#include <sdf/sdf.hh>

Inherits std::enable_shared_from_this< Element >.

Public Member Functions
	Element ()
	Constructor.

virtual	~Element ()
	Destructor.

void	AddAttribute (const std::string &_key, const std::string &_type, const std::string &_defaultvalue, bool _required, const std::string &_description="")
	Add an attribute value.

void	AddAttribute (const std::string &_key, const std::string &_type, const std::string &_defaultvalue, bool _required, sdf::Errors &_errors, const std::string &_description="")
	Add an attribute value.

ElementPtr	AddElement (const std::string &_name)
	Add a named element.

ElementPtr	AddElement (const std::string &_name, sdf::Errors &_errors)
	Add a named element.

void	AddValue (const std::string &_type, const std::string &_defaultValue, bool _required, const std::string &_description="")
	Add a value to this Element.

void	AddValue (const std::string &_type, const std::string &_defaultValue, bool _required, const std::string &_minValue, const std::string &_maxValue, const std::string &_description="")
	Add a value to this Element.

void	AddValue (const std::string &_type, const std::string &_defaultValue, bool _required, const std::string &_minValue, const std::string &_maxValue, sdf::Errors &_errors, const std::string &_description="")
	Add a value to this Element.

void	AddValue (const std::string &_type, const std::string &_defaultValue, bool _required, sdf::Errors &_errors, const std::string &_description="")
	Add a value to this Element.

void	Clear ()
	Remove all child elements and reset file path and original version.

void	ClearElements ()
	Remove all child elements.

ElementPtr	Clone () const
	Create a copy of this Element.

ElementPtr	Clone (sdf::Errors &_errors) const
	Create a copy of this Element.

void	Copy (const ElementPtr _elem)
	Copy values from an Element.

void	Copy (const ElementPtr _elem, sdf::Errors &_errors)
	Copy values from an Element.

std::map< std::string, std::size_t >	CountNamedElements (const std::string &_type, const std::vector< std::string > &_ignoreElements) const
	Count the number of child elements of the specified element type that have the same name attribute value with the exception of elements listed in `_ignoreElements`.

std::map< std::string, std::size_t >	CountNamedElements (const std::string &_type="") const
	Count the number of child elements of the specified element type that have the same name attribute value.

std::map< std::string, std::size_t >	CountNamedElements (sdf::Errors &_errors, const std::string &_type, const std::vector< std::string > &_ignoreElements) const
	Count the number of child elements of the specified element type that have the same name attribute value with the exception of elements listed in `_ignoreElements`.

std::map< std::string, std::size_t >	CountNamedElements (sdf::Errors &_errors, const std::string &_type="") const
	Count the number of child elements of the specified element type that have the same name attribute value.

const std::string &	FilePath () const
	Get the path to the SDF document where this element came from.

ElementPtr	FindElement (const std::string &_name)
	Return a pointer to the child element with the provided name.

ElementConstPtr	FindElement (const std::string &_name) const
	Return a pointer to the child element with the provided name.

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

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

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

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

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

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

std::any	GetAny (const std::string &_key="") const
	Get the element value/attribute as a std::any.

std::any	GetAny (sdf::Errors &_errors, const std::string &_key="") const
	Get the element value/attribute as a std::any.

ParamPtr	GetAttribute (const std::string &_key) const
	Get the param of an attribute.

ParamPtr	GetAttribute (unsigned int _index) const
	Get an attribute using an index.

size_t	GetAttributeCount () const
	Get the number of attributes.

const Param_V &	GetAttributes () const
	Get all the attribute params.

bool	GetAttributeSet (const std::string &_key) const
	Return true if the attribute was set (i.e.

bool	GetCopyChildren () const
	Return true if this Element's child elements should be copied during parsing.

ElementPtr	GetElement (const std::string &_name)
	Return a pointer to the child element with the provided name.

ElementPtr	GetElement (const std::string &_name, sdf::Errors &_errors)
	Return a pointer to the child element with the provided name.

ElementPtr	GetElementDescription (const std::string &_key) const
	Get an element description using a key.

ElementPtr	GetElementDescription (unsigned int _index) const
	Get an element description using an index.

size_t	GetElementDescriptionCount () const
	Get the number of element descriptions.

std::set< std::string >	GetElementTypeNames () const
	Get set of child element type names.

bool	GetExplicitlySetInFile () const
	Return if the element was been explicitly set in the file.

ElementPtr	GetFirstElement () const
	Get the first child element.

sdf::ElementPtr	GetIncludeElement () const
	Get the element that was used to load this element.

const std::string &	GetName () const
	Get the Element's name.

ElementPtr	GetNextElement (const std::string &_name="") const
	Get the next sibling of this element.

ElementPtr	GetParent () const
	Get a pointer to this Element's parent.

const std::string &	GetRequired () const
	Get the requirement string.

ParamPtr	GetValue () const
	Get the param of the elements value return A Param pointer to the value of this element.

bool	HasAttribute (const std::string &_key) const
	Return true if an attribute exists.

bool	HasElement (const std::string &_name) const
	Return true if the named element exists.

bool	HasElementDescription (const std::string &_name) const
	Return true if an element description exists.

bool	HasUniqueChildNames (const std::string &_type, const std::vector< std::string > &_ignoreElements) const
	Checks whether any child elements of the specified element type, except those listed in `_ignoreElements`, have identical name attribute values and returns false if so.

bool	HasUniqueChildNames (const std::string &_type="") const
	Checks whether any child elements of the specified element type have identical name attribute values and returns false if so.

bool	HasUniqueChildNames (sdf::Errors &_errors, const std::string &_type, const std::vector< std::string > &_ignoreElements) const
	Checks whether any child elements of the specified element type, except those listed in `_ignoreElements`, have identical name attribute values and returns false if so.

bool	HasUniqueChildNames (sdf::Errors &_errors, const std::string &_type="") const
	Checks whether any child elements of the specified element type have identical name attribute values and returns false if so.

void	InsertElement (ElementPtr _elem)
	Add an element object.

void	InsertElement (ElementPtr _elem, bool _setParentToSelf)
	Add an element object, and optionally set the given element's parent to this object.

std::optional< int >	LineNumber () const
	Get the line number of this element within the SDF document.

void	PrintDescription (const std::string &_prefix) const
	Output Element's description to stdout.

void	PrintDescription (sdf::Errors &_errors, const std::string &_prefix) const
	Output Element's description to stdout.

void	PrintDocLeftPane (std::string &_html, int _spacing, int &_index) const
	Helper function for SDF::PrintDoc.

void	PrintDocRightPane (std::string &_html, int _spacing, int &_index) const
	Helper function for SDF::PrintDoc.

void	PrintValues (const std::string &_prefix, bool _includeDefaultElements, bool _includeDefaultAttributes, const PrintConfig &_config=PrintConfig()) const
	Output Element's values to stdout.

void	PrintValues (sdf::Errors &_errors, const std::string &_prefix, bool _includeDefaultElements, bool _includeDefaultAttributes, const PrintConfig &_config=PrintConfig()) const
	Output Element's values to stdout.

void	PrintValues (sdf::Errors &_errors, std::string _prefix, const PrintConfig &_config=PrintConfig()) const
	Output Element's values to stdout.

void	PrintValues (std::string _prefix, const PrintConfig &_config=PrintConfig()) const
	Output Element's values to stdout.

std::string	ReferenceSDF () const
	Get the name of the reference SDF element.

void	RemoveAllAttributes ()
	Removes all attributes.

void	RemoveAttribute (const std::string &_key)
	Remove an attribute.

void	RemoveChild (ElementPtr _child)
	Remove a child element.

void	RemoveChild (ElementPtr _child, sdf::Errors &_errors)
	Remove a child element.

void	RemoveFromParent ()
	Remove this element from its parent.

void	Reset ()
	Call reset on each element and element description before deleting all of them.

template<typename T >
bool	Set (const T &_value)
	Set the value of this element.

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

void	SetCopyChildren (bool _value)
	Set whether this element should copy its child elements during parsing.

void	SetExplicitlySetInFile (const bool _value)
	Set if the element and children where set or default in the original file.

void	SetFilePath (const std::string &_path)
	Set the path to the SDF document where this element came from.

void	SetIncludeElement (sdf::ElementPtr _includeElem)
	Set the element that was used to load this element.

void	SetLineNumber (int _lineNumber)
	Set the line number of this element within the SDF document.

void	SetName (const std::string &_name)
	Set the name of the Element.

void	SetParent (const ElementPtr _parent)
	Set the parent of this Element.

void	SetReferenceSDF (const std::string &_value)
	Set reference SDF element.

void	SetRequired (const std::string &_req)
	Set the requirement type.

std::string	ToString (const std::string &_prefix, bool _includeDefaultElements, bool _includeDefaultAttributes, const PrintConfig &_config=PrintConfig()) const
	Convert the element values to a string representation.

std::string	ToString (const std::string &_prefix, const PrintConfig &_config=PrintConfig()) const
	Convert the element values to a string representation.

std::string	ToString (sdf::Errors &_errors, const std::string &_prefix, bool _includeDefaultElements, bool _includeDefaultAttributes, const PrintConfig &_config=PrintConfig()) const
	Convert the element values to a string representation.

std::string	ToString (sdf::Errors &_errors, const std::string &_prefix, const PrintConfig &_config=PrintConfig()) const
	Convert the element values to a string representation.

void	Update ()
	Call the Update() callback on each element, as well as the embedded Param.

void	Update (sdf::Errors &_errors)
	Call the Update() callback on each element, as well as the embedded Param.

="default"]/model[@name="robot1"]/link[@name="link"])

Set the XML path of this element.

Parameters

[in] _path Full XML path (i.e., XPath) to the SDF element. E.g., a SDF document: <sdf> <world name="default"> <model name="robot1"> <link name="link"> ... </link> </model> </world> </sdf> The full XML path to the SDF link element would be: /sdf/world[

void SetXmlPath (const std::string &_path)

Private data pointer.

const std::string & XmlPath () const

Get the XML path of this element.

void SetOriginalVersion (const std::string &_version)

Set the spec version that this was originally parsed from.

const std::string & OriginalVersion () const

Get the spec version that this was originally parsed from.

std::string GetDescription () const

Get a text description of the element.

void SetDescription (const std::string &_desc)

Set a text description for the element.

void AddElementDescription (ElementPtr _elem)

Add a new element description.

ElementPtr GetElementImpl (const std::string &_name) const

Get a pointer to the named element.

static std::vector< std::string > NameUniquenessExceptions ()

List of elements to which exceptions are made when checking for name uniqueness.

Detailed Description

SDF Element class.

Constructor & Destructor Documentation

◆ Element()

sdf::SDF_VERSION_NAMESPACE::Element::Element ( )

Constructor.

◆ ~Element()

virtual sdf::SDF_VERSION_NAMESPACE::Element::~Element ( )

virtual

Destructor.

Member Function Documentation

◆ AddAttribute() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Element::AddAttribute	(	const std::string &	_key,
		const std::string &	_type,
		const std::string &	_defaultvalue,
		bool	_required,
		const std::string &	_description = `""`
	)

Add an attribute value.

Parameters

[in]	_key	Key value.
[in]	_type	Type of data the attribute will hold.
[in]	_defaultValue	Default value for the attribute.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_description	A text description of the attribute.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddAttribute() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Element::AddAttribute	(	const std::string &	_key,
		const std::string &	_type,
		const std::string &	_defaultvalue,
		bool	_required,
		sdf::Errors &	_errors,
		const std::string &	_description = `""`
	)

Add an attribute value.

Parameters

[in]	_key	Key value.
[in]	_type	Type of data the attribute will hold.
[in]	_defaultValue	Default value for the attribute.
[in]	_required	Requirement string. \as Element::SetRequired.
[out]	_errors	Vector of errors.
[in]	_description	A text description of the attribute.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddElement() [1/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::AddElement ( const std::string & _name )

Add a named element.

Parameters

[in] _name the name of the element to add.

Returns: A pointer to the newly created Element object.

◆ AddElement() [2/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::AddElement	(	const std::string &	_name,
		sdf::Errors &	_errors
	)

Add a named element.

Parameters

[in]	_name	the name of the element to add.
[out]	_errors	Vector of errors.

Returns: A pointer to the newly created Element object.

◆ AddElementDescription()

void sdf::SDF_VERSION_NAMESPACE::Element::AddElementDescription ( ElementPtr _elem )

Add a new element description.

Parameters

[in] _elem the Element object to add to the descriptions.

◆ AddValue() [1/4]

void sdf::SDF_VERSION_NAMESPACE::Element::AddValue	(	const std::string &	_type,
		const std::string &	_defaultValue,
		bool	_required,
		const std::string &	_description = `""`
	)

Add a value to this Element.

Parameters

[in]	_type	Type of data the parameter will hold.
[in]	_defaultValue	Default value for the parameter.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_description	A text description of the parameter.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddValue() [2/4]

void sdf::SDF_VERSION_NAMESPACE::Element::AddValue	(	const std::string &	_type,
		const std::string &	_defaultValue,
		bool	_required,
		const std::string &	_minValue,
		const std::string &	_maxValue,
		const std::string &	_description = `""`
	)

Add a value to this Element.

This override allows passing min and max values of the parameter.

Parameters

[in]	_type	Type of data the parameter will hold.
[in]	_defaultValue	Default value for the parameter.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_minValue	Minimum allowed value for the parameter.
[in]	_maxValue	Maximum allowed value for the parameter.
[in]	_description	A text description of the parameter.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddValue() [3/4]

void sdf::SDF_VERSION_NAMESPACE::Element::AddValue	(	const std::string &	_type,
		const std::string &	_defaultValue,
		bool	_required,
		const std::string &	_minValue,
		const std::string &	_maxValue,
		sdf::Errors &	_errors,
		const std::string &	_description = `""`
	)

Add a value to this Element.

This override allows passing min and max values of the parameter.

Parameters

[in]	_type	Type of data the parameter will hold.
[in]	_defaultValue	Default value for the parameter.
[in]	_required	Requirement string. \as Element::SetRequired.
[in]	_minValue	Minimum allowed value for the parameter.
[in]	_maxValue	Maximum allowed value for the parameter.
[out]	_errors	Vector of errors.
[in]	_description	A text description of the parameter.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ AddValue() [4/4]

void sdf::SDF_VERSION_NAMESPACE::Element::AddValue	(	const std::string &	_type,
		const std::string &	_defaultValue,
		bool	_required,
		sdf::Errors &	_errors,
		const std::string &	_description = `""`
	)

Add a value to this Element.

Parameters

[in]	_type	Type of data the parameter will hold.
[in]	_defaultValue	Default value for the parameter.
[in]	_required	Requirement string. \as Element::SetRequired.
[out]	_errors	Vector of errors.
[in]	_description	A text description of the parameter.

Exceptions

sdf::AssertionInternalError if an invalid type is given.

◆ Clear()

void sdf::SDF_VERSION_NAMESPACE::Element::Clear ( )

Remove all child elements and reset file path and original version.

◆ ClearElements()

void sdf::SDF_VERSION_NAMESPACE::Element::ClearElements ( )

Remove all child elements.

◆ Clone() [1/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::Clone ( ) const

Create a copy of this Element.

Returns: A copy of this Element.

◆ Clone() [2/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::Clone ( sdf::Errors & _errors ) const

Create a copy of this Element.

Parameters

[out] _errors Vector of errors.

Returns: A copy of this Element, NULL if there was an error.

◆ Copy() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Element::Copy ( const ElementPtr _elem )

Copy values from an Element.

Parameters

[in] _elem Element to copy value from.

◆ Copy() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Element::Copy	(	const ElementPtr	_elem,
		sdf::Errors &	_errors
	)

Copy values from an Element.

Parameters

[in]	_elem	Element to copy value from.
[out]	_errors	Vector of errors.

◆ CountNamedElements() [1/4]

std::map< std::string, std::size_t > sdf::SDF_VERSION_NAMESPACE::Element::CountNamedElements	(	const std::string &	_type,
		const std::vector< std::string > &	_ignoreElements
	)		const

Count the number of child elements of the specified element type that have the same name attribute value with the exception of elements listed in _ignoreElements.

Parameters

[in]	_type	The type of Element to check. If empty, count names of all child elements.
[in]	_ignoreElements	A list of child element types to ignore when checking for uniqueness.

Returns: Map from Element names to a count of how many times the name occurs. The count should never be 0. If all 2nd values are 1, then there are exclusively unique names.

◆ CountNamedElements() [2/4]

std::map< std::string, std::size_t > sdf::SDF_VERSION_NAMESPACE::Element::CountNamedElements ( const std::string & _type = "" ) const

Count the number of child elements of the specified element type that have the same name attribute value.

Parameters

[in] _type The type of Element to check. If empty, count names of all child elements.

Returns: Map from Element names to a count of how many times the name occurs. The count should never be 0. If all 2nd values are 1, then there are exclusively unique names.

◆ CountNamedElements() [3/4]

std::map< std::string, std::size_t > sdf::SDF_VERSION_NAMESPACE::Element::CountNamedElements	(	sdf::Errors &	_errors,
		const std::string &	_type,
		const std::vector< std::string > &	_ignoreElements
	)		const

Count the number of child elements of the specified element type that have the same name attribute value with the exception of elements listed in _ignoreElements.

Parameters

[out]	_errors	Vector of errors.
[in]	_type	The type of Element to check. If empty, count names of all child elements.
[in]	_ignoreElements	A list of child element types to ignore when checking for uniqueness.

Returns: Map from Element names to a count of how many times the name occurs. The count should never be 0. If all 2nd values are 1, then there are exclusively unique names.

◆ CountNamedElements() [4/4]

std::map< std::string, std::size_t > sdf::SDF_VERSION_NAMESPACE::Element::CountNamedElements	(	sdf::Errors &	_errors,
		const std::string &	_type = `""`
	)		const

Count the number of child elements of the specified element type that have the same name attribute value.

Parameters

[out]	_errors	Vector of errors.
[in]	_type	The type of Element to check. If empty, count names of all child elements.

Returns: Map from Element names to a count of how many times the name occurs. The count should never be 0. If all 2nd values are 1, then there are exclusively unique names.

◆ FilePath()

const std::string & sdf::SDF_VERSION_NAMESPACE::Element::FilePath ( ) const

Get the path to the SDF document where this element came from.

Returns: Full path to SDF document.

◆ FindElement() [1/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::FindElement ( const std::string & _name )

Return a pointer to the child element with the provided name.

Unlike GetElement, this does not create a new child element if it fails to find an existing element.

Remarks: If there are multiple elements with the given tag, it returns the first one.

Parameters

[in] _name Name of the child element to retreive.

Returns: Pointer to the existing child element, or nullptr if the child element was not found.

◆ FindElement() [2/2]

ElementConstPtr sdf::SDF_VERSION_NAMESPACE::Element::FindElement ( const std::string & _name ) const

Return a pointer to the child element with the provided name.

Unlike GetElement, this does not create a new child element if it fails to find an existing element.

Remarks: If there are multiple elements with the given tag, it returns the first one.

Parameters

[in] _name Name of the child element to retreive.

Returns: Pointer to the existing child element, or nullptr if the child element was not found.

◆ GetAny() [1/2]

std::any sdf::SDF_VERSION_NAMESPACE::Element::GetAny ( const std::string & _key = "" ) const

Get the element value/attribute as a std::any.

Parameters

[in] _key The key of the attribute. If empty, get the value of the element. Defaults to empty.

Returns: The element as a std::any.

◆ GetAny() [2/2]

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

Get the element value/attribute as a std::any.

Parameters

[in]	_key	The key of the attribute. If empty, get the value of the element. Defaults to empty.
[out]	_errors	Vector of errors.

Returns: The element as a std::any.

◆ GetAttribute() [1/2]

ParamPtr sdf::SDF_VERSION_NAMESPACE::Element::GetAttribute ( const std::string & _key ) const

Get the param of an attribute.

Parameters

[in] _key the name of the attribute.

Returns: The parameter attribute value. NULL if the key is invalid.

Referenced by Get().

◆ GetAttribute() [2/2]

ParamPtr sdf::SDF_VERSION_NAMESPACE::Element::GetAttribute ( unsigned int _index ) const

Get an attribute using an index.

Parameters

[in] _index the index of the attribute to get.

Returns: A Param pointer to the attribute.

◆ GetAttributeCount()

size_t sdf::SDF_VERSION_NAMESPACE::Element::GetAttributeCount ( ) const

Get the number of attributes.

Returns: The number of attributes.

◆ GetAttributes()

const Param_V & sdf::SDF_VERSION_NAMESPACE::Element::GetAttributes ( ) const

Get all the attribute params.

Returns: The vector of parameter attributes.

◆ GetAttributeSet()

bool sdf::SDF_VERSION_NAMESPACE::Element::GetAttributeSet ( const std::string & _key ) const

Return true if the attribute was set (i.e.

not default value)

Parameters

[in] _key the key to use to find the attribute.

Returns: True if the attribute is set, false otherwise.

◆ GetCopyChildren()

bool sdf::SDF_VERSION_NAMESPACE::Element::GetCopyChildren ( ) const

Return true if this Element's child elements should be copied during parsing.

Returns: True to copy child elements during parsing.

◆ GetDescription()

std::string sdf::SDF_VERSION_NAMESPACE::Element::GetDescription ( ) const

Get a text description of the element.

Returns: The text description of the element.

◆ GetElement() [1/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetElement ( const std::string & _name )

Return a pointer to the child element with the provided name.

A new child element, with the provided name, is added to this element if there is no existing child element. If this is not desired see FindElement

Remarks: If there are multiple elements with the given tag, it returns the first one.

Parameters

[in] _name Name of the child element to retreive.

Returns: Pointer to the existing child element, or a new child element if an existing child element did not exist.

◆ GetElement() [2/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetElement	(	const std::string &	_name,
		sdf::Errors &	_errors
	)

Return a pointer to the child element with the provided name.

A new child element, with the provided name, is added to this element if there is no existing child element. If this is not desired see FindElement

Remarks: If there are multiple elements with the given tag, it returns the first one.

Parameters

[in]	_name	Name of the child element to retreive.
[out]	_errors	Vector of errors.

Returns: Pointer to the existing child element, or a new child element if an existing child element did not exist.

◆ GetElementDescription() [1/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetElementDescription ( const std::string & _key ) const

Get an element description using a key.

Parameters

[in] _key the key to use to find the element.

Returns: An Element pointer to the found element.

◆ GetElementDescription() [2/2]

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetElementDescription ( unsigned int _index ) const

Get an element description using an index.

Parameters

[in] _index the index of the element description to get.

Returns: An Element pointer to the found element.

Referenced by Get().

◆ GetElementDescriptionCount()

size_t sdf::SDF_VERSION_NAMESPACE::Element::GetElementDescriptionCount ( ) const

Get the number of element descriptions.

Returns: The number of element descriptions.

◆ GetElementImpl()

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetElementImpl ( const std::string & _name ) const

Get a pointer to the named element.

Parameters

[in] _name the name of the element to look for.

Returns: A pointer to the named element if found, nullptr otherwise.

Referenced by Get().

◆ GetElementTypeNames()

std::set< std::string > sdf::SDF_VERSION_NAMESPACE::Element::GetElementTypeNames ( ) const

Get set of child element type names.

Returns: A set of the names of the child elements.

◆ GetExplicitlySetInFile()

bool sdf::SDF_VERSION_NAMESPACE::Element::GetExplicitlySetInFile ( ) const

Return if the element was been explicitly set in the file.

Returns: True if the element was set in the file

◆ GetFirstElement()

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetFirstElement ( ) const

Get the first child element.

Returns: A smart pointer to the first child of this element, or sdf::ElementPtr(nullptr) if there are no children.

◆ GetIncludeElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetIncludeElement ( ) const

Get the element that was used to load this element.

Returns: The Element pointer to the element, if this element was loaded from an included file. Otherwise, nullptr. This is also nullptr for Elements that cannot be included.

◆ GetName()

const std::string & sdf::SDF_VERSION_NAMESPACE::Element::GetName ( ) const

Get the Element's name.

Returns: The name of this Element.

◆ GetNextElement()

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetNextElement ( const std::string & _name = "" ) const

Get the next sibling of this element.

Parameters

[in] _name if given then filter siblings by their xml tag.

Remarks: This function does not alter or store any state Repeated calls to "GetNextElement()" with the same string will always return a pointer to the same element.

Returns: A pointer to the next element if it exists, sdf::ElementPtr(nullptr) otherwise.

This can be used in combination with GetFirstElement() to walk the SDF tree. First call parent->GetFirstElement() to get the first child. Call child = child->GetNextElement() to iterate through the children.

◆ GetParent()

ElementPtr sdf::SDF_VERSION_NAMESPACE::Element::GetParent ( ) const

Get a pointer to this Element's parent.

Returns: Pointer to this Element's parent, NULL if there is no parent.

◆ GetRequired()

const std::string & sdf::SDF_VERSION_NAMESPACE::Element::GetRequired ( ) const

Get the requirement string.

Returns: The requirement string.

See also: Element::SetRequired

◆ GetValue()

ParamPtr sdf::SDF_VERSION_NAMESPACE::Element::GetValue ( ) const

Get the param of the elements value return A Param pointer to the value of this element.

◆ HasAttribute()

bool sdf::SDF_VERSION_NAMESPACE::Element::HasAttribute ( const std::string & _key ) const

Return true if an attribute exists.

Parameters

[in] _key the key to use to find the attribute.

Returns: True if the attribute exists, false otherwise.

◆ HasElement()

bool sdf::SDF_VERSION_NAMESPACE::Element::HasElement ( const std::string & _name ) const

Return true if the named element exists.

Parameters

[in] _name the name of the element to look for.

Returns: True if the named element was found, false otherwise.

Referenced by Get().

◆ HasElementDescription()

bool sdf::SDF_VERSION_NAMESPACE::Element::HasElementDescription ( const std::string & _name ) const

Return true if an element description exists.

Parameters

[in] _name the name of the element to find.

Returns: True if the element description exists, false otherwise.

Referenced by Get().

◆ HasUniqueChildNames() [1/4]

bool sdf::SDF_VERSION_NAMESPACE::Element::HasUniqueChildNames	(	const std::string &	_type,
		const std::vector< std::string > &	_ignoreElements
	)		const

Checks whether any child elements of the specified element type, except those listed in _ignoreElements, have identical name attribute values and returns false if so.

Parameters

[in]	_type	The type of Element to check. If empty, check names of all child elements.
[in]	_ignoreElements	A list of child element types to ignore when checking for uniqueness.

Returns: True if all child elements with name attributes of the specified type have unique names, return false if there are duplicated names. Also return true if no elements of the specified type are found.

◆ HasUniqueChildNames() [2/4]

bool sdf::SDF_VERSION_NAMESPACE::Element::HasUniqueChildNames ( const std::string & _type = "" ) const

Checks whether any child elements of the specified element type have identical name attribute values and returns false if so.

Parameters

[in] _type The type of Element to check. If empty, check names of all child elements.

Returns: True if all child elements with name attributes of the specified type have unique names, return false if there are duplicated names. Also return true if no elements of the specified type are found.

◆ HasUniqueChildNames() [3/4]

bool sdf::SDF_VERSION_NAMESPACE::Element::HasUniqueChildNames	(	sdf::Errors &	_errors,
		const std::string &	_type,
		const std::vector< std::string > &	_ignoreElements
	)		const

Checks whether any child elements of the specified element type, except those listed in _ignoreElements, have identical name attribute values and returns false if so.

Parameters

[out]	_errors	Vector of errors.
[in]	_type	The type of Element to check. If empty, check names of all child elements.
[in]	_ignoreElements	A list of child element types to ignore when checking for uniqueness.

Returns: True if all child elements with name attributes of the specified type have unique names, return false if there are duplicated names. Also return true if no elements of the specified type are found.

◆ HasUniqueChildNames() [4/4]

bool sdf::SDF_VERSION_NAMESPACE::Element::HasUniqueChildNames	(	sdf::Errors &	_errors,
		const std::string &	_type = `""`
	)		const

Checks whether any child elements of the specified element type have identical name attribute values and returns false if so.

Parameters

[out]	_errors	Vector of errors.
[in]	_type	The type of Element to check. If empty, check names of all child elements.

Returns: True if all child elements with name attributes of the specified type have unique names, return false if there are duplicated names. Also return true if no elements of the specified type are found.

◆ InsertElement() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Element::InsertElement ( ElementPtr _elem )

Add an element object.

Parameters

[in] _elem the element object to add.

◆ InsertElement() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Element::InsertElement	(	ElementPtr	_elem,
		bool	_setParentToSelf
	)

Add an element object, and optionally set the given element's parent to this object.

Parameters

[in]	_elem	the element object to add.
[in]	_setParentToSelf	If true, set the _elem's parent to this object and then insert.

◆ LineNumber()

std::optional< int > sdf::SDF_VERSION_NAMESPACE::Element::LineNumber ( ) const

Get the line number of this element within the SDF document.

Returns: Line number of this element if it has been set, nullopt otherwise.

◆ NameUniquenessExceptions()

static std::vector< std::string > sdf::SDF_VERSION_NAMESPACE::Element::NameUniquenessExceptions ( )

static

List of elements to which exceptions are made when checking for name uniqueness.

Returns: List of element types that are allowed to have name collisions.

◆ OriginalVersion()

const std::string & sdf::SDF_VERSION_NAMESPACE::Element::OriginalVersion ( ) const

Get the spec version that this was originally parsed from.

Returns: Spec version string.

◆ PrintDescription() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Element::PrintDescription ( const std::string & _prefix ) const

Output Element's description to stdout.

Parameters

[in] _prefix String value to prefix to the output.

◆ PrintDescription() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Element::PrintDescription	(	sdf::Errors &	_errors,
		const std::string &	_prefix
	)		const

Output Element's description to stdout.

Parameters

[out]	_errors	Vector of errors.
[in]	_prefix	String value to prefix to the output.

◆ PrintDocLeftPane()

void sdf::SDF_VERSION_NAMESPACE::Element::PrintDocLeftPane	(	std::string &	_html,
		int	_spacing,
		int &	_index
	)		const

Helper function for SDF::PrintDoc.

This generates the SDF html documentation.

Parameters

[out]	_html	Accumulated HTML for output.
[in]	_spacing	Amount of spacing for this element.
[in]	_index	Unique index for this element.

◆ PrintDocRightPane()

void sdf::SDF_VERSION_NAMESPACE::Element::PrintDocRightPane	(	std::string &	_html,
		int	_spacing,
		int &	_index
	)		const

Helper function for SDF::PrintDoc.

This generates the SDF html documentation.

Parameters

[out]	_html	Accumulated HTML for output.
[in]	_spacing	Amount of spacing for this element.

◆ PrintValues() [1/4]

void sdf::SDF_VERSION_NAMESPACE::Element::PrintValues	(	const std::string &	_prefix,
		bool	_includeDefaultElements,
		bool	_includeDefaultAttributes,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Output Element's values to stdout.

Parameters

[in]	_prefix	String value to prefix to the output.
[in]	_includeDefaultElements	flag to print default elements.
[in]	_includeDefaultAttributes	flag to print default attributes.
[in]	_config	Configuration for printing the values.

◆ PrintValues() [2/4]

void sdf::SDF_VERSION_NAMESPACE::Element::PrintValues	(	sdf::Errors &	_errors,
		const std::string &	_prefix,
		bool	_includeDefaultElements,
		bool	_includeDefaultAttributes,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Output Element's values to stdout.

Parameters

[out]	_errors	Vector of errors.
[in]	_prefix	String value to prefix to the output.
[in]	_includeDefaultElements	flag to print default elements.
[in]	_includeDefaultAttributes	flag to print default attributes.
[in]	_config	Configuration for printing the values.

◆ PrintValues() [3/4]

void sdf::SDF_VERSION_NAMESPACE::Element::PrintValues	(	sdf::Errors &	_errors,
		std::string	_prefix,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Output Element's values to stdout.

Parameters

[out]	_errors	Vector of errors.
[in]	_prefix	String value to prefix to the output.
[in]	_config	Configuration for printing the values.

◆ PrintValues() [4/4]

void sdf::SDF_VERSION_NAMESPACE::Element::PrintValues	(	std::string	_prefix,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Output Element's values to stdout.

Parameters

[in]	_prefix	String value to prefix to the output.
[in]	_config	Configuration for printing the values.

◆ ReferenceSDF()

std::string sdf::SDF_VERSION_NAMESPACE::Element::ReferenceSDF ( ) const

Get the name of the reference SDF element.

Returns: Name of the reference SDF element.

◆ RemoveAllAttributes()

void sdf::SDF_VERSION_NAMESPACE::Element::RemoveAllAttributes ( )

Removes all attributes.

◆ RemoveAttribute()

void sdf::SDF_VERSION_NAMESPACE::Element::RemoveAttribute ( const std::string & _key )

Remove an attribute.

Parameters

[in] _key the key of the attribute.

◆ RemoveChild() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Element::RemoveChild ( ElementPtr _child )

Remove a child element.

Parameters

[in] _child Pointer to the child to remove.

◆ RemoveChild() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Element::RemoveChild	(	ElementPtr	_child,
		sdf::Errors &	_errors
	)

Remove a child element.

Parameters

[in]	_child	Pointer to the child to remove.
[out]	_errors	Vector of errors.

◆ RemoveFromParent()

void sdf::SDF_VERSION_NAMESPACE::Element::RemoveFromParent ( )

Remove this element from its parent.

◆ Reset()

void sdf::SDF_VERSION_NAMESPACE::Element::Reset ( )

Call reset on each element and element description before deleting all of them.

Also clear out the embedded Param.

◆ SetCopyChildren()

void sdf::SDF_VERSION_NAMESPACE::Element::SetCopyChildren ( bool _value )

Set whether this element should copy its child elements during parsing.

Parameters

[in] _value True to copy Element's children.

◆ SetDescription()

void sdf::SDF_VERSION_NAMESPACE::Element::SetDescription ( const std::string & _desc )

Set a text description for the element.

Parameters

[in] _desc the text description to set for the element.

◆ SetExplicitlySetInFile()

void sdf::SDF_VERSION_NAMESPACE::Element::SetExplicitlySetInFile ( const bool _value )

Set if the element and children where set or default in the original file.

This is meant to be used by the parser to indicate whether the element was set by the user in the original file or added by default during parsing.

Parameters

[in] _value True if the element was set

◆ SetFilePath()

void sdf::SDF_VERSION_NAMESPACE::Element::SetFilePath ( const std::string & _path )

Set the path to the SDF document where this element came from.

Parameters

[in] _path Full path to SDF document.

◆ SetIncludeElement()

void sdf::SDF_VERSION_NAMESPACE::Element::SetIncludeElement ( sdf::ElementPtr _includeElem )

Set the element that was used to load this element.

This is set by the parser on the first element of the included object (eg. Model, Actor, Light, etc). It is not passed down to children elements.

Parameters

[in] _includeELem The Element

◆ SetLineNumber()

void sdf::SDF_VERSION_NAMESPACE::Element::SetLineNumber ( int _lineNumber )

Set the line number of this element within the SDF document.

Parameters

[in] _lineNumber Line number of element.

◆ SetName()

void sdf::SDF_VERSION_NAMESPACE::Element::SetName ( const std::string & _name )

Set the name of the Element.

Parameters

[in] _name The new name for this Element.

◆ SetOriginalVersion()

void sdf::SDF_VERSION_NAMESPACE::Element::SetOriginalVersion ( const std::string & _version )

Set the spec version that this was originally parsed from.

Parameters

[in] _version Spec version string.

◆ SetParent()

void sdf::SDF_VERSION_NAMESPACE::Element::SetParent ( const ElementPtr _parent )

Set the parent of this Element.

Parameters

[in] _parent Parent for this element.

◆ SetReferenceSDF()

void sdf::SDF_VERSION_NAMESPACE::Element::SetReferenceSDF ( const std::string & _value )

Set reference SDF element.

Parameters

[in] _value Name of the reference sdf element.

◆ SetRequired()

void sdf::SDF_VERSION_NAMESPACE::Element::SetRequired ( const std::string & _req )

Set the requirement type.

Parameters

[in] _req Requirement type for this element: -1: Deprecated. 0: Not required. 1: Exactly one element is required. +: One or more elements are required. *: Zero or more elements are required.

◆ SetXmlPath()

void sdf::SDF_VERSION_NAMESPACE::Element::SetXmlPath ( const std::string & _path )

Private data pointer.

◆ ToString() [1/4]

std::string sdf::SDF_VERSION_NAMESPACE::Element::ToString	(	const std::string &	_prefix,
		bool	_includeDefaultElements,
		bool	_includeDefaultAttributes,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Convert the element values to a string representation.

Current behavior of ToString(const std::string &_prefix) can be achieved by calling this function with _includeDefaultElements=true and _includeDefaultAttributes=false

Parameters

[in]	_prefix	String value to prefix to the output.
[in]	_includeDefaultElements	flag to include default elements.
[in]	_includeDefaultAttributes	flag to include default attributes.
[in]	_config	Configuration for converting to string.

Returns: The string representation.

◆ ToString() [2/4]

std::string sdf::SDF_VERSION_NAMESPACE::Element::ToString	(	const std::string &	_prefix,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Convert the element values to a string representation.

Parameters

[in]	_prefix	String value to prefix to the output.
[in]	_config	Configuration for printing the values.

Returns: The string representation.

◆ ToString() [3/4]

std::string sdf::SDF_VERSION_NAMESPACE::Element::ToString	(	sdf::Errors &	_errors,
		const std::string &	_prefix,
		bool	_includeDefaultElements,
		bool	_includeDefaultAttributes,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Convert the element values to a string representation.

Current behavior of ToString(const std::string &_prefix) can be achieved by calling this function with _includeDefaultElements=true and _includeDefaultAttributes=false

Parameters

[out]	_errors	Vector of errors.
[in]	_prefix	String value to prefix to the output.
[in]	_includeDefaultElements	flag to include default elements.
[in]	_includeDefaultAttributes	flag to include default attributes.
[in]	_config	Configuration for converting to string.

Returns: The string representation.

◆ ToString() [4/4]

std::string sdf::SDF_VERSION_NAMESPACE::Element::ToString	(	sdf::Errors &	_errors,
		const std::string &	_prefix,
		const PrintConfig &	_config = `PrintConfig()`
	)		const

Convert the element values to a string representation.

Parameters

[out]	_errors	Vector of errors.
[in]	_prefix	String value to prefix to the output.
[in]	_config	Configuration for printing the values.

Returns: The string representation.

◆ Update() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Element::Update ( )

Call the Update() callback on each element, as well as the embedded Param.

◆ Update() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Element::Update ( sdf::Errors & _errors )

Call the Update() callback on each element, as well as the embedded Param.

Parameters

[out] _errors Vector of errors.

◆ XmlPath()

const std::string & sdf::SDF_VERSION_NAMESPACE::Element::XmlPath ( ) const

Get the XML path of this element.

Returns: Full XML path to the SDF element.

The documentation for this class was generated from the following file:

Element.hh

Public Member Functions

="default"]/model[@name="robot1"]/link[@name="link"])

Detailed Description

Constructor & Destructor Documentation

◆ Element()

◆ ~Element()

Member Function Documentation

◆ AddAttribute() [1/2]

◆ AddAttribute() [2/2]

◆ AddElement() [1/2]

◆ AddElement() [2/2]

◆ AddElementDescription()

◆ AddValue() [1/4]

◆ AddValue() [2/4]

◆ AddValue() [3/4]

◆ AddValue() [4/4]

◆ Clear()

◆ ClearElements()

◆ Clone() [1/2]

◆ Clone() [2/2]

◆ Copy() [1/2]

◆ Copy() [2/2]

◆ CountNamedElements() [1/4]

◆ CountNamedElements() [2/4]

◆ CountNamedElements() [3/4]

◆ CountNamedElements() [4/4]

◆ FilePath()

◆ FindElement() [1/2]

◆ FindElement() [2/2]

◆ GetAny() [1/2]

◆ GetAny() [2/2]

◆ GetAttribute() [1/2]

◆ GetAttribute() [2/2]

◆ GetAttributeCount()

◆ GetAttributes()

◆ GetAttributeSet()

◆ GetCopyChildren()

◆ GetDescription()

◆ GetElement() [1/2]

◆ GetElement() [2/2]

◆ GetElementDescription() [1/2]

◆ GetElementDescription() [2/2]

◆ GetElementDescriptionCount()

◆ GetElementImpl()

◆ GetElementTypeNames()

◆ GetExplicitlySetInFile()

◆ GetFirstElement()

◆ GetIncludeElement()

◆ GetName()

◆ GetNextElement()

◆ GetParent()

◆ GetRequired()

◆ GetValue()

◆ HasAttribute()

◆ HasElement()

◆ HasElementDescription()

◆ HasUniqueChildNames() [1/4]

◆ HasUniqueChildNames() [2/4]

◆ HasUniqueChildNames() [3/4]

◆ HasUniqueChildNames() [4/4]

◆ InsertElement() [1/2]

◆ InsertElement() [2/2]

◆ LineNumber()

◆ NameUniquenessExceptions()

◆ OriginalVersion()

◆ PrintDescription() [1/2]

◆ PrintDescription() [2/2]

◆ PrintDocLeftPane()

◆ PrintDocRightPane()

◆ PrintValues() [1/4]

◆ PrintValues() [2/4]

◆ PrintValues() [3/4]

◆ PrintValues() [4/4]

◆ ReferenceSDF()

◆ RemoveAllAttributes()

◆ RemoveAttribute()

◆ RemoveChild() [1/2]

◆ RemoveChild() [2/2]

◆ RemoveFromParent()

◆ Reset()