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

#include <Root.hh>

Public Member Functions
	Root ()
	Default constructor. More...

const sdf::Actor *	Actor () const
	Get a pointer to the actor object if it exists. More...

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was generated during load. More...

const sdf::Light *	Light () const
	Get a pointer to the light object if it exists. More...

Errors	Load (const SDFPtr _sdf)
	Parse the given SDF pointer, and generate objects based on types specified in the SDF file. More...

Errors	Load (const SDFPtr _sdf, const ParserConfig &_config)
	Parse the given SDF pointer, and generate objects based on types specified in the SDF file. 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 std::string &_filename, const ParserConfig &_config)
	Parse the given SDF file, 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...

Errors	LoadSdfString (const std::string &_sdf, const ParserConfig &_config)
	Parse the given SDF string, and generate objects based on types specified in the SDF file. More...

const sdf::Model *	Model () const
	Get a pointer to the model object if it 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 World *	WorldByIndex (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::v12::Root::Root ( )

Default constructor.

Member Function Documentation

◆ Actor()

const sdf::Actor* sdf::v12::Root::Actor ( ) const

Get a pointer to the actor object if it exists.

Returns: A pointer to the actor, nullptr if it doesn't exist

◆ Element()

sdf::ElementPtr sdf::v12::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.

◆ Light()

const sdf::Light* sdf::v12::Root::Light ( ) const

Get a pointer to the light object if it exists.

Returns: A pointer to the light, nullptr if it doesn't exist

◆ Load() [1/4]

Errors sdf::v12::Root::Load ( const SDFPtr _sdf )

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

Parameters

[in] _sdf SDF 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.

◆ Load() [2/4]

Errors sdf::v12::Root::Load	(	const SDFPtr	_sdf,
		const ParserConfig &	_config
	)

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

Parameters

[in]	_sdf	SDF pointer to parse.
[in]	_config	Custom parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [3/4]

Errors sdf::v12::Root::Load ( const std::string & _filename )

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

Parameters

[in] _filename Name 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() [4/4]

Errors sdf::v12::Root::Load	(	const std::string &	_filename,
		const ParserConfig &	_config
	)

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

Parameters

[in]	_filename	Name of the SDF file to parse.
[in]	_config	Custom parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ LoadSdfString() [1/2]

Errors sdf::v12::Root::LoadSdfString ( const std::string & _sdf )

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

Parameters

[in] _sdf SDF 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.

◆ LoadSdfString() [2/2]

Errors sdf::v12::Root::LoadSdfString	(	const std::string &	_sdf,
		const ParserConfig &	_config
	)

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

Parameters

[in]	_sdf	SDF string to parse.
[in]	_config	Custom parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Model()

const sdf::Model* sdf::v12::Root::Model ( ) const

Get a pointer to the model object if it exists.

Returns: A pointer to the model, nullptr if it doesn't exist

◆ SetVersion()

void sdf::v12::Root::SetVersion ( const std::string & _version )

Set the SDF version string.

Parameters

[in] _version The new SDF version.

See also: std::string Version()

◆ Version()

std::string sdf::v12::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::v12::Root::WorldByIndex ( const uint64_t _index ) const

Get a world based on an index.

Parameters

[in] _index Index 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::v12::Root::WorldCount ( ) const

Get the number of worlds.

Returns: Number of worlds contained in this Root object.

◆ WorldNameExists()

bool sdf::v12::Root::WorldNameExists ( const std::string & _name ) const

Get whether a world name exists.

Parameters

[in] _name Name 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:

Root.hh

Public Member Functions

Detailed Description

Usage

Constructor & Destructor Documentation

◆ Root()

Member Function Documentation

◆ Actor()

◆ Element()

◆ Light()

◆ Load() [1/4]

◆ Load() [2/4]

◆ Load() [3/4]

◆ Load() [4/4]

◆ LoadSdfString() [1/2]

◆ LoadSdfString() [2/2]

◆ Model()

◆ SetVersion()

◆ Version()

◆ WorldByIndex()

◆ WorldCount()

◆ WorldNameExists()