Inheritance diagram for VirtualRobot::BaseIO:

Public Types
enum	RobotDescription { eFull, eCollisionModel, eStructure, eStructureStore, eFullVisAsCol }

Static Public Member Functions
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::PrimitivePtr >	processPrimitives (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< Units >	getUnitsAttributes (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 NodeMapping	processNodeMapping (rapidxml::xml_node< char > *XMLNode, RobotPtr robot)

static std::string	toXML (const Eigen::Matrix4f &m, std::string ident="\)

static std::vector< VisualizationNodePtr >	processVisuFiles (rapidxml::xml_node< char > *visualizationXMLNode, const std::string &basePath, std::string &fileType)

static GraspSetPtr	processGraspSet (rapidxml::xml_node< char > *graspSetXMLNode, const std::string &objName)

static GraspPtr	processGrasp (rapidxml::xml_node< char > *graspXMLNode, const std::string &robotType, const std::string &eef, const std::string &objName)

static bool	processSensor (GraspableSensorizedObjectPtr node, rapidxml::xml_node< char > *sensorXMLNode, RobotDescription loadMode, const std::string &basePath)

Protected Member Functions
	BaseIO ()

virtual	~BaseIO ()

Static Protected Attributes
static std::mutex	mutex

Detailed Description

Several basic XML IO methods.

See also: RobotIO, SceneIO, ObjectIO

Member Enumeration Documentation

◆ RobotDescription

enum VirtualRobot::BaseIO::RobotDescription

Enumerator
eFull
eCollisionModel
eStructure
eStructureStore
eFullVisAsCol

Constructor & Destructor Documentation

◆ BaseIO()

VirtualRobot::BaseIO::BaseIO ( )

protecteddefault

◆ ~BaseIO()

VirtualRobot::BaseIO::~BaseIO ( )

protectedvirtualdefault

Member Function Documentation

◆ convertToFloat()

float VirtualRobot::BaseIO::convertToFloat ( const char * s )

static

This method converts s into a float value and returns it. If s is NULL or not a string representation of a float a VirtualRobot::VirtualRobotException is thrown.

Parameters

s	the string to convert to float

Returns: the passed in float value

◆ convertToInt()

int VirtualRobot::BaseIO::convertToInt ( const char * s )

static

◆ getAllAttributes()

void VirtualRobot::BaseIO::getAllAttributes	(	rapidxml::xml_node< char > *	node,
		const std::string &	attrString,
		std::vector< std::string > &	storeValues
	)

static

◆ getFloatByAttributeName()

float VirtualRobot::BaseIO::getFloatByAttributeName	(	rapidxml::xml_node< char > *	xmlNode,
		const std::string &	attributeName
	)

static

This method gets the attribute attributeName from xml_node xmlNode and returns its value as float. If an error occurs (NULL data, missing attribute, conversion failed) a VirtualRobot::VirtualRobotException is thrown.

◆ getLowerCase() [1/2]

std::string VirtualRobot::BaseIO::getLowerCase ( const char * c )

static

This method creates a std::string from the parameter c and calls VirtualRobot::BaseIO::getLowerCase(std::string) on the created string. Afterwards the transformed string is returned.

◆ getLowerCase() [2/2]

void VirtualRobot::BaseIO::getLowerCase ( std::string & aString )

static

This method applies tolower() to all characters in the string aString.

◆ getOptionalFloatByAttributeName()

float VirtualRobot::BaseIO::getOptionalFloatByAttributeName	(	rapidxml::xml_node< char > *	xmlNode,
		const std::string &	attributeName,
		float	standardValue
	)

static

This method gets an optional attribute attributeName from xml_node xmlNode and returns its value as float. When no attribute attributeName is present the standardValue is returned.

◆ getUnitsAttribute()

Units VirtualRobot::BaseIO::getUnitsAttribute	(	rapidxml::xml_node< char > *	node,
		Units::UnitsType	u
	)

static

This method processes the unit, units, unitsAngle, unitsLength, unitsTime or unitsWeight attribute of xml_node node. The first matching unit is returned.

Returns: instance of VirtualRobot::Units

◆ getUnitsAttributes()

std::vector< Units > VirtualRobot::BaseIO::getUnitsAttributes ( rapidxml::xml_node< char > * node )

static

◆ hasUnitsAttribute()

bool VirtualRobot::BaseIO::hasUnitsAttribute ( rapidxml::xml_node< char > * node )

static

◆ isTrue()

bool VirtualRobot::BaseIO::isTrue ( const char * s )

static

◆ makeAbsolutePath()

void VirtualRobot::BaseIO::makeAbsolutePath	(	const std::string &	basePath,
		std::string &	filename
	)

static

◆ makeRelativePath()

void VirtualRobot::BaseIO::makeRelativePath	(	const std::string &	basePath,
		std::string &	filename
	)

static

◆ process3x3Matrix()

Eigen::Matrix3f VirtualRobot::BaseIO::process3x3Matrix ( rapidxml::xml_node< char > * matrixXMLNode )

static

◆ processCollisionTag()

CollisionModelPtr VirtualRobot::BaseIO::processCollisionTag	(	rapidxml::xml_node< char > *	colXMLNode,
		const std::string &	tagName,
		const std::string &	basePath
	)

static

◆ processConfigurationNode()

bool VirtualRobot::BaseIO::processConfigurationNode	(	rapidxml::xml_node< char > *	configXMLNode,
		std::vector< RobotConfig::Configuration > &	storeConfigDefinitions,
		std::string &	storeConfigName
	)

static

◆ processConfigurationNodeList()

bool VirtualRobot::BaseIO::processConfigurationNodeList	(	rapidxml::xml_node< char > *	configXMLNode,
		std::vector< std::vector< RobotConfig::Configuration > > &	configDefinitions,
		std::vector< std::string > &	configNames,
		std::vector< std::string > &	tcpNames
	)

static

◆ processDHNode()

void VirtualRobot::BaseIO::processDHNode	(	rapidxml::xml_node< char > *	dhXMLNode,
		DHParameter &	dh
	)

static

◆ processFileNode()

std::string VirtualRobot::BaseIO::processFileNode	(	rapidxml::xml_node< char > *	fileNode,
		const std::string &	basePath
	)

static

◆ processFloatAttribute()

float VirtualRobot::BaseIO::processFloatAttribute	(	const std::string &	attributeName,
		rapidxml::xml_node< char > *	node,
		bool	allowOtherAttributes = `false`
	)

static

This method takes a rapidxml::xml_node and returns the value of the first tag it finds with name attributeName. If an error occurs an exception is thrown If more than one name attribute is found an exception is thrown. If no attribute can be found 0.0 is returned.

Warning: Do NOT use this method if there are several attributes which need to be processed (or set allowOtherAttributes to silently ignore other attributes)

Returns: the value of the attribute or 0.0 if no attribute was found

◆ processFloatValueTags()

bool VirtualRobot::BaseIO::processFloatValueTags	(	rapidxml::xml_node< char > *	XMLNode,
		int	dim,
		Eigen::VectorXf &	stroreResult
	)

static

◆ processGrasp()

GraspPtr VirtualRobot::BaseIO::processGrasp	(	rapidxml::xml_node< char > *	graspXMLNode,
		const std::string &	robotType,
		const std::string &	eef,
		const std::string &	objName
	)

static

◆ processGraspSet()

GraspSetPtr VirtualRobot::BaseIO::processGraspSet	(	rapidxml::xml_node< char > *	graspSetXMLNode,
		const std::string &	objName
	)

static

◆ processIntAttribute()

int VirtualRobot::BaseIO::processIntAttribute	(	const std::string &	attributeName,
		rapidxml::xml_node< char > *	node,
		bool	allowOtherAttributes = `false`
	)

static

This method takes a rapidxml::xml_node and returns the value of the first tag it finds with name attributeName. If an error occurs an exception is thrown If more than one name attribute is found an exception is thrown. If no attribute can be found 0 is returned.

Warning: Do NOT use this method if there are several attributes which need to be processed (or set allowOtherAttributes to silently ignore other attributes)

Returns: the value of the attribute or 0.0 if no attribute was found

◆ processLimitsNode()

static void VirtualRobot::BaseIO::processLimitsNode	(	rapidxml::xml_node< char > *	limitsXMLNode,
		float &	jointLimitLo,
		float &	jointLimitHi
	)

static

◆ processNameAttribute()

std::string VirtualRobot::BaseIO::processNameAttribute	(	rapidxml::xml_node< char > *	node,
		bool	allowOtherAttributes = `false`
	)

static

This method takes a rapidxml::xml_node and returns the value of the first name tag it finds. If an error occurs a message is logged to the console and an empty string is returned. If more than one name attribute is found an exception is thrown.

Warning: Do NOT use this method if there are several attributes which need to be processed (or set allowOtherAttributes to silently ignore other attributes)

Returns: the value of the name attribute or an empty string on error

◆ processNodeList()

void VirtualRobot::BaseIO::processNodeList	(	rapidxml::xml_node< char > *	parentNode,
		RobotPtr	robot,
		std::vector< RobotNodePtr > &	nodeList,
		bool	clearList = `true`
	)

static

This method processes the parentNode Tag and extracts a list of <Node name="xyz"/> tags. All other child tags raise a VirtualRobot::VirtualRobotException. The resulting nodes are stored in nodeList.

If the parameter clearList is true all elements from nodeList are removed.

◆ processNodeMapping()

NodeMapping VirtualRobot::BaseIO::processNodeMapping	(	rapidxml::xml_node< char > *	XMLNode,
		RobotPtr	robot
	)

static

◆ processPhysicsTag()

void VirtualRobot::BaseIO::processPhysicsTag	(	rapidxml::xml_node< char > *	physicsXMLNode,
		const std::string &	nodeName,
		SceneObject::Physics &	physics
	)

static

◆ processPrimitives()

std::vector< Primitive::PrimitivePtr > VirtualRobot::BaseIO::processPrimitives ( rapidxml::xml_node< char > * primitivesXMLNode )

static

◆ processRobotNodeSet()

RobotNodeSetPtr VirtualRobot::BaseIO::processRobotNodeSet	(	rapidxml::xml_node< char > *	setXMLNode,
		RobotPtr	robo,
		const std::string &	robotRootNode,
		int &	robotNodeSetCounter
	)

static

◆ processSensor()

bool VirtualRobot::BaseIO::processSensor	(	GraspableSensorizedObjectPtr	node,
		rapidxml::xml_node< char > *	sensorXMLNode,
		RobotDescription	loadMode,
		const std::string &	basePath
	)

static

◆ processStringAttribute()

std::string VirtualRobot::BaseIO::processStringAttribute	(	const std::string &	attributeName,
		rapidxml::xml_node< char > *	node,
		bool	allowOtherAttributes = `false`
	)

static

This method takes a rapidxml::xml_node and returns the value of the first tag it finds with name attributeName. If an error occurs a message is logged to the console and "" is returned. If more than one name attribute is found an exception is thrown. If no attribute can be found 0.0 is returned.

Warning: Do NOT use this method if there are several attributes which need to be processed (or set allowOtherAttributes to silently ignore other attributes)

Returns: the value of the name attribute or an empty string on error

◆ processTrajectory()

TrajectoryPtr VirtualRobot::BaseIO::processTrajectory	(	rapidxml::xml_node< char > *	trajectoryXMLNode,
		std::vector< RobotPtr > &	robots
	)

static

◆ processTransformNode()

void VirtualRobot::BaseIO::processTransformNode	(	rapidxml::xml_node< char > *	transformXMLNode,
		const std::string &	tagName,
		Eigen::Matrix4f &	transform
	)

static

This method processes <Transform> tags. If transformXMLNode is NULL (e.g. the tag does not exist) transform is set to contain the identity matrix.

◆ processVisualizationTag()

VisualizationNodePtr VirtualRobot::BaseIO::processVisualizationTag	(	rapidxml::xml_node< char > *	visuXMLNode,
		const std::string &	tagName,
		const std::string &	basePath,
		bool &	useAsColModel
	)

static

◆ processVisuFiles()

std::vector< VisualizationNodePtr > VirtualRobot::BaseIO::processVisuFiles	(	rapidxml::xml_node< char > *	visualizationXMLNode,
		const std::string &	basePath,
		std::string &	fileType
	)

static

◆ toXML()

std::string VirtualRobot::BaseIO::toXML	(	const Eigen::Matrix4f &	m,
		std::string	ident = `"\t"`
	)

static

◆ writeXMLFile()

bool VirtualRobot::BaseIO::writeXMLFile	(	const std::string &	filename,
		const std::string &	content,
		bool	overwrite = `true`
	)

static

Create a file and store XML content.

Parameters

filename	The filename
content	The XML content as string. No checks are performed.
overwrite	If true, a potentially existing file is silently overwritten.

Returns: True on success

Field Documentation

◆ mutex

std::mutex VirtualRobot::BaseIO::mutex

staticprotected

Public Types

Static Public Member Functions

Protected Member Functions

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ RobotDescription

Constructor & Destructor Documentation

◆ BaseIO()

◆ ~BaseIO()

Member Function Documentation

◆ convertToFloat()

◆ convertToInt()

◆ getAllAttributes()

◆ getFloatByAttributeName()

◆ getLowerCase() [1/2]

◆ getLowerCase() [2/2]

◆ getOptionalFloatByAttributeName()

◆ getUnitsAttribute()

◆ getUnitsAttributes()

◆ hasUnitsAttribute()

◆ isTrue()

◆ makeAbsolutePath()

◆ makeRelativePath()

◆ process3x3Matrix()

◆ processCollisionTag()

◆ processConfigurationNode()

◆ processConfigurationNodeList()

◆ processDHNode()

◆ processFileNode()

◆ processFloatAttribute()

◆ processFloatValueTags()

◆ processGrasp()

◆ processGraspSet()

◆ processIntAttribute()

◆ processLimitsNode()

◆ processNameAttribute()

◆ processNodeList()

◆ processNodeMapping()

◆ processPhysicsTag()

◆ processPrimitives()

◆ processRobotNodeSet()

◆ processSensor()

◆ processStringAttribute()

◆ processTrajectory()

◆ processTransformNode()

◆ processVisualizationTag()

◆ processVisuFiles()

◆ toXML()

◆ writeXMLFile()

Field Documentation

◆ mutex