Implementation of SDFormatParserI. More...

#include <sdformat_parser.h>

Inheritance diagram for SDFormatParser:

Collaboration diagram for SDFormatParser:

Private Member Functions
void	Initialize (const std::string file_path, bool &success) override
	Implementation of interface method.

sdf::SDFPtr	GetSDFElement () override
	Implementation of interface method.

std::vector< sdf::ElementPtr >	LookupElementsByAttributeType (const std::string &attribute_type) override
	Implementation of interface method.

std::vector< sdf::ElementPtr >	LookupElementsByAttributeTypeAndValue (const std::string &attribute_type, const std::string &attribute_value) override
	Implementation of interface method.

std::vector< sdf::ElementPtr >	LookupElementsInternal (const std::string &attribute_type, const std::string &attribute_value, sdf::ElementPtr scope, sdf::ElementPtr scope_to_exclude)
	Attempts to find an element containing the given attribute type and attribute value within an inital scope. The method will continue expanding the scope until it reaches the root element.

sdf::ElementPtr	FindScope (sdf::ElementPtr element)
	Finds the nearest world, model, or root element parent of the given element.

sdf::ElementPtr	FindCanonical (sdf::ElementPtr element)
	Finds the canonical link of a model and, if that doesn't exist, the first child nested model.

std::vector< sdf::ElementPtr >	LookupElementsByType (const std::string &type) override
	Implementation of interface method.

Mentions	FindMentions (std::string key) override
	Implementation of interface method.

Mentions	FindMentions (std::string key, sdf::ElementPtr element_to_exclude) override
	Implementation of interface method.

Mentions	FindMentions (std::string key, sdf::ParamPtr attribute_to_exclude) override
	Implementation of interface method.

Mentions	FindMentions (std::string key, sdf::ElementPtr element_to_exclude, sdf::ParamPtr attribute_to_exclude) override
	Implementation of interface method.

std::string	GetSDFTreePathToElement (sdf::ElementPtr element) override
	Implementation of interface method.

std::pair< glm::dvec3, glm::dquat >	FindAbsolutePose (sdf::ElementPtr element, std::vector< sdf::ElementPtr > previously_visited_elements={})
	Finds the absolute pose (translation and rotation) of a given mesh/geometry-containing element.

std::pair< glm::dvec3, glm::dquat >	ParsePoseElement (sdf::ElementPtr element, std::string &relative_to)
	Parses a given pose element to get the pose values, and also indicates if this pose is relative to anything else.

bool	HandleRelativeToSpecificationSpecialcases (sdf::ElementPtr element, std::string &relative_to)
	Considers if this is a special case of "relative_to" and approperiately handles it.

std::vector< double >	ParseStringDoubleVector (const std::string &string_of_doubles, bool &success)
	Given a string containing doubles seperated by spaces, this method returns a vector a doubles.

std::pair< std::vector< ModelViewerI::ModelInfo >, std::vector< ModelViewerI::PresetModelInfo > >	GetModelsFromSDFTree (bool render_collisions=false) override
	Implementation of interface method.

Private Attributes
sdf::SDFPtr	sdfElement
	The main sdfElement associated this this SDFormatParser instance.

std::string	sdf_file_path
	Store the file path of the sdf file.

Additional Inherited Members

Detailed Description

Implementation of SDFormatParserI.

Member Function Documentation

◆ FindAbsolutePose()

std::pair< glm::dvec3, glm::dquat > SDFormatParser::FindAbsolutePose	(	sdf::ElementPtr	element,
		std::vector< sdf::ElementPtr >	previously_visited_elements = `{}`
	)

private

Finds the absolute pose (translation and rotation) of a given mesh/geometry-containing element.

Parameters

[in]	element	The element for which we want to find absolute position
[in]	previously_visited_elements	indicates elements that were previously visited as we are trying to compute absolute pose. Used to detect a reference cycle in "relative_to" mentions.

Returns: A pair datatype containing the absolute translation and rotation of the given element

◆ FindCanonical()

sdf::ElementPtr SDFormatParser::FindCanonical ( sdf::ElementPtr element )

private

Finds the canonical link of a model and, if that doesn't exist, the first child nested model.

Parameters

[in] element we want to the "canonical" of, must be a model element

Returns: The canonical link. If that does not exist in the immediate scope, the first nested model. If that does not exist, a null pointer. Also returns a null pointer if the given element is not a model

◆ FindMentions() [1/4]

SDFormatParser::Mentions SDFormatParser::FindMentions ( std::string key )

overrideprivatevirtual

Implementation of interface method.

Parameters

[in] key the string to search for

Returns: The elements and attributes that mention this given key

Implements SDFormatParserI.

◆ FindMentions() [2/4]

SDFormatParser::Mentions SDFormatParser::FindMentions	(	std::string	key,
		sdf::ElementPtr	element_to_exclude
	)

overrideprivatevirtual

Implementation of interface method.

Parameters

[in]	key	the string to search for
[in]	element_to_exclude	the element to exclude in the search

Returns: The elements and attributes that mention this given key

Implements SDFormatParserI.

◆ FindMentions() [3/4]

SDFormatParser::Mentions SDFormatParser::FindMentions	(	std::string	key,
		sdf::ElementPtr	element_to_exclude,
		sdf::ParamPtr	attribute_to_exclude
	)

overrideprivatevirtual

Implementation of interface method.

Parameters

[in]	key	the string to search for
[in]	element_to_exclude	the element to exclude in the search; Can be nullptr
[in]	attribute_to_exclude	the attribute to exclude in the search; Can be nullptr

Returns: The elements and attributes that mention this given key

Implements SDFormatParserI.

◆ FindMentions() [4/4]

SDFormatParser::Mentions SDFormatParser::FindMentions	(	std::string	key,
		sdf::ParamPtr	attribute_to_exclude
	)

overrideprivatevirtual

Implementation of interface method.

Parameters

[in]	key	the string to search for
[in]	attribute_to_exclude	the attribute to exclude in the search

Returns: The elements and attributes that mention this given key

Implements SDFormatParserI.

◆ FindScope()

sdf::ElementPtr SDFormatParser::FindScope ( sdf::ElementPtr element )

private

Finds the nearest world, model, or root element parent of the given element.

Parameters

[in] element we want to get the scope for

Returns: The world, model, or root element defining the given element's scope

◆ GetModelsFromSDFTree()

std::pair< std::vector< ModelViewerI::ModelInfo >, std::vector< ModelViewerI::PresetModelInfo > > SDFormatParser::GetModelsFromSDFTree ( bool render_collisions = false )

overrideprivatevirtual

Implementation of interface method.

Parameters

[in] render_collisions indicates if collision meshes and shapes are included as well

Returns: A pair of vectors condaining structs of the model viewer interfaces's ModelInfo and Preset Model Info, which in turn contain the necessary information to render models

Implements SDFormatParserI.

◆ GetSDFElement()

sdf::SDFPtr SDFormatParser::GetSDFElement ( )

overrideprivatevirtual

Implementation of interface method.

Returns: The main sdfElement associated this this SDFormatParser instance

Implements SDFormatParserI.

◆ GetSDFTreePathToElement()

std::string SDFormatParser::GetSDFTreePathToElement ( sdf::ElementPtr element )

overrideprivatevirtual

Implementation of interface method.

Parameters

[in] element element that we want a tree path for

Returns: Tree path as a string

Implements SDFormatParserI.

◆ HandleRelativeToSpecificationSpecialcases()

bool SDFormatParser::HandleRelativeToSpecificationSpecialcases	(	sdf::ElementPtr	element,
		std::string &	relative_to
	)

private

Considers if this is a special case of "relative_to" and approperiately handles it.

Parameters

[in]	element	The element to consider
[out]	relative_to	The "relative_to" specification

Returns: Returns true if successful

◆ Initialize()

void SDFormatParser::Initialize	(	const std::string	file_path,
		bool &	success
	)

overrideprivatevirtual

Implementation of interface method.

Implements SDFormatParserI.

◆ LookupElementsByAttributeType()

std::vector< sdf::ElementPtr > SDFormatParser::LookupElementsByAttributeType ( const std::string & attribute_type )

overrideprivatevirtual

Implementation of interface method.

Parameters

[in] attribute_type The attribute type to use for lookup

Returns: A list of elements with a given attribute type

Implements SDFormatParserI.

◆ LookupElementsByAttributeTypeAndValue()

std::vector< sdf::ElementPtr > SDFormatParser::LookupElementsByAttributeTypeAndValue	(	const std::string &	attribute_type,
		const std::string &	attribute_value
	)

overrideprivatevirtual

Implementation of interface method.

Parameters

[in]	attribute_type	The attribute type to use for lookup
[in]	attribute_value	The attribute type to use for lookup

Returns: A list of elements with the given attribute type and the given attribute value

Implements SDFormatParserI.

◆ LookupElementsByType()

std::vector< sdf::ElementPtr > SDFormatParser::LookupElementsByType ( const std::string & type )

overrideprivatevirtual

Implementation of interface method.

Parameters

[in] type The type by which to lookup elements

Returns: A list of elements with a given attribute type

Implements SDFormatParserI.

◆ LookupElementsInternal()

std::vector< sdf::ElementPtr > SDFormatParser::LookupElementsInternal	(	const std::string &	attribute_type,
		const std::string &	attribute_value,
		sdf::ElementPtr	scope,
		sdf::ElementPtr	scope_to_exclude
	)

private

Attempts to find an element containing the given attribute type and attribute value within an inital scope. The method will continue expanding the scope until it reaches the root element.

Parameters

[in]	attribute_type	The attribute type to use for lookup
[in]	attribute_value	The attribute type to use for lookup
[in]	scope	The initial search scope. Must be a model or world element
[in]	scope_to_exclude	The scope to exclude. Must be a model or world element

Returns: A list of elements with the given attribute type and the given attribute value, ordered by scope

◆ ParsePoseElement()

std::pair< glm::dvec3, glm::dquat > SDFormatParser::ParsePoseElement	(	sdf::ElementPtr	element,
		std::string &	relative_to
	)

private

Parses a given pose element to get the pose values, and also indicates if this pose is relative to anything else.

Parameters

[in]	element	The pose element which we want to parse
[out]	relative_to	The name of the element that the pose is given relative to

Returns: A pair datatype containing the translation and quaternion rotation of the given element The translations and rotations will all be zero if the given element is not a pose element

◆ ParseStringDoubleVector()

std::vector< double > SDFormatParser::ParseStringDoubleVector	(	const std::string &	string_of_doubles,
		bool &	success
	)

private

Given a string containing doubles seperated by spaces, this method returns a vector a doubles.

Parameters

[in]	string_of_doubles	a string of doubles (should be parsable by std::istringstream)
[out]	success	True if the string of doubles was sucessfully parsed

Returns: Returns a vector of doubles

The documentation for this class was generated from the following files:

include/sdformat_parser.h
src/sdformat_parser.cpp

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ FindAbsolutePose()

◆ FindCanonical()

◆ FindMentions() [1/4]

◆ FindMentions() [2/4]

◆ FindMentions() [3/4]

◆ FindMentions() [4/4]

◆ FindScope()

◆ GetModelsFromSDFTree()

◆ GetSDFElement()

◆ GetSDFTreePathToElement()

◆ HandleRelativeToSpecificationSpecialcases()

◆ Initialize()

◆ LookupElementsByAttributeType()

◆ LookupElementsByAttributeTypeAndValue()

◆ LookupElementsByType()

◆ LookupElementsInternal()

◆ ParsePoseElement()

◆ ParseStringDoubleVector()