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parser.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
7 *
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,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef SDF_PARSER_HH_
18#define SDF_PARSER_HH_
19
20#include <string>
21
22#include "sdf/SDFImpl.hh"
23#include "sdf/sdf_config.h"
24#include "sdf/system_util.hh"
25
36namespace sdf
37{
38 // Inline bracket to help doxygen filtering.
39 inline namespace SDF_VERSION_NAMESPACE {
40 //
41 // TODO(marcoag): Deprecate function overloads that do not use sdf::Errors,
42 // see: https://github.com/gazebosim/sdformat/issues/1186
43 class Root;
44
48 SDFORMAT_VISIBLE
49 bool init(SDFPtr _sdf);
50
55 SDFORMAT_VISIBLE
56 bool init(SDFPtr _sdf, const ParserConfig &_config);
57
63 SDFORMAT_VISIBLE
64 bool init(sdf::Errors &_errors, SDFPtr _sdf, const ParserConfig &_config);
65
70 SDFORMAT_VISIBLE
71 bool initFile(const std::string &_filename, SDFPtr _sdf);
72
78 SDFORMAT_VISIBLE
79 bool initFile(
80 const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf);
81
88 SDFORMAT_VISIBLE
89 bool initFile(
90 const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf,
91 sdf::Errors &_errors);
92
97 SDFORMAT_VISIBLE
98 bool initFile(const std::string &_filename, ElementPtr _sdf);
99
105 SDFORMAT_VISIBLE
106 bool initFile(const std::string &_filename, const ParserConfig &_config,
107 ElementPtr _sdf);
108
115 SDFORMAT_VISIBLE
116 bool initFile(const std::string &_filename, const ParserConfig &_config,
117 ElementPtr _sdf, sdf::Errors &_errors);
118
123 SDFORMAT_VISIBLE
124 bool initString(const std::string &_xmlString, SDFPtr _sdf);
125
131 SDFORMAT_VISIBLE
132 bool initString(
133 const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf);
134
141 SDFORMAT_VISIBLE
142 bool initString(const std::string &_xmlString, const ParserConfig &_config,
143 SDFPtr _sdf, sdf::Errors &_errors);
144
152 SDFORMAT_VISIBLE
153 sdf::SDFPtr readFile(const std::string &_filename);
154
163 SDFORMAT_VISIBLE
164 sdf::SDFPtr readFile(const std::string &_filename, Errors &_errors);
165
175 SDFORMAT_VISIBLE
176 sdf::SDFPtr readFile(const std::string &_filename,
177 const ParserConfig &_config, Errors &_errors);
178
188 SDFORMAT_VISIBLE
189 bool readFile(const std::string &_filename, SDFPtr _sdf, Errors &_errors);
190
201 SDFORMAT_VISIBLE
202 bool readFile(const std::string &_filename, const ParserConfig &_config,
203 SDFPtr _sdf, Errors &_errors);
204
216 SDFORMAT_VISIBLE
217 bool readFileWithoutConversion(
218 const std::string &_filename, SDFPtr _sdf, Errors &_errors);
219
232 SDFORMAT_VISIBLE
233 bool readFileWithoutConversion(const std::string &_filename,
234 const ParserConfig &_config, SDFPtr _sdf, Errors &_errors);
235
244 SDFORMAT_VISIBLE
245 bool readFile(const std::string &_filename, SDFPtr _sdf);
246
256 SDFORMAT_VISIBLE
257 bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
258
269 SDFORMAT_VISIBLE
270 bool readString(const std::string &_xmlString, const ParserConfig &_config,
271 SDFPtr _sdf, Errors &_errors);
272
281 SDFORMAT_VISIBLE
282 bool readString(const std::string &_xmlString, SDFPtr _sdf);
283
293 SDFORMAT_VISIBLE
294 bool readString(const std::string &_xmlString, ElementPtr _sdf,
295 Errors &_errors);
296
307 SDFORMAT_VISIBLE
308 bool readString(const std::string &_xmlString, const ParserConfig &_config,
309 ElementPtr _sdf, Errors &_errors);
310
322 SDFORMAT_VISIBLE
323 bool readStringWithoutConversion(
324 const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
325
336 SDFORMAT_VISIBLE
337 bool readStringWithoutConversion(const std::string &_xmlString,
338 const ParserConfig &_config, SDFPtr _sdf, Errors &_errors);
339
348 SDFORMAT_VISIBLE
349 bool readString(const std::string &_xmlString, ElementPtr _sdf);
350
356 SDFORMAT_VISIBLE
357 std::string getModelFilePath(const std::string &_modelDirPath);
358
365 SDFORMAT_VISIBLE
366 std::string getModelFilePath(sdf::Errors &_errors,
367 const std::string &_modelDirPath);
368
374 SDFORMAT_VISIBLE
375 bool convertFile(const std::string &_filename, const std::string &_version,
376 SDFPtr _sdf);
377
384 SDFORMAT_VISIBLE
385 bool convertFile(const std::string &_filename, const std::string &_version,
386 const ParserConfig &_config, SDFPtr _sdf);
387
394 SDFORMAT_VISIBLE
395 sdf::Errors convertFile(
396 SDFPtr _sdf, const std::string &_filename, const std::string &_version,
397 const ParserConfig &_config = ParserConfig::GlobalConfig());
398
404 SDFORMAT_VISIBLE
405 bool convertString(const std::string &_sdfString,
406 const std::string &_version, SDFPtr _sdf);
407
414 SDFORMAT_VISIBLE
415 bool convertString(const std::string &_sdfString, const std::string &_version,
416 const ParserConfig &_config, SDFPtr _sdf);
417
424 SDFORMAT_VISIBLE
425 sdf::Errors convertString(
426 SDFPtr _sdf, const std::string &_sdfString, const std::string &_version,
427 const ParserConfig &_config = ParserConfig::GlobalConfig());
428
436 SDFORMAT_VISIBLE
437 bool checkCanonicalLinkNames(const sdf::Root *_root);
438
447 SDFORMAT_VISIBLE
448 bool checkCanonicalLinkNames(sdf::Errors &_errors, const sdf::Root *_root);
449
458 SDFORMAT_VISIBLE
459 bool checkFrameAttachedToGraph(const sdf::Root *_root);
460
470 SDFORMAT_VISIBLE
471 bool checkFrameAttachedToGraph(sdf::Errors &_errors, const sdf::Root *_root);
472
481 SDFORMAT_VISIBLE
482 bool checkFrameAttachedToNames(const sdf::Root *_root);
483
493 SDFORMAT_VISIBLE
494 bool checkFrameAttachedToNames(sdf::Errors &_errors, const sdf::Root *_root);
495
503 SDFORMAT_VISIBLE
504 bool checkJointParentChildNames(const sdf::Root *_root);
505
514 SDFORMAT_VISIBLE GZ_DEPRECATED(13)
515 bool checkJointParentChildLinkNames(const sdf::Root *_root);
516
524 SDFORMAT_VISIBLE
525 void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors);
526
533 SDFORMAT_VISIBLE
534 void checkJointAxisExpressedInValues(const sdf::Root *_root, Errors &_errors);
535
542 SDFORMAT_VISIBLE
543 void checkJointAxisMimicValues(const sdf::Root *_root, Errors &_errors);
544
553 SDFORMAT_VISIBLE
554 bool checkPoseRelativeToGraph(const sdf::Root *_root);
555
565 SDFORMAT_VISIBLE
566 bool checkPoseRelativeToGraph(sdf::Errors &_errors, const sdf::Root *_root);
567
574 SDFORMAT_VISIBLE
575 bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem);
576
584 SDFORMAT_VISIBLE
585 bool recursiveSameTypeUniqueNames(sdf::Errors &_errors,
586 sdf::ElementPtr _elem);
587
594 SDFORMAT_VISIBLE
595 bool recursiveSiblingUniqueNames(sdf::ElementPtr _elem);
596
604 SDFORMAT_VISIBLE
605 bool recursiveSiblingUniqueNames(sdf::Errors &_errors, sdf::ElementPtr _elem);
606
614 SDFORMAT_VISIBLE
615 bool recursiveSiblingNoDoubleColonInNames(sdf::ElementPtr _elem);
616
625 SDFORMAT_VISIBLE
626 bool recursiveSiblingNoDoubleColonInNames(sdf::Errors &_errors,
627 sdf::ElementPtr _elem);
628
634 SDFORMAT_VISIBLE
635 bool shouldValidateElement(sdf::ElementPtr _elem);
636
641 SDFORMAT_VISIBLE
642 std::string computeMergedModelProxyFrameName(const std::string &_modelName);
643 }
644}
645#endif
sdf::ParserConfig
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:100
sdf::SDF_VERSION_NAMESPACE::ParserConfig::GlobalConfig
static ParserConfig & GlobalConfig()
Mutable access to a singleton ParserConfig that serves as the global ParserConfig object for all pars...
sdf::Root
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:58
sdf::SDF_VERSION_NAMESPACE::init
GZ_SDFORMAT_VISIBLE bool init(SDFPtr _sdf)
Initialize the SDF interface from the embedded root spec file.
sdf::SDF_VERSION_NAMESPACE::convertString
GZ_SDFORMAT_VISIBLE bool convertString(const std::string &_sdfString, const std::string &_version, SDFPtr _sdf)
Convert an SDF string to a specific SDF version.
sdf::SDF_VERSION_NAMESPACE::initString
GZ_SDFORMAT_VISIBLE bool initString(const std::string &_xmlString, SDFPtr _sdf)
Initialize the SDF interface using a string.
sdf::SDF_VERSION_NAMESPACE::checkJointAxisExpressedInValues
GZ_SDFORMAT_VISIBLE void checkJointAxisExpressedInValues(const sdf::Root *_root, Errors &_errors)
Check that all joint axes in contained joints specify xyz expressed-in names that match the names of ...
sdf::SDF_VERSION_NAMESPACE::recursiveSiblingUniqueNames
GZ_SDFORMAT_VISIBLE bool recursiveSiblingUniqueNames(sdf::ElementPtr _elem)
Check that all sibling elements of the any type have unique names.
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:162
sdf::SDF_VERSION_NAMESPACE::checkFrameAttachedToNames
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...
sdf::SDF_VERSION_NAMESPACE::readFileWithoutConversion
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.
sdf::SDF_VERSION_NAMESPACE::computeMergedModelProxyFrameName
GZ_SDFORMAT_VISIBLE std::string computeMergedModelProxyFrameName(const std::string &_modelName)
Function to compute a merged model's proxy frame name.
sdf::SDF_VERSION_NAMESPACE::recursiveSameTypeUniqueNames
GZ_SDFORMAT_VISIBLE bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem)
Check that all sibling elements of the same type have unique names.
sdf::SDF_VERSION_NAMESPACE::readString
GZ_SDFORMAT_VISIBLE bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a string.
sdf::SDF_VERSION_NAMESPACE::getModelFilePath
GZ_SDFORMAT_VISIBLE std::string getModelFilePath(const std::string &_modelDirPath)
Get the file path to the model file.
sdf::SDF_VERSION_NAMESPACE::checkCanonicalLinkNames
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...
sdf::SDF_VERSION_NAMESPACE::SDFPtr
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:52
sdf::SDF_VERSION_NAMESPACE::convertFile
GZ_SDFORMAT_VISIBLE bool convertFile(const std::string &_filename, const std::string &_version, SDFPtr _sdf)
Convert an SDF file to a specific SDF version.
sdf::SDF_VERSION_NAMESPACE::checkPoseRelativeToGraph
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 cycl...
sdf::SDF_VERSION_NAMESPACE::checkJointAxisMimicValues
GZ_SDFORMAT_VISIBLE void checkJointAxisMimicValues(const sdf::Root *_root, Errors &_errors)
Check that all joint axes in contained joints that specify mimic constraints use valid joint names.
sdf::SDF_VERSION_NAMESPACE::readFile
GZ_SDFORMAT_VISIBLE sdf::SDFPtr readFile(const std::string &_filename)
Populate the SDF values from a file.
sdf::SDF_VERSION_NAMESPACE::readStringWithoutConversion
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.
sdf::SDF_VERSION_NAMESPACE::recursiveSiblingNoDoubleColonInNames
GZ_SDFORMAT_VISIBLE bool recursiveSiblingNoDoubleColonInNames(sdf::ElementPtr _elem)
Check that all sibling elements do not contain the delimiter double colons '::' in element names,...
sdf::SDF_VERSION_NAMESPACE::checkFrameAttachedToGraph
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 cycl...
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
sdf::SDF_VERSION_NAMESPACE::checkJointParentChildNames
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...
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
sdf::SDF_VERSION_NAMESPACE::initFile
GZ_SDFORMAT_VISIBLE bool initFile(const std::string &_filename, SDFPtr _sdf)
Initialize the SDF interface using a file.
sdf::SDF_VERSION_NAMESPACE::shouldValidateElement
GZ_SDFORMAT_VISIBLE bool shouldValidateElement(sdf::ElementPtr _elem)
Check whether the element should be validated.
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:35
sdf_config.h
system_util.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25