WorkCellLoader Class Reference

Extendible interface for loading of WorkCells from files. More...

#include <WorkCellLoader.hpp>

Inherited by TULLoader, and XMLRWLoader.

Classes
class	Factory
	A factory for WorkCellLoader. This factory also defines the "rw.loaders.WorkCellLoader" extension point where new loaders can be registered. More...

Public Types
typedef rw::common::Ptr< WorkCellLoader >	Ptr
	Smart pointer of WorkCellLoader.

Public Member Functions
virtual	~WorkCellLoader ()
	Destructor.
virtual models::WorkCell::Ptr	loadWorkCell (const std::string &filename)=0
	Load a WorkCell from a file. More...

Protected Member Functions
	WorkCellLoader ()
	Constructor.

Detailed Description

Extendible interface for loading of WorkCells from files.

By default, the following formats are supported:

• File extensions ".wu", ".wc", ".tag", ".dev" will be loaded using the TULLoader.
• Remaining file extensions will be loaded using the standard RobWork XML format (XMLRWLoader).

The Factory defines an extension point "rw.loaders.WorkCellLoader" that makes it possible to add loaders for other file formats than the ones above. Extensions take precedence over the default loaders.

The WorkCell loader is chosen based on a case-insensitive file extension name. So "scene.wc.xml" will be loaded by the same loader as "scene.WC.XML"

WorkCells are supposed to be loaded using the Factory::load function:

WorkCell::Ptr wc = WorkCellLoader::Factory::load("scene.wc.xml");
if (wc.isNull())
    RW_TRHOW("WorkCell could not be loaded.");

Alternatively a WorkCell can be loaded in the less convenient way:

WorkCellLoader::Ptr loader = WorkCellLoader::Factory::getWorkCellLoader(".wc.xml");
WorkCell::Ptr wc = loader.loadWorkCell("scene.wc.xml");
if (wc.isNull())
    RW_TRHOW("WorkCell could not be loaded.");

Member Function Documentation

loadWorkCell()

virtual models::WorkCell::Ptr loadWorkCell ( const std::string &  filename )

pure virtual

Load a WorkCell from a file.

Parameters

filename

[in] path to workcell file.

Implemented in XMLRWLoader, and TULLoader.

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The documentation for this class was generated from the following file:

• WorkCellLoader.hpp