sdformat_parser.h

/*
* sdformat-editor
* Copyright 2025 sdformat-editor
*
* 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.
*
* Developer: Zaid Duraid, Ean Wheeler, Evan Vokey
*/
 
#ifndef SDFORMAT_EDITOR_PARSER_HH_
#define SDFORMAT_EDITOR_PARSER_HH_
 
#include <cstdlib>
#include <cstring>
#include <limits.h>
#include <memory>
#include <filesystem>
 
#include <interfaces/sdformat_parser_interface.h>
 
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
// #include <glm/gtx/quaternion.hpp>
 
class SDFormatParser : public SDFormatParserI
{
 
    private: sdf::SDFPtr sdfElement;
 
    private: void Initialize(const std::string file_path, bool &success) override;
 
    private: sdf::SDFPtr GetSDFElement() override;
 
    private: std::vector<sdf::ElementPtr> LookupElementsByAttributeType(const std::string& attribute_type) override;
 
    private: std::vector<sdf::ElementPtr> LookupElementsByAttributeTypeAndValue(const std::string& attribute_type, const std::string& attribute_value) override;
 
    private: std::vector<sdf::ElementPtr> LookupElementsInternal(const std::string& attribute_type, const std::string& attribute_value, 
                                                                                    sdf::ElementPtr scope, sdf::ElementPtr scope_to_exclude);
    
    private: sdf::ElementPtr FindScope(sdf::ElementPtr element); 
 
    private: sdf::ElementPtr FindCanonical(sdf::ElementPtr element); 
 
    private: std::vector<sdf::ElementPtr> LookupElementsByType(const std::string& type) override;
 
    private: Mentions FindMentions(std::string key) override;
 
    private: Mentions FindMentions(std::string key, sdf::ElementPtr element_to_exclude) override;
 
    private: Mentions FindMentions(std::string key, sdf::ParamPtr attribute_to_exclude) override;
 
    private: Mentions FindMentions(std::string key, sdf::ElementPtr element_to_exclude, sdf::ParamPtr attribute_to_exclude) override;
 
    private: std::string GetSDFTreePathToElement(sdf::ElementPtr element) override; 
 
    private: std::pair<glm::dvec3, glm::dquat> FindAbsolutePose(sdf::ElementPtr element, std::vector<sdf::ElementPtr> previously_visited_elements = {});
 
    private: std::pair<glm::dvec3, glm::dquat> ParsePoseElement(sdf::ElementPtr element, std::string& relative_to);
 
    private: bool HandleRelativeToSpecificationSpecialcases(sdf::ElementPtr element, std::string& relative_to);
 
    private: std::vector<double> ParseStringDoubleVector(const std::string& string_of_doubles, bool& success);
 
    private: std::pair<std::vector<ModelViewerI::ModelInfo>, std::vector<ModelViewerI::PresetModelInfo>> GetModelsFromSDFTree(bool render_collisions = false) override;
 
    private: std::string sdf_file_path;
};
 
#endif