Namespaces
	filesystem

Classes
class	Actor
	Provides a description of an actor. More...

class	AirPressure
	AirPressure contains information about a general purpose fluid pressure sensor. More...

class	Altimeter
	Altimeter contains information about an altimeter sensor. More...

class	Animation
	Animation in Actor. More...

class	AssertionInternalError
	Class for generating Exceptions which come from sdf assertions. They include information about the assertion expression violated, function where problem appeared and assertion debug message. More...

class	Atmosphere
	The Atmosphere class contains information about an atmospheric model and related parameters such as temperature and pressure at sea level. More...

class	Box
	Box represents a box shape, and is usually accessed through a Geometry. More...

class	Camera
	Information about a monocular camera sensor. More...

class	Collision
	A collision element descibes the collision properties associated with a link. More...

class	Color
	Defines a color. More...

class	Console
	Message, error, warning, and logging functionality. More...

class	ConsolePrivate

class	Contact
	Contact information for a surface. More...

class	Cylinder
	Cylinder represents a cylinder shape, and is usually accessed through a Geometry. More...

class	Element
	SDF Element class. More...

class	ElementPrivate

class	Error

class	Exception
	Class for generating exceptions. More...

class	ForceTorque
	ForceTorque contains information about a force torque sensor. More...

class	Frame
	A Frame element descibes the properties associated with an explicit frame defined in a Model or World. More...

class	Geometry
	Geometry provides access to a shape, such as a Box. More...

class	Gui

class	Heightmap
	Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry. More...

class	HeightmapBlend
	Blend information to be used between textures on heightmaps. More...

class	HeightmapTexture
	Texture to be used on heightmaps. More...

class	Imu
	Imu contains information about an imu sensor. More...

class	Inertia
	A class for inertial information about a link. More...

class	InternalError
	Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More...

class	Joint

class	JointAxis
	Parameters related to the axis of rotation for rotational joints, and the axis of translation for prismatic joints. More...

class	Lidar
	Lidar contains information about a Lidar sensor. More...

class	Light
	Provides a description of a light source. More...

class	Link

class	Magnetometer
	Magnetometer contains information about a magnetometer sensor. More...

class	Material
	This class contains visual material properties. More...

class	Mesh
	Mesh represents a mesh shape, and is usually accessed through a Geometry. More...

class	Model

class	NavSat
	NavSat contains information about a NavSat sensor. More...

class	Noise
	The Noise class contains information about a noise model, such as a Gaussian distribution. More...

class	Param
	A parameter class. More...

class	ParamPrivate

struct	ParamStreamer

class	Pbr
	This class provides access to Physically-Based-Rendering (PBR) material workflows. More...

class	PbrWorkflow
	This class contains Physically-Based-Rendering (PBR) workflow properties. More...

class	Physics
	The physics element specifies the type and properties of a dynamics engine. More...

class	Plane
	Plane represents a plane shape, and is usually accessed through a Geometry. More...

class	Polyline
	Polyline represents a 2D path. Multiple polylines can be combined. More...

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

class	Scene

class	SDF
	Base SDF class. More...

class	SemanticPose
	SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a PoseRelativeToGraph. More...

class	Sky

class	Sphere
	Sphere represents a sphere shape, and is usually accessed through a Geometry. More...

class	Surface
	Surface information for a collision. More...

class	Time
	A Time class, can be used to hold wall- or sim-time. More...

class	Trajectory
	Trajectory for Animation. More...

class	Visual

class	Waypoint
	Waypoint for Trajectory. More...

class	World

Typedefs
typedef std::shared_ptr< Console >	ConsolePtr

typedef std::shared_ptr< const Element >	ElementConstPtr

typedef std::shared_ptr< Element >	ElementPtr

typedef std::vector< ElementPtr >	ElementPtr_V

typedef std::weak_ptr< Element >	ElementWeakPtr

using	Errors = std::vector< Error >
	A vector of Error. More...

typedef std::vector< ParamPtr >	Param_V

typedef std::shared_ptr< Param >	ParamPtr

typedef std::shared_ptr< SDF >	SDFPtr

Enumerations
enum	AtmosphereType { AtmosphereType::ADIABATIC = 0 }

enum	ErrorCode { ErrorCode::NONE = 0, ErrorCode::FILE_READ, ErrorCode::DUPLICATE_NAME, ErrorCode::RESERVED_NAME, ErrorCode::ATTRIBUTE_MISSING, ErrorCode::ATTRIBUTE_INVALID, ErrorCode::ATTRIBUTE_DEPRECATED, ErrorCode::ELEMENT_MISSING, ErrorCode::ELEMENT_INVALID, ErrorCode::ELEMENT_DEPRECATED, ErrorCode::ELEMENT_INCORRECT_TYPE, ErrorCode::URI_INVALID, ErrorCode::URI_LOOKUP, ErrorCode::DIRECTORY_NONEXISTANT, ErrorCode::MODEL_CANONICAL_LINK_INVALID, ErrorCode::MODEL_WITHOUT_LINK, ErrorCode::NESTED_MODELS_UNSUPPORTED, ErrorCode::LINK_INERTIA_INVALID, ErrorCode::JOINT_CHILD_LINK_INVALID, ErrorCode::JOINT_PARENT_LINK_INVALID, ErrorCode::JOINT_PARENT_SAME_AS_CHILD, ErrorCode::FRAME_ATTACHED_TO_INVALID, ErrorCode::FRAME_ATTACHED_TO_CYCLE, ErrorCode::FRAME_ATTACHED_TO_GRAPH_ERROR, ErrorCode::POSE_RELATIVE_TO_INVALID, ErrorCode::POSE_RELATIVE_TO_CYCLE, ErrorCode::POSE_RELATIVE_TO_GRAPH_ERROR, ErrorCode::STRING_READ }

enum	ForceTorqueFrame : uint8_t { ForceTorqueFrame::INVALID = 0, ForceTorqueFrame::PARENT = 1, ForceTorqueFrame::CHILD = 2, ForceTorqueFrame::SENSOR = 3 }

enum	ForceTorqueMeasureDirection : uint8_t { ForceTorqueMeasureDirection::INVALID = 0, ForceTorqueMeasureDirection::PARENT_TO_CHILD = 1, ForceTorqueMeasureDirection::CHILD_TO_PARENT = 2 }

enum	GeometryType { GeometryType::EMPTY = 0, GeometryType::BOX = 1, GeometryType::CYLINDER = 2, GeometryType::PLANE = 3, GeometryType::SPHERE = 4, GeometryType::MESH = 5, GeometryType::HEIGHTMAP = 6, GeometryType::POLYLINE = 9 }

enum	JointType { JointType::INVALID = 0, JointType::BALL = 1, JointType::CONTINUOUS = 2, JointType::FIXED = 3, JointType::GEARBOX = 4, JointType::PRISMATIC = 5, JointType::REVOLUTE = 6, JointType::REVOLUTE2 = 7, JointType::SCREW = 8, JointType::UNIVERSAL = 9 }

enum	LightType { LightType::INVALID = 0, LightType::POINT = 1, LightType::SPOT = 2, LightType::DIRECTIONAL = 3 }

enum	NoiseType { NoiseType::NONE = 0, NoiseType::GAUSSIAN = 1, NoiseType::GAUSSIAN_QUANTIZED = 2 }

enum	NormalMapSpace : int { NormalMapSpace::TANGENT = 0, NormalMapSpace::OBJECT = 1 }
	Space the normal map is defined in. More...

enum	PbrWorkflowType : int { PbrWorkflowType::NONE = 0, PbrWorkflowType::METAL = 1, PbrWorkflowType::SPECULAR = 2 }
	Type of PBR workflow. More...

enum	PixelFormatType { PixelFormatType::UNKNOWN_PIXEL_FORMAT = 0, PixelFormatType::L_INT8, PixelFormatType::L_INT16, PixelFormatType::RGB_INT8, PixelFormatType::RGBA_INT8, PixelFormatType::BGRA_INT8, PixelFormatType::RGB_INT16, PixelFormatType::RGB_INT32, PixelFormatType::BGR_INT8, PixelFormatType::BGR_INT16, PixelFormatType::BGR_INT32, PixelFormatType::R_FLOAT16, PixelFormatType::RGB_FLOAT16, PixelFormatType::R_FLOAT32, PixelFormatType::RGB_FLOAT32, PixelFormatType::BAYER_RGGB8, PixelFormatType::BAYER_BGGR8, PixelFormatType::BAYER_GBRG8, PixelFormatType::BAYER_GRBG8 }

enum	ShaderType : int { ShaderType::PIXEL = 0, ShaderType::VERTEX = 1, ShaderType::NORMAL_MAP_OBJECTSPACE = 2, ShaderType::NORMAL_MAP_TANGENTSPACE = 3 }

Functions
SDFORMAT_VISIBLE void	addNestedModel (ElementPtr _sdf, ElementPtr _includeSDF)
	Copy the contents of the first model element from one ElementPtr to another ElementPtr, prepending the copied model name with `::` to link and joint names, and apply the model pose to the copied link poses. More...

SDFORMAT_VISIBLE void	addNestedModel (ElementPtr _sdf, ElementPtr _includeSDF, Errors &_errors)
	Copy the contents of the first model element from one ElementPtr to another ElementPtr, prepending the copied model name with `::` to link and joint names, and apply the model pose to the copied link poses. More...

SDFORMAT_VISIBLE void	addURIPath (const std::string &_uri, const std::string &_path)
	Associate paths to a URI. More...

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 if the attribute is set and not empty. More...

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 cycles. More...

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 match the name of a link, joint, or other frame in the model if the attribute is set and not empty. More...

SDFORMAT_VISIBLE bool	checkJointParentChildLinkNames (const sdf::Root *_root)
	Check that all joints in contained models specify parent and child link names that match the names of sibling links. More...

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 cycles. More...

SDFORMAT_VISIBLE bool	convertFile (const std::string &_filename, const std::string &_version, SDFPtr _sdf)
	Convert an SDF file to a specific SDF version. More...

SDFORMAT_VISIBLE bool	convertString (const std::string &_sdfString, const std::string &_version, SDFPtr _sdf)
	Convert an SDF string to a specific SDF version. More...

template<typename T >
bool	equal (const T &_a, const T &_b, const T &_epsilon=1e-6f)
	check if two values are equal, within a tolerance More...

SDFORMAT_VISIBLE std::string	findFile (const std::string &_filename, bool _searchLocalPath=true, bool _useCallback=false)
	Find the absolute path of a file. More...

SDFORMAT_VISIBLE std::string	getModelFilePath (const std::string &_modelDirPath)
	Get the file path to the model file. More...

SDFORMAT_VISIBLE bool	init (SDFPtr _sdf)
	Init based on the installed sdf_format.xml file. More...

SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, ElementPtr _sdf)
	Initialize an SDFElement interface using a file. More...

SDFORMAT_VISIBLE bool	initFile (const std::string &_filename, SDFPtr _sdf)
	Initialize the SDF interface using a file. More...

SDFORMAT_VISIBLE bool	initString (const std::string &_xmlString, SDFPtr _sdf)
	Initialize the SDF interface using a string. More...

std::string SDFORMAT_VISIBLE	lowercase (const std::string &_in)
	Transforms a string to its lowercase equivalent. More...

template<class... Ts>
std::ostream &	operator<< (std::ostream &os, ParamStreamer< std::variant< Ts... >> sv)

template<class T >
std::ostream &	operator<< (std::ostream &os, ParamStreamer< T > s)

template<class T >
	ParamStreamer (T) -> ParamStreamer< T >

SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename)
	Populate the SDF values from a file. More...

SDFORMAT_VISIBLE sdf::SDFPtr	readFile (const std::string &_filename, Errors &_errors)
	Populate the SDF values from a file. More...

SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, SDFPtr _sdf)
	Populate the SDF values from a file. More...

SDFORMAT_VISIBLE bool	readFile (const std::string &_filename, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a file. More...

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. More...

SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, ElementPtr _sdf)
	Populate the SDF values from a string. More...

SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, ElementPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...

SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, SDFPtr _sdf)
	Populate the SDF values from a string. More...

SDFORMAT_VISIBLE bool	readString (const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
	Populate the SDF values from a string. More...

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. More...

SDFORMAT_VISIBLE bool	recursiveSameTypeUniqueNames (sdf::ElementPtr _elem)
	Check that all sibling elements of the same type have unique names. More...

SDFORMAT_VISIBLE bool	recursiveSiblingUniqueNames (sdf::ElementPtr _elem)
	Check that all sibling elements of the any type have unique names. More...

class SDFORMAT_VISIBLE	SDF_DEPRECATED (9.2) URDF2SDF
	URDF to SDF converter. More...

SDFORMAT_VISIBLE void	setFindCallback (std::function< std::string(const std::string &)> _cb)
	Set the callback to use when SDF can't find a file. More...

SDFORMAT_VISIBLE bool	shouldValidateElement (sdf::ElementPtr _elem)
	Check whether the element should be validated. More...

SDFORMAT_VISIBLE std::vector< std::string >	split (const std::string &_str, const std::string &_splitter)
	Split a string using the delimiter in splitter. More...

SDFORMAT_VISIBLE std::string	trim (const char *_in)
	Trim leading and trailing whitespace from a string. More...

Variables
class SDFORMAT_VISIBLE	Element

class SDFORMAT_VISIBLE	Param

class SDFORMAT_VISIBLE	SDF

Typedef Documentation

◆ ElementConstPtr

typedef std::shared_ptr<const Element> sdf::v9::ElementConstPtr

◆ ElementPtr

typedef std::shared_ptr<Element> sdf::v9::ElementPtr

◆ ElementPtr_V

typedef std::vector<ElementPtr> sdf::v9::ElementPtr_V

◆ ElementWeakPtr

typedef std::weak_ptr<Element> sdf::v9::ElementWeakPtr

◆ Errors

using sdf::v9::Errors = typedef std::vector<Error>

A vector of Error.

◆ Param_V

typedef std::vector<ParamPtr> sdf::v9::Param_V

◆ ParamPtr

typedef std::shared_ptr<Param> sdf::v9::ParamPtr

◆ SDFPtr

typedef std::shared_ptr<SDF> sdf::v9::SDFPtr

Enumeration Type Documentation

◆ AtmosphereType

enum sdf::v9::AtmosphereType

strong

Enumerator
ADIABATIC	Adiabatic atmosphere model.

◆ ErrorCode

enum sdf::v9::ErrorCode

strong

Enumerator
NONE
FILE_READ	Indicates that reading an SDF file failed.
DUPLICATE_NAME	A duplicate name was found for an element where unique names are required.
RESERVED_NAME	A reserved name was used in an entity name attribute.
ATTRIBUTE_MISSING	Indicates that a required SDF attribute is missing.
ATTRIBUTE_INVALID	This error indicates that an SDF attribute is invalid.
ATTRIBUTE_DEPRECATED	This error indicates that an SDF attribute is deprecated.
ELEMENT_MISSING	Indicates that a required SDF element is missing.
ELEMENT_INVALID	This error indicates that an SDF element is invalid.
ELEMENT_DEPRECATED	This error indicates that an SDF element is deprecated.
ELEMENT_INCORRECT_TYPE	Indicates that an incorrect SDF element type was encountered. This error is used when an element of certain type is expected, and an element of a different type was received.
URI_INVALID	A URI is invalid.
URI_LOOKUP	A error occured while trying to resolve a URI.
DIRECTORY_NONEXISTANT	A filesystem directory does not exist.
MODEL_CANONICAL_LINK_INVALID	A model with an invalid canonical link.
MODEL_WITHOUT_LINK	A model without a link.
NESTED_MODELS_UNSUPPORTED	Indicates that a DOM object tried to read a nested model.
LINK_INERTIA_INVALID	A link has invalid inertia.
JOINT_CHILD_LINK_INVALID	A joint has an invalid child link.
JOINT_PARENT_LINK_INVALID	A joint has an invalid parent link.
JOINT_PARENT_SAME_AS_CHILD	A joint has the same link specified as parent and child.
FRAME_ATTACHED_TO_INVALID	The frame attached-to value does not match the name of an existing frame in the current scope.
FRAME_ATTACHED_TO_CYCLE	The frame attached-to graph contains a cycle.
FRAME_ATTACHED_TO_GRAPH_ERROR	The frame attached-to graph has an internal error.
POSE_RELATIVE_TO_INVALID	The pose relative-to value does not match the name of an existing frame in the current scope.
POSE_RELATIVE_TO_CYCLE	The pose relative-to graph contains a cycle.
POSE_RELATIVE_TO_GRAPH_ERROR	The pose relative-to graph has an internal error.
STRING_READ	Indicates that reading an SDF string failed.

◆ ForceTorqueFrame

enum sdf::v9::ForceTorqueFrame : uint8_t

strong

Enumerator
INVALID	Invalid frame.
PARENT	Wrench expressed in the orientation of the parent link frame.
CHILD	Wrench expressed in the orientation of the child link frame.
SENSOR	Wrench expressed in the orientation of the joint sensor frame.

◆ ForceTorqueMeasureDirection

enum sdf::v9::ForceTorqueMeasureDirection : uint8_t

strong

Enumerator
INVALID	Invalid frame.
PARENT_TO_CHILD	Wrench measured as applied by the parent link on the child link.
CHILD_TO_PARENT	Wrench measured as applied by the child link on the parent link.

◆ GeometryType

enum sdf::v9::GeometryType

strong

Enumerator
EMPTY	Empty geometry. This means no shape has been defined.
BOX	A box geometry.
CYLINDER	A cylinder geometry.
PLANE	A plane geometry.
SPHERE	A sphere geometry.
MESH	A mesh geometry.
HEIGHTMAP	A heightmap geometry.
POLYLINE	A polyline geometry.

◆ JointType

enum sdf::v9::JointType

strong

Enumerator
INVALID	An invalid joint. This indicates an error since a joint type is required to fully specify a joint.
BALL	A ball and socket joint.
CONTINUOUS	A hinge joint that rotates on a single axis with a continuous range of motion.
FIXED	A joint with zero degrees of freedom that rigidly connects two links.
GEARBOX	Geared revolute joint.
PRISMATIC	A sliding joint that slides along an axis with a limited range specified by upper and lower limits.
REVOLUTE	A hinge joint that rotates on a single axis with a fixed range of motion.
REVOLUTE2	Same as two revolute joints connected in series.
SCREW	A single degree of freedom joint with coupled sliding and rotational motion.
UNIVERSAL	Similar to a ball joint, but constrains one degree of freedom.

◆ LightType

enum sdf::v9::LightType

strong

Enumerator
INVALID	An invalid light. This indicates an error since a light type is required to fully specify a light.
POINT	A point light source.
SPOT	A spot light source.
DIRECTIONAL	A directional light source.

◆ NoiseType

enum sdf::v9::NoiseType

strong

Enumerator
NONE	No noise model.
GAUSSIAN	Draw noise values independently for each measurement from a Gaussian distribution.
GAUSSIAN_QUANTIZED	Gaussian noise plus quantization of outputs (ie. rounding).

◆ NormalMapSpace

enum sdf::v9::NormalMapSpace : int

strong

Space the normal map is defined in.

Enumerator
TANGENT	Tangent space.
OBJECT	Object space.

◆ PbrWorkflowType

enum sdf::v9::PbrWorkflowType : int

strong

Type of PBR workflow.

Enumerator
NONE	No workflow.
METAL	Metal/Roughness workflow.
SPECULAR	Specular/Glossiness workflow.

◆ PixelFormatType

enum sdf::v9::PixelFormatType

strong

Enumerator
UNKNOWN_PIXEL_FORMAT
L_INT8
L_INT16
RGB_INT8
RGBA_INT8
BGRA_INT8
RGB_INT16
RGB_INT32
BGR_INT8
BGR_INT16
BGR_INT32
R_FLOAT16
RGB_FLOAT16
R_FLOAT32
RGB_FLOAT32
BAYER_RGGB8
BAYER_BGGR8
BAYER_GBRG8
BAYER_GRBG8

◆ ShaderType

enum sdf::v9::ShaderType : int

strong

Enumerator
PIXEL
VERTEX
NORMAL_MAP_OBJECTSPACE
NORMAL_MAP_TANGENTSPACE

Function Documentation

◆ addNestedModel() [1/2]

SDFORMAT_VISIBLE void sdf::v9::addNestedModel	(	ElementPtr	_sdf,
		ElementPtr	_includeSDF
	)

Copy the contents of the first model element from one ElementPtr to another ElementPtr, prepending the copied model name with :: to link and joint names, and apply the model pose to the copied link poses.

If //xyz/@expressed_in == "__model__" for the axes of any copied joints, then apply the model pose rotation to those joint axes.

Parameters

[in]	_sdf	ElementPtr for model into which the elements will be copied.
[in]	_includeSDF	The first model element from this ElementPtr will be copied to _sdf with the mentioned name and pose transformations.

◆ addNestedModel() [2/2]

SDFORMAT_VISIBLE void sdf::v9::addNestedModel	(	ElementPtr	_sdf,
		ElementPtr	_includeSDF,
		Errors &	_errors
	)

Copy the contents of the first model element from one ElementPtr to another ElementPtr, prepending the copied model name with :: to link and joint names, and apply the model pose to the copied link poses.

If //xyz/@expressed_in == "__model__" for the axes of any copied joints, then apply the model pose rotation to those joint axes.

Parameters

[in]	_sdf	ElementPtr for model into which the elements will be copied.
[in]	_includeSDF	The first model element from this ElementPtr will be copied to _sdf with the mentioned name and pose transformations.
[out]	_errors	Any errors will be appended to this variable.

◆ checkCanonicalLinkNames()

SDFORMAT_VISIBLE bool sdf::v9::checkCanonicalLinkNames ( const sdf::Root * _root )

Check that for each model, the canonical_link attribute value matches the name of a link in the model if the attribute is set and not empty.

This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root sdf Root object to check recursively.

Returns: True if all models have valid canonical_link attributes.

◆ checkFrameAttachedToGraph()

SDFORMAT_VISIBLE bool sdf::v9::checkFrameAttachedToGraph ( const sdf::Root * _root )

For the world and each model, check that the attached_to graphs build without errors and have no cycles.

Confirm that following directed edges from each vertex in the graph leads to a model, link, or world frame. This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root sdf Root object to check recursively.

Returns: True if all attached_to graphs are valid.

◆ checkFrameAttachedToNames()

SDFORMAT_VISIBLE bool sdf::v9::checkFrameAttachedToNames ( const sdf::Root * _root )

Check that for each frame, the attached_to attribute value does not match its own frame name but does match the name of a link, joint, or other frame in the model if the attribute is set and not empty.

This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root sdf Root object to check recursively.

Returns: True if all frames have valid attached_to attributes.

◆ checkJointParentChildLinkNames()

SDFORMAT_VISIBLE bool sdf::v9::checkJointParentChildLinkNames ( const sdf::Root * _root )

Check that all joints in contained models specify parent and child link names that match the names of sibling links.

This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root sdf Root object to check recursively.

Returns: True if all models have joints with valid parent and child link names.

◆ checkPoseRelativeToGraph()

SDFORMAT_VISIBLE bool sdf::v9::checkPoseRelativeToGraph ( const sdf::Root * _root )

For the world and each model, check that the attached_to graphs build without errors and have no cycles.

Confirm that following directed edges from each vertex in the graph leads to a model, link, or world frame. This checks recursively and should check the files exhaustively rather than terminating early when the first error is found.

Parameters

[in] _root sdf Root object to check recursively.

Returns: True if all attached_to graphs are valid.

◆ convertFile()

SDFORMAT_VISIBLE bool sdf::v9::convertFile	(	const std::string &	_filename,
		const std::string &	_version,
		SDFPtr	_sdf
	)

Convert an SDF file to a specific SDF version.

Parameters

[in]	_filename	Name of the SDF file to convert.
[in]	_version	Version to convert _filename to.
[out]	_sdf	Pointer to the converted SDF document.

Returns: True on success.

◆ convertString()

SDFORMAT_VISIBLE bool sdf::v9::convertString	(	const std::string &	_sdfString,
		const std::string &	_version,
		SDFPtr	_sdf
	)

Convert an SDF string to a specific SDF version.

Parameters

[in]	_sdfString	The SDF string to convert.
[in]	_version	Version to convert _filename to.
[out]	_sdf	Pointer to the converted SDF document.

Returns: True on success.

◆ equal()

template<typename T >

bool sdf::v9::equal	(	const T &	_a,
		const T &	_b,
		const T &	_epsilon = `1e-6f`
	)

inline

check if two values are equal, within a tolerance

Parameters

[in]	_a	the first value
[in]	_b	the second value
[in]	_epsilon	the tolerance

◆ getModelFilePath()

SDFORMAT_VISIBLE std::string sdf::v9::getModelFilePath ( const std::string & _modelDirPath )

Get the file path to the model file.

Parameters

[in] _modelDirPath directory system path of the model

Returns: string with the full filesystem path to the best version (greater SDF protocol supported by this sdformat version) of the .sdf model files hosted by _modelDirPath.

◆ init()

SDFORMAT_VISIBLE bool sdf::v9::init ( SDFPtr _sdf )

Init based on the installed sdf_format.xml file.

◆ initFile() [1/2]

SDFORMAT_VISIBLE bool sdf::v9::initFile	(	const std::string &	_filename,
		ElementPtr	_sdf
	)

Initialize an SDFElement interface using a file.

◆ initFile() [2/2]

SDFORMAT_VISIBLE bool sdf::v9::initFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a file.

◆ initString()

SDFORMAT_VISIBLE bool sdf::v9::initString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

Initialize the SDF interface using a string.

◆ lowercase()

std::string SDFORMAT_VISIBLE sdf::v9::lowercase ( const std::string & _in )

Transforms a string to its lowercase equivalent.

Parameters

[in] _in String to convert to lowercase

Returns: Lowercase equilvalent of _in.

◆ operator<<() [1/2]

template<class... Ts>

std::ostream& sdf::v9::operator<<	(	std::ostream &	os,
		ParamStreamer< std::variant< Ts... >>	sv
	)

References sdf::v9::ParamStreamer< T >::val.

◆ operator<<() [2/2]

template<class T >

std::ostream& sdf::v9::operator<<	(	std::ostream &	os,
		ParamStreamer< T >	s
	)

References sdf::v9::ParamStreamer< T >::val.

◆ ParamStreamer()

template<class T >

sdf::v9::ParamStreamer ( T ) -> ParamStreamer< T >

◆ readFile() [1/4]

SDFORMAT_VISIBLE sdf::SDFPtr sdf::v9::readFile ( const std::string & _filename )

Populate the SDF values from a file.

This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version

Parameters

[in] _filename Name of the SDF file

Returns: Populated SDF pointer.

◆ readFile() [2/4]

SDFORMAT_VISIBLE sdf::SDFPtr sdf::v9::readFile	(	const std::string &	_filename,
		Errors &	_errors
	)

Populate the SDF values from a file.

This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version

Parameters

[in]	_filename	Name of the SDF file
[out]	_errors	Parsing errors will be appended to this variable.

Returns: Populated SDF pointer.

◆ readFile() [3/4]

SDFORMAT_VISIBLE bool sdf::v9::readFile	(	const std::string &	_filename,
		SDFPtr	_sdf
	)

Populate the SDF values from a file.

This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version

Parameters

[in]	_filename	Name of the SDF file
[in]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ readFile() [4/4]

SDFORMAT_VISIBLE bool sdf::v9::readFile	(	const std::string &	_filename,
		SDFPtr	_sdf,
		Errors &	_errors
	)

Populate the SDF values from a file.

This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. All files are converted to the latest SDF version

Parameters

[in]	_filename	Name of the SDF file
[in]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readFileWithoutConversion()

SDFORMAT_VISIBLE bool sdf::v9::readFileWithoutConversion	(	const std::string &	_filename,
		SDFPtr	_sdf,
		Errors &	_errors
	)

Populate the SDF values from a file without converting to the latest SDF version.

This populates the given sdf pointer from a file. If the file is a URDF file it is converted to SDF first. This function does not convert the loaded SDF to the latest version. Use this function with care, as it may prevent loading of DOM objects from this SDF object.

Parameters

[in]	_filename	Name of the SDF file
[in]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readString() [1/4]

SDFORMAT_VISIBLE bool sdf::v9::readString	(	const std::string &	_xmlString,
		ElementPtr	_sdf
	)

Populate the SDF values from a string.

This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_sdf	Pointer to an sdf Element object.

Returns: True if successful.

◆ readString() [2/4]

SDFORMAT_VISIBLE bool sdf::v9::readString	(	const std::string &	_xmlString,
		ElementPtr	_sdf,
		Errors &	_errors
	)

Populate the SDF values from a string.

This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All strings are converted to the latest SDF version

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readString() [3/4]

SDFORMAT_VISIBLE bool sdf::v9::readString	(	const std::string &	_xmlString,
		SDFPtr	_sdf
	)

Populate the SDF values from a string.

This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_sdf	Pointer to an SDF object.

Returns: True if successful.

◆ readString() [4/4]

SDFORMAT_VISIBLE bool sdf::v9::readString	(	const std::string &	_xmlString,
		SDFPtr	_sdf,
		Errors &	_errors
	)

Populate the SDF values from a string.

This populates the sdf pointer from a string. If the string is a URDF string it is converted to SDF first. All string are converted to the latest SDF version

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ readStringWithoutConversion()

SDFORMAT_VISIBLE bool sdf::v9::readStringWithoutConversion	(	const std::string &	_xmlString,
		SDFPtr	_sdf,
		Errors &	_errors
	)

Populate the SDF values from a string without converting to the latest SDF version.

This populates the sdf pointer from a string. If the string is a URDF file it is converted to SDF first. This function does not convert the loaded SDF to the latest version. Use this function with care, as it may prevent loading of DOM objects from this SDF object.

Parameters

[in]	_xmlString	XML string to be parsed.
[in]	_sdf	Pointer to an SDF object.
[out]	_errors	Parsing errors will be appended to this variable.

Returns: True if successful.

◆ recursiveSameTypeUniqueNames()

SDFORMAT_VISIBLE bool sdf::v9::recursiveSameTypeUniqueNames ( sdf::ElementPtr _elem )

Check that all sibling elements of the same type have unique names.

This checks recursively and should check the files exhaustively rather than terminating early when the first duplicate name is found.

Parameters

[in] _elem sdf Element to check recursively.

Returns: True if all contained elements have do not share a name with sibling elements of the same type.

◆ recursiveSiblingUniqueNames()

SDFORMAT_VISIBLE bool sdf::v9::recursiveSiblingUniqueNames ( sdf::ElementPtr _elem )

Check that all sibling elements of the any type have unique names.

This checks recursively and should check the files exhaustively rather than terminating early when the first duplicate name is found.

Parameters

[in] _elem sdf Element to check recursively.

Returns: True if all contained elements have do not share a name with sibling elements of any type.

◆ SDF_DEPRECATED()

class SDFORMAT_VISIBLE sdf::v9::SDF_DEPRECATED ( 9. 2 )

URDF to SDF converter.

This is now deprecated for external usage and will be removed in the next major version of libsdformat. Instead, consider using sdf::readFile or sdf::readString, which automatically convert URDF to SDF.

constructor

destructor

convert urdf xml document string to sdf xml document

Parameters

[in] _xmlDoc a tinyxml document containing the urdf model

Returns: a tinyxml document containing sdf of the model

convert urdf file to sdf xml document

Parameters

[in] _urdfStr a string containing filename of the urdf model

Returns: a tinyxml document containing sdf of the model

convert urdf string to sdf xml document, with option to enforce limits.

Parameters

[in]	_urdfStr	a string containing model urdf
[in]	_enforceLimits	option to enforce joint limits

Returns: a tinyxml document containing sdf of the model

Return true if the filename is a URDF model.

Parameters

[in] _filename File to check.

Returns: True if _filename is a URDF model.

things that do not belong in urdf but should be mapped into sdf

Todo:: : do this using sdf definitions, not hard coded stuff

list extensions for debugging

◆ shouldValidateElement()

SDFORMAT_VISIBLE bool sdf::v9::shouldValidateElement ( sdf::ElementPtr _elem )

Check whether the element should be validated.

If this returns false, validators such as the unique name and reserve name checkers should skip this element and its descendants.

Parameters

[in] _elem sdf Element to check.

Returns: True if the element should be validated

◆ split()

SDFORMAT_VISIBLE std::vector<std::string> sdf::v9::split	(	const std::string &	_str,
		const std::string &	_splitter
	)

Split a string using the delimiter in splitter.

Parameters

[in]	str	The string to split.
[in]	splitter	The delimiter to use.

Returns: A vector of strings containing the split tokens.

◆ trim()

SDFORMAT_VISIBLE std::string sdf::v9::trim ( const char * _in )

Trim leading and trailing whitespace from a string.

Parameters

[in] _in The string to trim.

Returns: A string containing the trimmed value.

Variable Documentation

◆ Element

class SDFORMAT_VISIBLE sdf::v9::Element

◆ Param

class SDFORMAT_VISIBLE sdf::v9::Param

◆ SDF

class SDFORMAT_VISIBLE sdf::v9::SDF

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ElementConstPtr

◆ ElementPtr

◆ ElementPtr_V

◆ ElementWeakPtr

◆ Errors

◆ Param_V

◆ ParamPtr

◆ SDFPtr

Enumeration Type Documentation

◆ AtmosphereType

◆ ErrorCode

◆ ForceTorqueFrame

◆ ForceTorqueMeasureDirection

◆ GeometryType

◆ JointType

◆ LightType

◆ NoiseType

◆ NormalMapSpace

◆ PbrWorkflowType

◆ PixelFormatType

◆ ShaderType

Function Documentation

◆ addNestedModel() [1/2]

◆ addNestedModel() [2/2]

◆ checkCanonicalLinkNames()

◆ checkFrameAttachedToGraph()

◆ checkFrameAttachedToNames()

◆ checkJointParentChildLinkNames()

◆ checkPoseRelativeToGraph()

◆ convertFile()

◆ convertString()

◆ equal()

◆ getModelFilePath()

◆ init()

◆ initFile() [1/2]

◆ initFile() [2/2]

◆ initString()

◆ lowercase()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ ParamStreamer()

◆ readFile() [1/4]

◆ readFile() [2/4]

◆ readFile() [3/4]

◆ readFile() [4/4]

◆ readFileWithoutConversion()

◆ readString() [1/4]

◆ readString() [2/4]

◆ readString() [3/4]

◆ readString() [4/4]

◆ readStringWithoutConversion()

◆ recursiveSameTypeUniqueNames()

◆ recursiveSiblingUniqueNames()

◆ SDF_DEPRECATED()

◆ shouldValidateElement()

◆ split()

◆ trim()

Variable Documentation

◆ Element

◆ Param

◆ SDF