XmlHelpers.hpp

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#ifndef DART_UTILS_XMLHELPERS_HPP_
#define DART_UTILS_XMLHELPERS_HPP_
 
#include <string>
 
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <tinyxml2.h>
 
#include "dart/common/Console.hpp"
#include "dart/common/Deprecated.hpp"
#include "dart/common/Logging.hpp"
#include "dart/common/ResourceRetriever.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/math/MathTypes.hpp"
 
namespace dart {
namespace utils {
 
std::string toString(bool v);
std::string toString(int v);
std::string toString(unsigned int v);
std::string toString(float v);
std::string toString(double v);
std::string toString(char v);
template <typename S, int N>
std::string toString(const Eigen::Matrix<S, N, 1>& v);
template <typename S>
std::string toString(
    const Eigen::Transform<S, 3, Eigen::Isometry>& v,
    const std::string& rotationType = "intrinsic");
 
bool toBool(const std::string& str);
int toInt(const std::string& str);
unsigned int toUInt(const std::string& str);
float toFloat(const std::string& str);
double toDouble(const std::string& str);
char toChar(const std::string& str);
Eigen::Vector2d toVector2d(const std::string& str);
Eigen::Vector2i toVector2i(const std::string& str);
Eigen::Vector3d toVector3d(const std::string& str);
Eigen::Vector3i toVector3i(const std::string& str);
Eigen::Vector4d toVector4d(const std::string& str);
Eigen::Vector6d toVector6d(const std::string& str);
Eigen::VectorXd toVectorXd(const std::string& str);
template <std::size_t N>
Eigen::Matrix<double, N, 1> toVectorNd(const std::string& str);
// TODO: The definition of str is not clear for transform (see: #250)
Eigen::Isometry3d toIsometry3d(const std::string& str);
Eigen::Isometry3d toIsometry3dWithExtrinsicRotation(const std::string& str);
 
std::string getValueString(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
bool getValueBool(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
int getValueInt(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
unsigned int getValueUInt(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
float getValueFloat(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
double getValueDouble(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
char getValueChar(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::Vector2d getValueVector2d(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::Vector3d getValueVector3d(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::Vector3i getValueVector3i(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::Vector6d getValueVector6d(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::VectorXd getValueVectorXd(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::Isometry3d getValueIsometry3d(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
Eigen::Isometry3d getValueIsometry3dWithExtrinsicRotation(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
 
// TODO(JS): Deprecate
void openXMLFile(
    tinyxml2::XMLDocument& doc,
    const common::Uri& uri,
    const common::ResourceRetrieverPtr& retriever = nullptr);
 
bool readXmlFile(
    tinyxml2::XMLDocument& doc,
    const common::Uri& uri,
    const common::ResourceRetrieverPtr& retrieverOrNullPtr = nullptr);
 
bool hasElement(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
 
const tinyxml2::XMLElement* getElement(
    const tinyxml2::XMLElement* parentElement, const std::string& name);
 
tinyxml2::XMLElement* getElement(
    tinyxml2::XMLElement* parentElement, const std::string& name);
 
bool hasAttribute(const tinyxml2::XMLElement* element, const char* const name);
 
// Please use getAttributeString() instead.
DART_DEPRECATED(6.0)
std::string getAttribute(tinyxml2::XMLElement* element, const char* const name);
 
// Please use getAttributeDouble() instead.
DART_DEPRECATED(6.0)
void getAttribute(
    tinyxml2::XMLElement* element, const char* const name, double* d);
 
std::string getAttributeString(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
bool getAttributeBool(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
int getAttributeInt(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
unsigned int getAttributeUInt(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
float getAttributeFloat(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
double getAttributeDouble(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
char getAttributeChar(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::Vector2i getAttributeVector2i(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::Vector2d getAttributeVector2d(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::Vector3d getAttributeVector3d(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::Vector4d getAttributeVector4d(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::Vector6d getAttributeVector6d(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::VectorXd getAttributeVectorXd(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
template <std::size_t N>
Eigen::Matrix<double, N, 1> getAttributeVectorNd(
    const tinyxml2::XMLElement* element, const std::string& attributeName);
 
template <typename ElementType>
class TemplatedElementEnumerator
{
protected:
  using ElementPtr = ElementType*;
  using ElementRef = ElementType&;
 
public:
  TemplatedElementEnumerator(
      ElementPtr parentElement, const std::string& childElementName);
 
  ~TemplatedElementEnumerator();
 
  bool next();
 
  ElementPtr get() const;
 
  ElementPtr operator->() const;
 
  ElementRef operator*() const;
 
  bool operator==(const TemplatedElementEnumerator<ElementType>& rhs) const;
 
  TemplatedElementEnumerator<ElementType>& operator=(
      const TemplatedElementEnumerator<ElementType>& rhs);
 
private:
  bool valid() const;
 
private:
  ElementPtr mParentElement;
 
  std::string mChildElementName;
 
  ElementPtr mCurrentElement;
};
 
// ElementEnumerator is for iterating elements for
using ElementEnumerator = TemplatedElementEnumerator<tinyxml2::XMLElement>;
using ConstElementEnumerator
    = TemplatedElementEnumerator<const tinyxml2::XMLElement>;
 
bool copyNode(tinyxml2::XMLNode* destParent, const tinyxml2::XMLNode& src);
 
bool copyChildNodes(
    tinyxml2::XMLNode* destParent, const tinyxml2::XMLNode& src);
 
} // namespace utils
} // namespace dart
 
#include "dart/utils/detail/XmlHelpers-impl.hpp"
 
#endif // #ifndef DART_UTILS_XMLHELPERS_HPP_