dart::utils::PackageResourceRetriever Class Reference

Retrieve local resources specified by package:// URIs by: (1) resolving the package path and (2) passing the resolved URI to another ResourceRetriever. More...

#include <PackageResourceRetriever.hpp>

Inheritance diagram for dart::utils::PackageResourceRetriever:

Public Member Functions
	PackageResourceRetriever (const common::ResourceRetrieverPtr &_localRetriever=nullptr)
	Construct a PackageResourceRetriever that uses the specified _localRetriever to load resolved URIs. More...
virtual	~PackageResourceRetriever ()=default
void	addPackageDirectory (const std::string &_packageName, const std::string &_packageDirectory)
	Specify the directory of a ROS package. More...
bool	exists (const common::Uri &_uri) override
	Returns whether the resource specified by a URI exists. More...
common::ResourcePtr	retrieve (const common::Uri &_uri) override
	Returns the resource specified by a URI or nullptr on failure. More...
std::string	getFilePath (const common::Uri &uri) override
	Returns absolute file path to uri; an empty string if unavailable. More...
virtual std::string	readAll (const Uri &uri)
	Reads all data from the resource of uri, and returns it as a string. More...

Private Member Functions
const std::vector< std::string > &	getPackagePaths (const std::string &_packageName) const
bool	resolvePackageUri (const common::Uri &_uri, std::string &_packageName, std::string &_relativePath) const

Private Attributes
common::ResourceRetrieverPtr	mLocalRetriever
std::unordered_map< std::string, std::vector< std::string > >	mPackageMap

Detailed Description

Retrieve local resources specified by package:// URIs by: (1) resolving the package path and (2) passing the resolved URI to another ResourceRetriever.

This class uses requires you to manually provide the base URI of every package that you wish to resolve using the addPackageDirectory method.

Constructor & Destructor Documentation

PackageResourceRetriever()

dart::utils::PackageResourceRetriever::PackageResourceRetriever ( const common::ResourceRetrieverPtr &  _localRetriever = nullptr )

explicit

Construct a PackageResourceRetriever that uses the specified _localRetriever to load resolved URIs.

~PackageResourceRetriever()

virtual dart::utils::PackageResourceRetriever::~PackageResourceRetriever ( )

virtualdefault

Member Function Documentation

addPackageDirectory()

void dart::utils::PackageResourceRetriever::addPackageDirectory	(	const std::string &	_packageName,
		const std::string &	_packageDirectory
	)

Specify the directory of a ROS package.

In your URDF files, you may see strings with a package URI pattern such as:

"package://my_robot/meshes/mesh_for_my_robot.stl"
 \______/  \______/\___________________________/
     |        |                 |
  package  package   file path with respect to
  keyword   name       the package directory

For us to successfully parse a URDF, we need to be told what the path to the package directory is, using addPackageDirectory(). In this case, suppose the path to the my_robot package is /path/to/my_robot. Then you should use addPackageDirectory("my_robot", "/path/to/my_robot"). Altogether, this implies that a file named "/path/to/my_robot/meshes/mesh_for_my_robot.stl" exists. Whatever you specify as the package directory will end up replacing the 'package keyword' and 'package name' components of the URI string.

You can call this method multiple times with the same _packageName to provide multiple candidates for resolution. This is necessarry if your resources are split between the Catkin devel and source spaces. Multiple candidates will be tested in the same order in which they were added.

This class supports arbitrary URIs for _packageDirectory, as long as they are supported by the _localRetriever passed to the constructor.

exists()

bool dart::utils::PackageResourceRetriever::exists ( const common::Uri &  uri )

overridevirtual

Returns whether the resource specified by a URI exists.

Implements dart::common::ResourceRetriever.

getFilePath()

std::string dart::utils::PackageResourceRetriever::getFilePath ( const common::Uri &  uri )

overridevirtual

Returns absolute file path to uri; an empty string if unavailable.

This base class returns an empty string by default.

Reimplemented from dart::common::ResourceRetriever.

getPackagePaths()

const std::vector< std::string > & dart::utils::PackageResourceRetriever::getPackagePaths ( const std::string &  _packageName ) const

private

readAll()

std::string dart::common::ResourceRetriever::readAll ( const Uri &  uri )

virtualinherited

Reads all data from the resource of uri, and returns it as a string.

Parameters

[in]

uri

URI to the resource to be retrieved.

Returns

The string retrieved from the resource.

Exceptions

std::runtime_error

when failed to read sucessfully.

resolvePackageUri()

bool dart::utils::PackageResourceRetriever::resolvePackageUri ( const common::Uri &  _uri, std::string &  _packageName, std::string &  _relativePath  ) const

private

retrieve()

common::ResourcePtr dart::utils::PackageResourceRetriever::retrieve ( const common::Uri &  uri )

overridevirtual

Returns the resource specified by a URI or nullptr on failure.

Implements dart::common::ResourceRetriever.

Member Data Documentation

mLocalRetriever

common::ResourceRetrieverPtr dart::utils::PackageResourceRetriever::mLocalRetriever

private

mPackageMap

std::unordered_map<std::string, std::vector<std::string> > dart::utils::PackageResourceRetriever::mPackageMap

private