#include <fstream>
#include <sstream>
#include <stdexcept>
#include <string>
#include "drake/Path.h"
#include "drake/common/drake_assert.h"
#include "drake/math/roll_pitch_yaw.h"
#include "drake/thirdParty/bsd/tinydir/tinydir.h"
#include "xmlUtil.h"

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Functions
void	ParseThreeVectorValue (const char strval, Eigen::Vector3d val)
	Parses a three vector value from parameter `strval`. More...

double	StringToDouble (const string &str)
	Converts a string to a double value. More...

void	ParseThreeVectorValue (const tinyxml2::XMLElement node, Eigen::Vector3d val)
	Parses a three vector value from parameter `node`, which is an XML node. More...

void	ParseThreeVectorValue (const tinyxml2::XMLElement node, const char element_name, Eigen::Vector3d *val)
	Parses a three vector value from parameter `node`, which is an XML node. More...

void	ParseThreeVectorAttribute (const tinyxml2::XMLElement node, const char attribute_name, Eigen::Vector3d *val)
	Parses a three vector value from parameter `node`, which is an XML node. More...

bool	parseVectorAttribute (const tinyxml2::XMLElement node, const char attribute_name, Eigen::Vector3d &val)

bool	parseVectorAttribute (const tinyxml2::XMLElement node, const char attribute_name, Eigen::Vector4d &val)

bool	parseVectorValue (tinyxml2::XMLElement node, const char element_name, Eigen::Vector3d &val)

bool	parseVectorValue (tinyxml2::XMLElement node, const char element_name, Eigen::Vector4d &val)

bool	parseStringValue (tinyxml2::XMLElement node, const char element_name, std::string &val)

void	originAttributesToTransform (tinyxml2::XMLElement *node, Eigen::Isometry3d &T)

void	poseValueToTransform (tinyxml2::XMLElement *node, const PoseMap &pose_map, Eigen::Isometry3d &T, const Eigen::Isometry3d &T_default_frame)

void	populatePackageMap (map< string, string > &package_map)

string	resolveFilename (const string &filename, const map< string, string > &package_map, const string &root_dir)

Function Documentation

void originAttributesToTransform	(	tinyxml2::XMLElement *	node,
		Eigen::Isometry3d &	T
	)

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bool parseStringValue	(	tinyxml2::XMLElement *	node,
		const char *	element_name,
		std::string &	val
	)

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void ParseThreeVectorAttribute	(	const tinyxml2::XMLElement *	node,
		const char *	attribute_name,
		Eigen::Vector3d *	val
	)

Parses a three vector value from parameter node, which is an XML node.

The value is specified by an attribute within the XML whose name is apecified by parameter attribute_name.This method also supports a three vector specified by a single scalar value, which it automatically converts into a three vector by using the same scalar value for all three dimensions.

Parameters

[in]	node	A pointer to the XML element node that contains an attribute with a three vector or a scalar value.
[in]	attribute_name	The name of the attribute containing the three vector or scalar value.
[out]	val	The three vector where the results should be stored.

Returns: Whether the three vector was successfully parsed from the XML element node.

Exceptions

std::invalid_argument If any problem is encountered parsing the three vector value.

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void ParseThreeVectorValue	(	const char *	strval,
		Eigen::Vector3d *	val
	)

Parses a three vector value from parameter strval.

There are two formats of strval that can be successfully parsed. The first format is "val1 val2 val3" where val1, val2, and val3 are double values. The second valid format is "val" where val is a double type. In this case, this method automatically converts the val1 scalar value into a three vector by using the same scalar value for all three dimensions.

Parameters

[in]	strval	A pointer to the character array describing a three vector or a scalar value.
[out]	val	The three vector into which the results should be stored.

Returns: Whether the three vector was successfully parsed from strval.

Exceptions

std::invalid_argument If any problem is encountered parsing the three vector value.

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void ParseThreeVectorValue	(	const tinyxml2::XMLElement *	node,
		Eigen::Vector3d *	val
	)

Parses a three vector value from parameter node, which is an XML node.

It also supports a single scalar value, which it automatically converts to a three vector by using the same scalar value for all three dimensions.

Parameters

[in]	node	A pointer to the XML element node that contains either a three vector or a scalar value.
[out]	val	The three vector into which the results should be stored.

Returns: Whether the three vector was successfully parsed from the XML element node.

Exceptions

std::invalid_argument If any problem is encountered parsing the three vector value.

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void ParseThreeVectorValue	(	const tinyxml2::XMLElement *	node,
		const char *	element_name,
		Eigen::Vector3d *	val
	)

Parses a three vector value from parameter node, which is an XML node.

The value is contained in an element within node, as specified by parameter element_name. This method also supports a three vector specified by a single scalar value, which it automatically converts into a three vector by using the same scalar value for all three dimensions.

Parameters

[in]	node	A pointer to the XML element node that contains either a three vector or a scalar value.
[in]	element_name	The name of the child XML element containing the scale three vector or scalar value.
[out]	val	The three vector where the results should be stored.

Returns: Whether the three vector was successfully parsed from the XML element node.

Exceptions

std::invalid_argument If any problem is encountered parsing the three vector value.

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bool parseVectorAttribute	(	const tinyxml2::XMLElement *	node,
		const char *	attribute_name,
		Eigen::Vector3d &	val
	)

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bool parseVectorAttribute	(	const tinyxml2::XMLElement *	node,
		const char *	attribute_name,
		Eigen::Vector4d &	val
	)

bool parseVectorValue	(	tinyxml2::XMLElement *	node,
		const char *	element_name,
		Eigen::Vector3d &	val
	)

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bool parseVectorValue	(	tinyxml2::XMLElement *	node,
		const char *	element_name,
		Eigen::Vector4d &	val
	)

void populatePackageMap ( map< string, string > & package_map )

void poseValueToTransform	(	tinyxml2::XMLElement *	node,
		const PoseMap &	pose_map,
		Eigen::Isometry3d &	T,
		const Eigen::Isometry3d &	T_default_frame
	)

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string resolveFilename	(	const string &	filename,
		const map< string, string > &	package_map,
		const string &	root_dir
	)

double StringToDouble ( const std::string & str )

Converts a string to a double value.

Parameters

[in] str A pointer to a string containing a representation of a double value.

Returns: The corresponding double value that was represented in str.

Exceptions

std::invalid_argument If any problem is encountered while parsing the double value represented within str.

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Functions

Function Documentation