SDFImpl.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef SDFIMPL_HH_
18 #define SDFIMPL_HH_
19 
20 #include <functional>
21 #include <memory>
22 #include <string>
23 
24 #include "sdf/Element.hh"
25 #include "sdf/Param.hh"
26 #include "sdf/ParserConfig.hh"
27 #include "sdf/PrintConfig.hh"
28 #include "sdf/Types.hh"
29 #include "sdf/sdf_config.h"
30 #include "sdf/system_util.hh"
31 
32 #ifdef _WIN32
33 // Disable warning C4251 which is triggered by
34 // std::unique_ptr
35 #pragma warning(push)
36 #pragma warning(disable: 4251)
37 #endif
38 
41 namespace sdf
42 {
43  // Inline bracket to help doxygen filtering.
44  inline namespace SDF_VERSION_NAMESPACE {
45  //
46 
48  class SDFPrivate;
49 
52  typedef std::shared_ptr<SDF> SDFPtr;
53 
56 
79  std::string findFile(const std::string &_filename,
80  bool _searchLocalPath = true,
81  bool _useCallback = false);
82 
97  std::string findFile(const std::string &_filename,
98  bool _searchLocalPath,
99  bool _useCallback,
100  const ParserConfig &_config);
101 
102 
108  void addURIPath(const std::string &_uri, const std::string &_path);
109 
115  void setFindCallback(std::function<std::string (const std::string &)> _cb);
116 
119  {
120  public: SDF();
122  public: ~SDF();
123  public: void PrintDescription();
124  public: void PrintDoc();
125  public: void Write(const std::string &_filename);
126 
129  public: void PrintValues(const PrintConfig &_config = PrintConfig());
130 
134  public: std::string ToString(
135  const PrintConfig &_config = PrintConfig()) const;
136 
138  public: void SetFromString(const std::string &_sdfData);
139 
141  public: void Clear();
142 
145  public: ElementPtr Root() const;
146 
149  public: void SetRoot(const ElementPtr _root);
150 
154  public: GZ_DEPRECATED(13) void Root(const ElementPtr _root);
155 
158  public: std::string FilePath() const;
159 
162  public: void SetFilePath(const std::string &_path);
163 
166  public: void SetOriginalVersion(const std::string &_version);
167 
170  public: const std::string &OriginalVersion() const;
171 
174  public: static std::string Version();
175 
178  public: static void Version(const std::string &_version);
179 
183  public: static ElementPtr WrapInRoot(const ElementPtr &_sdf);
184 
198  public: static const std::string &EmbeddedSpec(
199  const std::string &_filename, const bool _quiet);
200 
203  private: std::unique_ptr<SDFPrivate> dataPtr;
204 
207  private: static std::string version;
208  };
210  }
211 }
212 
213 #ifdef _WIN32
214 #pragma warning(pop)
215 #endif
216 
217 #endif
sdf::SDF_VERSION_NAMESPACE::GZ_DEPRECATED
class GZ_SDFORMAT_VISIBLE GZ_DEPRECATED(13) Inertia
A class for inertial information about a link.
Definition: Types.hh:147
sdf::SDF_VERSION_NAMESPACE::SDFPtr
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:52
sdf::SDF_VERSION_NAMESPACE::findFile
GZ_SDFORMAT_VISIBLE std::string findFile(const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
Find the absolute path of a file.
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::SDF_VERSION_NAMESPACE::SDF
Base SDF class.
Definition: SDFImpl.hh:118
PrintConfig.hh
sdf::SDF_VERSION_NAMESPACE::PrintConfig
This class contains configuration options for printing elements.
Definition: PrintConfig.hh:32
sdf::SDF_VERSION_NAMESPACE::setFindCallback
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.
ParserConfig.hh
sdf::SDF_VERSION_NAMESPACE::addURIPath
GZ_SDFORMAT_VISIBLE void addURIPath(const std::string &_uri, const std::string &_path)
Associate paths to a URI.
Types.hh
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::ParserConfig
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:84
Param.hh
sdf::SDF_VERSION_NAMESPACE::Root
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:57
sdf::SDF_VERSION_NAMESPACE::SDF
class GZ_SDFORMAT_VISIBLE SDF
Definition: SDFImpl.hh:47
system_util.hh
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh