Classes
class	Animation
	Manages an animation, which is a collection of keyframes and the ability to interpolate between the keyframes. More...

class	AssimpLoader
	Class used to load mesh files using the assimp lodaer. More...

class	AudioDecoder
	An audio decoder based on FFMPEG. More...

class	Base64

class	Battery
	A battery abstraction. More...

class	BVHLoader
	Handles loading BVH animation files. More...

class	ColladaExporter
	Class used to export Collada mesh files. More...

struct	ColladaLight
	This struct contains light data specifically for collada export Defaults set based on collada 1.4 specifications. More...

class	ColladaLoader
	Class used to load Collada mesh files. More...

class	Connection
	A class that encapsulates a connection. More...

class	Console
	Container for loggers, and global logging options (such as verbose vs. quiet output). More...

struct	CSVDialect
	A CSV specification. More...

class	CSVIStreamIterator
	A single-pass row iterator on an input stream of CSV data. More...

struct	CSVToken
	A token in CSV data. More...

class	DataFrame
	An abstract data frame. More...

class	Dem

class	DirIter
	A class for iterating over all items in a directory. More...

class	Event
	Base class for all events. More...

class	EventT
	A class for event processing. More...

class	FlagSet
	Set of flags defined by a C++11 enum class. More...

class	HeightmapData
	Encapsulates a generic heightmap data file. More...

class	HWEncoder
	Representation of a GPU video encoder and its configuration. More...

class	Image
	Encapsulates an image. More...

class	ImageHeightmap
	Encapsulates an image that will be interpreted as a heightmap. More...

struct	IO
	Traits for type-specific object I/O. More...

struct	IO< DataFrame< K, math::InMemoryTimeVaryingVolumetricGrid< T, V, P > > >
	Traits for IO of data frames comprised of time varying volumetric grids. More...

struct	IO< std::string >
	Traits for string I/O. More...

struct	IsEnumThatContainsSentinel

struct	IsEnumThatContainsSentinel< T, decltype(static_cast< void >(T::_))>

class	KeyEvent
	Generic description of a keyboard event. More...

class	KeyFrame
	A key frame in an animation. More...

class	LogMessage
	Helper class for providing gzlog macros. More...

class	Material
	Encapsulates description of a material. More...

class	MaterialDensity
	Encapsulates density types. More...

class	Mesh
	A 3D mesh. More...

class	MeshExporter
	Base class for exporting meshes. More...

class	MeshLoader
	Base class for loading meshes. More...

class	MeshManager
	Maintains and manages all meshes. Supported mesh formats are STL (STLA, STLB), COLLADA, OBJ, GLTF (GLB) and FBX. By default only GLTF and FBX are loaded using assimp loader, however if GZ_MESH_FORCE_ASSIMP environment variable is set, then MeshManager will use assimp loader for all supported mesh formats. More...

class	MouseEvent
	Generic description of a mouse event. More...

class	MovingWindowFilter
	Base class for MovingWindowFilter. More...

class	NodeAnimation
	Node animation. More...

class	NodeAssignment
	Vertex to node weighted assignment for skeleton animation visualization. More...

class	NodeTransform
	A transformation node. More...

class	NumericAnimation
	A numeric animation. More...

class	NumericKeyFrame
	A keyframe for a NumericAnimation. More...

class	OBJLoader
	Class used to load obj mesh files. More...

class	Pbr
	This class contains Physically-Based-Rendering (PBR) workflow properties. More...

class	PoseAnimation
	A pose animation. More...

class	PoseKeyFrame
	A keyframe for a PoseAnimation. More...

class	Profiler
	Used to perform application-wide performance profiling. More...

class	ScopedProfile
	Used to provide C++ RAII-style profiling sample. The sample will start on the construction of the `ScopedProfile` object and stop when the object leaves scope. More...

class	SignalHandler
	Register callbacks that get triggered on SIGINT and SIGTERM. More...

class	SingletonT
	Singleton template class. More...

class	Skeleton
	A skeleton, usually used for animation purposes. More...

class	SkeletonAnimation
	Skeleton animation. More...

class	SkeletonNode
	A skeleton node. More...

class	STLLoader
	Class used to load STL mesh files. More...

class	SubMesh
	A child mesh. More...

class	SVGCommand
	SVG command data structure. More...

class	SVGLoader
	A loader for SVG files. More...

struct	SVGPath
	An SVG path element data structure. More...

class	SystemPaths
	Functions to handle getting system paths, keeps track of: More...

class	TempDirectory
	Create a temporary directory in the OS temp location. Upon construction, the current working directory will be set to this new temporary directory. Upon destruction, the current working directory will be restored to the location when the TempDirectory object was constructed. More...

class	Timer
	A timer class, used to time things in real world walltime. More...

class	TrajectoryInfo
	Information about a trajectory for an animation (e.g., Actor) This contains the keyframe information. More...

class	URI
	A complete URI which has the following components: More...

class	URIAuthority

class	URIFragment
	The fragment component of a URI. More...

class	URIPath
	A URI path contains a sequence of segments separated by `/`. The path may be empty in a valid URI. When an authority is present, the path must start with a `/`. More...

class	URIQuery
	The query component of a URI. More...

class	Uuid
	A portable class for representing a Universally Unique Identifier. More...

class	Video
	Handle video encoding and decoding using libavcodec. More...

class	VideoEncoder
	The VideoEncoder class supports encoding a series of images to a video format, and then writing the video to disk. More...

class	WorkerPool
	A pool of worker threads that do stuff in parallel. More...

Typedefs
typedef std::shared_ptr< Battery >	BatteryPtr

using	ConnectionPtr = std::shared_ptr< Connection >

template<typename To , typename From >
using	ConstCompatible = detail::ConstCompatible< To, From >
	Contains a static constexpr field named `value` which will be true if the type `From` has a const-quality less than or equal to the type `To`.

typedef std::runtime_error	exception
	A runtime error.

using	MaterialPtr = std::shared_ptr< Material >

using	MeshPtr = std::shared_ptr< Mesh >

typedef std::map< unsigned int, SkeletonNode * >	SkeletonNodeMap

using	SkeletonPtr = std::shared_ptr< Skeleton >

using	SubMeshPtr = std::shared_ptr< SubMesh >

Enumerations
enum	FilesystemWarningOp { FSWO_LOG_WARNINGS = 0 , FSWO_SUPPRESS_WARNINGS }
	Options for how to handle errors that occur in functions that manipulate the filesystem. More...

enum	NodeTransformType { TRANSLATE , ROTATE , SCALE , MATRIX }
	Enumeration of the transform types. More...

enum class	NormalMapSpace : int { TANGENT = 0 , OBJECT = 1 }
	Space the normal map is defined in. More...

enum class	PbrType : int { NONE = 0 , METAL = 1 , SPECULAR = 2 }
	Type of PBR workflow. More...

Functions
std::string	absPath (const std::string &_path)
	Get the absolute path of a provided path. Relative paths are resolved relative to the current working directory.

void	addFindFileURICallback (std::function< std::string(const URI &)> _cb)
	Add a callback to use when findFile() can't find a file that is a valid URI. The callback should return a full local path to the requested file, or and empty string if the file was not found in the callback. Callbacks will be called in the order they were added until a path is found.

void	addSearchPathSuffix (const std::string &_suffix)
	add path suffix to common::SystemPaths

std::string	av_err2str_cpp (int errnum)

std::string	basename (const std::string &_path)
	Given a path, get just the basename portion.

void	changeFromUnixPath (std::string &_path)
	Replace forward-slashes '/' with the preferred directory separator of the current operating system. On Windows, this will turn forward-slashes into backslashes. If forward-slash is the preferred separator of the current operating system, this will do nothing.

void	changeToUnixPath (std::string &_path)
	Replace the preferred directory separator of the current operating system with a forward-slash '/'. On Windows, this will turn backslashes into forward-slashes.

bool	chdir (const std::string &_dir)
	Change current working directory to _dir.

bool	copyDirectory (const std::string &_existingDirname, const std::string &_newDirname, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Copy a directory, overwrite the destination directory if exists.

bool	copyFile (const std::string &_existingFilename, const std::string &_newFilename, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Copy a file.

std::string	copyFromUnixPath (const std::string &_path)
	Returns a copy of _path which has been passed through changeFromUnixPath.

std::string	copyToUnixPath (const std::string &_path)
	Returns a copy of _path which has been passed through changeToUnixPath.

bool	createDirectories (const std::string &_path)
	Create directories for the given path.

bool	createDirectory (const std::string &_path)
	Create a new directory on the filesystem. Intermediate directories must already exist.

std::string	createTempDirectory (const std::string &_baseName, const std::string &_parentPath, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Create a directory in the tempDirectoryPath by expanding a name template.

std::string	cwd ()
	Get the current working directory.

bool GZ_COMMON_GRAPHICS_VISIBLE	DelaunayTriangulation (const std::vector< gz::math::Vector2d > &_vertices, const std::vector< gz::math::Vector2i > &_edges, SubMesh *_submesh)
	Perform delaunay triangulation on input vertices.

bool	EndsWith (const std::string &_s1, const std::string &_s2)
	return true if string ends with another string

bool	env (const std::string &_name, std::string &_value)
	Find the environment variable '_name' and return its value.

bool	env (const std::string &_name, std::string &_value, bool _allowEmpty)
	Find the environment variable '_name' and return its value.

bool	exists (const std::string &_path)
	Determine whether the given path exists on the filesystem.

GZ_COMMON_IO_VISIBLE std::istream &	ExtractCSVToken (std::istream &_stream, CSVToken &_token, const CSVDialect &_dialect=CSVDialect::Unix)
	Extract a single token from an input stream of CSV data.

std::string	findFile (const std::string &_file)
	search for file in common::SystemPaths

std::string	findFile (const std::string &_file, bool _searchLocalPath)
	search for file in common::SystemPaths

std::string	findFilePath (const std::string &_file)
	search for a file in common::SystemPaths

constexpr uint64_t	hash64 (std::string_view _key)
	fnv1a algorithm for 64-bit platforms.

bool	isDirectory (const std::string &_path)
	Determine whether the given path is a directory.

bool	isFile (const std::string &_path)
	Check if the given path is a file.

bool	isRelativePath (const std::string &_path)
	Check if the given path is relative.

std::string	Join (const std::vector< std::string > &_orig, char _delim)
	Join a sequence of strings with a delimiter.

std::string	Join (const std::vector< std::string > &_orig, const std::string &_delim)
	Join a sequence of strings with a delimiter.

std::string	joinPaths (const std::string &_path)
	base case for joinPaths(...) below

std::string	joinPaths (const std::string &_path1, const std::string &_path2)
	Join two strings together to form a path.

template<typename... Args>
std::string	joinPaths (const std::string &_path1, const std::string &_path2, Args const &..._args)
	Append one or more additional path elements to the first passed in argument.

void	load ()
	Load external libraries, such as libav. It is safe to call this multiple times.

std::string	logPath ()
	Get the log path.

std::string	lowercase (const char *_in)
	Transforms a string to its lowercase equivalent.

std::string	lowercase (const std::string &_in)
	Transforms a string to its lowercase equivalent.

void	ltrim (std::string &_s)
	In place left trim.

std::string	ltrimmed (std::string _s)
	Copying left trim.

bool	moveFile (const std::string &_existingFilename, const std::string &_newFilename, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Move a file.

bool GZ_COMMON_IO_VISIBLE	operator== (const CSVDialect &_lhs, const CSVDialect &_rhs)
	Check CSV dialects for equality.

std::string	parentPath (const std::string &_path)
	Given a path, get just its parent path portion, without separator at the end.

GZ_COMMON_IO_VISIBLE std::istream &	ParseCSVRow (std::istream &_stream, std::vector< std::string > &_row, const CSVDialect &_dialect=CSVDialect::Unix)
	Parse a single row from an input stream of CSV data.

std::string	PluralCast (const std::string &_baseWord, const int _n)
	Choose whether to use a singular or plural version of a noun based on the value of an integer quantity. This version will simply add an 's' character to _baseWord in the event that std::abs(_n) != 1, otherwise it returns _baseWord.

std::string	PluralCast (const std::string &_singular, const std::string &_plural, const int _n)
	A version of PluralCast that works for irregular nouns. If std::abs(_n)==1 then _singular is returned; otherwise _plural will be returned.

bool	removeAll (const std::string &_path, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Remove a file or a directory and all its contents.

bool	removeDirectory (const std::string &_path, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Remove an empty directory.

bool	removeDirectoryOrFile (const std::string &_path, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Remove an empty directory or file.

bool	removeFile (const std::string &_existingFilename, const FilesystemWarningOp _warningOp=FSWO_LOG_WARNINGS)
	Remove a file.

std::string	replaceAll (const std::string &_orig, const std::string &_key, const std::string &_replacement)
	Replace all occurances of _key with _replacement.

void	replaceAll (std::string &_result, const std::string &_orig, const std::string &_key, const std::string &_replacement)
	Replace all occurances of _key with _replacement.

void	rtrim (std::string &_s)
	In place right trim.

std::string	rtrimmed (std::string _s)
	Copying right trim.

std::string const	separator (std::string const &_s)
	Append the preferred path separator character for this platform onto the passed-in string.

bool	setenv (const std::string &_name, const std::string &_value)
	Set the environment variable '_name'.

template<typename T >
std::string	sha1 (const T &_buffer)
	Compute the SHA1 hash of an array of bytes.

std::string	sha1 (void const *_buffer, std::size_t _byteCount)
	Compute the SHA1 hash of an array of bytes. Use std::string sha1(const T &_buffer) instead of this function.

std::vector< std::string >	Split (const std::string &_orig, char _delim)
	split at a one character delimiter to get a vector of something

std::vector< std::string >	split (const std::string &_str, const std::string &_delim)
	Splits a string into tokens.

bool	StartsWith (const std::string &_s1, const std::string &_s2)
	return true if string starts with another string

common::SystemPaths *	systemPaths ()
	Get a pointer to the global system paths that is used by all the findFile functions. The returned instance has global shared state for a given process. Care should be taken when manipulating global system paths Caller should not assume ownership of the pointer.

std::string	systemTimeISO ()
	Please use systemTimeIso() as this function will be deprecated in Gazebo Common 4. Get the wall time as an ISO string: YYYY-MM-DDTHH:MM:SS.NS.

std::string	systemTimeIso ()
	Get the wall time as an ISO string: YYYY-MM-DDTHH:MM:SS.NS.

std::string	tempDirectoryPath ()
	Return the path to a directory suitable for temporary files.

std::string	timeToIso (const std::chrono::time_point< std::chrono::system_clock > &_time)
	Converts a time point to an ISO string: YYYY-MM-DDTHH:MM:SS.NS.

void	trim (std::string &_s)
	In place trim from both ends.

std::string	trimmed (std::string _s)
	Copying trim from both ends.

std::string	uniqueDirectoryPath (const std::string &_dir)
	Unique directory path to not overwrite existing directory.

std::string	uniqueFilePath (const std::string &_pathAndName, const std::string &_extension)
	Generates a path for a file which doesn't collide with existing files, by appending numbers to it (i.e. (0), (1), ...)

bool	unsetenv (const std::string &_name)
	Unset the environment variable '_name'.

std::string	uuid ()
	Get a UUID.

Variables
static std::string	PixelFormatNames []
	String names for the pixel formats.

Detailed Description

This is an internal-use only class encapsulating HW video encoding. All symbols defined here are hidden from the public API.

Typedef Documentation

◆ BatteryPtr

typedef std::shared_ptr<Battery> BatteryPtr

◆ ConnectionPtr

using ConnectionPtr = std::shared_ptr<Connection>

◆ ConstCompatible

template<typename To , typename From >

using ConstCompatible = detail::ConstCompatible<To, From>

Contains a static constexpr field named value which will be true if the type From has a const-quality less than or equal to the type To.

The following expressions will return true:

ConstCompatible<T, T>::value

ConstCompatible<const T, T>::value

The following expression will return false:

ConstCompatible<T, const T>::value

◆ exception

typedef std::runtime_error exception

A runtime error.

◆ MaterialPtr

using MaterialPtr = std::shared_ptr<Material>

◆ MeshPtr

using MeshPtr = std::shared_ptr<Mesh>

◆ SkeletonNodeMap

typedef std::map<unsigned int, SkeletonNode*> SkeletonNodeMap

◆ SkeletonPtr

using SkeletonPtr = std::shared_ptr<Skeleton>

◆ SubMeshPtr

using SubMeshPtr = std::shared_ptr<SubMesh>

Enumeration Type Documentation

◆ FilesystemWarningOp

enum FilesystemWarningOp

Options for how to handle errors that occur in functions that manipulate the filesystem.

Enumerator
FSWO_LOG_WARNINGS	Errors that occur during filesystem manipulation should be logged as warnings using gzwarn. (Recommended)
FSWO_SUPPRESS_WARNINGS	Errors that occur during filesystem manipulation should not be logged. The user will be responsible for checking the system's error flags.

◆ NodeTransformType

enum NodeTransformType

Enumeration of the transform types.

Enumerator
TRANSLATE
ROTATE
SCALE
MATRIX

◆ NormalMapSpace

enum class NormalMapSpace : int

strong

Space the normal map is defined in.

Enumerator
TANGENT	Tangent space.
OBJECT	Object space.

◆ PbrType

enum class PbrType : int

strong

Type of PBR workflow.

Enumerator
NONE	No workflow.
METAL	Metal/Roughness workflow.
SPECULAR	Specular/Glossiness workflow.

Function Documentation

◆ absPath()

std::string absPath ( const std::string & _path )

Get the absolute path of a provided path. Relative paths are resolved relative to the current working directory.

Parameters

[in] _path Relative or absolute path.

Returns: Absolute path (with platform-dependent directory separators).

◆ addFindFileURICallback()

void addFindFileURICallback ( std::function< std::string(const URI &)> _cb )

Add a callback to use when findFile() can't find a file that is a valid URI. The callback should return a full local path to the requested file, or and empty string if the file was not found in the callback. Callbacks will be called in the order they were added until a path is found.

Parameters

[in] _cb The callback function, which takes a file path or URI and returns the full local path.

◆ addSearchPathSuffix()

void addSearchPathSuffix ( const std::string & _suffix )

add path suffix to common::SystemPaths

Parameters

[in] _suffix The suffix to add.

◆ av_err2str_cpp()

std::string av_err2str_cpp ( int errnum )

inline

References AV_ERROR_MAX_STRING_SIZE.

◆ basename()

std::string basename ( const std::string & _path )

Given a path, get just the basename portion.

Parameters

[in] _path The full path.

Returns: A new string with just the basename portion of the path.

◆ changeFromUnixPath()

void changeFromUnixPath ( std::string & _path )

Replace forward-slashes '/' with the preferred directory separator of the current operating system. On Windows, this will turn forward-slashes into backslashes. If forward-slash is the preferred separator of the current operating system, this will do nothing.

Note that this will NOT convert backslashes (or any other separator) into forward slashes, even on operating systems that use forward-slashes as separators.

Parameters

[out] _path This string will be directly modified by replacing its forward-slashes with the preferred directory separator of the current operating system.

◆ changeToUnixPath()

void changeToUnixPath ( std::string & _path )

Replace the preferred directory separator of the current operating system with a forward-slash '/'. On Windows, this will turn backslashes into forward-slashes.

Parameters

[out] _path This string will be directly modified to use forward slashes to separate its directory names.

◆ chdir()

bool chdir ( const std::string & _dir )

Change current working directory to _dir.

Parameters

[in] _dir The directory to change to.

Returns: Whether the operation succeeded.

◆ copyDirectory()

bool copyDirectory	(	const std::string &	_existingDirname,
		const std::string &	_newDirname,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Copy a directory, overwrite the destination directory if exists.

Parameters

[in]	_source	Path to an existing directory to copy from.
[in]	_destination	Path to the destination directory.

Returns: True on success.

◆ copyFile()

bool copyFile	(	const std::string &	_existingFilename,
		const std::string &	_newFilename,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Copy a file.

Parameters

[in]	_existingFilename	Path to an existing file.
[in]	_newFilename	Path of the new file.
[in]	_warningOp	Log or suppress warnings that may occur.

Returns: True on success.

◆ copyFromUnixPath()

std::string copyFromUnixPath ( const std::string & _path )

Returns a copy of _path which has been passed through changeFromUnixPath.

Parameters

[in] _path The path to start with

Returns: A modified path that uses the preferred directory separator of the current operating system.

◆ copyToUnixPath()

std::string copyToUnixPath ( const std::string & _path )

Returns a copy of _path which has been passed through changeToUnixPath.

Parameters

[in] _path The path to start with

Returns: A modified path that uses forward slashes to separate directory names.

◆ createDirectories()

bool createDirectories ( const std::string & _path )

Create directories for the given path.

Parameters

[in] _path Path to create directories from

Returns: true on success

◆ createDirectory()

bool createDirectory ( const std::string & _path )

Create a new directory on the filesystem. Intermediate directories must already exist.

Parameters

[in] _path The new directory path to create

Returns: True if directory creation was successful, false otherwise.

◆ createTempDirectory()

std::string createTempDirectory	(	const std::string &	_baseName,
		const std::string &	_parentPath,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Create a directory in the tempDirectoryPath by expanding a name template.

On execution, will create the directory: "_parentPath"/"_baseName" + "XXXXXX", where XXXXXX will be filled out by an OS-appropriate method (eg mkdtmp/_mktemp_s)

Parameters

[in]	_baseName	String to be prepended to the expanded template
[in]	_parentPath	Location to create the directory
[in]	_warningOp	Allow or suppress filesystem warnings

Returns: Path to newly-created temporary directory

◆ cwd()

std::string cwd ( )

Get the current working directory.

Returns: Name of the current directory

◆ DelaunayTriangulation()

bool GZ_COMMON_GRAPHICS_VISIBLE DelaunayTriangulation	(	const std::vector< gz::math::Vector2d > &	_vertices,
		const std::vector< gz::math::Vector2i > &	_edges,
		SubMesh *	_submesh
	)

Perform delaunay triangulation on input vertices.

Parameters

[in]	_vertices	A list of all vertices
[in]	_edges	A list of edges. Each edge is made of 2 vertex indices from _vertices
[out]	_submesh	A submesh that will be populated with the resulting triangles.

Returns: True on success.

◆ EndsWith()

bool EndsWith	(	const std::string &	_s1,
		const std::string &	_s2
	)

return true if string ends with another string

Parameters

[in]	_s1	the string to check
[in]	_s2	the possible suffix

Returns: true if _s1 ends with _s2

◆ env() [1/2]

bool env	(	const std::string &	_name,
		std::string &	_value
	)

Find the environment variable '_name' and return its value.

\TODO(mjcarroll): Deprecate and remove in tick-tock.

Parameters

[in]	_name	Name of the environment variable.
[out]	_value	Value if the variable was found.

Returns: True if the variable was found or false otherwise.

◆ env() [2/2]

bool env	(	const std::string &	_name,
		std::string &	_value,
		bool	_allowEmpty
	)

Find the environment variable '_name' and return its value.

Parameters

[in]	_name	Name of the environment variable.
[out]	_value	Value if the variable was found.
[in]	_allowEmpty	Allow set-but-empty variables. (Unsupported on Windows)

Returns: True if the variable was found or false otherwise.

◆ exists()

bool exists ( const std::string & _path )

Determine whether the given path exists on the filesystem.

Parameters

[in] _path The path to check for existence

Returns: True if the path exists on the filesystem, false otherwise.

◆ ExtractCSVToken()

GZ_COMMON_IO_VISIBLE std::istream & ExtractCSVToken	(	std::istream &	_stream,
		CSVToken &	_token,
		const CSVDialect &	_dialect = `CSVDialect::Unix`
	)

Extract a single token from an input stream of CSV data.

If tokenization fails, the CSV data stream failbit will be set.

Parameters

[in]	_stream	A stream of CSV data to tokenize.
[out]	_token	Output CSV token to extract into.
[in]	_dialect	CSV data dialect. Defaults to the Unix dialect.

Returns: same CSV data stream.

◆ findFile() [1/2]

std::string findFile ( const std::string & _file )

search for file in common::SystemPaths

Parameters

[in] _file Name of the file to find.

Returns: The path containing the file.

◆ findFile() [2/2]

std::string findFile	(	const std::string &	_file,
		bool	_searchLocalPath
	)

search for file in common::SystemPaths

Parameters

[in]	_file	Name of the file to find.
[in]	_searchLocalPath	True to search in the current working directory.

Returns: The path containing the file.

◆ findFilePath()

std::string findFilePath ( const std::string & _file )

search for a file in common::SystemPaths

Parameters

[in] _file the file name to look for.

Returns: The path containing the file.

◆ hash64()

constexpr uint64_t hash64 ( std::string_view _key )

constexpr

fnv1a algorithm for 64-bit platforms.

Parameters

[in] _key The input string.

Returns: A 64-bit unsigned hash value. https://notes.underscorediscovery.com/constexpr-fnv1a/

◆ isDirectory()

bool isDirectory ( const std::string & _path )

Determine whether the given path is a directory.

Parameters

[in] _path The path to check

Returns: True if given path exists and is a directory, false otherwise.

◆ isFile()

bool isFile ( const std::string & _path )

Check if the given path is a file.

Parameters

[in] _path Path to a file.

Returns: True if _path is a file.

◆ isRelativePath()

bool isRelativePath ( const std::string & _path )

Check if the given path is relative.

Parameters

[in] _path Path.

Returns: True if _path is relative.

◆ Join() [1/2]

std::string Join	(	const std::vector< std::string > &	_orig,
		char	_delim
	)

Join a sequence of strings with a delimiter.

Note that this will skip any empty entries in the vector, and will also not prepend or append the delimiter to the final output string

Parameters

[in]	_orig	The input sequence of strings
[in]	_delim	a character to join the string with

Returns: a single string composed of strings joined with the delimiter

◆ Join() [2/2]

std::string Join	(	const std::vector< std::string > &	_orig,
		const std::string &	_delim
	)

Join a sequence of strings with a delimiter.

Note that this will skip any empty entries in the vector, and will also not prepend or append the delimiter to the final output string

Parameters

[in]	_orig	The input sequence of strings
[in]	_delim	a string delimiter to join the string with

Returns: a single string composed of strings joined with the delimiter

◆ joinPaths() [1/3]

std::string joinPaths ( const std::string & _path )

inline

base case for joinPaths(...) below

◆ joinPaths() [2/3]

std::string joinPaths	(	const std::string &	_path1,
		const std::string &	_path2
	)

Join two strings together to form a path.

Parameters

[in]	_path1	the left portion of the path
[in]	_path2	the right portion of the path

Returns: Joined path. The function can do simplifications such as elimination of ../ and removal of duplicate // (but is not guaranteed to do so).

Referenced by joinPaths().

◆ joinPaths() [3/3]

template<typename... Args>

std::string joinPaths	(	const std::string &	_path1,
		const std::string &	_path2,
		Args const &...	_args
	)

inline

Append one or more additional path elements to the first passed in argument.

Parameters

[in] args The paths to append together

Returns: A new string with the paths appended together.

References joinPaths().

◆ load()

void load ( )

Load external libraries, such as libav. It is safe to call this multiple times.

◆ logPath()

std::string logPath ( )

Get the log path.

Returns: the log path

◆ lowercase() [1/2]

std::string lowercase ( const char * _in )

Transforms a string to its lowercase equivalent.

Parameters

[in] _in String to convert to lowercase

Returns: Lowercase equilvalent of _in.

◆ lowercase() [2/2]

std::string lowercase ( const std::string & _in )

Transforms a string to its lowercase equivalent.

Parameters

[in] _in String to convert to lowercase

Returns: Lowercase equilvalent of _in.

◆ ltrim()

void ltrim ( std::string & _s )

In place left trim.

Parameters

[in,out] _s String to trim

◆ ltrimmed()

std::string ltrimmed ( std::string _s )

Copying left trim.

Parameters

[in] _s String to trim

Returns: Trimmed string

◆ moveFile()

bool moveFile	(	const std::string &	_existingFilename,
		const std::string &	_newFilename,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Move a file.

Parameters

[in]	_existingFilename	Full path to an existing file.
[in]	_newFilename	Full path of the new file.
[in]	_warningOp	Log or suppress warnings that may occur.

Returns: True on success.

◆ operator==()

bool GZ_COMMON_IO_VISIBLE operator==	(	const CSVDialect &	_lhs,
		const CSVDialect &	_rhs
	)

Check CSV dialects for equality.

Parameters

[in]	_lhs	Left-hand side CSV dialect.
[in]	_rhs	Right-hand side CSV dialect.

Returns: true if CSV dialects are equal, false otherwise.

◆ parentPath()

std::string parentPath ( const std::string & _path )

Given a path, get just its parent path portion, without separator at the end.

Parameters

[in] _path Path of which to find parent path

Returns: A new string with just the parent path of the path.

◆ ParseCSVRow()

GZ_COMMON_IO_VISIBLE std::istream & ParseCSVRow	(	std::istream &	_stream,
		std::vector< std::string > &	_row,
		const CSVDialect &	_dialect = `CSVDialect::Unix`
	)

Parse a single row from an input stream of CSV data.

If parsing fails, the CSV data stream failbit will be set.

Parameters

[in]	_stream	CSV data stream to parse.
[out]	_row	Output CSV row to parse into.
[in]	_dialect	CSV data dialect. Defaults to the Unix dialect.

Returns: same CSV data stream.

◆ PluralCast() [1/2]

std::string PluralCast	(	const std::string &	_baseWord,
		const int	_n
	)

Choose whether to use a singular or plural version of a noun based on the value of an integer quantity. This version will simply add an 's' character to _baseWord in the event that std::abs(_n) != 1, otherwise it returns _baseWord.

Parameters

[in]	_baseWord	the singular version of the word to return
[in]	_n	the quantity that _baseWord is describing

Returns: _baseWord if std::abs(_n)==1, otherwise return _baseWords

◆ PluralCast() [2/2]

std::string PluralCast	(	const std::string &	_singular,
		const std::string &	_plural,
		const int	_n
	)

A version of PluralCast that works for irregular nouns. If std::abs(_n)==1 then _singular is returned; otherwise _plural will be returned.

Parameters

[in]	_singular	the return value when std::abs(_n) == 1
[in]	_plural	the return value when std::abs(_n) != 1

Returns: _singular if std::abs(_n)==1, otherwise return _plural

◆ removeAll()

bool removeAll	(	const std::string &	_path,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Remove a file or a directory and all its contents.

Parameters

[in]	_path	Path to a directory or file.
[in]	_warningOp	Log or suppress warnings that may occur.

Returns: True if _path was removed.

◆ removeDirectory()

bool removeDirectory	(	const std::string &	_path,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Remove an empty directory.

Remarks: the directory must be empty to be removed

Parameters

[in]	_path	Path to a directory.
[in]	_warningOp	Log or suppress warnings that may occur.

Returns: True if _path is a directory and was removed.

◆ removeDirectoryOrFile()

bool removeDirectoryOrFile	(	const std::string &	_path,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Remove an empty directory or file.

Parameters

[in]	_path	Path to a directory or file.
[in]	_warningOp	Log or suppress warnings that may occur.

Returns: True if _path was removed.

◆ removeFile()

bool removeFile	(	const std::string &	_existingFilename,
		const FilesystemWarningOp	_warningOp = `FSWO_LOG_WARNINGS`
	)

Remove a file.

Parameters

[in]	_existingFilename	Full path to an existing file.
[in]	_warningOp	Log or suppress warnings that may occur.

Returns: True on success.

◆ replaceAll() [1/2]

std::string replaceAll	(	const std::string &	_orig,
		const std::string &	_key,
		const std::string &	_replacement
	)

Replace all occurances of _key with _replacement.

Parameters

[in]	_orig	Original string.
[in]	_key	String to replace.
[in]	_replacement	The string that replaces _key.

Returns: The new string that has had _key replaced with _replacement.

See also: void common::replaceAll(std::string &_result, const std::string &_orig, const std::string &_key, const std::string &_replacement)

◆ replaceAll() [2/2]

void replaceAll	(	std::string &	_result,
		const std::string &	_orig,
		const std::string &	_key,
		const std::string &	_replacement
	)

Replace all occurances of _key with _replacement.

Parameters

[out]	_result	The new string that has had _key replaced with _replacement.
[in]	_orig	Original string.
[in]	_key	String to replace.
[in]	_replacement	The string that replaces _key.

See also: std::string replaceAll(const std::string &_orig, const std::string &_key, const std::string &_replacement)

◆ rtrim()

void rtrim ( std::string & _s )

In place right trim.

Parameters

[in,out] _s String to trim

◆ rtrimmed()

std::string rtrimmed ( std::string _s )

Copying right trim.

Parameters

[in] _s String to trim

Returns: Trimmed string

◆ separator()

std::string const separator ( std::string const & _s )

Append the preferred path separator character for this platform onto the passed-in string.

Parameters

[in] _s The path to start with.

Returns: The original path with the platform path separator appended.

◆ setenv()

bool setenv	(	const std::string &	_name,
		const std::string &	_value
	)

Set the environment variable '_name'.

Note that on Windows setting an empty string (_value=="") is the equivalent of unsetting the variable.

Parameters

[in]	_name	Name of the environment variable.
[in]	_value	Value of the variable to be set.

Returns: True if the variable was set or false otherwise.

◆ sha1() [1/2]

template<typename T >

std::string sha1 ( const T & _buffer )

Compute the SHA1 hash of an array of bytes.

Parameters

[in] _buffer Input sequence. The permitted data types for this function are std::string and any STL container.

Returns: The string representation (40 character) of the SHA1 hash.

◆ sha1() [2/2]

std::string sha1	(	void const *	_buffer,
		std::size_t	_byteCount
	)

Compute the SHA1 hash of an array of bytes. Use std::string sha1(const T &_buffer) instead of this function.

Parameters

[in] _buffer Input sequence. The permitted data types for this function are std::string and any STL container.

Returns: The string representation (40 character) of the SHA1 hash.

See also: sha1(const T &_buffer)

◆ Split()

std::vector< std::string > Split	(	const std::string &	_orig,
		char	_delim
	)

split at a one character delimiter to get a vector of something

Parameters

[in]	_orig	The string to split
[in]	_delim	a character to split the string at

Returns: vector of split pieces of the string excluding the delimiter

◆ split()

std::vector< std::string > split	(	const std::string &	_str,
		const std::string &	_delim
	)

Splits a string into tokens.

Parameters

[in]	_str	Input string.
[in]	_delim	Token delimiter.

Returns: Vector of tokens.

◆ StartsWith()

bool StartsWith	(	const std::string &	_s1,
		const std::string &	_s2
	)

return true if string starts with another string

Parameters

[in]	_s1	the string to check
[in]	_s2	the possible prefix

Returns: true if _s1 starts with _s2

◆ systemPaths()

common::SystemPaths * systemPaths ( )

Get a pointer to the global system paths that is used by all the findFile functions. The returned instance has global shared state for a given process. Care should be taken when manipulating global system paths Caller should not assume ownership of the pointer.

Returns: A mutable reference to the system paths object.

◆ systemTimeISO()

std::string systemTimeISO ( )

Please use systemTimeIso() as this function will be deprecated in Gazebo Common 4. Get the wall time as an ISO string: YYYY-MM-DDTHH:MM:SS.NS.

Returns: The current wall time as an ISO string.

See also: systemTimeIso();

◆ systemTimeIso()

std::string systemTimeIso ( )

Get the wall time as an ISO string: YYYY-MM-DDTHH:MM:SS.NS.

Returns: The current wall time as an ISO string.

◆ tempDirectoryPath()

std::string tempDirectoryPath ( )

Return the path to a directory suitable for temporary files.

Calls std::filesystem::temp_directory_path, refer to the standard documentation for your platform for behaviors.

Returns: A directory suitable for temporary files.

◆ timeToIso()

std::string timeToIso ( const std::chrono::time_point< std::chrono::system_clock > & _time )

Converts a time point to an ISO string: YYYY-MM-DDTHH:MM:SS.NS.

Parameters

[in] _time A time point, such as one created by GZ_SYSTEM_TIME().

Returns: An ISO string that represents the given _time.

◆ trim()

void trim ( std::string & _s )

In place trim from both ends.

Parameters

[in,out] _s String to trim

◆ trimmed()

std::string trimmed ( std::string _s )

Copying trim from both ends.

Parameters

[in] _s String to trim

Returns: Trimmed string

◆ uniqueDirectoryPath()

std::string uniqueDirectoryPath ( const std::string & _dir )

Unique directory path to not overwrite existing directory.

Parameters

[in] _pathAndName Full absolute path

Returns: Full path which doesn't collide with existing files

◆ uniqueFilePath()

std::string uniqueFilePath	(	const std::string &	_pathAndName,
		const std::string &	_extension
	)

Generates a path for a file which doesn't collide with existing files, by appending numbers to it (i.e. (0), (1), ...)

Parameters

[in]	_pathAndName	Full absolute path and file name up to the file extension.
[in]	_extension	File extension, such as "sdf".

Returns: Full path with name and extension, which doesn't collide with existing files

◆ unsetenv()

bool unsetenv ( const std::string & _name )

Unset the environment variable '_name'.

Parameters

[in] _name Name of the environment variable.

Returns: True if the variable was unset or false otherwise.

◆ uuid()

std::string uuid ( )

Get a UUID.

Returns: A UUID string

Variable Documentation

◆ PixelFormatNames

std::string PixelFormatNames[]

static

Initial value:

=
    {
      "UNKNOWN_PIXEL_FORMAT",
      "L_INT8",
      "L_INT16",
      "RGB_INT8",
      "RGBA_INT8",
      "BGRA_INT8",
      "RGB_INT16",
      "RGB_INT32",
      "BGR_INT8",
      "BGR_INT16",
      "BGR_INT32",
      "R_FLOAT16",
      "RGB_FLOAT16",
      "R_FLOAT32",
      "RGB_FLOAT32",
      "BAYER_RGGB8",
      "BAYER_BGGR8",
      "BAYER_GBRG8",
      "BAYER_GRBG8",
      "COMPRESSED_PNG"
    }

String names for the pixel formats.

See also: Image::PixelFormat.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ BatteryPtr

◆ ConnectionPtr

◆ ConstCompatible

◆ exception

◆ MaterialPtr

◆ MeshPtr

◆ SkeletonNodeMap

◆ SkeletonPtr

◆ SubMeshPtr

Enumeration Type Documentation

◆ FilesystemWarningOp

◆ NodeTransformType

◆ NormalMapSpace

◆ PbrType

Function Documentation

◆ absPath()

◆ addFindFileURICallback()

◆ addSearchPathSuffix()

◆ av_err2str_cpp()

◆ basename()

◆ changeFromUnixPath()

◆ changeToUnixPath()

◆ chdir()

◆ copyDirectory()

◆ copyFile()

◆ copyFromUnixPath()

◆ copyToUnixPath()

◆ createDirectories()

◆ createDirectory()

◆ createTempDirectory()

◆ cwd()

◆ DelaunayTriangulation()

◆ EndsWith()

◆ env() [1/2]

◆ env() [2/2]

◆ exists()

◆ ExtractCSVToken()

◆ findFile() [1/2]

◆ findFile() [2/2]

◆ findFilePath()

◆ hash64()

◆ isDirectory()

◆ isFile()

◆ isRelativePath()

◆ Join() [1/2]

◆ Join() [2/2]

◆ joinPaths() [1/3]

◆ joinPaths() [2/3]

◆ joinPaths() [3/3]

◆ load()

◆ logPath()

◆ lowercase() [1/2]

◆ lowercase() [2/2]

◆ ltrim()

◆ ltrimmed()

◆ moveFile()

◆ operator==()

◆ parentPath()

◆ ParseCSVRow()

◆ PluralCast() [1/2]

◆ PluralCast() [2/2]

◆ removeAll()

◆ removeDirectory()

◆ removeDirectoryOrFile()

◆ removeFile()

◆ replaceAll() [1/2]

◆ replaceAll() [2/2]

◆ rtrim()

◆ rtrimmed()

◆ separator()

◆ setenv()

◆ sha1() [1/2]

◆ sha1() [2/2]