sdf Namespace Reference

namespace for Simulation Description Format parser More...

Namespaces
	SDF_VERSION_NAMESPACE
	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	Friction
	Friction information for a surface. 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	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	ODE
	ODE information for a friction. More...
class	OutputConfig
	This class contains configuration options for SDF output. 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	Plugin
class	Polyline
	Polyline represents a 2D path. Multiple polylines can be combined. 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	Plugins = std::vector< Plugin >
	A vector of Plugin. More...
using	RepostureFunction = std::function< void(const sdf::InterfaceModelPoseGraph &)>
	Function signature for the reposture callback function. More...
typedef std::shared_ptr< SDF >	SDFPtr

Enumerations
enum	AtmosphereType { AtmosphereType::ADIABATIC = 0 }
enum	EnforcementPolicy { EnforcementPolicy::ERR, EnforcementPolicy::WARN, EnforcementPolicy::LOG }
	Policy to describe how to treat certain conditions when parsing. More...
enum	ErrorCode {   ErrorCode::NONE = 0, ErrorCode::FILE_READ, ErrorCode::DUPLICATE_NAME, ErrorCode::RESERVED_NAME,   ErrorCode::ATTRIBUTE_MISSING, ErrorCode::ATTRIBUTE_INVALID, ErrorCode::ATTRIBUTE_DEPRECATED, ErrorCode::ATTRIBUTE_INCORRECT_TYPE,   ErrorCode::ELEMENT_MISSING, ErrorCode::ELEMENT_INVALID, ErrorCode::ELEMENT_DEPRECATED, ErrorCode::ELEMENT_INCORRECT_TYPE,   ErrorCode::ELEMENT_ERROR, ErrorCode::URI_INVALID, ErrorCode::URI_LOOKUP, ErrorCode::DIRECTORY_NONEXISTANT,   ErrorCode::MODEL_CANONICAL_LINK_INVALID, ErrorCode::MODEL_WITHOUT_LINK, ErrorCode::NESTED_MODELS_UNSUPPORTED, ErrorCode::LINK_INERTIA_INVALID,   ErrorCode::JOINT_CHILD_LINK_INVALID, ErrorCode::JOINT_PARENT_LINK_INVALID, ErrorCode::JOINT_PARENT_SAME_AS_CHILD, ErrorCode::FRAME_ATTACHED_TO_INVALID,   ErrorCode::FRAME_ATTACHED_TO_CYCLE, ErrorCode::FRAME_ATTACHED_TO_GRAPH_ERROR, ErrorCode::POSE_RELATIVE_TO_INVALID, ErrorCode::POSE_RELATIVE_TO_CYCLE,   ErrorCode::POSE_RELATIVE_TO_GRAPH_ERROR, ErrorCode::ROTATION_SNAP_CONFIG_ERROR, ErrorCode::STRING_READ, ErrorCode::MODEL_PLACEMENT_FRAME_INVALID,   ErrorCode::VERSION_DEPRECATED, ErrorCode::MERGE_INCLUDE_UNSUPPORTED, ErrorCode::PARAMETER_ERROR, ErrorCode::UNKNOWN_PARAMETER_TYPE }
enum	ForceTorqueFrame : uint8_t { ForceTorqueFrame::INVALID = 0, ForceTorqueFrame::PARENT = 1, ForceTorqueFrame::CHILD = 2, ForceTorqueFrame::SENSOR = 3 }
enum	ForceTorqueMeasureDirection : uint8_t { ForceTorqueMeasureDirection::INVALID = 0, ForceTorqueMeasureDirection::PARENT_TO_CHILD = 1, ForceTorqueMeasureDirection::CHILD_TO_PARENT = 2 }
enum	GeometryType {   GeometryType::EMPTY = 0, GeometryType::BOX = 1, GeometryType::CYLINDER = 2, GeometryType::PLANE = 3,   GeometryType::SPHERE = 4, GeometryType::MESH = 5, GeometryType::HEIGHTMAP = 6, GeometryType::CAPSULE = 7,   GeometryType::ELLIPSOID = 8, GeometryType::POLYLINE = 9 }
enum	JointType {   JointType::INVALID = 0, JointType::BALL = 1, JointType::CONTINUOUS = 2, JointType::FIXED = 3,   JointType::GEARBOX = 4, JointType::PRISMATIC = 5, JointType::REVOLUTE = 6, JointType::REVOLUTE2 = 7,   JointType::SCREW = 8, JointType::UNIVERSAL = 9 }
enum	LightType { LightType::INVALID = 0, LightType::POINT = 1, LightType::SPOT = 2, LightType::DIRECTIONAL = 3 }
enum	NoiseType { NoiseType::NONE = 0, NoiseType::GAUSSIAN = 1, NoiseType::GAUSSIAN_QUANTIZED = 2 }
enum	NormalMapSpace : int { NormalMapSpace::TANGENT = 0, NormalMapSpace::OBJECT = 1 }
	Space the normal map is defined in. More...
enum	ParticleEmitterType { ParticleEmitterType::POINT = 0, ParticleEmitterType::BOX = 1, ParticleEmitterType::CYLINDER = 2, ParticleEmitterType::ELLIPSOID = 3 }
enum	PbrWorkflowType : int { PbrWorkflowType::NONE = 0, PbrWorkflowType::METAL = 1, PbrWorkflowType::SPECULAR = 2 }
	Type of PBR workflow. More...
enum	PixelFormatType {   PixelFormatType::UNKNOWN_PIXEL_FORMAT = 0, PixelFormatType::L_INT8, PixelFormatType::L_INT16, PixelFormatType::RGB_INT8,   PixelFormatType::RGBA_INT8, PixelFormatType::BGRA_INT8, PixelFormatType::RGB_INT16, PixelFormatType::RGB_INT32,   PixelFormatType::BGR_INT8, PixelFormatType::BGR_INT16, PixelFormatType::BGR_INT32, PixelFormatType::R_FLOAT16,   PixelFormatType::RGB_FLOAT16, PixelFormatType::R_FLOAT32, PixelFormatType::RGB_FLOAT32, PixelFormatType::BAYER_RGGB8,   PixelFormatType::BAYER_BGGR8, PixelFormatType::BAYER_GBRG8, PixelFormatType::BAYER_GRBG8 }
enum	SensorType {   SensorType::NONE = 0, SensorType::ALTIMETER = 1, SensorType::CAMERA = 2, SensorType::CONTACT = 3,   SensorType::DEPTH_CAMERA = 4, SensorType::FORCE_TORQUE = 5, SensorType::GPS = 6, SensorType::GPU_LIDAR = 7,   SensorType::IMU = 8, SensorType::LOGICAL_CAMERA = 9, SensorType::MAGNETOMETER = 10, SensorType::MULTICAMERA = 11,   SensorType::LIDAR = 12, SensorType::RFID = 13, SensorType::RFIDTAG = 14, SensorType::SONAR = 15,   SensorType::WIRELESS_RECEIVER = 16, SensorType::WIRELESS_TRANSMITTER = 17, SensorType::AIR_PRESSURE = 18, SensorType::RGBD_CAMERA = 19,   SensorType::THERMAL_CAMERA = 20, SensorType::NAVSAT = 21, SensorType::SEGMENTATION_CAMERA = 22, SensorType::BOUNDINGBOX_CAMERA = 23,   SensorType::CUSTOM = 24, SensorType::WIDE_ANGLE_CAMERA = 25 }
enum	ShaderType : int { ShaderType::PIXEL = 0, ShaderType::VERTEX = 1, ShaderType::NORMAL_MAP_OBJECTSPACE = 2, ShaderType::NORMAL_MAP_TANGENTSPACE = 3 }

Functions
GZ_SDFORMAT_VISIBLE void	addURIPath (const std::string &_uri, const std::string &_path)
	Associate paths to a URI. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE bool	checkJointParentChildNames (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...
GZ_SDFORMAT_VISIBLE GZ_DEPRECATED(13) bool checkJointParentChildLinkNames(const sdf GZ_SDFORMAT_VISIBLE void	checkJointParentChildNames (const sdf::Root *_root, Errors &_errors)
	Check that all joints in contained models specify parent and child link names that match the names of sibling links. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE std::string	computeMergedModelProxyFrameName (const std::string &_modelName)
	Function to compute a merged model's proxy frame name. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE bool	convertFile (const std::string &_filename, const std::string &_version, SDFPtr _sdf)
	Convert an SDF file to a specific SDF version. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE std::string	findFile (const std::string &_filename, bool _searchLocalPath, bool _useCallback, const ParserConfig &_config)
	Find the absolute path of a file. More...
GZ_SDFORMAT_VISIBLE std::string	findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...
GZ_SDFORMAT_VISIBLE std::string	getModelFilePath (const std::string &_modelDirPath)
	Get the file path to the model file. More...
class GZ_SDFORMAT_VISIBLE	GZ_DEPRECATED (13) Inertia
	A class for inertial information about a link. More...
GZ_SDFORMAT_VISIBLE bool	init (SDFPtr _sdf)
	Initialize the SDF interface from the embedded root spec file. More...
GZ_SDFORMAT_VISIBLE bool	init (SDFPtr _sdf, const ParserConfig &_config)
	Initialize the SDF interface from the embedded root spec file. More...
GZ_SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, const ParserConfig &_config, ElementPtr _sdf)
	Initialize an SDFElement interface using a file. More...
GZ_SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf)
	Initialize the SDF interface using a file. More...
GZ_SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, ElementPtr _sdf)
	Initialize an SDF Element interface using a file. More...
GZ_SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, SDFPtr _sdf)
	Initialize the SDF interface using a file. More...
GZ_SDFORMAT_VISIBLE bool	initString (const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf)
	Initialize the SDF interface using a string. More...
GZ_SDFORMAT_VISIBLE bool	initString (const std::string &_xmlString, SDFPtr _sdf)
	Initialize the SDF interface using a string. More...
GZ_SDFORMAT_VISIBLE std::string	JoinName (const std::string &_scopeName, const std::string &_localName)
	Join two strings with the '::' delimiter. More...
std::string GZ_SDFORMAT_VISIBLE	lowercase (const std::string &_in)
	Transforms a string to its lowercase equivalent. More...
GZ_SDFORMAT_VISIBLE std::ostream &	operator<< (std::ostream &_out, const sdf::Errors &_errs)
	Output operator for a collection of errors. More...
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)
GZ_SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename)
	Populate the SDF values from a file. More...
GZ_SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename, const ParserConfig &_config, Errors &_errors)
	Populate the SDF values from a file. More...
GZ_SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a file. More...
GZ_SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename, Errors &_errors)
	Populate the SDF values from a file. More...
GZ_SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, SDFPtr _sdf)
	Populate the SDF values from a file. More...
GZ_SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a file. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, const ParserConfig &_config, ElementPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, ElementPtr _sdf)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, ElementPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, SDFPtr _sdf)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE bool	readStringWithoutConversion (const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE bool	recursiveSameTypeUniqueNames (sdf::ElementPtr _elem)
	Check that all sibling elements of the same type have unique names. More...
GZ_SDFORMAT_VISIBLE 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...
GZ_SDFORMAT_VISIBLE bool	recursiveSiblingUniqueNames (sdf::ElementPtr _elem)
	Check that all sibling elements of the any type have unique names. More...
GZ_SDFORMAT_VISIBLE void	setFindCallback (std::function< std::string(const std::string &)> _cb)
	Set the callback to use when SDF can't find a file. More...
GZ_SDFORMAT_VISIBLE bool	shouldValidateElement (sdf::ElementPtr _elem)
	Check whether the element should be validated. More...
GZ_SDFORMAT_VISIBLE std::vector< std::string >	split (const std::string &_str, const std::string &_splitter)
	Split a string using the delimiter in splitter. More...
GZ_SDFORMAT_VISIBLE std::pair< std::string, std::string >	SplitName (const std::string &_absoluteName)
	Split a name into a two strings based on the '::' delimeter. More...
GZ_SDFORMAT_VISIBLE std::string	trim (const char *_in)
	Trim leading and trailing whitespace from a string. More...
GZ_SDFORMAT_VISIBLE std::string	trim (const std::string &_in)
	Trim leading and trailing whitespace from a string. More...

Variables
class GZ_SDFORMAT_VISIBLE	Element
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...
class GZ_SDFORMAT_VISIBLE	Param
class GZ_SDFORMAT_VISIBLE	SDF

Detailed Description

namespace for Simulation Description Format parser

The parsing functions read XML elements contained in either a file or string and translates the XML elements into SDF data structures. This translation finds errors in the provided XML, fills in default values, and performs any necessary version related conversions.

XML elements that are not part of the SDF specification are copied in place. This preserves the given XML structure and data.