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parser.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef SDF_PARSER_HH_
18 #define SDF_PARSER_HH_
19 
20 #include <string>
21 
22 #include "sdf/SDFImpl.hh"
23 #include "sdf/sdf_config.h"
24 #include "sdf/system_util.hh"
25 
36 namespace sdf
37 {
38  // Inline bracket to help doxygen filtering.
39  inline namespace SDF_VERSION_NAMESPACE {
40  //
41  // TODO(marcoag): Deprecate function overloads that do not use sdf::Errors,
42  // see: https://github.com/gazebosim/sdformat/issues/1186
43  class Root;
44 
48  SDFORMAT_VISIBLE
49  bool init(SDFPtr _sdf);
50 
55  SDFORMAT_VISIBLE
56  bool init(SDFPtr _sdf, const ParserConfig &_config);
57 
63  SDFORMAT_VISIBLE
64  bool init(sdf::Errors &_errors, SDFPtr _sdf, const ParserConfig &_config);
65 
70  SDFORMAT_VISIBLE
71  bool initFile(const std::string &_filename, SDFPtr _sdf);
72 
78  SDFORMAT_VISIBLE
79  bool initFile(
80  const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf);
81 
88  SDFORMAT_VISIBLE
89  bool initFile(
90  const std::string &_filename, const ParserConfig &_config, SDFPtr _sdf,
91  sdf::Errors &_errors);
92 
97  SDFORMAT_VISIBLE
98  bool initFile(const std::string &_filename, ElementPtr _sdf);
99 
105  SDFORMAT_VISIBLE
106  bool initFile(const std::string &_filename, const ParserConfig &_config,
107  ElementPtr _sdf);
108 
115  SDFORMAT_VISIBLE
116  bool initFile(const std::string &_filename, const ParserConfig &_config,
117  ElementPtr _sdf, sdf::Errors &_errors);
118 
123  SDFORMAT_VISIBLE
124  bool initString(const std::string &_xmlString, SDFPtr _sdf);
125 
131  SDFORMAT_VISIBLE
132  bool initString(
133  const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf);
134 
141  SDFORMAT_VISIBLE
142  bool initString(const std::string &_xmlString, const ParserConfig &_config,
143  SDFPtr _sdf, sdf::Errors &_errors);
144 
152  SDFORMAT_VISIBLE
153  sdf::SDFPtr readFile(const std::string &_filename);
154 
163  SDFORMAT_VISIBLE
164  sdf::SDFPtr readFile(const std::string &_filename, Errors &_errors);
165 
175  SDFORMAT_VISIBLE
176  sdf::SDFPtr readFile(const std::string &_filename,
177  const ParserConfig &_config, Errors &_errors);
178 
188  SDFORMAT_VISIBLE
189  bool readFile(const std::string &_filename, SDFPtr _sdf, Errors &_errors);
190 
201  SDFORMAT_VISIBLE
202  bool readFile(const std::string &_filename, const ParserConfig &_config,
203  SDFPtr _sdf, Errors &_errors);
204 
216  SDFORMAT_VISIBLE
217  bool readFileWithoutConversion(
218  const std::string &_filename, SDFPtr _sdf, Errors &_errors);
219 
232  SDFORMAT_VISIBLE
233  bool readFileWithoutConversion(const std::string &_filename,
234  const ParserConfig &_config, SDFPtr _sdf, Errors &_errors);
235 
244  SDFORMAT_VISIBLE
245  bool readFile(const std::string &_filename, SDFPtr _sdf);
246 
256  SDFORMAT_VISIBLE
257  bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
258 
269  SDFORMAT_VISIBLE
270  bool readString(const std::string &_xmlString, const ParserConfig &_config,
271  SDFPtr _sdf, Errors &_errors);
272 
281  SDFORMAT_VISIBLE
282  bool readString(const std::string &_xmlString, SDFPtr _sdf);
283 
293  SDFORMAT_VISIBLE
294  bool readString(const std::string &_xmlString, ElementPtr _sdf,
295  Errors &_errors);
296 
307  SDFORMAT_VISIBLE
308  bool readString(const std::string &_xmlString, const ParserConfig &_config,
309  ElementPtr _sdf, Errors &_errors);
310 
322  SDFORMAT_VISIBLE
323  bool readStringWithoutConversion(
324  const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
325 
336  SDFORMAT_VISIBLE
337  bool readStringWithoutConversion(const std::string &_xmlString,
338  const ParserConfig &_config, SDFPtr _sdf, Errors &_errors);
339 
348  SDFORMAT_VISIBLE
349  bool readString(const std::string &_xmlString, ElementPtr _sdf);
350 
356  SDFORMAT_VISIBLE
357  std::string getModelFilePath(const std::string &_modelDirPath);
358 
365  SDFORMAT_VISIBLE
366  std::string getModelFilePath(sdf::Errors &_errors,
367  const std::string &_modelDirPath);
368 
374  SDFORMAT_VISIBLE
375  bool convertFile(const std::string &_filename, const std::string &_version,
376  SDFPtr _sdf);
377 
384  SDFORMAT_VISIBLE
385  bool convertFile(const std::string &_filename, const std::string &_version,
386  const ParserConfig &_config, SDFPtr _sdf);
387 
394  SDFORMAT_VISIBLE
395  sdf::Errors convertFile(
396  SDFPtr _sdf, const std::string &_filename, const std::string &_version,
397  const ParserConfig &_config = ParserConfig::GlobalConfig());
398 
404  SDFORMAT_VISIBLE
405  bool convertString(const std::string &_sdfString,
406  const std::string &_version, SDFPtr _sdf);
407 
414  SDFORMAT_VISIBLE
415  bool convertString(const std::string &_sdfString, const std::string &_version,
416  const ParserConfig &_config, SDFPtr _sdf);
417 
424  SDFORMAT_VISIBLE
425  sdf::Errors convertString(
426  SDFPtr _sdf, const std::string &_sdfString, const std::string &_version,
427  const ParserConfig &_config = ParserConfig::GlobalConfig());
428 
436  SDFORMAT_VISIBLE
437  bool checkCanonicalLinkNames(const sdf::Root *_root);
438 
447  SDFORMAT_VISIBLE
448  bool checkCanonicalLinkNames(sdf::Errors &_errors, const sdf::Root *_root);
449 
458  SDFORMAT_VISIBLE
459  bool checkFrameAttachedToGraph(const sdf::Root *_root);
460 
470  SDFORMAT_VISIBLE
471  bool checkFrameAttachedToGraph(sdf::Errors &_errors, const sdf::Root *_root);
472 
481  SDFORMAT_VISIBLE
482  bool checkFrameAttachedToNames(const sdf::Root *_root);
483 
493  SDFORMAT_VISIBLE
494  bool checkFrameAttachedToNames(sdf::Errors &_errors, const sdf::Root *_root);
495 
503  SDFORMAT_VISIBLE
504  bool checkJointParentChildNames(const sdf::Root *_root);
505 
514  SDFORMAT_VISIBLE GZ_DEPRECATED(13)
515  bool checkJointParentChildLinkNames(const sdf::Root *_root);
516 
524  SDFORMAT_VISIBLE
525  void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors);
526 
533  SDFORMAT_VISIBLE
534  void checkJointAxisExpressedInValues(const sdf::Root *_root, Errors &_errors);
535 
542  SDFORMAT_VISIBLE
543  void checkJointAxisMimicValues(const sdf::Root *_root, Errors &_errors);
544 
553  SDFORMAT_VISIBLE
554  bool checkPoseRelativeToGraph(const sdf::Root *_root);
555 
565  SDFORMAT_VISIBLE
566  bool checkPoseRelativeToGraph(sdf::Errors &_errors, const sdf::Root *_root);
567 
574  SDFORMAT_VISIBLE
575  bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem);
576 
584  SDFORMAT_VISIBLE
585  bool recursiveSameTypeUniqueNames(sdf::Errors &_errors,
586  sdf::ElementPtr _elem);
587 
594  SDFORMAT_VISIBLE
595  bool recursiveSiblingUniqueNames(sdf::ElementPtr _elem);
596 
604  SDFORMAT_VISIBLE
605  bool recursiveSiblingUniqueNames(sdf::Errors &_errors, sdf::ElementPtr _elem);
606 
614  SDFORMAT_VISIBLE
615  bool recursiveSiblingNoDoubleColonInNames(sdf::ElementPtr _elem);
616 
625  SDFORMAT_VISIBLE
626  bool recursiveSiblingNoDoubleColonInNames(sdf::Errors &_errors,
627  sdf::ElementPtr _elem);
628 
634  SDFORMAT_VISIBLE
635  bool shouldValidateElement(sdf::ElementPtr _elem);
636 
641  SDFORMAT_VISIBLE
642  std::string computeMergedModelProxyFrameName(const std::string &_modelName);
643  }
644 }
645 #endif
sdf::ParserConfig
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:100
sdf::SDF_VERSION_NAMESPACE::ParserConfig::GlobalConfig
static ParserConfig & GlobalConfig()
Mutable access to a singleton ParserConfig that serves as the global ParserConfig object for all pars...
sdf::Root
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:58
sdf::SDF_VERSION_NAMESPACE::init
GZ_SDFORMAT_VISIBLE bool init(SDFPtr _sdf)
Initialize the SDF interface from the embedded root spec file.
sdf::SDF_VERSION_NAMESPACE::convertString
GZ_SDFORMAT_VISIBLE bool convertString(const std::string &_sdfString, const std::string &_version, SDFPtr _sdf)
Convert an SDF string to a specific SDF version.
sdf::SDF_VERSION_NAMESPACE::initString
GZ_SDFORMAT_VISIBLE bool initString(const std::string &_xmlString, SDFPtr _sdf)
Initialize the SDF interface using a string.
sdf::SDF_VERSION_NAMESPACE::checkJointAxisExpressedInValues
GZ_SDFORMAT_VISIBLE void checkJointAxisExpressedInValues(const sdf::Root *_root, Errors &_errors)
Check that all joint axes in contained joints specify xyz expressed-in names that match the names of ...
sdf::SDF_VERSION_NAMESPACE::recursiveSiblingUniqueNames
GZ_SDFORMAT_VISIBLE bool recursiveSiblingUniqueNames(sdf::ElementPtr _elem)
Check that all sibling elements of the any type have unique names.
sdf::SDF_VERSION_NAMESPACE::GZ_DEPRECATED
class GZ_SDFORMAT_VISIBLE GZ_DEPRECATED(13) Inertia
A class for inertial information about a link.
Definition: Types.hh:162
sdf::SDF_VERSION_NAMESPACE::checkFrameAttachedToNames
GZ_SDFORMAT_VISIBLE bool checkFrameAttachedToNames(const sdf::Root *_root)
Check that for each frame, the attached_to attribute value does not match its own frame name but does...
sdf::SDF_VERSION_NAMESPACE::readFileWithoutConversion
GZ_SDFORMAT_VISIBLE bool readFileWithoutConversion(const std::string &_filename, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a file without converting to the latest SDF version.
sdf::SDF_VERSION_NAMESPACE::computeMergedModelProxyFrameName
GZ_SDFORMAT_VISIBLE std::string computeMergedModelProxyFrameName(const std::string &_modelName)
Function to compute a merged model's proxy frame name.
sdf::SDF_VERSION_NAMESPACE::recursiveSameTypeUniqueNames
GZ_SDFORMAT_VISIBLE bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem)
Check that all sibling elements of the same type have unique names.
sdf::SDF_VERSION_NAMESPACE::readString
GZ_SDFORMAT_VISIBLE bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a string.
sdf::SDF_VERSION_NAMESPACE::getModelFilePath
GZ_SDFORMAT_VISIBLE std::string getModelFilePath(const std::string &_modelDirPath)
Get the file path to the model file.
sdf::SDF_VERSION_NAMESPACE::checkCanonicalLinkNames
GZ_SDFORMAT_VISIBLE bool checkCanonicalLinkNames(const sdf::Root *_root)
Check that for each model, the canonical_link attribute value matches the name of a link in the model...
sdf::SDF_VERSION_NAMESPACE::SDFPtr
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:52
sdf::SDF_VERSION_NAMESPACE::convertFile
GZ_SDFORMAT_VISIBLE bool convertFile(const std::string &_filename, const std::string &_version, SDFPtr _sdf)
Convert an SDF file to a specific SDF version.
sdf::SDF_VERSION_NAMESPACE::checkPoseRelativeToGraph
GZ_SDFORMAT_VISIBLE bool checkPoseRelativeToGraph(const sdf::Root *_root)
For the world and each model, check that the attached_to graphs build without errors and have no cycl...
sdf::SDF_VERSION_NAMESPACE::checkJointAxisMimicValues
GZ_SDFORMAT_VISIBLE void checkJointAxisMimicValues(const sdf::Root *_root, Errors &_errors)
Check that all joint axes in contained joints that specify mimic constraints use valid joint names.
sdf::SDF_VERSION_NAMESPACE::readFile
GZ_SDFORMAT_VISIBLE sdf::SDFPtr readFile(const std::string &_filename)
Populate the SDF values from a file.
sdf::SDF_VERSION_NAMESPACE::readStringWithoutConversion
GZ_SDFORMAT_VISIBLE bool readStringWithoutConversion(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a string without converting to the latest SDF version.
sdf::SDF_VERSION_NAMESPACE::recursiveSiblingNoDoubleColonInNames
GZ_SDFORMAT_VISIBLE bool recursiveSiblingNoDoubleColonInNames(sdf::ElementPtr _elem)
Check that all sibling elements do not contain the delimiter double colons '::' in element names,...
sdf::SDF_VERSION_NAMESPACE::checkFrameAttachedToGraph
GZ_SDFORMAT_VISIBLE bool checkFrameAttachedToGraph(const sdf::Root *_root)
For the world and each model, check that the attached_to graphs build without errors and have no cycl...
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
sdf::SDF_VERSION_NAMESPACE::checkJointParentChildNames
GZ_SDFORMAT_VISIBLE bool checkJointParentChildNames(const sdf::Root *_root)
Check that all joints in contained models specify parent and child link names that match the names of...
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
sdf::SDF_VERSION_NAMESPACE::initFile
GZ_SDFORMAT_VISIBLE bool initFile(const std::string &_filename, SDFPtr _sdf)
Initialize the SDF interface using a file.
sdf::SDF_VERSION_NAMESPACE::shouldValidateElement
GZ_SDFORMAT_VISIBLE bool shouldValidateElement(sdf::ElementPtr _elem)
Check whether the element should be validated.
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:35
sdf_config.h
system_util.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25