated or it is pre-versioning. |
MERGE_INCLUDE_UNSUPPORTED | Merge include is unspported for the type of entity being included. |
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Enumerator | |
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NONE | An unspecified sensor type. |
ALTIMETER | An altimeter sensor. |
CAMERA | A monocular camera sensor. |
CONTACT | A contact sensor. |
DEPTH_CAMERA | A depth camera sensor. |
FORCE_TORQUE | A force-torque sensor. |
GPS | A GPS sensor. |
GPU_LIDAR | A GPU based lidar sensor. |
IMU | An IMU sensor. |
LOGICAL_CAMERA | A logical camera sensor. |
MAGNETOMETER | A magnetometer sensor. |
MULTICAMERA | A multicamera sensor. |
LIDAR | A CPU based lidar sensor. |
RFID | An RFID sensor. |
RFIDTAG | An RFID tag. |
SONAR | A sonar tag sensor. |
WIRELESS_RECEIVER | A wireless receiver. |
WIRELESS_TRANSMITTER | A wireless transmitter. |
AIR_PRESSURE | An air pressure sensor. |
RGBD_CAMERA | An RGBD sensor, which produces both a color image and a depth image. |
THERMAL_CAMERA | A thermal camera sensor. |
NAVSAT | A NavSat sensor, such as GPS. |
SEGMENTATION_CAMERA | A segmentation camera sensor. |
BOUNDINGBOX_CAMERA | A boundingbox camera sensor. |
CUSTOM | A custom sensor. |
WIDE_ANGLE_CAMERA | A wide angle camera sensor. |
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bool sdf::v12::checkCanonicalLinkNames | ( | const sdf::Root * | _root | ) |
Check that for each model, the canonical_link attribute value matches the name of a link in the model if the attribute is set and not empty.
This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.
bool sdf::v12::checkFrameAttachedToGraph | ( | const sdf::Root * | _root | ) |
For the world and each model, check that the attached_to graphs build without errors and have no cycles.
Confirm that following directed edges from each vertex in the graph leads to a model, link, or world frame. This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.
bool sdf::v12::checkFrameAttachedToNames | ( | const sdf::Root * | _root | ) |
Check that for each frame, the attached_to attribute value does not match its own frame name but does match the name of a link, joint, or other frame in the model if the attribute is set and not empty.
This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.
bool sdf::v12::checkJointParentChildLinkNames | ( | const sdf::Root * | _root | ) |
Check that all joints in contained models specify parent and child link names that match the names of sibling links.
This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.
Check that all joints in contained models specify parent and child names that match the names of sibling links, joints, models, or frames.
This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.
bool sdf::v12::checkPoseRelativeToGraph | ( | const sdf::Root * | _root | ) |
For the world and each model, check that the attached_to graphs build without errors and have no cycles.
Confirm that following directed edges from each vertex in the graph leads to a model, link, or world frame. This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.
bool sdf::v12::convertFile | ( | const std::string & | _filename, |
const std::string & | _version, | ||
const ParserConfig & | _config, | ||
SDFPtr | _sdf | ||
) |
bool sdf::v12::convertFile | ( | const std::string & | _filename, |
const std::string & | _version, | ||
SDFPtr | _sdf | ||
) |
bool sdf::v12::convertString | ( | const std::string & | _sdfString, |
const std::string & | _version, | ||
const ParserConfig & | _config, | ||
SDFPtr | _sdf | ||
) |
bool sdf::v12::convertString | ( | const std::string & | _sdfString, |
const std::string & | _version, | ||
SDFPtr | _sdf | ||
) |
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check if two values are equal, within a tolerance
[in] | _a | the first value |
[in] | _b | the second value |
[in] | _epsilon | the tolerance |
std::string sdf::v12::getModelFilePath | ( | const std::string & | _modelDirPath | ) |
Get the file path to the model file.
[in] | _modelDirPath | directory system path of the model |
bool sdf::v12::init | ( | SDFPtr | _sdf | ) |
bool sdf::v12::initFile | ( | const std::string & | _filename, |
const ParserConfig & | _config, | ||
ElementPtr | _sdf | ||
) |
bool sdf::v12::initFile | ( | const std::string & | _filename, |
const ParserConfig & | _config, | ||
SDFPtr | _sdf | ||
) |
bool sdf::v12::initFile | ( | const std::string & | _filename, |
ElementPtr | _sdf | ||
) |
bool sdf::v12::initFile | ( | const std::string & | _filename, |
SDFPtr | _sdf | ||
) |
bool sdf::v12::initString | ( | const std::string & | _xmlString, |
const ParserConfig & | _config, | ||
SDFPtr | _sdf | ||
) |
bool sdf::v12::initString | ( | const std::string & | _xmlString, |
SDFPtr | _sdf | ||
) |
std::string sdf::v12::JoinName | ( | const std::string & | _scopeName, |
const std::string & | _localName | ||
) |
Join two strings with the '::' delimiter.
This checks for edge cases and is safe to use with any valid names
[in] | _scopeName | the left-hand-side component |
[in] | _localName | the right-hand-side component |
std::string sdf::v12::lowercase | ( | const std::string & | _in | ) |
Transforms a string to its lowercase equivalent.
[in] | _in | String to convert to lowercase |
std::ostream& sdf::v12::operator<< | ( | std::ostream & | _out, |
const sdf::Errors & | _errs | ||
) |
Output operator for a collection of errors.
[in,out] | _out | The output stream. |
[in] | _err | The errors to output. |
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References sdf::v12::ParamStreamer< T >::val.
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References sdf::v12::ParamStreamer< T >::val.
std::ostream& sdf::v12::operator<< | ( | std::ostream & | os, |
ParamStreamer< std::variant< Ts... >> | sv | ||
) |
References sdf::v12::ParamStreamer< T >::val.
std::ostream& sdf::v12::operator<< | ( | std::ostream & | os, |
ParamStreamer< T > | s | ||
) |
References sdf::v12::ParamStreamer< T >::val.
sdf::v12::ParamStreamer | ( | T | ) | -> ParamStreamer< T > |
sdf::SDFPtr sdf::v12::readFile | ( | const std::string & | _filename | ) |
sdf::SDFPtr sdf::v12::readFile | ( | const std::string & | _filename, |
const ParserConfig & | _config, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a file.
This populates a new SDF pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version
[in] | _filename | Name of the SDF file |
[in] | _config | Custom parser configuration |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readFile | ( | const std::string & | _filename, |
const ParserConfig & | _config, | ||
SDFPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a file.
This populates the given SDF pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version
[in] | _filename | Name of the SDF file |
[in] | _config | Custom parser configuration |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
sdf::SDFPtr sdf::v12::readFile | ( | const std::string & | _filename, |
Errors & | _errors | ||
) |
Populate the SDF values from a file.
This populates a new SDF pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version
[in] | _filename | Name of the SDF file |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readFile | ( | const std::string & | _filename, |
SDFPtr | _sdf | ||
) |
Populate the SDF values from a file.
This populates the given SDF pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version
[in] | _filename | Name of the SDF file |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readFileWithoutConversion | ( | const std::string & | _filename, |
const ParserConfig & | _config, | ||
SDFPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a file without converting to the latest SDF version.
This populates the given SDF pointer from a file. If the file is a URDF file it is converted to SDF first. This function does not convert the loaded SDF to the latest version. Use this function with care, as it may prevent loading of DOM objects from this SDF object.
[in] | _filename | Name of the SDF file |
[in] | _config | Custom parser configuration |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readFileWithoutConversion | ( | const std::string & | _filename, |
SDFPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a file without converting to the latest SDF version.
This populates the given SDF pointer from a file. If the file is a URDF file it is converted to SDF first. This function does not convert the loaded SDF to the latest version. Use this function with care, as it may prevent loading of DOM objects from this SDF object.
[in] | _filename | Name of the SDF file |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readString | ( | const std::string & | _xmlString, |
const ParserConfig & | _config, | ||
ElementPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a string.
This populates the SDF pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version
[in] | _xmlString | XML string to be parsed. |
[in] | _config | Custom parser configuration |
[out] | _sdf | Pointer to an SDF Element object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readString | ( | const std::string & | _xmlString, |
const ParserConfig & | _config, | ||
SDFPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a string.
This populates the SDF pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version
[in] | _xmlString | XML string to be parsed. |
[in] | _config | Custom parser configuration |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readString | ( | const std::string & | _xmlString, |
ElementPtr | _sdf | ||
) |
bool sdf::v12::readString | ( | const std::string & | _xmlString, |
ElementPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a string.
This populates the SDF pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version
[in] | _xmlString | XML string to be parsed. |
[out] | _sdf | Pointer to an SDF Element object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readString | ( | const std::string & | _xmlString, |
SDFPtr | _sdf | ||
) |
Populate the SDF values from a string.
This populates the SDF pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version
[in] | _xmlString | XML string to be parsed. |
[out] | _sdf | Pointer to an SDF object. |
Populate the SDF values from a string.
This populates the SDF pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version
[in] | _xmlString | XML string to be parsed. |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readStringWithoutConversion | ( | const std::string & | _xmlString, |
const ParserConfig & | _config, | ||
SDFPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a string.
This populates the SDF pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version
[in] | _xmlString | XML string to be parsed. |
[in] | _config | Custom parser configuration |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::readStringWithoutConversion | ( | const std::string & | _xmlString, |
SDFPtr | _sdf, | ||
Errors & | _errors | ||
) |
Populate the SDF values from a string without converting to the latest SDF version.
This populates the SDF pointer from a string. If the string is a URDF file it is converted to SDF first. This function does not convert the loaded SDF to the latest version. Use this function with care, as it may prevent loading of DOM objects from this SDF object.
[in] | _xmlString | XML string to be parsed. |
[out] | _sdf | Pointer to an SDF object. |
[out] | _errors | Parsing errors will be appended to this variable. |
bool sdf::v12::recursiveSameTypeUniqueNames | ( | sdf::ElementPtr | _elem | ) |
Check that all sibling elements of the same type have unique names.
This checks recursively and should check the files exhaustively rather than terminating early when the first duplicate name is found.
bool sdf::v12::recursiveSiblingNoDoubleColonInNames | ( | sdf::ElementPtr | _elem | ) |
Check that all sibling elements do not contain the delimiter double colons '::' in element names, which is reserved for forming scopes in SDFormat 1.8.
This checks recursively and should check the files exhaustively rather than terminating early when the first name containing '::' is found.
bool sdf::v12::recursiveSiblingUniqueNames | ( | sdf::ElementPtr | _elem | ) |
Check that all sibling elements of the any type have unique names.
This checks recursively and should check the files exhaustively rather than terminating early when the first duplicate name is found.
bool sdf::v12::shouldValidateElement | ( | sdf::ElementPtr | _elem | ) |
std::vector<std::string> sdf::v12::split | ( | const std::string & | _str, |
const std::string & | _splitter | ||
) |
Split a string using the delimiter in splitter.
[in] | str | The string to split. |
[in] | splitter | The delimiter to use. |
std::pair<std::string, std::string> sdf::v12::SplitName | ( | const std::string & | _absoluteName | ) |
Split a name into a two strings based on the '::' delimeter.
[in] | _absoluteName | The fully qualified absolute name |
std::string sdf::v12::trim | ( | const char * | _in | ) |
Trim leading and trailing whitespace from a string.
[in] | _in | The string to trim. |
std::string sdf::v12::trim | ( | const std::string & | _in | ) |
Trim leading and trailing whitespace from a string.
[in] | _in | The string to trim. |
const std::string sdf::v12::kSdfScopeDelimiter = "::" |
|
constexpr |
The source path replacement if it was parsed from a string, instead of a file.
|
constexpr |
The source path replacement if the urdf was parsed from a string, instead of a file.