123 lines
4.3 KiB
C++
123 lines
4.3 KiB
C++
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/*
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* Copyright 2012 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 _SDF_PARSER_HH_
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#define _SDF_PARSER_HH_
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#include <tinyxml.h>
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#include <string>
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#include "sdf/SDFImpl.hh"
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#include "sdf/system_util.hh"
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/// \ingroup sdf_parser
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/// \brief namespace for Simulation Description Format parser
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namespace sdf
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{
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/// \brief Init based on the installed sdf_format.xml file
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SDFORMAT_VISIBLE
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bool init(SDFPtr _sdf);
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// \brief Initialize the SDF interface using a file
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SDFORMAT_VISIBLE
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bool initFile(const std::string &_filename, SDFPtr _sdf);
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// \brief Initialize and SDFElement interface using a file
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SDFORMAT_VISIBLE
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bool initFile(const std::string &_filename, ElementPtr _sdf);
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// \brief Initialize the SDF interface using a string
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SDFORMAT_VISIBLE
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bool initString(const std::string &_xmlString, SDFPtr _sdf);
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// \brief Initialize the SDF interface using a TinyXML document
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SDFORMAT_VISIBLE
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bool initDoc(TiXmlDocument *_xmlDoc, SDFPtr _sdf);
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// \brief Initialize and SDF Element using a TinyXML document
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SDFORMAT_VISIBLE
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bool initDoc(TiXmlDocument *_xmlDoc, ElementPtr _sdf);
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// \brief For internal use only. Do not use this function.
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SDFORMAT_VISIBLE
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bool initXml(TiXmlElement *_xml, ElementPtr _sdf);
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/// \brief Populate the SDF values from a file
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SDFORMAT_VISIBLE
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bool readFile(const std::string &_filename, SDFPtr _sdf);
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/// \brief Populate the SDF values from a string
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SDFORMAT_VISIBLE
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bool readString(const std::string &_xmlString, SDFPtr _sdf);
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SDFORMAT_VISIBLE
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bool readString(const std::string &_xmlString, ElementPtr _sdf);
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/// \brief Populate the SDF values from a TinyXML document
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SDFORMAT_VISIBLE
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bool readDoc(TiXmlDocument *_xmlDoc, SDFPtr _sdf, const std::string &_source);
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SDFORMAT_VISIBLE
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bool readDoc(TiXmlDocument *_xmlDoc, ElementPtr _sdf,
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const std::string &_source);
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// \brief For internal use only. Do not use this function.
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SDFORMAT_VISIBLE
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bool readXml(TiXmlElement *_xml, ElementPtr _sdf);
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/// \brief Get the best SDF version from models supported by this sdformat
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/// \param[in] _modelXML XML element from config file pointing to the
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/// model XML tag
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/// \param[out] _modelFileName file name of the best model file
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/// \return string with the best SDF version supported
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SDFORMAT_VISIBLE
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std::string getBestSupportedModelVersion(TiXmlElement *_modelXML,
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std::string &_modelFileName);
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/// \brief Get the file path to the model file
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/// \param[in] _modelDirPath directory system path of the model
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/// \return string with the full filesystem path to the best version (greater
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/// SDF protocol supported by this sdformat version) of the .sdf
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/// model files hosted by _modelDirPath.
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SDFORMAT_VISIBLE
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std::string getModelFilePath(const std::string &_modelDirPath);
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SDFORMAT_VISIBLE
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void copyChildren(ElementPtr _sdf, TiXmlElement *_xml);
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SDFORMAT_VISIBLE
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void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF);
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/// \brief Convert an SDF file to a specific SDF version.
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/// \param[in] _filename Name of the SDF file to convert.
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/// \param[in] _version Version to convert _filename to.
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/// \param[out] _sdf Pointer to the converted SDF document.
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/// \return True on success.
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SDFORMAT_VISIBLE
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bool convertFile(const std::string &_filename, const std::string &_version,
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SDFPtr _sdf);
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/// \brief Convert an SDF string to a specific SDF version.
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/// \param[in] _sdfString The SDF string to convert.
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/// \param[in] _version Version to convert _filename to.
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/// \param[out] _sdf Pointer to the converted SDF document.
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/// \return True on success.
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SDFORMAT_VISIBLE
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bool convertString(const std::string &_sdfString,
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const std::string &_version, SDFPtr _sdf);
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}
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#endif
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