namespace for Simulation Description Format parser More...

Namespaces
	filesystem

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	ConsolePrivate

class	Converter
	Convert from one version of SDF to another. More...

class	Element
	SDF Element class. More...

class	ElementPrivate

class	Error

class	Exception
	Class for generating exceptions. More...

class	ExceptionPrivate

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	ParamPrivate

class	Root
	Root class that acts as an entry point to the SDF document model. More...

class	SDF
	Base SDF class. More...

class	SDFExtension

class	SDFPrivate
	Private data for base SDF class. More...

class	Time
	A Time class, can be used to hold wall- or sim-time. More...

class	URDF2SDF
	URDF to SDF converter. More...

class	World

Typedefs
typedef std::shared_ptr< Console >	ConsolePtr

typedef std::shared_ptr< Element >	ElementPtr

typedef std::vector< ElementPtr >	ElementPtr_V

typedef std::weak_ptr< Element >	ElementWeakPtr

using	Errors = std::vector< Error >
	A vector of Error. More...

typedef std::vector< ParamPtr >	Param_V

typedef std::shared_ptr< Param >	ParamPtr

typedef std::shared_ptr< SDF >	SDFPtr

Enumerations
enum	ErrorCode { ErrorCode::NONE = 0, ErrorCode::FILE_READ, ErrorCode::DUPLICATE_NAME, ErrorCode::ATTRIBUTE_MISSING, ErrorCode::ATTRIBUTE_INVALID, ErrorCode::ATTRIBUTE_DEPRECATED, ErrorCode::ELEMENT_MISSING, ErrorCode::ELEMENT_INVALID, ErrorCode::ELEMENT_DEPRECATED, ErrorCode::ELEMENT_INCORRECT_TYPE, ErrorCode::URI_INVALID, ErrorCode::URI_LOOKUP, ErrorCode::DIRECTORY_NONEXISTANT }
	Set of error codes. More...

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 bool	convertFile (const std::string &_filename, const std::string &_version, SDFPtr _sdf)
	Convert an SDF file to a specific SDF version. More...

SDFORMAT_VISIBLE bool	convertString (const std::string &_sdfString, const std::string &_version, SDFPtr _sdf)
	Convert an SDF string to a specific SDF version. More...

void	copyChildren (ElementPtr _sdf, TiXmlElement *_xml)

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...

SDFORMAT_VISIBLE std::string	findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...

std::string	getBestSupportedModelVersion (TiXmlElement *_modelXML, std::string &_modelFileName)
	Get the best SDF version from models supported by this sdformat. More...

SDFORMAT_VISIBLE std::string	getModelFilePath (const std::string &_modelDirPath)
	Get the file path to the model file. More...

SDFORMAT_VISIBLE bool	init (SDFPtr _sdf)
	Init based on the installed sdf_format.xml file. More...

bool	initDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf)
	Initialize the SDF interface using a TinyXML document. More...

bool	initDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf)
	Initialize and SDF Element using a TinyXML document. More...

SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, SDFPtr _sdf)
	Initialize the SDF interface using a file. More...

SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, ElementPtr _sdf)
	Initialize an SDFElement interface using a file. More...

SDFORMAT_VISIBLE bool	initString (const std::string &_xmlString, SDFPtr _sdf)
	Initialize the SDF interface using a string. More...

bool	initXml (TiXmlElement *_xml, ElementPtr _sdf)
	For internal use only. Do not use this function. More...

bool	readDoc (TiXmlDocument *_xmlDoc, SDFPtr _sdf, const std::string &_source, bool _convert, Errors &_errors)
	Populate the SDF values from a TinyXML document. More...

bool	readDoc (TiXmlDocument *_xmlDoc, ElementPtr _sdf, const std::string &_source, bool _convert, Errors &_errors)

SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename)
	Populate the SDF values from a file. More...

SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename, Errors &_errors)
	Populate the SDF values from a file. More...

SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a file. More...

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, Errors &_errors)
	Populate the SDF values from a string. 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, Errors &_errors)
	Populate the SDF values from a string. More...

SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, ElementPtr _sdf)
	Populate the SDF values from a string. More...

bool	readXml (TiXmlElement *_xml, ElementPtr _sdf, Errors &_errors)
	For internal use only. More...

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...

SDFORMAT_VISIBLE std::vector < std::string >	split (const std::string &_str, const std::string &_splitter)
	Split a string using the delimiter in splitter. More...

SDFORMAT_VISIBLE std::string	trim (const char *_in)
	Trim leading and trailing whitespace from a string. 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 std::shared_ptr<Element> sdf::ElementPtr

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

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

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

A vector of Error.

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

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

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

Enumeration Type Documentation

enum sdf::ErrorCode

strong

Set of error codes.

Usually one or more errors are returned in an Errors vector. The collection of Errors should be take as a whole, where an error toward the beginning of the vector can inform errors toward the end of the vector.

See Also: Errors

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.
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.
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.
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.

Function Documentation

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

SDFORMAT_VISIBLE bool sdf::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.

SDFORMAT_VISIBLE bool sdf::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.

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

template<typename T >

bool sdf::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

Referenced by sdf::Color::operator==().

std::string sdf::getBestSupportedModelVersion	(	TiXmlElement *	_modelXML,
		std::string &	_modelFileName
	)

Get the best SDF version from models supported by this sdformat.

Parameters

[in]	_modelXML	XML element from config file pointing to the model XML tag
[out]	_modelFileName	file name of the best model file

Returns: string with the best SDF version supported

SDFORMAT_VISIBLE std::string sdf::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.

SDFORMAT_VISIBLE bool sdf::init ( SDFPtr _sdf )

Init based on the installed sdf_format.xml file.

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

Initialize the SDF interface using a TinyXML document.

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

Initialize and SDF Element using a TinyXML document.

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

Initialize the SDF interface using a file.

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

Initialize an SDFElement interface using a file.

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

Initialize the SDF interface using a string.

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

For internal use only. Do not use this function.

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

Populate the SDF values from a TinyXML document.

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

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

Populate the SDF values from a file.

Parameters

[in] _filename Name of the SDF file

Returns: Populated SDF pointer.

SDFORMAT_VISIBLE sdf::SDFPtr sdf::readFile	(	const std::string &	_filename,
		Errors &	_errors
	)

Populate the SDF values from a file.

Parameters

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

Returns: Populated SDF pointer.

SDFORMAT_VISIBLE bool sdf::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
[in]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

SDFORMAT_VISIBLE bool sdf::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
[in]	_sdf	Pointer to an SDF object.

Returns: True if successful.

SDFORMAT_VISIBLE bool sdf::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

[out] _errors Parsing errors will be appended to this variable.

SDFORMAT_VISIBLE bool sdf::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

SDFORMAT_VISIBLE bool sdf::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

[out] _errors Parsing errors will be appended to this variable.

SDFORMAT_VISIBLE bool sdf::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

bool sdf::readXml	(	TiXmlElement *	_xml,
		ElementPtr	_sdf,
		Errors &	_errors
	)

For internal use only.

Do not use this function.

Parameters

[in]	_xml	Pointer to the XML document
[in,out]	_sdf	SDF pointer to parse data into.
[out]	_errors	Captures errors found during parsing.

Returns: True on success, false on error.

SDFORMAT_VISIBLE std::vector<std::string> sdf::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.

SDFORMAT_VISIBLE std::string sdf::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.

Variable Documentation

class SDFORMAT_VISIBLE sdf::Element

class SDFORMAT_VISIBLE sdf::Param

class SDFORMAT_VISIBLE sdf::SDF

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation