parser.hh

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef SDF_PARSER_HH_
#define SDF_PARSER_HH_

#include <string>

#include "sdf/SDFImpl.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  class Root;

  SDFORMAT_VISIBLE
  bool init(SDFPtr _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
  sdf::SDFPtr readFile(const std::string &_filename);

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

  SDFORMAT_VISIBLE
  bool readFile(const std::string &_filename, SDFPtr _sdf, Errors &_errors);

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

  SDFORMAT_VISIBLE
  bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);

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

  SDFORMAT_VISIBLE
  bool readString(const std::string &_xmlString, ElementPtr _sdf,
      Errors &_errors);

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

  SDFORMAT_VISIBLE
  std::string getModelFilePath(const std::string &_modelDirPath);

  SDFORMAT_VISIBLE
  void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF);

  SDFORMAT_VISIBLE
  bool convertFile(const std::string &_filename, const std::string &_version,
                   SDFPtr _sdf);

  SDFORMAT_VISIBLE
  bool convertString(const std::string &_sdfString,
                     const std::string &_version, SDFPtr _sdf);

  SDFORMAT_VISIBLE
  bool checkCanonicalLinkNames(const sdf::Root *_root);

  SDFORMAT_VISIBLE
  bool checkFrameAttachedToGraph(const sdf::Root *_root);

  SDFORMAT_VISIBLE
  bool checkFrameAttachedToNames(const sdf::Root *_root);

  SDFORMAT_VISIBLE
  bool checkJointParentChildLinkNames(const sdf::Root *_root);

  SDFORMAT_VISIBLE
  bool checkPoseRelativeToGraph(const sdf::Root *_root);

  SDFORMAT_VISIBLE
  bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem);

  SDFORMAT_VISIBLE
  bool recursiveSiblingUniqueNames(sdf::ElementPtr _elem);

  SDFORMAT_VISIBLE
  bool shouldValidateElement(sdf::ElementPtr _elem);
  }
}
#endif