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	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

Typedef Documentation

◆ CustomModelParser

using sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[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.

Returns

An optional ModelInterface.

If not nullptr, the returned model interface is incorporated into the existing model and its frames are exposed through the frame graph.
If nullptr and no errors are reported, then libsdformat should continue testing out other custom parsers registered under the same extension (e.g. a parser for .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

◆ ElementConstPtr

typedef std::shared_ptr<const Element> sdf::SDF_VERSION_NAMESPACE::ElementConstPtr

◆ ElementPtr

typedef std::shared_ptr< Element > sdf::SDF_VERSION_NAMESPACE::ElementPtr

◆ ElementPtr_V

typedef std::vector<ElementPtr> sdf::SDF_VERSION_NAMESPACE::ElementPtr_V

◆ ElementWeakPtr

typedef std::weak_ptr< Element > sdf::SDF_VERSION_NAMESPACE::ElementWeakPtr

◆ Errors

using sdf::SDF_VERSION_NAMESPACE::Errors = typedef std::vector<Error>

A vector of Error.

◆ InterfaceModelConstPtr

typedef std::shared_ptr< const InterfaceModel > sdf::SDF_VERSION_NAMESPACE::InterfaceModelConstPtr

◆ InterfaceModelPtr

using sdf::SDF_VERSION_NAMESPACE::InterfaceModelPtr = typedef std::shared_ptr<InterfaceModel>

◆ Param_V

typedef std::vector<ParamPtr> sdf::SDF_VERSION_NAMESPACE::Param_V

◆ ParamPtr

typedef std::shared_ptr<Param> sdf::SDF_VERSION_NAMESPACE::ParamPtr

◆ Plugins

using sdf::SDF_VERSION_NAMESPACE::Plugins = typedef std::vector<Plugin>

A vector of Plugin.

◆ RepostureFunction

using sdf::SDF_VERSION_NAMESPACE::RepostureFunction = typedef std::function<void(const sdf::InterfaceModelPoseGraph &)>

Function signature for the reposture callback function.

◆ SDFPtr

typedef std::shared_ptr<SDF> sdf::SDF_VERSION_NAMESPACE::SDFPtr

Enumeration Type Documentation

◆ AtmosphereType

enum sdf::SDF_VERSION_NAMESPACE::AtmosphereType

strong

Enumerator
ADIABATIC	Adiabatic atmosphere model.

◆ EnforcementPolicy

enum sdf::SDF_VERSION_NAMESPACE::EnforcementPolicy

strong

Policy to describe how to treat certain conditions when parsing.

Enumerator
ERR	Policy is to treat condition as an error and fail parsing.
WARN	Treat condition as a warning and issue to user.
LOG	Ignore condition in favor of best effort parsing.

◆ ErrorCode

enum sdf::SDF_VERSION_NAMESPACE::ErrorCode

strong

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.
ELEMENT_ERROR	Generic error type for Elements.
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.
ROTATION_SNAP_CONFIG_ERROR	The rotation snap config provided is not valid.
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, or the custom parser does not support merge includes.
PARAMETER_ERROR	Generic error type for parameters (values of SDFormat elements or attributes).
UNKNOWN_PARAMETER_TYPE	The specified parameter (values of SDFormat elements or attributes) type is unknown.

◆ ForceTorqueFrame

enum sdf::SDF_VERSION_NAMESPACE::ForceTorqueFrame : uint8_t

strong

Enumerator
INVALID	Invalid frame.
PARENT	Wrench expressed in the orientation of the parent link frame.
CHILD	Wrench expressed in the orientation of the child link frame.
SENSOR	Wrench expressed in the orientation of the joint sensor frame.

◆ ForceTorqueMeasureDirection

enum sdf::SDF_VERSION_NAMESPACE::ForceTorqueMeasureDirection : uint8_t

strong

Enumerator
INVALID	Invalid frame.
PARENT_TO_CHILD	Wrench measured as applied by the parent link on the child link.
CHILD_TO_PARENT	Wrench measured as applied by the child link on the parent link.

◆ GeometryType

enum sdf::SDF_VERSION_NAMESPACE::GeometryType

strong

Enumerator
EMPTY	Empty geometry. This means no shape has been defined.
BOX	A box geometry.
CYLINDER	A cylinder geometry.
PLANE	A plane geometry.
SPHERE	A sphere geometry.
MESH	A mesh geometry.
HEIGHTMAP	A heightmap geometry.
CAPSULE	A capsule geometry.
ELLIPSOID	An ellipsoid geometry.
POLYLINE	A polyline geometry.

◆ JointType

enum sdf::SDF_VERSION_NAMESPACE::JointType

strong

Enumerator
INVALID	An invalid joint. This indicates an error since a joint type is required to fully specify a joint.
BALL	A ball and socket joint.
CONTINUOUS	A hinge joint that rotates on a single axis with a continuous range of motion.
FIXED	A joint with zero degrees of freedom that rigidly connects two links.
GEARBOX	Geared revolute joint.
PRISMATIC	A sliding joint that slides along an axis with a limited range specified by upper and lower limits.
REVOLUTE	A hinge joint that rotates on a single axis with a fixed range of motion.
REVOLUTE2	Same as two revolute joints connected in series.
SCREW	A single degree of freedom joint with coupled sliding and rotational motion.
UNIVERSAL	Similar to a ball joint, but constrains one degree of freedom.

◆ LightType

enum sdf::SDF_VERSION_NAMESPACE::LightType

strong

Enumerator
INVALID	An invalid light. This indicates an error since a light type is required to fully specify a light.
POINT	A point light source.
SPOT	A spot light source.
DIRECTIONAL	A directional light source.

◆ NoiseType

enum sdf::SDF_VERSION_NAMESPACE::NoiseType

strong

Enumerator
NONE	No noise model.
GAUSSIAN	Draw noise values independently for each measurement from a Gaussian distribution.
GAUSSIAN_QUANTIZED	Gaussian noise plus quantization of outputs (ie. rounding).

◆ NormalMapSpace

enum sdf::SDF_VERSION_NAMESPACE::NormalMapSpace : int

strong

Space the normal map is defined in.

Enumerator
TANGENT	Tangent space.
OBJECT	Object space.

◆ ParticleEmitterType

enum sdf::SDF_VERSION_NAMESPACE::ParticleEmitterType

strong

Enumerator
POINT	A point emitter.
BOX	A box emitter.
CYLINDER	A cylinder emitter.
ELLIPSOID	An ellipsoid emitter.

◆ PbrWorkflowType

enum sdf::SDF_VERSION_NAMESPACE::PbrWorkflowType : int

strong

Type of PBR workflow.

Enumerator
NONE	No workflow.
METAL	Metal/Roughness workflow.
SPECULAR	Specular/Glossiness workflow.

◆ PixelFormatType

enum sdf::SDF_VERSION_NAMESPACE::PixelFormatType

strong

Enumerator
UNKNOWN_PIXEL_FORMAT
L_INT8
L_INT16
RGB_INT8
RGBA_INT8
BGRA_INT8
RGB_INT16
RGB_INT32
BGR_INT8
BGR_INT16
BGR_INT32
R_FLOAT16
RGB_FLOAT16
R_FLOAT32
RGB_FLOAT32
BAYER_RGGB8
BAYER_BGGR8
BAYER_GBRG8
BAYER_GRBG8

◆ SensorType

enum sdf::SDF_VERSION_NAMESPACE::SensorType

strong

Enumerator
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.

◆ ShaderType

enum sdf::SDF_VERSION_NAMESPACE::ShaderType : int

strong

Enumerator
PIXEL
VERTEX
NORMAL_MAP_OBJECTSPACE
NORMAL_MAP_TANGENTSPACE

Function Documentation

◆ checkCanonicalLinkNames()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _root SDF Root object to check recursively.

Returns: True if all models have valid canonical_link attributes.

◆ checkFrameAttachedToGraph()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _root SDF Root object to check recursively.

Returns: True if all attached_to graphs are valid.

◆ checkFrameAttachedToNames()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _root SDF Root object to check recursively.

Returns: True if all frames have valid attached_to attributes.

◆ checkJointParentChildNames() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root SDF Root object to check recursively.

Returns: True if all models have joints with valid parent and child link names.

◆ checkJointParentChildNames() [2/2]

GZ_SDFORMAT_VISIBLE GZ_DEPRECATED (13) bool checkJointParentChildLinkNames( const sdf GZ_SDFORMAT_VISIBLE void sdf::SDF_VERSION_NAMESPACE::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.

This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root SDF Root object to check recursively.

Returns: True if all models have joints with valid parent and child link names.

Deprecated:: Use checkJointParentChildNames.

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.

Parameters

[in]	_root	SDF Root object to check recursively.
[out]	_errors	Detected errors will be appended to this variable.

◆ checkPoseRelativeToGraph()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _root SDF Root object to check recursively.

Returns: True if all attached_to graphs are valid.

◆ computeMergedModelProxyFrameName()

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::computeMergedModelProxyFrameName ( const std::string & _modelName )

Function to compute a merged model's proxy frame name.

Parameters

[in] _modelName The merged model's name

Returns: The computed frame name

◆ convertFile() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::convertFile	(	const std::string &	_filename,
		const std::string &	_version,
		const ParserConfig &	_config,
		SDFPtr	_sdf
	)

Convert an SDF file to a specific SDF version.

Parameters

[in]	_filename	Name of the SDF file to convert.
[in]	_version	Version to convert _filename to.
[in]	_config	Custom parser configuration
[out]	_sdf	Pointer to the converted SDF document.

Returns: True on success.

◆ convertFile() [2/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::convertFile	(	const std::string &	_filename,
		const std::string &	_version,
		SDFPtr	_sdf
	)

Convert an SDF file to a specific SDF version.

Parameters

[in]	_filename	Name of the SDF file to convert.
[in]	_version	Version to convert _filename to.
[out]	_sdf	Pointer to the converted SDF document.

Returns: True on success.

◆ convertString() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::convertString	(	const std::string &	_sdfString,
		const std::string &	_version,
		const ParserConfig &	_config,
		SDFPtr	_sdf
	)

Convert an SDF string to a specific SDF version.

Parameters

[in]	_sdfString	The SDF string to convert.
[in]	_version	Version to convert _filename to.
[in]	_config	Custom parser configuration
[out]	_sdf	Pointer to the converted SDF document.

Returns: True on success.

◆ convertString() [2/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::convertString	(	const std::string &	_sdfString,
		const std::string &	_version,
		SDFPtr	_sdf
	)

Convert an SDF string to a specific SDF version.

Parameters

[in]	_sdfString	The SDF string to convert.
[in]	_version	Version to convert _filename to.
[out]	_sdf	Pointer to the converted SDF document.

Returns: True on success.

◆ equal()

template<typename T >

bool sdf::SDF_VERSION_NAMESPACE::equal	(	const T &	_a,
		const T &	_b,
		const T &	_epsilon = `1e-6f`
	)

inline

check if two values are equal, within a tolerance

Parameters

[in]	_a	the first value
[in]	_b	the second value
[in]	_epsilon	the tolerance

◆ getModelFilePath()

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::getModelFilePath ( const std::string & _modelDirPath )

Get the file path to the model file.

Parameters

[in] _modelDirPath directory system path of the model

Returns: string with the full filesystem path to the best version (greater SDF protocol supported by this sdformat version) of the .sdf model files hosted by _modelDirPath.

◆ GZ_DEPRECATED()

class GZ_SDFORMAT_VISIBLE sdf::SDF_VERSION_NAMESPACE::GZ_DEPRECATED ( 13 )

A class for inertial information about a link.

◆ init() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::init ( SDFPtr _sdf )

Initialize the SDF interface from the embedded root spec file.

Parameters

[out] _sdf Pointer to an SDF object.

Returns: True if successful.

◆ init() [2/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::init	(	SDFPtr	_sdf,
		const ParserConfig &	_config
	)

Initialize the SDF interface from the embedded root spec file.

Parameters

[out]	_sdf	Pointer to an SDF object.
[in]	_config	Custom parser configuration

Returns: True if successful.

◆ initFile() [1/4]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::initFile	(	const std::string &	_filename,
		const ParserConfig &	_config,
		ElementPtr	_sdf
	)

Initialize an SDFElement interface using a file.

Parameters

[in]	_filename	Name of the SDF file
[in]	_config	Custom parser configuration
[out]	_sdf	Pointer to an SDF Element object.

Returns: True if successful.

◆ initFile() [2/4]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::initFile	(	const std::string &	_filename,
		const ParserConfig &	_config,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a file.

Parameters

[in]	_filename	Name of the SDF file
[in]	_config	Custom parser configuration
[out]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ initFile() [3/4]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::initFile	(	const std::string &	_filename,
		ElementPtr	_sdf
	)

Initialize an SDF Element interface using a file.

Parameters

[in]	_filename	Name of the SDF file
[in]	_sdf	Pointer to an SDF Element object.

Returns: True if successful.

◆ initFile() [4/4]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::initFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a file.

Parameters

[in]	_filename	Name of the SDF file
[out]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ initString() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::initString	(	const std::string &	_xmlString,
		const ParserConfig &	_config,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a string.

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_config	Custom parser configuration
[out]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ initString() [2/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::initString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a string.

Parameters

[in]	_xmlString	XML string to be parsed.
[out]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ JoinName()

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::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

Parameters

[in]	_scopeName	the left-hand-side component
[in]	_localName	the right-hand-side component

Returns: A full string with the names joined by the '::' delimeter.

◆ lowercase()

std::string GZ_SDFORMAT_VISIBLE sdf::SDF_VERSION_NAMESPACE::lowercase ( const std::string & _in )

Transforms a string to its lowercase equivalent.

Parameters

[in] _in String to convert to lowercase

Returns: Lowercase equilvalent of _in.

Referenced by sdf::SDF_VERSION_NAMESPACE::Param::Get().

◆ operator<<() [1/3]

GZ_SDFORMAT_VISIBLE std::ostream& sdf::SDF_VERSION_NAMESPACE::operator<<	(	std::ostream &	_out,
		const sdf::Errors &	_errs
	)

Output operator for a collection of errors.

Parameters

[in,out]	_out	The output stream.
[in]	_err	The errors to output.

Returns: Reference to the given output stream

◆ operator<<() [2/3]

template<class... Ts>

std::ostream& sdf::SDF_VERSION_NAMESPACE::operator<<	(	std::ostream &	os,
		ParamStreamer< std::variant< Ts... >>	sv
	)

References sdf::SDF_VERSION_NAMESPACE::ParamStreamer< T >::precision.

◆ operator<<() [3/3]

template<class T >

std::ostream& sdf::SDF_VERSION_NAMESPACE::operator<<	(	std::ostream &	os,
		ParamStreamer< T >	s
	)

References sdf::SDF_VERSION_NAMESPACE::ParamStreamer< T >::precision, and sdf::SDF_VERSION_NAMESPACE::ParamStreamer< T >::val.

◆ readFile() [1/6]

GZ_SDFORMAT_VISIBLE sdf::SDFPtr sdf::SDF_VERSION_NAMESPACE::readFile ( const std::string & _filename )

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

Parameters

[in] _filename Name of the SDF file

Returns: Populated SDF pointer.

◆ readFile() [2/6]

GZ_SDFORMAT_VISIBLE sdf::SDFPtr sdf::SDF_VERSION_NAMESPACE::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

Parameters

[in]	_filename	Name of the SDF file
[in]	_config	Custom parser configuration
[out]	_errors	Parsing errors will be appended to this variable.

Returns: Populated SDF pointer.

◆ readFile() [3/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[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.

Returns: True if successful.

◆ readFile() [4/6]

GZ_SDFORMAT_VISIBLE sdf::SDFPtr sdf::SDF_VERSION_NAMESPACE::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

Parameters

[in]	_filename	Name of the SDF file
[out]	_errors	Parsing errors will be appended to this variable.

Returns: Populated SDF pointer.

◆ readFile() [5/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[in]	_filename	Name of the SDF file
[out]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ readFile() [6/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::readFile	(	const std::string &	_filename,
		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

Parameters

[in]	_filename	Name of the SDF file
[out]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readFileWithoutConversion() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[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.

Returns: True if successful.

◆ readFileWithoutConversion() [2/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in]	_filename	Name of the SDF file
[out]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readString() [1/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[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.

Returns: True if successful.

◆ readString() [2/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[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.

Returns: True if successful.

◆ readString() [3/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::readString	(	const std::string &	_xmlString,
		ElementPtr	_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 strings are converted to the latest SDF version

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_sdf	Pointer to an SDF Element object.

Returns: True if successful.

◆ readString() [4/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[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.

Returns: True if successful.

◆ readString() [5/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[in]	_xmlString	XML string to be parsed.
[out]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ readString() [6/6]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::readString	(	const std::string &	_xmlString,
		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

Parameters

[in]	_xmlString	XML string to be parsed.
[out]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readStringWithoutConversion() [1/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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

Parameters

[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.

Returns: True if successful.

◆ readStringWithoutConversion() [2/2]

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in]	_xmlString	XML string to be parsed.
[out]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ recursiveSameTypeUniqueNames()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _elem SDF Element to check recursively.

Returns: True if all contained elements have do not share a name with sibling elements of the same type.

◆ recursiveSiblingNoDoubleColonInNames()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _elem SDF Element to check recursively.

Returns: True if all contained element names do not have the delimiter '::'

◆ recursiveSiblingUniqueNames()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::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.

Parameters

[in] _elem SDF Element to check recursively.

Returns: True if all contained elements have do not share a name with sibling elements of any type.

◆ shouldValidateElement()

GZ_SDFORMAT_VISIBLE bool sdf::SDF_VERSION_NAMESPACE::shouldValidateElement ( sdf::ElementPtr _elem )

Check whether the element should be validated.

If this returns false, validators such as the unique name and reserve name checkers should skip this element and its descendants.

Parameters

[in] _elem SDF Element to check.

Returns: True if the element should be validated

◆ split()

GZ_SDFORMAT_VISIBLE std::vector<std::string> sdf::SDF_VERSION_NAMESPACE::split	(	const std::string &	_str,
		const std::string &	_splitter
	)

Split a string using the delimiter in splitter.

Parameters

[in]	str	The string to split.
[in]	splitter	The delimiter to use.

Returns: A vector of strings containing the split tokens.

◆ SplitName()

GZ_SDFORMAT_VISIBLE std::pair<std::string, std::string> sdf::SDF_VERSION_NAMESPACE::SplitName ( const std::string & _absoluteName )

Split a name into a two strings based on the '::' delimeter.

Parameters

[in] _absoluteName The fully qualified absolute name

Returns: A pair with the absolute name minus the leaf node name, and the leaf name

◆ trim() [1/2]

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::trim ( const char * _in )

Trim leading and trailing whitespace from a string.

Parameters

[in] _in The string to trim.

Returns: A string containing the trimmed value.

◆ trim() [2/2]

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::trim ( const std::string & _in )

Trim leading and trailing whitespace from a string.

Parameters

[in] _in The string to trim.

Returns: A string containing the trimmed value.

Variable Documentation

◆ Element

class GZ_SDFORMAT_VISIBLE sdf::SDF_VERSION_NAMESPACE::Element

◆ kSdfScopeDelimiter

const std::string sdf::SDF_VERSION_NAMESPACE::kSdfScopeDelimiter = "::"

◆ kSdfStringSource

constexpr char sdf::SDF_VERSION_NAMESPACE::kSdfStringSource[] = "<data-string>"

constexpr

The source path replacement if it was parsed from a string, instead of a file.

◆ kUrdfStringSource

constexpr char sdf::SDF_VERSION_NAMESPACE::kUrdfStringSource[] = "<urdf-string>"

constexpr

The source path replacement if the urdf was parsed from a string, instead of a file.

◆ Param

class GZ_SDFORMAT_VISIBLE sdf::SDF_VERSION_NAMESPACE::Param

◆ SDF

class GZ_SDFORMAT_VISIBLE sdf::SDF_VERSION_NAMESPACE::SDF

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ CustomModelParser

◆ ElementConstPtr

◆ ElementPtr

◆ ElementPtr_V

◆ ElementWeakPtr

◆ Errors

◆ InterfaceModelConstPtr

◆ InterfaceModelPtr

◆ Param_V

◆ ParamPtr

◆ Plugins

◆ RepostureFunction

◆ SDFPtr

Enumeration Type Documentation

◆ AtmosphereType

◆ EnforcementPolicy

◆ ErrorCode

◆ ForceTorqueFrame

◆ ForceTorqueMeasureDirection

◆ GeometryType

◆ JointType

◆ LightType

◆ NoiseType

◆ NormalMapSpace

◆ ParticleEmitterType

◆ PbrWorkflowType

◆ PixelFormatType

◆ SensorType

◆ ShaderType

Function Documentation

◆ checkCanonicalLinkNames()

◆ checkFrameAttachedToGraph()

◆ checkFrameAttachedToNames()

◆ checkJointParentChildNames() [1/2]

◆ checkJointParentChildNames() [2/2]

◆ checkPoseRelativeToGraph()

◆ computeMergedModelProxyFrameName()

◆ convertFile() [1/2]

◆ convertFile() [2/2]

◆ convertString() [1/2]

◆ convertString() [2/2]

◆ equal()

◆ getModelFilePath()

◆ GZ_DEPRECATED()

◆ init() [1/2]

◆ init() [2/2]

◆ initFile() [1/4]

◆ initFile() [2/4]

◆ initFile() [3/4]

◆ initFile() [4/4]

◆ initString() [1/2]

◆ initString() [2/2]

◆ JoinName()

◆ lowercase()

◆ operator<<() [1/3]

◆ operator<<() [2/3]

◆ operator<<() [3/3]

◆ readFile() [1/6]

◆ readFile() [2/6]

◆ readFile() [3/6]

◆ readFile() [4/6]

◆ readFile() [5/6]

◆ readFile() [6/6]

◆ readFileWithoutConversion() [1/2]

◆ readFileWithoutConversion() [2/2]

◆ readString() [1/6]

◆ readString() [2/6]

◆ readString() [3/6]

◆ readString() [4/6]

◆ readString() [5/6]

◆ readString() [6/6]

◆ readStringWithoutConversion() [1/2]

◆ readStringWithoutConversion() [2/2]