XmlHelpers.hpp

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 *   without modification, are permitted provided that the following
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#ifndef DART_UTILS_XMLHELPERS_HPP_
#define DART_UTILS_XMLHELPERS_HPP_
 
#include <string>
#include <Eigen/Dense>
#include <tinyxml2.h>
 
#include "dart/common/Deprecated.hpp"
#include "dart/common/ResourceRetriever.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);
std::string toString(const Eigen::Vector2d& v);
std::string toString(const Eigen::Vector3d& v);
std::string toString(const Eigen::Vector3i& v);
std::string toString(const Eigen::Vector6d& v);
std::string toString(const Eigen::VectorXd& v);
std::string toString(const Eigen::Isometry3d& v);
 
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::Vector3d   toVector3d  (const std::string& str);
Eigen::Vector3i   toVector3i  (const std::string& str);
Eigen::Vector6d   toVector6d  (const std::string& str);
Eigen::VectorXd   toVectorXd  (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);
 
void openXMLFile(tinyxml2::XMLDocument& doc,
                 const common::Uri& uri,
                 const common::ResourceRetrieverPtr& retriever = 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::Vector2d getAttributeVector2d(const tinyxml2::XMLElement* element, const std::string& attributeName);
Eigen::Vector3d getAttributeVector3d(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 <typename ElementType>
class TemplatedElementEnumerator
{
protected:
 
  using ElementPtr = ElementType*;
  using ElementRef = ElementType&;
 
public:
 
  TemplatedElementEnumerator(ElementPtr parentElement,
                             const std::string& childElementName)
    : mParentElement(parentElement),
      mChildElementName(childElementName),
      mCurrentElement(nullptr)
  {
  }
 
  ~TemplatedElementEnumerator() {}
 
  bool next()
  {
    if (!mParentElement)
      return false;
 
    if (mCurrentElement)
    {
      mCurrentElement
          = mCurrentElement->NextSiblingElement(mChildElementName.c_str());
    }
    else
    {
      mCurrentElement
          = mParentElement->FirstChildElement(mChildElementName.c_str());
    }
 
    if (!valid())
      mParentElement = nullptr;
 
    return valid();
  }
 
  ElementPtr get() const { return mCurrentElement; }
 
  ElementPtr operator->() const { return mCurrentElement; }
 
  ElementRef operator*() const { return *mCurrentElement; }
 
  bool operator==(const TemplatedElementEnumerator<ElementType>& rhs) const
  {
    // If they point at the same node, then the names must match
    return (this->mParentElement == rhs.mParentElement)
           && (this->mCurrentElement == rhs.mCurrentElement)
           && (this->mCurrentElement != nullptr
              || (this->mChildElementName == rhs.mChildElementName));
  }
 
  TemplatedElementEnumerator<ElementType>& operator=(
      const TemplatedElementEnumerator<ElementType>& rhs)
  {
    this->mParentElement    = rhs.mParentElement;
    this->mChildElementName = rhs.mChildElementName;
    this->mCurrentElement   = rhs.mCurrentElement;
 
    return *this;
  }
 
private:
 
  bool valid() const
  {
    return mCurrentElement != nullptr;
  }
 
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>;
 
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_XMLHELPERS_HPP_