sdf Namespace Reference

namespace for Simulation Description Format parser More...

Classes
class	AssertionInternalError
	Class for generating Exceptions which come from sdf assertions. More...
class	Color
	Defines a color. More...
class	Console
	Message, error, warning, and logging functionality. More...
class	Converter
	Convert from one version of SDF to another. More...
class	Element
	SDF Element class. More...
class	Exception
	Class for generating exceptions. More...
class	Inertia
	A class for inertial information about a link. More...
class	InternalError
	Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More...
class	Param
	A parameter class. More...
class	Pose
	Encapsulates a position and rotation in three space. More...
class	Quaternion
	A quaternion class. More...
class	SDF
	Base SDF class. More...
class	SDFExtension
	A class for holding sdf extension elements in urdf. More...
class	Time
	A Time class, can be used to hold wall- or sim-time. More...
class	URDF2SDF
	URDF to SDF converter. More...
class	Vector2d
	Generic double x, y vector. More...
class	Vector2i
	Generic integer x, y vector. More...
class	Vector3
	The Vector3 class represents the generic vector containing 3 elements. More...

Typedefs
typedef Element *	ElementPtr
typedef std::vector< ElementPtr >	ElementPtr_V
typedef std::vector< ParamPtr >	Param_V
typedef Param *	ParamPtr
typedef SDF *	SDFPtr

Functions
SDFORMAT_VISIBLE void	addNestedModel (ElementPtr _sdf, ElementPtr _includeSDF)
SDFORMAT_VISIBLE void	addURIPath (const std::string &_uri, const std::string &_path)
	Associate paths to a URI. More...
SDFORMAT_VISIBLE void	copyChildren (ElementPtr _sdf, TiXmlElement *_xml)
template<typename T >
bool	equal (const T &_a, const T &_b, const T &_epsilon=1e-6)
	check if two values are equal, within a tolerance More...
SDFORMAT_VISIBLE std::string	findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...
SDFORMAT_VISIBLE bool	init (SDFPtr _sdf)
	Init based on the installed sdf_format.xml file. More...
SDFORMAT_VISIBLE bool	initDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf)
SDFORMAT_VISIBLE bool	initDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf)
SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, SDFPtr _sdf)
SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, ElementPtr _sdf)
SDFORMAT_VISIBLE bool	initString (const std::string &_xmlString, SDFPtr _sdf)
SDFORMAT_VISIBLE bool	initXml (TiXmlElement *_xml, ElementPtr _sdf)
SDFORMAT_VISIBLE bool	readDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf, const std::string &_source)
	Populate the SDF values from a TinyXML document. More...
SDFORMAT_VISIBLE bool	readDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf, const std::string &_source)
SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, SDFPtr _sdf)
	Populate the SDF values from a file. More...
SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, SDFPtr _sdf)
	Populate the SDF values from a string. More...
SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, ElementPtr _sdf)
SDFORMAT_VISIBLE bool	readXml (TiXmlElement *_xml, ElementPtr _sdf)
SDFORMAT_VISIBLE void	setFindCallback (boost::function< std::string(const std::string &)> _cb)
	Set the callback to use when SDF can't find a file. More...

Variables
class SDFORMAT_VISIBLE	Element
class SDFORMAT_VISIBLE	Param
class SDFORMAT_VISIBLE	SDF

Detailed Description

namespace for Simulation Description Format parser

Typedef Documentation

typedef Element* sdf::ElementPtr

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

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

typedef Param* sdf::ParamPtr

typedef SDF* sdf::SDFPtr

Function Documentation

SDFORMAT_VISIBLE void sdf::addNestedModel	(	ElementPtr	_sdf,
		ElementPtr	_includeSDF
	)

SDFORMAT_VISIBLE void sdf::copyChildren	(	ElementPtr	_sdf,
		TiXmlElement *	_xml
	)

template<typename T >

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

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

Referenced by sdf::Quaternion::Correct(), sdf::Quaternion::GetInverse(), sdf::Quaternion::Normalize(), sdf::Color::operator==(), sdf::Vector2d::operator==(), and sdf::Vector3::operator==().

SDFORMAT_VISIBLE bool sdf::init

(

SDFPtr

_sdf

)

Init based on the installed sdf_format.xml file.

SDFORMAT_VISIBLE bool sdf::initDoc	(	TiXmlDocument *	_xmlDoc,
		SDFPtr	_sdf
	)

SDFORMAT_VISIBLE bool sdf::initDoc	(	TiXmlDocument *	_xmlDoc,
		ElementPtr	_sdf
	)

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

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

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

SDFORMAT_VISIBLE bool sdf::initXml	(	TiXmlElement *	_xml,
		ElementPtr	_sdf
	)

SDFORMAT_VISIBLE bool sdf::readDoc	(	TiXmlDocument *	_xmlDoc,
		SDFPtr	_sdf,
		const std::string &	_source
	)

Populate the SDF values from a TinyXML document.

SDFORMAT_VISIBLE bool sdf::readDoc	(	TiXmlDocument *	_xmlDoc,
		ElementPtr	_sdf,
		const std::string &	_source
	)

SDFORMAT_VISIBLE bool sdf::readFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

Populate the SDF values from a file.

SDFORMAT_VISIBLE bool sdf::readString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

Populate the SDF values from a string.

SDFORMAT_VISIBLE bool sdf::readString	(	const std::string &	_xmlString,
		ElementPtr	_sdf
	)

SDFORMAT_VISIBLE bool sdf::readXml	(	TiXmlElement *	_xml,
		ElementPtr	_sdf
	)

Variable Documentation

class SDFORMAT_VISIBLE sdf::Element

class SDFORMAT_VISIBLE sdf::Param

class SDFORMAT_VISIBLE sdf::SDF