VirtualRobot::SceneIO Class Reference

Inheritance diagram for VirtualRobot::SceneIO:

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::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
	SceneIO ()
	~SceneIO () override
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
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

SceneIO()

VirtualRobot::SceneIO::SceneIO ( )

protecteddefault

~SceneIO()

VirtualRobot::SceneIO::~SceneIO ( )

overrideprotecteddefault

Member Function Documentation

createSceneFromString()

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

static

Creates scene from string.

Parameters

xmlString	The input.
basePath	If any robot tags are given, the base path for searching the robot files can be specified.

loadScene()

VirtualRobot::ScenePtr VirtualRobot::SceneIO::loadScene ( const std::string &  xmlFile )

static

Load scene from file.

Parameters

xmlFile

The file.

Returns

Returns an empty pointer, when file access failed.

processScene()

ScenePtr VirtualRobot::SceneIO::processScene ( rapidxml::xml_node< char > *  sceneXMLNode, const std::string &  basePath  )

staticprotected

processSceneAttributes()

ScenePtr VirtualRobot::SceneIO::processSceneAttributes ( rapidxml::xml_node< char > *  sceneXMLNode )

staticprotected

processSceneManipulationObject()

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

staticprotected

processSceneObjectSet()

bool VirtualRobot::SceneIO::processSceneObjectSet ( rapidxml::xml_node< char > *  sceneXMLNode, ScenePtr  scene  )

staticprotected

processSceneObstacle()

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

staticprotected

processSceneRobot()

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

staticprotected

processSceneTrajectory()

bool VirtualRobot::SceneIO::processSceneTrajectory ( rapidxml::xml_node< char > *  sceneXMLNode, ScenePtr  scene  )

staticprotected

saveScene()

bool VirtualRobot::SceneIO::saveScene ( ScenePtr  s, const std::string &  xmlFile  )

static

Save a scene to file.

Parameters

s	The scene to be saved.
xmlFile	The absolute filename.

Returns

true on success.