#include <map>
#include <string>
#include <Eigen/Dense>
#include "spruce.hh"
#include "drake/drakeXMLUtil_export.h"
#include "drake/systems/plants/pose_map.h"
#include "drake/thirdParty/zlib/tinyxml2/tinyxml2.h"

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Typedefs
typedef std::map< std::string, std::string >	PackageMap

Functions
template<typename Scalar >
bool	parseScalarValue (tinyxml2::XMLElement *node, Scalar &val)

template<typename Scalar >
bool	parseScalarValue (tinyxml2::XMLElement node, const char element_name, Scalar &val)

template<typename Scalar >
bool	parseScalarAttribute (tinyxml2::XMLElement node, const char attribute_name, Scalar &val)

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

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

DRAKEXMLUTIL_EXPORT 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...

DRAKEXMLUTIL_EXPORT 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...

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

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

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

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

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

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

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

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

DRAKEXMLUTIL_EXPORT void	populatePackageMap (PackageMap &package_map)

DRAKEXMLUTIL_EXPORT std::string	resolveFilename (const std::string &filename, const PackageMap &package_map, const std::string &root_dir)
	Resolves the fully-qualified name of a file. More...

Typedef Documentation

typedef std::map<std::string, std::string> PackageMap

Function Documentation

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

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bool parseScalarAttribute	(	tinyxml2::XMLElement *	node,
		const char *	attribute_name,
		Scalar &	val
	)

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bool parseScalarValue	(	tinyxml2::XMLElement *	node,
		Scalar &	val
	)

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bool parseScalarValue	(	tinyxml2::XMLElement *	node,
		const char *	element_name,
		Scalar &	val
	)

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

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

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

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

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

DRAKEXMLUTIL_EXPORT void populatePackageMap ( PackageMap & package_map )

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

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DRAKEXMLUTIL_EXPORT std::string resolveFilename	(	const std::string &	filename,
		const PackageMap &	package_map,
		const std::string &	root_dir
	)

Resolves the fully-qualified name of a file.

If filename starts with "package:", the ROS packages specified in package_map are searched. Otherwise, filename is appended to the end of root_dir and checked for existence. If the file does not exist or is not found, a warning is printed to std::cerr and an empty string is returned.

Parameters

[in]	filename	The name of the file to find.
[in]	package_map	A map where the keys are ROS package names and the values are the paths to the packages. This is only used if `filename` starts with "package:".
[in]	root_dir	The root directory to look in. This is only used when assuming `filename` does not start with "package:".

Returns: The file's fully-qualified name or an empty string if the file is not found or does not exist.

DRAKEXMLUTIL_EXPORT 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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Typedefs

Functions

Typedef Documentation

Function Documentation