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17 #ifndef SDFORMAT_TYPES_HH_
18 #define SDFORMAT_TYPES_HH_
27 #include <sdf/sdf_config.h>
31 #if defined(__GNUC__) || defined(__clang__)
32 #define SDF_DEPRECATED(version) __attribute__((deprecated))
33 #define SDF_FORCEINLINE __attribute__((always_inline))
34 #elif defined(_MSC_VER)
35 #define SDF_DEPRECATED(version)
36 #define SDF_FORCEINLINE __forceinline
38 #define SDF_DEPRECATED(version)
39 #define SDF_FORCEINLINE
43 # define SDF_SUPPRESS_DEPRECATED_BEGIN \
44 _Pragma("GCC diagnostic push") \
45 _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
46 # define SDF_SUPPRESS_DEPRECATED_END _Pragma("GCC diagnostic pop")
47 #elif defined(__clang__)
48 # define SDF_SUPPRESS_DEPRECATED_BEGIN \
49 _Pragma("clang diagnostic push") \
50 _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
51 # define SDF_SUPPRESS_DEPRECATED_END _Pragma("clang diagnostic pop")
53 # define SDF_SUPPRESS_DEPRECATED_BEGIN
54 # define SDF_SUPPRESS_DEPRECATED_END
60 inline namespace SDF_VERSION_NAMESPACE {
68 std::vector<std::string>
split(
const std::string &_str,
69 const std::string &_splitter);
75 std::string
trim(
const char *_in);
82 inline bool equal(
const T &_a,
const T &_b,
83 const T &_epsilon = 1e-6f)
85 return std::fabs(_a - _b) <= _epsilon;
100 public:
Color(
float _r = 0.0f,
float _g = 0.0f,
102 : r(_r), g(_g), b(_b), a(_a)
112 _out << _pt.
r <<
" " << _pt.
g <<
" " << _pt.
b <<
" " << _pt.
a;
119 public:
friend std::istream &operator>> (std::istream &_in,
Color &_pt)
122 _in.setf(std::ios_base::skipws);
123 _in >> _pt.
r >> _pt.
g >> _pt.
b >> _pt.
a;
130 public:
bool operator ==(
const Color &_clr)
const
132 return equal(this->r, _clr.
r) &&
164 public:
Time(int32_t _sec, int32_t _nsec)
165 : sec(_sec), nsec(_nsec)
176 _out << _time.
sec <<
" " << _time.
nsec;
188 _in.setf(std::ios_base::skipws);
189 _in >> _time.
sec >> _time.
nsec;
196 public:
bool operator ==(
const Time &_time)
const
198 return this->sec == _time.
sec && this->nsec == _time.
nsec;
Time(int32_t _sec, int32_t _nsec)
Constructor.
Definition: Types.hh:164
SDFORMAT_VISIBLE std::string trim(const char *_in)
Trim leading and trailing whitespace from a string.
friend std::ostream & operator<<(std::ostream &_out, const Time &_time)
Stream insertion operator.
Definition: Types.hh:173
float g
Green value.
Definition: Types.hh:142
namespace for Simulation Description Format parser
Definition: Actor.hh:32
std::ostream & operator<<(std::ostream &os, ParamStreamer< T > s)
Definition: Param.hh:75
Time()
Constructor.
Definition: Types.hh:156
Defines a color.
Definition: Types.hh:92
std::string SDFORMAT_VISIBLE lowercase(const std::string &_in)
Transforms a string to its lowercase equivalent.
A class for inertial information about a link.
Definition: Types.hh:209
double mass
Definition: Types.hh:211
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
friend std::istream & operator>>(std::istream &_in, Time &_time)
Stream extraction operator.
Definition: Types.hh:184
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
float r
Red value.
Definition: Types.hh:139
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
int32_t sec
Seconds.
Definition: Types.hh:202
SDFORMAT_VISIBLE std::vector< std::string > split(const std::string &_str, const std::string &_splitter)
Split a string using the delimiter in splitter.
Color(float _r=0.0f, float _g=0.0f, float _b=0.0f, float _a=1.0f)
Constructor.
Definition: Types.hh:100
int32_t nsec
Nanoseconds.
Definition: Types.hh:205
float a
Alpha value.
Definition: Types.hh:148
float b
Blue value.
Definition: Types.hh:145
A Time class, can be used to hold wall- or sim-time.
Definition: Types.hh:153
bool equal(const T &_a, const T &_b, const T &_epsilon=1e-6f)
check if two values are equal, within a tolerance
Definition: Types.hh:82