ParserConfig.hh

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/*
 * Copyright 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
#ifndef SDF_PARSER_CONFIG_HH_
#define SDF_PARSER_CONFIG_HH_
 
#include <functional>
#include <map>
#include <string>
#include <vector>
 
#include <gz/utils/ImplPtr.hh>
 
#include "sdf/Error.hh"
#include "sdf/InterfaceElements.hh"
#include "sdf/CustomInertiaCalcProperties.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
 
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
enum class EnforcementPolicy
{
  ERR,
 
  WARN,
 
  LOG,
};
 
enum class ConfigureResolveAutoInertials
{
  SKIP_CALCULATION_IN_LOAD,
 
  SAVE_CALCULATION,
 
  SAVE_CALCULATION_IN_ELEMENT,
};
 
enum class CalculateInertialFailurePolicyType
{
  ERR,
 
  WARN_AND_USE_DEFAULT_INERTIAL,
};
 
// Forward declare private data class.
class ParserConfigPrivate;
 
class SDFORMAT_VISIBLE ParserConfig
{
  public: using SchemeToPathMap =
          std::map<std::string, std::vector<std::string> >;
 
  public: ParserConfig();
 
  public: static ParserConfig &GlobalConfig();
 
  public: const std::function<std::string(const std::string &)> &
          FindFileCallback() const;
 
  public: void SetFindCallback(
              std::function<std::string(const std::string &)> _cb);
 
  public: const SchemeToPathMap &URIPathMap() const;
 
  public: void AddURIPath(const std::string &_uri, const std::string &_path);
 
  public: void SetWarningsPolicy(EnforcementPolicy _policy);
 
  public: EnforcementPolicy WarningsPolicy() const;
 
  public: void SetUnrecognizedElementsPolicy(EnforcementPolicy _policy);
 
  public: EnforcementPolicy UnrecognizedElementsPolicy() const;
 
  public: void SetDeprecatedElementsPolicy(EnforcementPolicy _policy);
 
  public: void ResetDeprecatedElementsPolicy();
 
  public: EnforcementPolicy DeprecatedElementsPolicy() const;
 
  public: ConfigureResolveAutoInertials CalculateInertialConfiguration() const;
 
  public: void SetCalculateInertialConfiguration(
    ConfigureResolveAutoInertials _configuration);
 
  public: CalculateInertialFailurePolicyType
    CalculateInertialFailurePolicy() const;
 
  public: void SetCalculateInertialFailurePolicy(
    CalculateInertialFailurePolicyType _policy);
 
  public: void RegisterCustomModelParser(CustomModelParser _modelParser);
 
  public: const std::vector<CustomModelParser> &CustomModelParsers() const;
 
  public: void RegisterCustomInertiaCalc(
      CustomInertiaCalculator _inertiaCalculator);
 
  public: const CustomInertiaCalculator &CustomInertiaCalc() const;
 
  public: void URDFSetPreserveFixedJoint(bool _preserveFixedJoint);
 
  public: bool URDFPreserveFixedJoint() const;
 
  public: void SetStoreResovledURIs(bool _resolveURI);
 
  public: void SetStoreResolvedURIs(bool _resolveURI);
 
  public: bool StoreResolvedURIs() const;
 
  GZ_UTILS_IMPL_PTR(dataPtr)
};
}
}
 
#endif