VirtualRobot::ObjectIO Class Reference

Inheritance diagram for VirtualRobot::ObjectIO:

Static Public Member Functions
static ObstaclePtr	loadObstacle (const std::string &xmlFile)
static ObstaclePtr	loadObstacle (const std::ifstream &xmlFile, const std::string &basePath="")
static ManipulationObjectPtr	loadManipulationObject (const std::string &xmlFile)
static ManipulationObjectPtr	loadManipulationObject (const char *xmlFile)
static ManipulationObjectPtr	loadManipulationObject (const std::filesystem::path &xmlFile)
static ManipulationObjectPtr	loadManipulationObject (const std::ifstream &xmlFile, const std::string &basePath="")
static bool	saveManipulationObject (ManipulationObjectPtr object, const std::string &xmlFile)
static ManipulationObjectPtr	createManipulationObjectFromString (const std::string &xmlString, const std::string &basePath="")
static ObstaclePtr	createObstacleFromString (const std::string &xmlString, const std::string &basePath="")
static ObstaclePtr	processObstacle (rapidxml::xml_node< char > *objectXMLNode, const std::string &basePath)
static ManipulationObjectPtr	processManipulationObject (rapidxml::xml_node< char > *objectXMLNode, const std::string &basePath)
static bool	writeSTL (TriMeshModelPtr t, const std::string &filename, const std::string &objectName, float scaling=0.001f)
	writeSTL Write ascii stl file. More...
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::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
	ObjectIO ()
	~ObjectIO () override
Protected Member Functions inherited from VirtualRobot::BaseIO
	BaseIO ()
virtual	~BaseIO ()

Static Protected Member Functions
static bool	processSceneRobot (rapidxml::xml_node< char > *sceneXMLNode, ScenePtr scene, const std::string &basePath)

Friends
class	SceneIO

Additional Inherited Members
Public Types inherited from VirtualRobot::BaseIO
enum	RobotDescription {   eFull, eCollisionModel, eStructure, eStructureStore,   eFullVisAsCol }
Static Protected Attributes inherited from VirtualRobot::BaseIO
static std::mutex	mutex

Constructor & Destructor Documentation

ObjectIO()

VirtualRobot::ObjectIO::ObjectIO ( )

protecteddefault

~ObjectIO()

VirtualRobot::ObjectIO::~ObjectIO ( )

overrideprotecteddefault

Member Function Documentation

createManipulationObjectFromString()

VirtualRobot::ManipulationObjectPtr VirtualRobot::ObjectIO::createManipulationObjectFromString ( const std::string &  xmlString, const std::string &  basePath = ""  )

static

Creates ManipulationObject from string.

Parameters

xmlString	The input string.
basePath	If file tags are given, the base path for searching the object files can be specified.

createObstacleFromString()

VirtualRobot::ObstaclePtr VirtualRobot::ObjectIO::createObstacleFromString ( const std::string &  xmlString, const std::string &  basePath = ""  )

static

Creates Obstacle from string.

Parameters

xmlString	The input string.
basePath	If file tags are given, the base path for searching the object files can be specified.

loadManipulationObject() [1/4]

VirtualRobot::ManipulationObjectPtr VirtualRobot::ObjectIO::loadManipulationObject ( const std::string &  xmlFile )

static

Load ManipulationObject from file.

Parameters

xmlFile

The file

Returns

Returns an empty pointer, when file access failed.

loadManipulationObject() [2/4]

static ManipulationObjectPtr VirtualRobot::ObjectIO::loadManipulationObject ( const char *  xmlFile )

inlinestatic

loadManipulationObject() [3/4]

static ManipulationObjectPtr VirtualRobot::ObjectIO::loadManipulationObject ( const std::filesystem::path &  xmlFile )

inlinestatic

loadManipulationObject() [4/4]

VirtualRobot::ManipulationObjectPtr VirtualRobot::ObjectIO::loadManipulationObject ( const std::ifstream &  xmlFile, const std::string &  basePath = ""  )

static

Load ManipulationObject from a file stream.

Parameters

xmlFile	The file stream
basePath	If file tags are given, the base path for searching the object files can be specified.

Returns

Returns an empty pointer, when file access failed.

loadObstacle() [1/2]

VirtualRobot::ObstaclePtr VirtualRobot::ObjectIO::loadObstacle ( const std::string &  xmlFile )

static

Load Obstacle from file.

Parameters

xmlFile

The file

Returns

Returns an empty pointer, when file access failed.

loadObstacle() [2/2]

VirtualRobot::ObstaclePtr VirtualRobot::ObjectIO::loadObstacle ( const std::ifstream &  xmlFile, const std::string &  basePath = ""  )

static

Load Obstacle from a file stream.

Parameters

xmlFile	The file stream
basePath	If file tags are given, the base path for searching the object files can be specified.

Returns

Returns an empty pointer, when file access failed.

processManipulationObject()

ManipulationObjectPtr VirtualRobot::ObjectIO::processManipulationObject ( rapidxml::xml_node< char > *  objectXMLNode, const std::string &  basePath  )

static

processObstacle()

ObstaclePtr VirtualRobot::ObjectIO::processObstacle ( rapidxml::xml_node< char > *  objectXMLNode, const std::string &  basePath  )

static

processSceneRobot()

static bool VirtualRobot::ObjectIO::processSceneRobot ( rapidxml::xml_node< char > *  sceneXMLNode, ScenePtr  scene, const std::string &  basePath  )

staticprotected

saveManipulationObject()

bool VirtualRobot::ObjectIO::saveManipulationObject ( ManipulationObjectPtr  object, const std::string &  xmlFile  )

static

Save ManipulationObject to file.

Parameters

object	The object
xmlFile	The file

Returns

Returns true on success.

writeSTL()

bool VirtualRobot::ObjectIO::writeSTL ( TriMeshModelPtr  t, const std::string &  filename, const std::string &  objectName, float  scaling = 0.001f  )

static

writeSTL Write ascii stl file.

Parameters

t
filename
objectName
scaling	Usually we scale from the internal mm format to m.

Returns

true on success

Friends And Related Function Documentation

SceneIO

friend class SceneIO

friend