Simox  2.3.50
VirtualRobot::SceneIO Class Reference
Inheritance diagram for VirtualRobot::SceneIO:
VirtualRobot::BaseIO

Static Public Member Functions

static ScenePtr loadScene (const std::string &xmlFile)
 
static bool saveScene (ScenePtr s, const std::string &xmlFile)
 
static ScenePtr createSceneFromString (const std::string &xmlString, const std::string &basePath="")
 
- Static Public Member Functions inherited from VirtualRobot::BaseIO
static void makeAbsolutePath (const std::string &basePath, std::string &filename)
 
static void makeRelativePath (const std::string &basePath, std::string &filename)
 
static bool writeXMLFile (const std::string &filename, const std::string &content, bool overwrite=true)
 
static bool isTrue (const char *s)
 
static float convertToFloat (const char *s)
 
static int convertToInt (const char *s)
 
static void processNodeList (rapidxml::xml_node< char > *parentNode, RobotPtr robot, std::vector< RobotNodePtr > &nodeList, bool clearList=true)
 
static void processLimitsNode (rapidxml::xml_node< char > *limitsXMLNode, float &jointLimitLo, float &jointLimitHi)
 
static std::string processFileNode (rapidxml::xml_node< char > *fileNode, const std::string &basePath)
 
static void processTransformNode (rapidxml::xml_node< char > *transformXMLNode, const std::string &nodeName, Eigen::Matrix4f &transform)
 
static Units getUnitsAttribute (rapidxml::xml_node< char > *node, Units::UnitsType u)
 
static std::string processNameAttribute (rapidxml::xml_node< char > *node, bool allowOtherAttributes=false)
 
static float processFloatAttribute (const std::string &attributeName, rapidxml::xml_node< char > *node, bool allowOtherAttributes=false)
 
static int processIntAttribute (const std::string &attributeName, rapidxml::xml_node< char > *node, bool allowOtherAttributes=false)
 
static float getFloatByAttributeName (rapidxml::xml_node< char > *xmlNode, const std::string &attributeName)
 
static float getOptionalFloatByAttributeName (rapidxml::xml_node< char > *xmlNode, const std::string &attributeName, float standardValue)
 
static bool processConfigurationNode (rapidxml::xml_node< char > *configXMLNode, std::vector< RobotConfig::Configuration > &storeConfigDefinitions, std::string &storeConfigName)
 
static bool processConfigurationNodeList (rapidxml::xml_node< char > *configXMLNode, std::vector< std::vector< RobotConfig::Configuration > > &configDefinitions, std::vector< std::string > &configNames, std::vector< std::string > &tcpNames)
 
static std::string getLowerCase (const char *c)
 
static void getLowerCase (std::string &aString)
 
static std::string processStringAttribute (const std::string &attributeName, rapidxml::xml_node< char > *node, bool allowOtherAttributes=false)
 
static VisualizationNodePtr processVisualizationTag (rapidxml::xml_node< char > *visuXMLNode, const std::string &tagName, const std::string &basePath, bool &useAsColModel)
 
static CollisionModelPtr processCollisionTag (rapidxml::xml_node< char > *colXMLNode, const std::string &tagName, const std::string &basePath)
 
static std::vector< Primitive::PrimitivePtrprocessPrimitives (rapidxml::xml_node< char > *primitivesXMLNode)
 
static void processPhysicsTag (rapidxml::xml_node< char > *physicsXMLNode, const std::string &nodeName, SceneObject::Physics &physics)
 
static RobotNodeSetPtr processRobotNodeSet (rapidxml::xml_node< char > *setXMLNode, RobotPtr robo, const std::string &robotRootNode, int &robotNodeSetCounter)
 
static TrajectoryPtr processTrajectory (rapidxml::xml_node< char > *trajectoryXMLNode, std::vector< RobotPtr > &robots)
 
static Eigen::Matrix3f process3x3Matrix (rapidxml::xml_node< char > *matrixXMLNode)
 
static bool processFloatValueTags (rapidxml::xml_node< char > *XMLNode, int dim, Eigen::VectorXf &stroreResult)
 
static bool hasUnitsAttribute (rapidxml::xml_node< char > *node)
 
static std::vector< UnitsgetUnitsAttributes (rapidxml::xml_node< char > *node)
 
static void getAllAttributes (rapidxml::xml_node< char > *node, const std::string &attrString, std::vector< std::string > &storeValues)
 
static void processDHNode (rapidxml::xml_node< char > *dhXMLNode, DHParameter &dh)
 
static std::string toXML (const Eigen::Matrix4f &m, std::string ident="\t")
 
static std::vector< VisualizationNodePtrprocessVisuFiles (rapidxml::xml_node< char > *visualizationXMLNode, const std::string &basePath, std::string &fileType)
 

Protected Member Functions

 SceneIO ()
 
virtual ~SceneIO ()
 
- Protected Member Functions inherited from VirtualRobot::BaseIO
 BaseIO ()
 
virtual ~BaseIO ()
 

Static Protected Member Functions

static ScenePtr processScene (rapidxml::xml_node< char > *sceneXMLNode, const std::string &basePath)
 
static ScenePtr processSceneAttributes (rapidxml::xml_node< char > *sceneXMLNode)
 
static bool processSceneRobot (rapidxml::xml_node< char > *sceneXMLNode, ScenePtr scene, const std::string &basePath)
 
static bool processSceneObstacle (rapidxml::xml_node< char > *sceneXMLNode, ScenePtr scene, const std::string &basePath)
 
static bool processSceneTrajectory (rapidxml::xml_node< char > *sceneXMLNode, ScenePtr scene)
 
static bool processSceneManipulationObject (rapidxml::xml_node< char > *sceneXMLNode, ScenePtr scene, const std::string &basePath)
 
static bool processSceneObjectSet (rapidxml::xml_node< char > *sceneXMLNode, ScenePtr scene)
 

Additional Inherited Members

- Static Protected Attributes inherited from VirtualRobot::BaseIO
static boost::mutex mutex
 

Constructor & Destructor Documentation

VirtualRobot::SceneIO::SceneIO ( )
protected
VirtualRobot::SceneIO::~SceneIO ( )
protectedvirtual

Member Function Documentation

VirtualRobot::ScenePtr VirtualRobot::SceneIO::createSceneFromString ( const std::string &  xmlString,
const std::string &  basePath = "" 
)
static

Creates scene from string.

Parameters
xmlStringThe input.
basePathIf any robot tags are given, the base path for searching the robot files can be specified.
VirtualRobot::ScenePtr VirtualRobot::SceneIO::loadScene ( const std::string &  xmlFile)
static

Load scene from file.

Parameters
xmlFileThe file.
Returns
Returns an empty pointer, when file access failed.
ScenePtr VirtualRobot::SceneIO::processScene ( rapidxml::xml_node< char > *  sceneXMLNode,
const std::string &  basePath 
)
staticprotected
ScenePtr VirtualRobot::SceneIO::processSceneAttributes ( rapidxml::xml_node< char > *  sceneXMLNode)
staticprotected
bool VirtualRobot::SceneIO::processSceneManipulationObject ( rapidxml::xml_node< char > *  sceneXMLNode,
ScenePtr  scene,
const std::string &  basePath 
)
staticprotected
bool VirtualRobot::SceneIO::processSceneObjectSet ( rapidxml::xml_node< char > *  sceneXMLNode,
ScenePtr  scene 
)
staticprotected
bool VirtualRobot::SceneIO::processSceneObstacle ( rapidxml::xml_node< char > *  sceneXMLNode,
ScenePtr  scene,
const std::string &  basePath 
)
staticprotected
bool VirtualRobot::SceneIO::processSceneRobot ( rapidxml::xml_node< char > *  sceneXMLNode,
ScenePtr  scene,
const std::string &  basePath 
)
staticprotected
bool VirtualRobot::SceneIO::processSceneTrajectory ( rapidxml::xml_node< char > *  sceneXMLNode,
ScenePtr  scene 
)
staticprotected
bool VirtualRobot::SceneIO::saveScene ( ScenePtr  s,
const std::string &  xmlFile 
)
static

Save a scene to file.

Parameters
sThe scene to be saved.
xmlFileThe absolute filename.
Returns
true on success.