Classes
class	sdf::SDF_VERSION_NAMESPACE::AssertionInternalError
	Class for generating Exceptions which come from sdf assertions. They include information about the assertion expression violated, function where problem appeared and assertion debug message. More...

class	sdf::SDF_VERSION_NAMESPACE::Console
	Message, error, warning, and logging functionality. More...

class	sdf::SDF_VERSION_NAMESPACE::ConsolePrivate

class	sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream
	An ostream-like class that we'll use for logging. More...

class	sdf::SDF_VERSION_NAMESPACE::Element
	SDF Element class. More...

class	sdf::SDF_VERSION_NAMESPACE::ElementPrivate

class	sdf::SDF_VERSION_NAMESPACE::Exception
	Class for generating exceptions. More...

class	sdf::SDF_VERSION_NAMESPACE::InternalError
	Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More...

class	sdf::SDF_VERSION_NAMESPACE::SDF
	Base SDF class. More...

Macros
#define	sdfdbg (sdf::Console::Instance()->Log("Dbg", __FILE__, __LINE__))
	Output a debug message. More...

#define	sdferr
	Output an error message. More...

#define	sdfmsg
	Output a message. More...

#define	sdfthrow(msg)
	This macro logs an error to the throw stream and throws an exception that contains the file name and line number. More...

#define	sdfwarn
	Output a warning message. More...

Typedefs
typedef std::shared_ptr< Console >	sdf::SDF_VERSION_NAMESPACE::ConsolePtr

Functions
	sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::ConsolePrivate ()
	Constructor. More...

	sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::ConsoleStream (std::ostream *_stream)
	Constructor. More...

virtual	sdf::SDF_VERSION_NAMESPACE::Console::~Console ()
	Destructor. More...

GZ_SDFORMAT_VISIBLE void	sdf::SDF_VERSION_NAMESPACE::addURIPath (const std::string &_uri, const std::string &_path)
	Associate paths to a URI. More...

static void	sdf::SDF_VERSION_NAMESPACE::Console::Clear ()
	Clear out the current console to make room for a new one. More...

ConsoleStream &	sdf::SDF_VERSION_NAMESPACE::Console::ColorMsg (const std::string &lbl, const std::string &file, unsigned int line, int color)
	Use this to output a colored message to the terminal. More...

GZ_SDFORMAT_VISIBLE std::string	sdf::SDF_VERSION_NAMESPACE::findFile (const std::string &_filename, bool _searchLocalPath, bool _useCallback, const ParserConfig &_config)
	Find the absolute path of a file. More...

GZ_SDFORMAT_VISIBLE std::string	sdf::SDF_VERSION_NAMESPACE::findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...

GZ_SDFORMAT_VISIBLE std::string	sdf::SDF_VERSION_NAMESPACE::findFile (sdf::Errors &_errors, const std::string &_filename, bool _searchLocalPath, bool _useCallback, const ParserConfig &_config)
	Find the absolute path of a file. More...

GZ_SDFORMAT_VISIBLE std::string	sdf::SDF_VERSION_NAMESPACE::findFile (sdf::Errors &_errors, const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...

template<typename T >
std::pair< T, bool >	sdf::SDF_VERSION_NAMESPACE::Element::Get (const std::string &_key, const T &_defaultValue) const
	Get the value of a key. More...

template<typename T >
bool	sdf::SDF_VERSION_NAMESPACE::Element::Get (const std::string &_key, T &_param, const T &_defaultValue) const
	Get the value of a key. More...

template<typename T >
T	sdf::SDF_VERSION_NAMESPACE::Element::Get (const std::string &_key="") const
	Get the value of a key. More...

template<typename T >
std::pair< T, bool >	sdf::SDF_VERSION_NAMESPACE::Element::Get (sdf::Errors &_errors, const std::string &_key, const T &_defaultValue) const
	Get the value of a key. More...

template<typename T >
bool	sdf::SDF_VERSION_NAMESPACE::Element::Get (sdf::Errors &_errors, const std::string &_key, T &_param, const T &_defaultValue) const
	Get the value of a key. More...

template<typename T >
T	sdf::SDF_VERSION_NAMESPACE::Element::Get (sdf::Errors &_errors, const std::string &_key="") const
	Get the value of a key. More...

ConsoleStream &	sdf::SDF_VERSION_NAMESPACE::Console::GetLogStream ()
	Get the current log stream object. More...

ConsoleStream &	sdf::SDF_VERSION_NAMESPACE::Console::GetMsgStream ()
	Get the current message stream object. More...

std::ostream *	sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::GetStream ()
	Get the current stream object. More...

static ConsolePtr	sdf::SDF_VERSION_NAMESPACE::Console::Instance ()
	Return an instance to this class. More...

ConsoleStream &	sdf::SDF_VERSION_NAMESPACE::Console::Log (const std::string &lbl, const std::string &file, unsigned int line)
	Use this to output a message to a log file at `$HOME/.sdformat/sdformat.log`. More...

template<class T >
ConsoleStream &	sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::operator<< (const T &_rhs)
	Redirect whatever is passed in to both our ostream (if non-NULL) and the log file (if open). More...

void	sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::Prefix (const std::string &_lbl, const std::string &_file, unsigned int _line, int _color)
	Print a prefix to both terminal and log file. More...

template<typename T >
bool	sdf::SDF_VERSION_NAMESPACE::Element::Set (const T &_value)
	Set the value of this element. More...

template<typename T >
bool	sdf::SDF_VERSION_NAMESPACE::Element::Set (sdf::Errors &_errors, const T &_value)
	Set the value of this element. More...

GZ_SDFORMAT_VISIBLE void	sdf::SDF_VERSION_NAMESPACE::setFindCallback (std::function< std::string(const std::string &)> _cb)
	Set the callback to use when SDF can't find a file. More...

void	sdf::SDF_VERSION_NAMESPACE::Console::SetQuiet (bool _q)
	Set quiet output. More...

void	sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::SetStream (std::ostream *_stream)
	Set the stream object. More...

Variables
std::ofstream	sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::logFileStream
	logfile stream More...

Console::ConsoleStream	sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::logStream
	log stream More...

Console::ConsoleStream	sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::msgStream
	message stream More...

Detailed Description

Macro Definition Documentation

◆ sdfdbg

#define sdfdbg (sdf::Console::Instance()->Log("Dbg", __FILE__, __LINE__))

Output a debug message.

◆ sdferr

#define sdferr

Value:

(sdf::Console::Instance()->ColorMsg("Error", \

__FILE__, __LINE__, 31))

Output an error message.

◆ sdfmsg

#define sdfmsg

Value:

(sdf::Console::Instance()->ColorMsg("Msg", \

__FILE__, __LINE__, 32))

Output a message.

◆ sdfthrow

#define sdfthrow ( msg )

Value:

    {std::ostringstream throwStream;\
    throwStream << msg << std::endl << std::flush;\
    throw sdf::Exception(__FILE__, __LINE__, throwStream.str()); }

This macro logs an error to the throw stream and throws an exception that contains the file name and line number.

◆ sdfwarn

#define sdfwarn

Value:

(sdf::Console::Instance()->ColorMsg("Warning", \

__FILE__, __LINE__, 33))

Output a warning message.

Typedef Documentation

◆ ConsolePtr

typedef std::shared_ptr<Console> sdf::SDF_VERSION_NAMESPACE::ConsolePtr

Function Documentation

◆ ConsolePrivate()

sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::ConsolePrivate ( )

inline

Constructor.

◆ ConsoleStream()

sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::ConsoleStream ( std::ostream * _stream )

inlineexplicit

Constructor.

Parameters

[in] _stream Pointer to an output stream operator. Can be NULL/nullptr.

◆ ~Console()

virtual sdf::SDF_VERSION_NAMESPACE::Console::~Console ( )

virtual

Destructor.

◆ addURIPath()

GZ_SDFORMAT_VISIBLE void sdf::SDF_VERSION_NAMESPACE::addURIPath	(	const std::string &	_uri,
		const std::string &	_path
	)

Associate paths to a URI.

Example paramters: "model://", "/usr/share/models:~/.gazebo/models"

Parameters

[in]	_uri	URI that will be mapped to _path
[in]	_path	Colon separated set of paths.

◆ Clear()

static void sdf::SDF_VERSION_NAMESPACE::Console::Clear ( )

static

Clear out the current console to make room for a new one.

◆ ColorMsg()

ConsoleStream& sdf::SDF_VERSION_NAMESPACE::Console::ColorMsg	(	const std::string &	lbl,
		const std::string &	file,
		unsigned int	line,
		int	color
	)

Use this to output a colored message to the terminal.

Parameters

[in]	_lbl	Text label
[in]	_file	File containing the error
[in]	_line	Line containing the error
[in]	_color	Color to make the label

Returns: Reference to an output stream

◆ findFile() [1/4]

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::findFile	(	const std::string &	_filename,
		bool	_searchLocalPath,
		bool	_useCallback,
		const ParserConfig &	_config
	)

Find the absolute path of a file.

This overload uses the URI path map and and the callback function configured in the input ParserConfig object instead of their global counterparts.

Parameters

[in]	_filename	Name of the file to find.
[in]	_searchLocalPath	True to search for the file in the current working directory.
[in]	_useCallback	True to find a file based on a registered callback if the file is not found via the normal mechanism.
[in]	_config	Custom parser configuration

Returns: File's full path.

◆ findFile() [2/4]

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::findFile	(	const std::string &	_filename,
		bool	_searchLocalPath = `true`,
		bool	_useCallback = `false`
	)

Find the absolute path of a file.

The search order in the function is as follows:

Using the global URI path map, search in paths associated with the URI scheme of the input.
If enabled via _searchLocalPath, prepend the input with the current working directory and check if the result path exists.
Seach in the path defined by the macro SDF_SHARE_PATH.
Search in the the libsdformat install path. The path is formed by has the pattern SDF_SHARE_PATH/sdformat<major version>/<version>/
Directly check if the input path exists in the filesystem.
Seach in the path defined by the environment variable SDF_PATH.
If enabled via _useCallback and the global callback function is set, invoke the function and return its result.

Parameters

[in]	_filename	Name of the file to find.
[in]	_searchLocalPath	True to search for the file in the current working directory.
[in]	_useCallback	True to find a file based on a registered callback if the file is not found via the normal mechanism.

Returns: File's full path.

◆ findFile() [3/4]

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::findFile	(	sdf::Errors &	_errors,
		const std::string &	_filename,
		bool	_searchLocalPath,
		bool	_useCallback,
		const ParserConfig &	_config
	)

Find the absolute path of a file.

This overload uses the URI path map and and the callback function configured in the input ParserConfig object instead of their global counterparts.

Parameters

[out]	_errors	Vector of errors.
[in]	_filename	Name of the file to find.
[in]	_searchLocalPath	True to search for the file in the current working directory.
[in]	_useCallback	True to find a file based on a registered callback if the file is not found via the normal mechanism.
[in]	_config	Custom parser configuration.

Returns: File's full path.

◆ findFile() [4/4]

GZ_SDFORMAT_VISIBLE std::string sdf::SDF_VERSION_NAMESPACE::findFile	(	sdf::Errors &	_errors,
		const std::string &	_filename,
		bool	_searchLocalPath = `true`,
		bool	_useCallback = `false`
	)

Find the absolute path of a file.

The search order in the function is as follows:

Using the global URI path map, search in paths associated with the URI scheme of the input.
Seach in the path defined by the macro SDF_SHARE_PATH.
Search in the the libsdformat install path. The path is formed by has the pattern SDF_SHARE_PATH/sdformat<major version>/<version>/
Directly check if the input path exists in the filesystem.
Seach in the path defined by the environment variable SDF_PATH.
If enabled via _searchLocalPath, prepend the input with the current working directory and check if the result path exists.
If enabled via _useCallback and the global callback function is set, invoke the function and return its result.

Parameters

[out]	_errors	Vector of errors.
[in]	_filename	Name of the file to find.
[in]	_searchLocalPath	True to search for the file in the current working directory.
[in]	_useCallback	True to find a file based on a registered callback if the file is not found via the normal mechanism.

Returns: File's full path.

◆ Get() [1/6]

template<typename T >

std::pair< T, bool > sdf::SDF_VERSION_NAMESPACE::Element::Get	(	const std::string &	_key,
		const T &	_defaultValue
	)		const

Get the value of a key.

Parameters

[in]	_key	the name of a child attribute or element.
[in]	_defaultValue	a default value to use if _key is not found.

Returns: A pair where the first element is the value of _key, and the second element is true when the _key was found and false otherwise.

References sdferr, and sdf::SDF_VERSION_NAMESPACE::internal::throwOrPrintError().

◆ Get() [2/6]

template<typename T >

bool sdf::SDF_VERSION_NAMESPACE::Element::Get	(	const std::string &	_key,
		T &	_param,
		const T &	_defaultValue
	)		const

Get the value of a key.

Parameters

[in]	_key	the name of a child attribute or element.
[out]	_param	the parameter output
[in]	_defaultValue	a default value to use if _key is not found.

Returns: True when the _key was found and false otherwise.

◆ Get() [3/6]

template<typename T >

T sdf::SDF_VERSION_NAMESPACE::Element::Get ( const std::string & _key = "" ) const

Get the value of a key.

This function assumes the _key exists.

Parameters

[in] _key the name of a child attribute or element.

Returns: The value of the _key.

See also: std::pair<T, bool> Get(const std::string &_key, const T &_defaultValue)

◆ Get() [4/6]

template<typename T >

std::pair< T, bool > sdf::SDF_VERSION_NAMESPACE::Element::Get	(	sdf::Errors &	_errors,
		const std::string &	_key,
		const T &	_defaultValue
	)		const

Get the value of a key.

Parameters

[out]	_errors	Vector of errors.
[in]	_key	the name of a child attribute or element.
[in]	_defaultValue	a default value to use if _key is not found.

Returns: A pair where the first element is the value of _key, and the second element is true when the _key was found and false otherwise.

References sdf::SDF_VERSION_NAMESPACE::Element::GetAttribute(), sdf::SDF_VERSION_NAMESPACE::Element::GetElementDescription(), sdf::SDF_VERSION_NAMESPACE::Element::GetElementImpl(), sdf::SDF_VERSION_NAMESPACE::Element::HasElement(), and sdf::SDF_VERSION_NAMESPACE::Element::HasElementDescription().

◆ Get() [5/6]

template<typename T >

bool sdf::SDF_VERSION_NAMESPACE::Element::Get	(	sdf::Errors &	_errors,
		const std::string &	_key,
		T &	_param,
		const T &	_defaultValue
	)		const

Get the value of a key.

Parameters

[out]	_errors	Vector of errors.
[in]	_key	the name of a child attribute or element.
[out]	_param	the parameter output
[in]	_defaultValue	a default value to use if _key is not found.

Returns: True when the _key was found and false otherwise.

◆ Get() [6/6]

template<typename T >

T sdf::SDF_VERSION_NAMESPACE::Element::Get	(	sdf::Errors &	_errors,
		const std::string &	_key = `""`
	)		const

Get the value of a key.

This function assumes the _key exists.

Parameters

[out]	_errors	Vector of errors.
[in]	_key	the name of a child attribute or element.

Returns: The value of the _key.

See also: std::pair<T, bool> Get(const std::string &_key, const T &_defaultValue)

◆ GetLogStream()

ConsoleStream& sdf::SDF_VERSION_NAMESPACE::Console::GetLogStream ( )

Get the current log stream object.

This can be useful for redirecting the output, for example, to a std::stringstream for testing.

Returns: Mutable reference to current log stream object.

◆ GetMsgStream()

ConsoleStream& sdf::SDF_VERSION_NAMESPACE::Console::GetMsgStream ( )

Get the current message stream object.

This can be useful for redirecting the output, for example, to a std::stringstream for testing.

Returns: Mutable reference to current message stream object.

◆ GetStream()

std::ostream* sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::GetStream ( )

Get the current stream object.

Returns: Pointer to current stream object.

◆ Instance()

static ConsolePtr sdf::SDF_VERSION_NAMESPACE::Console::Instance ( )

static

Return an instance to this class.

Referenced by sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::operator<<().

◆ Log()

ConsoleStream& sdf::SDF_VERSION_NAMESPACE::Console::Log	(	const std::string &	lbl,
		const std::string &	file,
		unsigned int	line
	)

Use this to output a message to a log file at $HOME/.sdformat/sdformat.log.

To disable this log file, define the following symbol when compiling: SDFORMAT_DISABLE_CONSOLE_LOGFILE

Returns: Reference to output stream

◆ operator<<()

template<class T >

ConsoleStream& sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::operator<< ( const T & _rhs )

Redirect whatever is passed in to both our ostream (if non-NULL) and the log file (if open).

Parameters

[in] _rhs Content to be logged.

Returns: Reference to myself.

◆ Prefix()

void sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::Prefix	(	const std::string &	_lbl,
		const std::string &	_file,
		unsigned int	_line,
		int	_color
	)

Print a prefix to both terminal and log file.

Parameters

[in]	_lbl	Text label
[in]	_file	File containing the error
[in]	_line	Line containing the error
[in]	_color	Color to make the label. Used only on terminal.

◆ Set() [1/2]

template<typename T >

bool sdf::SDF_VERSION_NAMESPACE::Element::Set ( const T & _value )

Set the value of this element.

Parameters

[in] _value the value to set.

Returns: True if the value was successfully set, false otherwise.

References sdferr, and sdf::SDF_VERSION_NAMESPACE::internal::throwOrPrintError().

◆ Set() [2/2]

template<typename T >

bool sdf::SDF_VERSION_NAMESPACE::Element::Set	(	sdf::Errors &	_errors,
		const T &	_value
	)

Set the value of this element.

Parameters

[out]	_errors	Vector of errors.
[in]	_value	the value to set.

Returns: True if the value was successfully set, false otherwise.

◆ setFindCallback()

GZ_SDFORMAT_VISIBLE void sdf::SDF_VERSION_NAMESPACE::setFindCallback ( std::function< std::string(const std::string &)> _cb )

Set the callback to use when SDF can't find a file.

The callback should return a complete path to the requested file, or and empty string if the file was not found in the callback.

Parameters

[in] _cb The callback function.

◆ SetQuiet()

void sdf::SDF_VERSION_NAMESPACE::Console::SetQuiet ( bool _q )

Set quiet output.

Parameters

[in] q True to prevent warning

◆ SetStream()

void sdf::SDF_VERSION_NAMESPACE::Console::ConsoleStream::SetStream ( std::ostream * _stream )

Set the stream object.

Parameters

[in] _stream Pointer to an output stream. This can be useful for redirecting the output, for example, to a std::stringstream for testing.

Variable Documentation

◆ logFileStream

std::ofstream sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::logFileStream

logfile stream

◆ logStream

Console::ConsoleStream sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::logStream

log stream

◆ msgStream

Console::ConsoleStream sdf::SDF_VERSION_NAMESPACE::ConsolePrivate::msgStream

message stream

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ sdfdbg

◆ sdferr

◆ sdfmsg

◆ sdfthrow

◆ sdfwarn

Typedef Documentation

◆ ConsolePtr

Function Documentation

◆ ConsolePrivate()

◆ ConsoleStream()

◆ ~Console()

◆ addURIPath()

◆ Clear()

◆ ColorMsg()

◆ findFile() [1/4]

◆ findFile() [2/4]

◆ findFile() [3/4]

◆ findFile() [4/4]

◆ Get() [1/6]

◆ Get() [2/6]

◆ Get() [3/6]

◆ Get() [4/6]

◆ Get() [5/6]

◆ Get() [6/6]

◆ GetLogStream()

◆ GetMsgStream()

◆ GetStream()

◆ Instance()

◆ Log()

◆ operator<<()

◆ Prefix()

◆ Set() [1/2]

◆ Set() [2/2]

◆ setFindCallback()

◆ SetQuiet()

◆ SetStream()

Variable Documentation

◆ logFileStream

◆ logStream

◆ msgStream