Inheritance diagram for VirtualRobot::RobotIO:

Data Structures
struct	ChildFromRobotDef

Static Public Member Functions
static RobotPtr	loadRobot (const std::string &xmlFile, RobotDescription loadMode=eFull)

static RobotPtr	createRobotFromString (const std::string &xmlString, const std::string &basePath="", RobotDescription loadMode=eFull)

static bool	saveXML (RobotPtr robot, const std::string &filename, const std::string &basePath, const std::string &modelDir="models", bool storeEEF=true, bool storeRNS=true, bool storeSensors=true, bool storeModelFiles=true)

static void	saveMJCF (RobotPtr robot, const std::string &filename, const std::string &basePath, const std::string &meshDir="mesh")
	saveMJCF 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
	RobotIO ()

	~RobotIO () override

Protected Member Functions inherited from VirtualRobot::BaseIO
	BaseIO ()

virtual	~BaseIO ()

Static Protected Member Functions
static RobotPtr	processRobot (rapidxml::xml_node< char > *robotXMLNode, const std::string &basePath, RobotDescription loadMode=eFull)

static RobotPtr	processRobotAttributes (rapidxml::xml_node< char > *robotXMLNode, std::string &robotRoot)

static void	processRobotChildNodes (rapidxml::xml_node< char > robotXMLNode, RobotPtr robo, const std::string &robotRoot, const std::string &basePath, std::map< RobotNodePtr, std::vector< ChildFromRobotDef > > &childrenFromRobotFilesMap, std::vector< rapidxml::xml_node< char > > &robotNodeSetNodes, std::vector< rapidxml::xml_node< char > * > &endeffectorNodes, NodeMapping &nodeMapping, RobotDescription loadMode=eFull)

static RobotNodePtr	processRobotNode (rapidxml::xml_node< char > *robotNodeXMLNode, RobotPtr robo, const std::string &basePath, int &robotNodeCounter, std::vector< std::string > &childrenNames, std::vector< ChildFromRobotDef > &childrenFromRobot, RobotDescription loadMode=eFull, RobotNode::RobotNodeType rntype=RobotNode::Generic)

static EndEffectorPtr	processEndeffectorNode (rapidxml::xml_node< char > *endeffectorXMLNode, RobotPtr robo)

static EndEffectorActorPtr	processEndeffectorActorNode (rapidxml::xml_node< char > *endeffectorActorXMLNode, RobotPtr robo)

static void	processEndeffectorStaticNode (rapidxml::xml_node< char > *endeffectorStaticXMLNode, RobotPtr robo, std::vector< RobotNodePtr > &staticNodesList)

static EndEffectorActor::CollisionMode	processEEFColAttributes (rapidxml::xml_node< char > *node, bool allowOtherAttributes=false)

static void	processActorNodeList (rapidxml::xml_node< char > *parentNode, RobotPtr robot, std::vector< EndEffectorActor::ActorDefinition > &actorList, bool clearList=true)

static void	processChildNode (rapidxml::xml_node< char > *childXMLNode, std::vector< std::string > &childrenNames)

static RobotNodePtr	processJointNode (rapidxml::xml_node< char > *jointXMLNode, const std::string &robotNodeName, RobotPtr robot, VisualizationNodePtr visualizationNode, CollisionModelPtr collisionModel, SceneObject::Physics &physics, RobotNode::RobotNodeType rntype, Eigen::Matrix4f &transformationMatrix)

static void	processChildFromRobotNode (rapidxml::xml_node< char > *childXMLNode, const std::string &nodeName, std::vector< ChildFromRobotDef > &childrenFromRobot)

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

static VisualizationNodePtr	checkUseAsColModel (rapidxml::xml_node< char > *visuXMLNode, const std::string &robotNodeName, const std::string &basePath)

Static Protected Attributes
static std::map< std::string, int >	robot_name_counter

Static Protected Attributes inherited from VirtualRobot::BaseIO
static std::mutex	mutex

Additional Inherited Members
Public Types inherited from VirtualRobot::BaseIO
enum	RobotDescription { eFull, eCollisionModel, eStructure, eStructureStore, eFullVisAsCol }

Constructor & Destructor Documentation

◆ RobotIO()

VirtualRobot::RobotIO::RobotIO ( )

protecteddefault

◆ ~RobotIO()

VirtualRobot::RobotIO::~RobotIO ( )

overrideprotecteddefault

Member Function Documentation

◆ checkUseAsColModel()

VisualizationNodePtr VirtualRobot::RobotIO::checkUseAsColModel	(	rapidxml::xml_node< char > *	visuXMLNode,
		const std::string &	robotNodeName,
		const std::string &	basePath
	)

staticprotected

◆ createRobotFromString()

VirtualRobot::RobotPtr VirtualRobot::RobotIO::createRobotFromString	(	const std::string &	xmlString,
		const std::string &	basePath = `""`,
		RobotDescription	loadMode = `eFull`
	)

static

Creates Robot from string.

Parameters

xmlString	The input string.
basePath	If any <childFromRobot> tags are given, the path for searching the robot files can be specified.
loadMode	Standard: eFull, When eStructure is used no visualization and collision models are loaded for faster access.

◆ loadRobot()

VirtualRobot::RobotPtr VirtualRobot::RobotIO::loadRobot	(	const std::string &	xmlFile,
		RobotDescription	loadMode = `eFull`
	)

static

Loads robot from file.

Parameters

xmlFile	The file
loadMode	Standard: eFull, When eStructure is used no visualization and collision models are loaded for faster access.

Returns: Returns an empty pointer, when file access failed.

◆ processActorNodeList()

void VirtualRobot::RobotIO::processActorNodeList	(	rapidxml::xml_node< char > *	parentNode,
		RobotPtr	robot,
		std::vector< EndEffectorActor::ActorDefinition > &	actorList,
		bool	clearList = `true`
	)

staticprotected

This method processes the parentNode Tag and extracts a list of <Node name="xyz" speed="0123" /> 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.

◆ processChildFromRobotNode()

void VirtualRobot::RobotIO::processChildFromRobotNode	(	rapidxml::xml_node< char > *	childXMLNode,
		const std::string &	nodeName,
		std::vector< ChildFromRobotDef > &	childrenFromRobot
	)

staticprotected

◆ processChildNode()

void VirtualRobot::RobotIO::processChildNode	(	rapidxml::xml_node< char > *	childXMLNode,
		std::vector< std::string > &	childrenNames
	)

staticprotected

◆ processEEFColAttributes()

EndEffectorActor::CollisionMode VirtualRobot::RobotIO::processEEFColAttributes	(	rapidxml::xml_node< char > *	node,
		bool	allowOtherAttributes = `false`
	)

staticprotected

◆ processEndeffectorActorNode()

EndEffectorActorPtr VirtualRobot::RobotIO::processEndeffectorActorNode	(	rapidxml::xml_node< char > *	endeffectorActorXMLNode,
		RobotPtr	robo
	)

staticprotected

This method processes the attributes and the children of an actor tag which itself is a child of the endeffector tag. First the name attribute is retrieved and afterwards the child nodes are processed which make up the actor.

◆ processEndeffectorNode()

EndEffectorPtr VirtualRobot::RobotIO::processEndeffectorNode	(	rapidxml::xml_node< char > *	endeffectorXMLNode,
		RobotPtr	robo
	)

staticprotected

This method parses the EndEffector which are child tags of the Robot tag. Each EndEffector has a name, a base node, a list of static robot nodes and a list of actors. Each actor itself consists of a list of robot nodes.

The static parts and the actors are retrieved by delegating the processing to RobotIO::processEndeffectorActorNode and RobotIO::processEndeffectorStaticNode.

Returns: instance of VirtualRobot::EndEffector

◆ processEndeffectorStaticNode()

void VirtualRobot::RobotIO::processEndeffectorStaticNode	(	rapidxml::xml_node< char > *	endeffectorStaticXMLNode,
		RobotPtr	robo,
		std::vector< RobotNodePtr > &	staticNodesList
	)

staticprotected

This method processes the children of the static tag which itself is a child of the endeffector tag.

◆ processJointNode()

RobotNodePtr VirtualRobot::RobotIO::processJointNode	(	rapidxml::xml_node< char > *	jointXMLNode,
		const std::string &	robotNodeName,
		RobotPtr	robot,
		VisualizationNodePtr	visualizationNode,
		CollisionModelPtr	collisionModel,
		SceneObject::Physics &	physics,
		RobotNode::RobotNodeType	rntype,
		Eigen::Matrix4f &	transformationMatrix
	)

staticprotected

◆ processLimitsNode()

void VirtualRobot::RobotIO::processLimitsNode	(	rapidxml::xml_node< char > *	limitsXMLNode,
		float &	jointLimitLo,
		float &	jointLimitHi,
		bool &	limitless
	)

staticprotected

This method processes Limits tags. The values for the attributes "lo" and "hi" are extracted based on the "unit" or "units" attribute.

The values are stored in jointLimitLo and jointLimitHi

◆ processRobot()

RobotPtr VirtualRobot::RobotIO::processRobot	(	rapidxml::xml_node< char > *	robotXMLNode,
		const std::string &	basePath,
		RobotDescription	loadMode = `eFull`
	)

staticprotected

◆ processRobotAttributes()

RobotPtr VirtualRobot::RobotIO::processRobotAttributes	(	rapidxml::xml_node< char > *	robotXMLNode,
		std::string &	robotRoot
	)

staticprotected

◆ processRobotChildNodes()

void VirtualRobot::RobotIO::processRobotChildNodes	(	rapidxml::xml_node< char > *	robotXMLNode,
		RobotPtr	robo,
		const std::string &	robotRoot,
		const std::string &	basePath,
		std::map< RobotNodePtr, std::vector< ChildFromRobotDef > > &	childrenFromRobotFilesMap,
		std::vector< rapidxml::xml_node< char > * > &	robotNodeSetNodes,
		std::vector< rapidxml::xml_node< char > * > &	endeffectorNodes,
		NodeMapping &	nodeMapping,
		RobotDescription	loadMode = `eFull`
	)

staticprotected

◆ processRobotNode()

RobotNodePtr VirtualRobot::RobotIO::processRobotNode	(	rapidxml::xml_node< char > *	robotNodeXMLNode,
		RobotPtr	robo,
		const std::string &	basePath,
		int &	robotNodeCounter,
		std::vector< std::string > &	childrenNames,
		std::vector< ChildFromRobotDef > &	childrenFromRobot,
		RobotDescription	loadMode = `eFull`,
		RobotNode::RobotNodeType	rntype = `RobotNode::Generic`
	)

staticprotected

◆ saveMJCF()

void VirtualRobot::RobotIO::saveMJCF	(	RobotPtr	robot,
		const std::string &	filename,
		const std::string &	basePath,
		const std::string &	meshDir = `"mesh"`
	)

static

saveMJCF

Parameters

robot	The robot to save.
filename	The filename without path.
basePath	The directory to store the robot to
meshDir	The local directory where all mesh files should be stored to.

◆ saveXML()

bool VirtualRobot::RobotIO::saveXML	(	RobotPtr	robot,
		const std::string &	filename,
		const std::string &	basePath,
		const std::string &	modelDir = `"models"`,
		bool	storeEEF = `true`,
		bool	storeRNS = `true`,
		bool	storeSensors = `true`,
		bool	storeModelFiles = `true`
	)

static

Creates an XML string that defines the robot and stores it to the file basePath/filename. All visualizations and collision models are stored to the basePath/modeDir directory

Parameters

robot	The robot to save.
filename	The filename without path.
basePath	The directory to store the robot to
modelDir	The local directory where all visualization files should be stored to.

Field Documentation

◆ robot_name_counter

std::map< std::string, int > VirtualRobot::RobotIO::robot_name_counter

staticprotected

Data Structures

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ RobotIO()

◆ ~RobotIO()

Member Function Documentation

◆ checkUseAsColModel()

◆ createRobotFromString()

◆ loadRobot()

◆ processActorNodeList()

◆ processChildFromRobotNode()

◆ processChildNode()

◆ processEEFColAttributes()

◆ processEndeffectorActorNode()

◆ processEndeffectorNode()

◆ processEndeffectorStaticNode()

◆ processJointNode()

◆ processLimitsNode()

◆ processRobot()

◆ processRobotAttributes()

◆ processRobotChildNodes()

◆ processRobotNode()

◆ saveMJCF()

◆ saveXML()

Field Documentation

◆ robot_name_counter