sdf::SDF_VERSION_NAMESPACE::ParserConfig Class Reference

This class contains configuration options for the libsdformat parser. More...

#include <ParserConfig.hh>

Public Types
using	SchemeToPathMap = std::map< std::string, std::vector< std::string > >
	type alias for the map from URI scheme to search directories More...

Public Member Functions
	ParserConfig ()
	Default constructor. More...
void	AddURIPath (const std::string &_uri, const std::string &_path)
	Associate paths to a URI. More...
ConfigureResolveAutoInertials	CalculateInertialConfiguration () const
	Get the current configuration for the CalculateInertial() function. More...
const CustomInertiaCalculator &	CustomInertiaCalc () const
	Get the registered custom mesh MOI Calculator. More...
const std::vector< CustomModelParser > &	CustomModelParsers () const
	Get the registered custom model parsers. More...
EnforcementPolicy	DeprecatedElementsPolicy () const
	Get the current deprecated elements policy. More...
const std::function< std::string(const std::string &)> &	FindFileCallback () const
	Get the find file callback function. More...
void	RegisterCustomInertiaCalc (CustomInertiaCalculator _inertiaCalculator)
	Registers a custom Moment of Inertia Calculator for Meshes. More...
void	RegisterCustomModelParser (CustomModelParser _modelParser)
	Registers a custom model parser. More...
void	ResetDeprecatedElementsPolicy ()
	Resets the policy for deprecated elements so that it follows WarningsPolicy. More...
void	SetCalculateInertialConfiguration (ConfigureResolveAutoInertials _configuration)
	Set the configuration for the CalculateInertial() function. More...
void	SetDeprecatedElementsPolicy (EnforcementPolicy _policy)
	Set the policy for deprecated elements. More...
void	SetFindCallback (std::function< std::string(const std::string &)> _cb)
	Set the callback to use when libsdformat can't find a file. More...
void	SetStoreResovledURIs (bool _resolveURI)
	Set the storeResolvedURIs flag value. More...
void	SetUnrecognizedElementsPolicy (EnforcementPolicy _policy)
	Set the policy for unrecogonized elements without an xmlns. More...
void	SetWarningsPolicy (EnforcementPolicy _policy)
	Set the warning enforcment policy. More...
bool	StoreResolvedURIs () const
	Get the storeResolvedURIs flag value. More...
EnforcementPolicy	UnrecognizedElementsPolicy () const
	Get the current unrecognized elements policy. More...
bool	URDFPreserveFixedJoint () const
	Get the preserveFixedJoint flag value. More...
void	URDFSetPreserveFixedJoint (bool _preserveFixedJoint)
	Set the preserveFixedJoint flag. More...
const SchemeToPathMap &	URIPathMap () const
	Get the URI scheme to search directories map. More...
EnforcementPolicy	WarningsPolicy () const
	Get the current warning enforcement policy. More...

Static Public Member Functions
static ParserConfig &	GlobalConfig ()
	Mutable access to a singleton ParserConfig that serves as the global ParserConfig object for all parsing operations that do not specify their own ParserConfig. More...

Detailed Description

This class contains configuration options for the libsdformat parser.

The configuration options include:

• A callback function used to locate a file from a given URI
• A map from URI schemes to search directories

For backward compatibility, the functions sdf::setFindCallback() and sdf::addURIPath() update a singleton ParserConfig object, which can be retrieved by ParserConfig::GlobalConfig().

The functions sdf::readFile(), sdf::readString(), and sdf::Root::Load() have overloads that take a ParserConfig object. If the ParserConfig object is omitted, these functions will use the singleton ParserConfig object.

Example: To set an additional URI scheme search directory without affecting the global config,

// Copy the global config
sdf::ParserConfig config = ParserConfig::GlobalConfig();
 
// Add the new scheme to the config
config.AddURIPath("newScheme://", "path/to/directory");
 
// Use the new config when loading a new SDFormat file
sdf::Root root;
root.Load("path/to/file.sdf", config);

Member Typedef Documentation

SchemeToPathMap

using sdf::SDF_VERSION_NAMESPACE::ParserConfig::SchemeToPathMap = std::map<std::string, std::vector<std::string> >

type alias for the map from URI scheme to search directories

Constructor & Destructor Documentation

ParserConfig()

sdf::SDF_VERSION_NAMESPACE::ParserConfig::ParserConfig

(

)

Default constructor.

Member Function Documentation

AddURIPath()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::AddURIPath	(	const std::string &	_uri,
		const std::string &	_path
	)

Associate paths to a URI.

Example paramters: "model://", "/usr/share/models:~/.gazebo/models"

Parameters

[in]	_uri	URI that will be mapped to _path
[in]	_path	Colon separated set of paths.

See also

sdf::findFile() for the order of search operations

CalculateInertialConfiguration()

ConfigureResolveAutoInertials sdf::SDF_VERSION_NAMESPACE::ParserConfig::CalculateInertialConfiguration

(

)

const

Get the current configuration for the CalculateInertial() function.

Returns

Current set value of the ConfigureResolveAutoInertials enum

CustomInertiaCalc()

const CustomInertiaCalculator & sdf::SDF_VERSION_NAMESPACE::ParserConfig::CustomInertiaCalc

(

)

const

Get the registered custom mesh MOI Calculator.

Returns

registered mesh MOI Calculator.

CustomModelParsers()

const std::vector< CustomModelParser > & sdf::SDF_VERSION_NAMESPACE::ParserConfig::CustomModelParsers

(

)

const

Get the registered custom model parsers.

Returns

Vector of registered model parser callbacks.

DeprecatedElementsPolicy()

EnforcementPolicy sdf::SDF_VERSION_NAMESPACE::ParserConfig::DeprecatedElementsPolicy

(

)

const

Get the current deprecated elements policy.

By default, the policy is the same as the overall WarningsPolicy, but it can be overriden by SetDeprecatedElementsPolicy. Once it is overriden, changing SetWarningsPolicy will not change the value of DeprecatedElementsPolicy unless ResetDeprecatedElementsPolicy is called.

Returns

The deperacted elements policy enum value

FindFileCallback()

const std::function< std::string(const std::string &)> & sdf::SDF_VERSION_NAMESPACE::ParserConfig::FindFileCallback

(

)

const

Get the find file callback function.

Returns

Immutable reference to the find file callback function

GlobalConfig()

static ParserConfig & sdf::SDF_VERSION_NAMESPACE::ParserConfig::GlobalConfig ( )

static

Mutable access to a singleton ParserConfig that serves as the global ParserConfig object for all parsing operations that do not specify their own ParserConfig.

Returns

A mutable reference to the singleton ParserConfig object

RegisterCustomInertiaCalc()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::RegisterCustomInertiaCalc

(

CustomInertiaCalculator

_inertiaCalculator

)

Registers a custom Moment of Inertia Calculator for Meshes.

Parameters

[in]

_inertiaCalculator

Callback with signature as described in sdf/CustomInertiaCalcProperties.hh.

RegisterCustomModelParser()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::RegisterCustomModelParser

(

CustomModelParser

_modelParser

)

Registers a custom model parser.

Parameters

[in]

_modelParser

Callback as described in sdf/InterfaceElements.hh.

ResetDeprecatedElementsPolicy()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::ResetDeprecatedElementsPolicy

(

)

Resets the policy for deprecated elements so that it follows WarningsPolicy.

SetCalculateInertialConfiguration()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::SetCalculateInertialConfiguration

(

ConfigureResolveAutoInertials

_configuration

)

Set the configuration for the CalculateInertial() function.

Parameters

[in]

_configuration

The configuration to set for the CalculateInertial() function

SetDeprecatedElementsPolicy()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::SetDeprecatedElementsPolicy

(

EnforcementPolicy

_policy

)

Set the policy for deprecated elements.

Parameters

[in]

_policy

The deprecated elements enforcement policy

SetFindCallback()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::SetFindCallback

(

std::function< std::string(const std::string &)>

_cb

)

Set the callback to use when libsdformat can't find a file.

The callback should return a complete path to the requested file, or an empty string if the file was not found in the callback. Generally, the input argument is a URI or a file path (absolute or relative) obtained from a //include/uri element. For example, if the value custom://model_name is given in a //include/uri, sdf::findFile() may invoke the callback with the argument custom://model_name if it is unable to find a file using the steps listed in sdf::findfile().

Note, however, the input is not limited to URIs and file paths, and it is left up to the callback to interpret the contents of the input string.

Parameters

[in]

_cb

The callback function.

See also

sdf::findFile() for the order of search operations

SetStoreResovledURIs()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::SetStoreResovledURIs

(

bool

_resolveURI

)

Set the storeResolvedURIs flag value.

Parameters

[in]

_resolveURI

True to make the parser attempt to resolve any URIs found and store them. False to preserve original URIs

The Parser will use the FindFileCallback provided to attempt to resolve URIs in the Mesh, Material, Heightmap, and Skybox DOM objects If the FindFileCallback provides a non-empty string, the URI will be stored in the DOM object, and the original (unresolved) URI will be stored in the underlying Element.

SetUnrecognizedElementsPolicy()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::SetUnrecognizedElementsPolicy

(

EnforcementPolicy

_policy

)

Set the policy for unrecogonized elements without an xmlns.

Parameters

[in]

_policy

The unrecognized elements enforcement policy

SetWarningsPolicy()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::SetWarningsPolicy

(

EnforcementPolicy

_policy

)

Set the warning enforcment policy.

Parameters

[in]

_policy

policy enum value to set

StoreResolvedURIs()

bool sdf::SDF_VERSION_NAMESPACE::ParserConfig::StoreResolvedURIs

(

)

const

Get the storeResolvedURIs flag value.

Returns

True if the parser will attempt to resolve any URIs found and store them. False to preserve original URIs

UnrecognizedElementsPolicy()

EnforcementPolicy sdf::SDF_VERSION_NAMESPACE::ParserConfig::UnrecognizedElementsPolicy

(

)

const

Get the current unrecognized elements policy.

Returns

The unrecognized elements policy enum value

URDFPreserveFixedJoint()

bool sdf::SDF_VERSION_NAMESPACE::ParserConfig::URDFPreserveFixedJoint

(

)

const

Get the preserveFixedJoint flag value.

Returns

True to preserve fixed joints, false to reduce the fixed joints and merge the child link into the parent.

URDFSetPreserveFixedJoint()

void sdf::SDF_VERSION_NAMESPACE::ParserConfig::URDFSetPreserveFixedJoint

(

bool

_preserveFixedJoint

)

Set the preserveFixedJoint flag.

Parameters

[in]

_preserveFixedJoint

True to preserve fixed joints, false to reduce the fixed joints and merge the child link into the parent.

URIPathMap()

const SchemeToPathMap & sdf::SDF_VERSION_NAMESPACE::ParserConfig::URIPathMap

(

)

const

Get the URI scheme to search directories map.

Returns

Immutable reference to the URI scheme to search directories map

WarningsPolicy()

EnforcementPolicy sdf::SDF_VERSION_NAMESPACE::ParserConfig::WarningsPolicy

(

)

const

Get the current warning enforcement policy.

Returns

The warning enforcement policy enum value

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The documentation for this class was generated from the following file:

• ParserConfig.hh