Classes
class	AirPressure
	AirPressure contains information about a general purpose fluid pressure sensor. More...

class	Altimeter
	Altimeter contains information about an altimeter sensor. More...

class	AssertionInternalError
	Class for generating Exceptions which come from sdf assertions. More...

class	Atmosphere
	The Atmosphere class contains information about an atmospheric model and related parameters such as temperature and pressure at sea level. More...

class	Box
	Box represents a box shape, and is usually accessed through a Geometry. More...

class	Camera
	Information about a monocular camera sensor. More...

class	Collision
	A collision element descibes the collison properties associated with a link. 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	Cylinder
	Cylinder represents a cylinder shape, and is usually accessed through a Geometry. More...

class	Element
	SDF Element class. More...

class	ElementPrivate

class	Error

class	Exception
	Class for generating exceptions. More...

class	ExceptionPrivate

class	Geometry
	Geometry provides access to a shape, such as a Box. More...

class	Gui

class	Imu
	Imu contains information about an imu sensor. 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	Joint

class	JointAxis
	Parameters related to the axis of rotation for rotational joints, and the axis of translation for prismatic joints. More...

class	Lidar
	Lidar contains information about a Lidar sensor. More...

class	Light
	Provides a description of a light source. More...

class	Link

class	Magnetometer
	Magnetometer contains information about a magnetometer sensor. More...

class	Material
	This class contains visual material properties. More...

class	Mesh
	Mesh represents a mesh shape, and is usually accessed through a Geometry. More...

class	Model

class	Noise
	The Noise class contains information about a noise model, such as a Gaussian distribution. More...

class	Param
	A parameter class. More...

class	ParamPrivate

struct	ParamStreamer

class	Pbr
	This class provides access to Physically-Based-Rendering (PBR) material workflows. More...

class	PbrWorkflow
	This class contains Physically-Based-Rendering (PBR) workflow properties. More...

class	Physics
	The physics element specifies the type and properties of a dynamics engine. More...

class	Plane
	Plane represents a plane shape, and is usually accessed through a Geometry. More...

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

class	Scene

class	SDF
	Base SDF class. More...

class	SDFExtension

class	Sphere
	Sphere represents a sphere shape, and is usually accessed through a Geometry. More...

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

class	URDF2SDF
	URDF to SDF converter. More...

class	Visual

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	AtmosphereType { AtmosphereType::ADIABATIC = 0 }
	The set of atmosphere model types. More...

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, ErrorCode::LINK_INERTIA_INVALID, ErrorCode::STRING_READ }
	Set of error codes. More...

enum	GeometryType { GeometryType::EMPTY = 0, GeometryType::BOX = 1, GeometryType::CYLINDER = 2, GeometryType::PLANE = 3, GeometryType::SPHERE = 4, GeometryType::MESH = 5 }
	The set of geometry types. More...

enum	JointType { JointType::INVALID = 0, JointType::BALL = 1, JointType::CONTINUOUS = 2, JointType::FIXED = 3, JointType::GEARBOX = 4, JointType::PRISMATIC = 5, JointType::REVOLUTE = 6, JointType::REVOLUTE2 = 7, JointType::SCREW = 8, JointType::UNIVERSAL = 9 }
	The set of joint types. More...

enum	LightType { LightType::INVALID = 0, LightType::POINT = 1, LightType::SPOT = 2, LightType::DIRECTIONAL = 3 }
	The set of light types. More...

enum	NoiseType { NoiseType::NONE = 0, NoiseType::GAUSSIAN = 1, NoiseType::GAUSSIAN_QUANTIZED = 2 }
	The set of noise types. More...

enum	NormalMapSpace : int { NormalMapSpace::TANGENT = 0, NormalMapSpace::OBJECT = 1 }
	Space the normal map is defined in. More...

enum	PbrWorkflowType : int { PbrWorkflowType::NONE = 0, PbrWorkflowType::METAL = 1, PbrWorkflowType::SPECULAR = 2 }
	Type of PBR workflow. More...

enum	PixelFormatType { PixelFormatType::UNKNOWN_PIXEL_FORMAT = 0, PixelFormatType::L_INT8, PixelFormatType::L_INT16, PixelFormatType::RGB_INT8, PixelFormatType::RGBA_INT8, PixelFormatType::BGRA_INT8, PixelFormatType::RGB_INT16, PixelFormatType::RGB_INT32, PixelFormatType::BGR_INT8, PixelFormatType::BGR_INT16, PixelFormatType::BGR_INT32, PixelFormatType::R_FLOAT16, PixelFormatType::RGB_FLOAT16, PixelFormatType::R_FLOAT32, PixelFormatType::RGB_FLOAT32, PixelFormatType::BAYER_RGGB8, PixelFormatType::BAYER_BGGR8, PixelFormatType::BAYER_GBRG8, PixelFormatType::BAYER_GRBG8 }
	The set of pixel formats. More...

enum	ShaderType : int { ShaderType::PIXEL = 0, ShaderType::VERTEX = 1, ShaderType::NORMAL_MAP_OBJECTSPACE = 2, ShaderType::NORMAL_MAP_TANGENTSPACE = 3 }

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, const bool _onlyUnknown)
	Copy child XML elements into the _sdf element. More...

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...

std::string SDFORMAT_VISIBLE	lowercase (const std::string &_in)
	Transforms a string to its lowercase equivalent. More...

template<class T >
std::ostream &	operator<< (std::ostream &os, ParamStreamer< T > s)

template<class... Ts>
std::ostream &	operator<< (std::ostream &os, ParamStreamer< std::variant< Ts... >> sv)

template<class T >
	ParamStreamer (T) -> ParamStreamer< T >

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

Typedef Documentation

◆ ElementPtr

typedef std::shared_ptr<Element> sdf::v8::ElementPtr

◆ ElementPtr_V

typedef std::vector<ElementPtr> sdf::v8::ElementPtr_V

◆ ElementWeakPtr

typedef std::weak_ptr<Element> sdf::v8::ElementWeakPtr

◆ Errors

using sdf::v8::Errors = typedef std::vector<Error>

A vector of Error.

◆ Param_V

typedef std::vector<ParamPtr> sdf::v8::Param_V

◆ ParamPtr

typedef std::shared_ptr<Param> sdf::v8::ParamPtr

◆ SDFPtr

typedef std::shared_ptr<SDF> sdf::v8::SDFPtr

Enumeration Type Documentation

◆ AtmosphereType

enum sdf::v8::AtmosphereType

strong

The set of atmosphere model types.

Enumerator
ADIABATIC	Adiabatic atmosphere model.

◆ ErrorCode

enum sdf::v8::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.
LINK_INERTIA_INVALID	A link has invalid inertia.
STRING_READ	Indicates that reading an SDF string failed.

◆ GeometryType

enum sdf::v8::GeometryType

strong

The set of geometry types.

Enumerator
EMPTY	Empty geometry. This means no shape has been defined.
BOX	A box geometry.
CYLINDER	A cylinder geometry.
PLANE	A plane geometry.
SPHERE	A sphere geometry.
MESH	A mesh geometry.

◆ JointType

enum sdf::v8::JointType

strong

The set of joint types.

INVALID indicates that joint type has not been set, or has not been set correctly.

Enumerator
INVALID	An invalid joint. This indicates an error since a joint type is required to fully specify a joint.
BALL	A ball and socket joint.
CONTINUOUS	A hinge joint that rotates on a single axis with a continuous range of motion.
FIXED	A joint with zero degrees of freedom that rigidly connects two links.
GEARBOX	Geared revolute joint.
PRISMATIC	A sliding joint that slides along an axis with a limited range specified by upper and lower limits.
REVOLUTE	A hinge joint that rotates on a single axis with a fixed range of motion.
REVOLUTE2	Same as two revolute joints connected in series.
SCREW	A single degree of freedom joint with coupled sliding and rotational motion.
UNIVERSAL	Similar to a ball joint, but constrains one degree of freedom.

◆ LightType

enum sdf::v8::LightType

strong

The set of light types.

INVALID indicates that light type has not been set, or has not been set correctly.

Enumerator
INVALID	An invalid light. This indicates an error since a light type is required to fully specify a light.
POINT	A point light source.
SPOT	A spot light source.
DIRECTIONAL	A directional light source.

◆ NoiseType

enum sdf::v8::NoiseType

strong

The set of noise types.

Enumerator
NONE	No noise model.
GAUSSIAN	Draw noise values independently for each measurement from a Gaussian distribution.
GAUSSIAN_QUANTIZED	Gaussian noise plus quantization of outputs (ie. rounding).

◆ NormalMapSpace

enum sdf::v8::NormalMapSpace : int

strong

Space the normal map is defined in.

Enumerator
TANGENT	Tangent space.
OBJECT	Object space.

◆ PbrWorkflowType

enum sdf::v8::PbrWorkflowType : int

strong

Type of PBR workflow.

Enumerator
NONE	No workflow.
METAL	Metal/Roughness workflow.
SPECULAR	Specular/Glossiness workflow.

◆ PixelFormatType

enum sdf::v8::PixelFormatType

strong

The set of pixel formats.

This list should match ignition::common::Image::PixelFormatType.

Enumerator
UNKNOWN_PIXEL_FORMAT
L_INT8
L_INT16
RGB_INT8
RGBA_INT8
BGRA_INT8
RGB_INT16
RGB_INT32
BGR_INT8
BGR_INT16
BGR_INT32
R_FLOAT16
RGB_FLOAT16
R_FLOAT32
RGB_FLOAT32
BAYER_RGGB8
BAYER_BGGR8
BAYER_GBRG8
BAYER_GRBG8

◆ ShaderType

enum sdf::v8::ShaderType : int

strong

Enumerator
PIXEL
VERTEX
NORMAL_MAP_OBJECTSPACE
NORMAL_MAP_TANGENTSPACE

Function Documentation

◆ addNestedModel()

SDFORMAT_VISIBLE void sdf::v8::addNestedModel	(	ElementPtr	_sdf,
		ElementPtr	_includeSDF
	)

◆ convertFile()

SDFORMAT_VISIBLE bool sdf::v8::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.

◆ convertString()

SDFORMAT_VISIBLE bool sdf::v8::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.

◆ copyChildren()

void sdf::v8::copyChildren	(	ElementPtr	_sdf,
		TiXmlElement *	_xml,
		const bool	_onlyUnknown
	)

Copy child XML elements into the _sdf element.

Parameters

[in]	_sdf	Parent Element.
[in]	_xml	Pointer to element from which child elements should be copied.
[in]	_onlyUnknown	True to copy only elements that are NOT part of the SDF spec. Set this to false to copy everything.

◆ equal()

template<typename T >

bool sdf::v8::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::v8::Color::operator==().

◆ getBestSupportedModelVersion()

std::string sdf::v8::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

◆ getModelFilePath()

SDFORMAT_VISIBLE std::string sdf::v8::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.

◆ init()

SDFORMAT_VISIBLE bool sdf::v8::init ( SDFPtr _sdf )

Init based on the installed sdf_format.xml file.

◆ initDoc() [1/2]

bool sdf::v8::initDoc	(	TiXmlDocument *	_xmlDoc,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a TinyXML document.

◆ initDoc() [2/2]

bool sdf::v8::initDoc	(	TiXmlDocument *	_xmlDoc,
		ElementPtr	_sdf
	)

Initialize and SDF Element using a TinyXML document.

◆ initFile() [1/2]

SDFORMAT_VISIBLE bool sdf::v8::initFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a file.

◆ initFile() [2/2]

SDFORMAT_VISIBLE bool sdf::v8::initFile	(	const std::string &	_filename,
		ElementPtr	_sdf
	)

Initialize an SDFElement interface using a file.

◆ initString()

SDFORMAT_VISIBLE bool sdf::v8::initString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a string.

◆ initXml()

bool sdf::v8::initXml	(	TiXmlElement *	_xml,
		ElementPtr	_sdf
	)

For internal use only. Do not use this function.

◆ lowercase()

std::string SDFORMAT_VISIBLE sdf::v8::lowercase ( const std::string & _in )

Transforms a string to its lowercase equivalent.

Parameters

[in] _in String to convert to lowercase

Returns: Lowercase equilvalent of _in.

◆ operator<<() [1/2]

template<class T >

std::ostream& sdf::v8::operator<<	(	std::ostream &	os,
		ParamStreamer< T >	s
	)

References sdf::v8::ParamStreamer< T >::val.

Referenced by sdf::v8::Console::ConsoleStream::ConsoleStream().

◆ operator<<() [2/2]

template<class... Ts>

std::ostream& sdf::v8::operator<<	(	std::ostream &	os,
		ParamStreamer< std::variant< Ts... >>	sv
	)

References sdf::v8::ParamStreamer< T >::val.

◆ ParamStreamer()

template<class T >

sdf::v8::ParamStreamer ( T ) -> ParamStreamer< T >

◆ readDoc() [1/2]

bool sdf::v8::readDoc	(	TiXmlDocument *	_xmlDoc,
		SDFPtr	_sdf,
		const std::string &	_source,
		bool	_convert,
		Errors &	_errors
	)

Populate the SDF values from a TinyXML document.

◆ readDoc() [2/2]

bool sdf::v8::readDoc	(	TiXmlDocument *	_xmlDoc,
		ElementPtr	_sdf,
		const std::string &	_source,
		bool	_convert,
		Errors &	_errors
	)

◆ readFile() [1/4]

SDFORMAT_VISIBLE sdf::SDFPtr sdf::v8::readFile ( const std::string & _filename )

Populate the SDF values from a file.

Parameters

[in] _filename Name of the SDF file

Returns: Populated SDF pointer.

◆ readFile() [2/4]

SDFORMAT_VISIBLE sdf::SDFPtr sdf::v8::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.

◆ readFile() [3/4]

SDFORMAT_VISIBLE bool sdf::v8::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.

◆ readFile() [4/4]

SDFORMAT_VISIBLE bool sdf::v8::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.

◆ readString() [1/4]

SDFORMAT_VISIBLE bool sdf::v8::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.

◆ readString() [2/4]

SDFORMAT_VISIBLE bool sdf::v8::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

◆ readString() [3/4]

SDFORMAT_VISIBLE bool sdf::v8::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.

◆ readString() [4/4]

SDFORMAT_VISIBLE bool sdf::v8::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

◆ readXml()

bool sdf::v8::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.

◆ split()

SDFORMAT_VISIBLE std::vector<std::string> sdf::v8::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.

◆ trim()

SDFORMAT_VISIBLE std::string sdf::v8::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

◆ Element

class SDFORMAT_VISIBLE sdf::v8::Element

◆ Param

class SDFORMAT_VISIBLE sdf::v8::Param

◆ SDF

class SDFORMAT_VISIBLE sdf::v8::SDF

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ElementPtr

◆ ElementPtr_V

◆ ElementWeakPtr

◆ Errors

◆ Param_V

◆ ParamPtr

◆ SDFPtr

Enumeration Type Documentation

◆ AtmosphereType

◆ ErrorCode

◆ GeometryType

◆ JointType

◆ LightType

◆ NoiseType

◆ NormalMapSpace

◆ PbrWorkflowType

◆ PixelFormatType

◆ ShaderType

Function Documentation

◆ addNestedModel()

◆ convertFile()

◆ convertString()

◆ copyChildren()

◆ equal()

◆ getBestSupportedModelVersion()

◆ getModelFilePath()

◆ init()

◆ initDoc() [1/2]

◆ initDoc() [2/2]

◆ initFile() [1/2]

◆ initFile() [2/2]

◆ initString()

◆ initXml()

◆ lowercase()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ ParamStreamer()

◆ readDoc() [1/2]

◆ readDoc() [2/2]

◆ readFile() [1/4]

◆ readFile() [2/4]

◆ readFile() [3/4]

◆ readFile() [4/4]

◆ readString() [1/4]

◆ readString() [2/4]

◆ readString() [3/4]

◆ readString() [4/4]

◆ readXml()

◆ split()

◆ trim()

Variable Documentation

◆ Element

◆ Param

◆ SDF