Root class that acts as an entry point to the SDF document model. More...

#include <Root.hh>

Public Member Functions
	Root ()
	Default constructor.

const sdf::Actor *	Actor () const
	Get a pointer to the actor object if it exists.

Errors	AddWorld (const World &_world)
	Add a world to the root.

void	ClearActorLightModel ()
	Remove the actor, light, or model if one of them exists.

void	ClearWorlds ()
	Remove all worlds.

sdf::Root	Clone () const
	Deep copy this Root object and return the new Root object.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was generated during load.

const sdf::Light *	Light () const
	Get a pointer to the light object if it exists.

Errors	Load (const SDFPtr _sdf)
	Parse the given SDF pointer, and generate objects based on types specified in the SDF file.

Errors	Load (const SDFPtr _sdf, const ParserConfig &_config)
	Parse the given SDF pointer, and generate objects based on types specified in the SDF file.

Errors	Load (const std::string &_filename)
	Parse the given SDF file, and generate objects based on types specified in the SDF file.

Errors	Load (const std::string &_filename, const ParserConfig &_config)
	Parse the given SDF file, and generate objects based on types specified in the SDF file.

Errors	LoadSdfString (const std::string &_sdf)
	Parse the given SDF string, and generate objects based on types specified in the SDF file.

Errors	LoadSdfString (const std::string &_sdf, const ParserConfig &_config)
	Parse the given SDF string, and generate objects based on types specified in the SDF file.

const sdf::Model *	Model () const
	Get a pointer to the model object if it exists.

void	ResolveAutoInertials (sdf::Errors &_errors, const ParserConfig &_config)
	Calculate & set the inertial properties (mass, mass matrix and inertial pose) for all the worlds & models that are children of this Root object.

void	SetActor (const sdf::Actor &_actor)
	Set the actor object.

void	SetLight (const sdf::Light &_light)
	Set the light object.

void	SetModel (const sdf::Model &_model)
	Set the model object.

void	SetVersion (const std::string &_version)
	Set the SDF version string.

sdf::ElementPtr	ToElement (const OutputConfig &_config=OutputConfig::GlobalConfig()) const
	Create and return an SDF element filled with data from this root.

Errors	UpdateGraphs ()
	Recreate the frame and pose graphs for the worlds and model that are children of this Root object.

std::string	Version () const
	Get the SDF version specified in the parsed file or SDF pointer.

World *	WorldByIndex (const uint64_t _index)
	Get a mutable world based on an index.

const World *	WorldByIndex (const uint64_t _index) const
	Get a world based on an index.

World *	WorldByName (const std::string &_name)
	Get a world based on a name.

const World *	WorldByName (const std::string &_name) const
	Get a world based on a name.

uint64_t	WorldCount () const
	Get the number of worlds.

bool	WorldNameExists (const std::string &_name) const
	Get whether a world name exists.

Errors	WorldNamesFromFile (const std::string &_filename, std::vector< std::string > &_worldNames)
	Get the name of the world without loading the entire world Users shouldn't normally need to use this API.

Detailed Description

Root class that acts as an entry point to the SDF document model.

Multiple worlds can exist in a single SDF file. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.

Usage

In this example, a root object is loaded from a file specified in the first command line argument to a program.

  sdf::Root root;
  sdf::Errors errors = root.Load(argv[1]);
  if (errors.empty())
  {
    std::cerr << "Valid SDF file.\n";
    return 0;
  }
  else
  {
    std::cerr << "Errors encountered: \n";
    for (auto const &e : errors)
    {
      std::cout << e << std::endl;
    }
  }

Constructor & Destructor Documentation

◆ Root()

sdf::SDF_VERSION_NAMESPACE::Root::Root ( )

Default constructor.

Member Function Documentation

◆ Actor()

const sdf::Actor * sdf::SDF_VERSION_NAMESPACE::Root::Actor ( ) const

Get a pointer to the actor object if it exists.

Returns: A pointer to the actor, nullptr if it doesn't exist

◆ AddWorld()

Errors sdf::SDF_VERSION_NAMESPACE::Root::AddWorld ( const World & _world )

Add a world to the root.

Parameters

[in] _word World to add.

Returns: True if successful, false if a world with the name already exists.; Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ ClearActorLightModel()

void sdf::SDF_VERSION_NAMESPACE::Root::ClearActorLightModel ( )

Remove the actor, light, or model if one of them exists.

The SDF Root object can only hold one, or none, from the set [Actor, Light, Model].

◆ ClearWorlds()

void sdf::SDF_VERSION_NAMESPACE::Root::ClearWorlds ( )

Remove all worlds.

◆ Clone()

sdf::Root sdf::SDF_VERSION_NAMESPACE::Root::Clone ( ) const

Deep copy this Root object and return the new Root object.

Returns: A clone of this Root object. Deprecate this function in SDF version 13, and use GZ_UTILS_IMPL_PTR instead.

◆ Element()

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

Get a pointer to the SDF element that was generated during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ Light()

const sdf::Light * sdf::SDF_VERSION_NAMESPACE::Root::Light ( ) const

Get a pointer to the light object if it exists.

Returns: A pointer to the light, nullptr if it doesn't exist

◆ Load() [1/4]

Errors sdf::SDF_VERSION_NAMESPACE::Root::Load ( const SDFPtr _sdf )

Parse the given SDF pointer, and generate objects based on types specified in the SDF file.

Parameters

[in] _sdf SDF pointer to parse.

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [2/4]

Errors sdf::SDF_VERSION_NAMESPACE::Root::Load	(	const SDFPtr	_sdf,
		const ParserConfig &	_config
	)

Parse the given SDF pointer, and generate objects based on types specified in the SDF file.

Parameters

[in]	_sdf	SDF pointer to parse.
[in]	_config	Custom parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [3/4]

Errors sdf::SDF_VERSION_NAMESPACE::Root::Load ( const std::string & _filename )

Parse the given SDF file, and generate objects based on types specified in the SDF file.

Parameters

[in] _filename Name of the SDF file to parse.

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [4/4]

Errors sdf::SDF_VERSION_NAMESPACE::Root::Load	(	const std::string &	_filename,
		const ParserConfig &	_config
	)

Parse the given SDF file, and generate objects based on types specified in the SDF file.

Parameters

[in]	_filename	Name of the SDF file to parse.
[in]	_config	Custom parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ LoadSdfString() [1/2]

Errors sdf::SDF_VERSION_NAMESPACE::Root::LoadSdfString ( const std::string & _sdf )

Parse the given SDF string, and generate objects based on types specified in the SDF file.

Parameters

[in] _sdf SDF string to parse.

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ LoadSdfString() [2/2]

Errors sdf::SDF_VERSION_NAMESPACE::Root::LoadSdfString	(	const std::string &	_sdf,
		const ParserConfig &	_config
	)

Parse the given SDF string, and generate objects based on types specified in the SDF file.

Parameters

[in]	_sdf	SDF string to parse.
[in]	_config	Custom parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Model()

const sdf::Model * sdf::SDF_VERSION_NAMESPACE::Root::Model ( ) const

Get a pointer to the model object if it exists.

Returns: A pointer to the model, nullptr if it doesn't exist

◆ ResolveAutoInertials()

void sdf::SDF_VERSION_NAMESPACE::Root::ResolveAutoInertials	(	sdf::Errors &	_errors,
		const ParserConfig &	_config
	)

Calculate & set the inertial properties (mass, mass matrix and inertial pose) for all the worlds & models that are children of this Root object.

This function must be called after calling Root::Load() or UpdateGraphs() since it uses frame graphs to resolve inertial pose for links and they would be automatically built

Parameters

[out]	_errors	A vector of Errors objects. Each errors contains an Error code and a message. An empty errors vector indicates no errors
[in]	_config	Custom parser configuration

◆ SetActor()

void sdf::SDF_VERSION_NAMESPACE::Root::SetActor ( const sdf::Actor & _actor )

Set the actor object.

This will override any existing model, actor, and light object.

Parameters

[in] _actor The actor to use.

◆ SetLight()

void sdf::SDF_VERSION_NAMESPACE::Root::SetLight ( const sdf::Light & _light )

Set the light object.

This will override any existing model, actor, and light object.

Parameters

[in] _light The light to use.

◆ SetModel()

void sdf::SDF_VERSION_NAMESPACE::Root::SetModel ( const sdf::Model & _model )

Set the model object.

This will override any existing model, actor, and light object.

Parameters

[in] _model The model to use.

◆ SetVersion()

void sdf::SDF_VERSION_NAMESPACE::Root::SetVersion ( const std::string & _version )

Set the SDF version string.

Parameters

[in] _version The new SDF version.

See also: std::string Version()

◆ ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Root::ToElement ( const OutputConfig & _config = OutputConfig::GlobalConfig() ) const

Create and return an SDF element filled with data from this root.

Note that parameter passing functionality is not captured with this function.

Parameters

[in] _config Custom output configuration

Returns: SDF element pointer with updated root values.

◆ UpdateGraphs()

Errors sdf::SDF_VERSION_NAMESPACE::Root::UpdateGraphs ( )

Recreate the frame and pose graphs for the worlds and model that are children of this Root object.

You can call this function to build new graphs when the DOM was created programmatically, or if you want to regenerate the graphs after editing the DOM.

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Version()

std::string sdf::SDF_VERSION_NAMESPACE::Root::Version ( ) const

Get the SDF version specified in the parsed file or SDF pointer.

Returns: SDF version string.

See also: void SetVersion(const std::string &_version)

◆ WorldByIndex() [1/2]

World * sdf::SDF_VERSION_NAMESPACE::Root::WorldByIndex ( const uint64_t _index )

Get a mutable world based on an index.

Parameters

[in] _index Index of the world. The index should be in the range [0..WorldCount()).

Returns: Pointer to the world. Nullptr if the index does not exist.

See also: uint64_t WorldCount() const

◆ WorldByIndex() [2/2]

const World * sdf::SDF_VERSION_NAMESPACE::Root::WorldByIndex ( const uint64_t _index ) const

Get a world based on an index.

Parameters

[in] _index Index of the world. The index should be in the range [0..WorldCount()).

Returns: Pointer to the world. Nullptr if the index does not exist.

See also: uint64_t WorldCount() const

◆ WorldByName() [1/2]

World * sdf::SDF_VERSION_NAMESPACE::Root::WorldByName ( const std::string & _name )

Get a world based on a name.

Parameters

[in] _name Name of the world.

Returns: Pointer to the world. Nullptr if a world with the given name does not exist.

See also: bool WorldNameExists(const std::string &_name) const

◆ WorldByName() [2/2]

const World * sdf::SDF_VERSION_NAMESPACE::Root::WorldByName ( const std::string & _name ) const

Get a world based on a name.

Parameters

[in] _name Name of the world.

Returns: Pointer to the world. Nullptr if a world with the given name does not exist.

See also: bool WorldNameExists(const std::string &_name) const

◆ WorldCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Root::WorldCount ( ) const

Get the number of worlds.

Returns: Number of worlds contained in this Root object.

◆ WorldNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Root::WorldNameExists ( const std::string & _name ) const

Get whether a world name exists.

Parameters

[in] _name Name of the world to check.

Returns: True if there exists a world with the given name.

◆ WorldNamesFromFile()

Errors sdf::SDF_VERSION_NAMESPACE::Root::WorldNamesFromFile	(	const std::string &	_filename,
		std::vector< std::string > &	_worldNames
	)

Get the name of the world without loading the entire world Users shouldn't normally need to use this API.

This doesn't load the world, it might return the world name even if the file is not a valid SDFormat file.

Parameters

[in]	_filename	Name of the SDF file to parse.
[out]	_worldNames	A vector with world names

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

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

Root.hh

Public Member Functions

Detailed Description

Usage

Constructor & Destructor Documentation

◆ Root()

Member Function Documentation

◆ Actor()

◆ AddWorld()

◆ ClearActorLightModel()

◆ ClearWorlds()

◆ Clone()

◆ Element()

◆ Light()

◆ Load() [1/4]

◆ Load() [2/4]

◆ Load() [3/4]

◆ Load() [4/4]

◆ LoadSdfString() [1/2]

◆ LoadSdfString() [2/2]

◆ Model()

◆ ResolveAutoInertials()

◆ SetActor()

◆ SetLight()

◆ SetModel()

◆ SetVersion()

◆ ToElement()

◆ UpdateGraphs()

◆ Version()

◆ WorldByIndex() [1/2]

◆ WorldByIndex() [2/2]

◆ WorldByName() [1/2]

◆ WorldByName() [2/2]

◆ WorldCount()

◆ WorldNameExists()

◆ WorldNamesFromFile()