175 lines
6.4 KiB
C++
175 lines
6.4 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_SVGLOADER_HH_
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#define _GAZEBO_SVGLOADER_HH_
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#include <stdexcept>
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#include <string>
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#include <vector>
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#include <ignition/math/Vector2.hh>
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#include <ignition/math/Matrix3.hh>
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#include <gazebo/common/Console.hh>
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#include <gazebo/math/Vector2d.hh>
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#include <gazebo/math/Matrix3.hh>
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class TiXmlElement;
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class TiXmlNode;
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namespace gazebo
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{
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namespace common
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{
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class SVGLoaderPrivate;
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/// \brief Handles errors during SVG parsing
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class GZ_COMMON_VISIBLE SvgError: public std::runtime_error
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{
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/// \brief constructor
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/// \param[in] _what The error description
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public: SvgError(const std::string &_what);
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};
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/// \brief SVG command data structure
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class GZ_COMMON_VISIBLE SVGCommand
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{
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/// \brief Constructor
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public: SVGCommand() : cmd(' ') {}
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/// \brief Destructor
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public: virtual ~SVGCommand() = default;
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/// \brief A letter that describe the segment
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public: char cmd;
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/// \brief Coordinates for the command
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public: std::vector<double> numbers;
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};
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/// \brief An SVG path element data structure
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struct GZ_COMMON_VISIBLE SVGPath
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{
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/// \brief An id or name
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std::string id;
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/// \brief The style (i.e. stroke style, color, thickness etc)
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std::string style;
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/// \brief A 2D transform (or a list of transforms)
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ignition::math::Matrix3d transform;
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/// \brief A list of subpaths (as lists of commands)
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std::vector< std::vector<SVGCommand> > subpaths;
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/// \brief The polylines described by the commands
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std::vector< std::vector<ignition::math::Vector2d> > polylines;
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};
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/// \brief A loader for SVG files
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class GZ_COMMON_VISIBLE SVGLoader
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{
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/// \brief Constructor
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/// \param[in] _samples The number of points for cubic spline segments
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public: SVGLoader(unsigned int _samples);
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/// \brief destructor
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public: ~SVGLoader();
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/// \brief Reads an SVG file and loads all the paths
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/// \param[in] _filename The SVG file
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/// \param[out] _paths Vector that receives path datai
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/// \return false when the file cannot be processed
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public: bool Parse(const std::string &_filename,
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std::vector<SVGPath> &_paths);
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/// \brief Reads in paths and outputs closed polylines and open polylines
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/// \param[in] _paths The input paths
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/// \param[in] _tol Tolerence when comparing distance between 2 points.
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/// \param[out] _closedPolys A vector to collect new closed loops
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/// \param[out] _openPolys A vector to collect non closed paths
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public: static void PathsToClosedPolylines(
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const std::vector<common::SVGPath> &_paths,
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double _tol,
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std::vector< std::vector<ignition::math::Vector2d> > &_closedPolys,
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std::vector< std::vector<ignition::math::Vector2d> > &_openPolys);
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/// \brief Outputs the content of the paths to file (or console)
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/// \param[in] _paths The paths
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/// \param[in] _out The output stream (can be a file or std::cout)
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public: void DumpPaths(const std::vector<SVGPath> &_paths,
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std::ostream &_out) const;
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/// \brief Parses a list of strings into a path
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/// \param[in] _tokens The tokenized path attribute from SVG file
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/// \param[out] _path The path that receives the data
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private: void GetPathCommands(const std::vector<std::string> &_tokens,
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SVGPath &_path);
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/// \brief Gets data from an XML path element
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/// \param[in] _pElement The path Element
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/// \param[out] _path The path that receives the data.
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private: void GetPathAttribs(TiXmlElement *_pElement, SVGPath &_path);
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/// \brief Reads the paths from the root XML element
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/// \param[in] _pParent The parent XML node of the SVG file
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/// \param[out] _paths The vector of paths that receives the data
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private: void GetSvgPaths(TiXmlNode *_pParent,
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std::vector<SVGPath> &_paths);
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/// \brief Generates new commands for every repeat commands in subpaths
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/// \param[in] _subpaths The subpaths (with repeats)
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/// \param[out] _path The path that receives the data.
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private: void ExpandCommands(
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const std::vector< std::vector<SVGCommand> > &_subpaths,
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SVGPath& _path);
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/// \brief Splits a list of commands into subpaths
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/// \param[in] _cmds The flat list of commands for all the subpaths
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/// \param[out] _subpaths The vector of subpathts that receives the data
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/// \throws SvgError
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private: void SplitSubpaths(const std::vector<SVGCommand> &_cmds,
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std::vector< std::vector<SVGCommand> > &_subpaths);
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/// \brief Generates a list of polylines from a path
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/// \param[in] _path The path
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/// \param[in] _resolution The step size (between 0 and 1)
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/// \param[out] _polys The vector that receives the polylines
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private: void PathToPoints(const SVGPath &_path,
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double _resolution,
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std::vector< std::vector<ignition::math::Vector2d> > &_polys);
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/// \brief Generates polylines for each SVG subpath
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/// \param[in] _subpath The subpath commands
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/// \param[in] _last The previous position (for relative path commands)
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/// \param[out] _polyline The polyline that receives the data
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/// \return The last point of the subpath
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private: ignition::math::Vector2d SubpathToPolyline(
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const std::vector<SVGCommand> &_subpath,
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ignition::math::Vector2d _last,
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std::vector<ignition::math::Vector2d> &_polyline);
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/// \internal
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/// \brief Pointer to private data
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private: SVGLoaderPrivate *dataPtr;
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};
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}
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}
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#endif
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