RobWorkProject
Classes | Typedefs | Functions
Loaders

Workcell loaders and other loaders. More...

Classes

class  CollisionSetupLoader
 Loader of collision setups from files. More...
 
class  DOMBasisTypes
 Utility class to help read in the content of a XML-files parsed with Xerces. More...
 
class  DOMPathLoader
 Enables loading in path file specified in the RobWork Path XML format. More...
 
class  DOMPathSaver
 Class used for saving a Path using the RobWork XML Path Format. More...
 
class  DOMPropertyMapFormat
 Class storing the identifiers used for properties. More...
 
class  DOMPropertyMapLoader
 Class for loading rw::common::PropertyMap from XML. More...
 
class  DOMPropertyMapSaver
 Class for saving rw::common::PropertyMap to XML. More...
 
class  DOMProximitySetupLoader
 Loader for the XML PropertySetup format. More...
 
class  DOMProximitySetupSaver
 Class for saving rw::proximity::ProximitySetup to XML. More...
 
class  DOMTrajectoryLoader
 Enables loading in trajectories file specified in the RobWork Trajectory XML format. More...
 
class  DOMTrajectorySaver
 Class for saving trajectories to file. More...
 
class  DOMWorkCellSaver
 Class for saving a WorkCell to a file. More...
 
class  PGMLoader
 Loads images in Portable Gray Map (PGM) format. More...
 
class  PPMLoader
 Loads images in Portable Pixel Map (PPM) format. More...
 
class  RGBLoader
 Loads images in Silicon Graphics RGB format. More...
 
class  ImageLoader
 Image loader interface. More...
 
class  LoaderAssimp
 Load 3D models using the Open Asset Import Library (Assimp). More...
 
class  Model3DLoader
 interface for classes that are able to load 3d models More...
 
class  PathLoader
 Load and store for various types of paths. More...
 
class  PathLoaderCSV
 Loader for .csv files. More...
 
class  DependencyGraph
 This class is used to create a dependency graph between string nodes and to check if any cycles exist in the dependency graph. More...
 
class  MultipleFileIterator
 This class is used to iterate over multiple files, keeping track of the current file and current line number at all times. More...
 
class  XML
 XML is a collection of procedures for reading RobWork data structures stored in an XML format. More...
 
class  XMLErrorHandler
 Error handler for XML parsing using boost spirit. More...
 
class  XMLRWLoader
 this class loads a workcell in xml format from a filename. More...
 
class  XMLRWParser
 parses a workcell from the xml fileformat into a dummmy workcell representation. More...
 
class  XMLRWPreParser
 Pre-parser for the XML RW format. All include, define, comments and use elements are handled. More...
 
class  Tag
 Tags of setup files. More...
 
class  TULLoader
 Loader for the AMROSE TUL format. More...
 
class  WorkCellLoader
 Defines an interface. More...
 
class  XercesErrorHandler
 Error handler for the Xerces parser. More...
 
class  XMLStr
 Utility class to help convert between Xerces unicode XMLCh* and ordinary C/C++ strings. More...
 
class  XercesInitializer
 Utility class which initializes Xerces upon creation. More...
 
class  OutStreamFormatTarget
 XMLFormatTarget for writing to a std::ostream. More...
 
class  XMLInputStream
 BinInputStream for wrappuing a std::istream. More...
 
class  InputStreamSource
 Xerces input source for using std::istream. More...
 
class  XercesDocumentReader
 Utility class for reading in XML to a DOMDocument. More...
 
class  XercesDocumentWriter
 Utility class for writing a DOMDocument to file. More...
 
class  XMLBasisTypes
 Utility class to help read in the content of a XML-files parsed with Xerces. More...
 
class  XMLPathFormat
 Class storing the identifiers used for paths in the XML Path Format. More...
 
class  XMLPathLoader
 Enables loading in path file specified in the RobWork Path XML format. More...
 
class  XMLPathSaver
 Class used for saving a Path using the RobWork XML Path Format. More...
 
class  XMLPropertyFormat
 Class storing the identifiers used for properties in the XML Path Format. More...
 
class  XMLPropertyLoader
 Class for loading rw::common::PropertyMap from XML. More...
 
class  XMLPropertySaver
 Class for saving rw::common::PropertyMap to XML. More...
 
class  XMLProximitySetupFormat
 Format specification for the XML PropertySetup format. More...
 
class  XMLProximitySetupLoader
 Loader for the XML PropertySetup format. More...
 
class  XMLTrajectoryFormat::Initializer
 Utility class which initializes local static variables. More...
 
class  XMLTrajectoryFormat
 Class containing the definitions for the XML Trajectory Format. More...
 
class  XMLTrajectoryLoader
 Enables loading in trajectories file specified in the RobWork Trajectory XML format. More...
 
class  XMLTrajectorySaver
 Class for saving trajectories to file. More...
 
class  ColladaLoader
 Enables loading Collada as a WorkCell. More...
 
class  ColladaLoaderPlugin
 

Typedefs

typedef ImageLoader::Factory ImageFactory
 Shortcut type for the ImageLoader::Factory. More...
 
typedef WorkCellLoader::Factory WorkCellFactory
 Shortcut type for the WorkCellLoader::Factory. More...
 
typedef unsigned int XERCES_XMLFILEPOS
 
typedef unsigned int XERCES_XMLSIZE_T
 

Functions

std::ostream & operator<< (std::ostream &out, const Tag &tag)
 
template<typename T >
T & getAttribute (Tag &tag, const std::string &key, int pos)
 The property value for attribute key at position pos. More...
 
template<typename T >
const T & getAttribute (const Tag &tag, const std::string &key, int pos)
 The property value for attribute key at position pos. More...
 
template<typename T >
T * getAttributePtr (Tag &tag, const std::string &key, int pos)
 The property value for attribute key at position pos. More...
 
template<typename T >
const T * getAttributePtr (const Tag &tag, const std::string &key, int pos)
 The property value for attribute key at position pos. More...
 
int getAttributeSize (const Tag &tag, const std::string &key)
 The number of values stored for an attribute. More...
 
bool hasAttribute (const Tag &tag, const std::string &key)
 True if an attribute named key has been registered for tag tag. More...
 
std::vector< TagloadTagFile (const std::string &file)
 Load the tags of the file file. More...
 
static const XMLCh * idQTrajectory ()
 Identifier for rw::trajectory::Trajectory<rw::math::Q> in the XML format. More...
 
static const XMLCh * idV3DTrajectory ()
 Identifier for rw::trajectory::Trajectory<rw::math::Vector3D> in the XML format. More...
 
static const XMLCh * idR3DTrajectory ()
 Identifier for rw::trajectory::Trajectory<rw::math::Rotation3D> in the XML format. More...
 
static const XMLCh * idT3DTrajectory ()
 Identifier for rw::trajectory::Trajectory<rw::math::Transform3D> in the XML format. More...
 
static const XMLCh * idQLinearInterpolator ()
 Identifier for rw::trajectory::LinearInterpolator<rw::math::Q> in the XML format. More...
 
static const XMLCh * idQCubicSplineInterpolator ()
 Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Q> in the XML format. More...
 
static const XMLCh * idV3DLinearInterpolator ()
 Identifier for rw::trajectory::LinearInterpolator<rw::math::Vector3D<> > in the XML format. More...
 
static const XMLCh * idV3DCubicSplineInterpolator ()
 Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Vector3D<> > in the XML format. More...
 
static const XMLCh * idV3DCircularInterpolator ()
 Identifier for rw::trajectory::CircularInterpolator<rw::math::Vector3D<> > in the XML format. More...
 
static const XMLCh * idR3DLinearInterpolator ()
 Identifier for rw::trajectory::LinearInterpolator<rw::math::Rotation3D<> > in the XML format. More...
 
static const XMLCh * idR3DCubicSplineInterpolator ()
 Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Rotation3D<> > in the XML format. More...
 
static const XMLCh * idT3DLinearInterpolator ()
 Identifier for rw::trajectory::LinearInterpolator<rw::math::Transform3D<> > in the XML format. More...
 
static const XMLCh * idT3DCubicSplineInterpolator ()
 Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Transform3D<> > in the XML format. More...
 
static const XMLCh * idParabolicBlend ()
 Identifier for rw::trajectory::ParabolicBlend in the XML format. More...
 
static const XMLCh * idLloydHaywardBlend ()
 Identifier for rw::trajectory::LloydHaywardBlend in the XML format. More...
 
static const XMLCh * idDurationAttribute ()
 Identifier for duration specification for interpolators. More...
 
static const XMLCh * idStartTimeAttribute ()
 Identifier for duration specification for interpolators. More...
 
static const XMLCh * idTauAttribute ()
 Identifier for the blend time tau used for blends. More...
 
static const XMLCh * idKappaAttribute ()
 Identifier for the parameter kappa used in LloydHayward blends. More...
 
 Initializer ()
 Initializes when constructed.
 

Detailed Description

Workcell loaders and other loaders.

Typedef Documentation

◆ ImageFactory

Shortcut type for the ImageLoader::Factory.

Deprecated:
Please use ImageLoader::Factory instead.

◆ WorkCellFactory

Shortcut type for the WorkCellLoader::Factory.

Deprecated:
Please use WorkCellLoader::Factory instead.

Function Documentation

◆ getAttribute() [1/2]

T& rw::loaders::getAttribute ( Tag tag,
const std::string &  key,
int  pos 
)

The property value for attribute key at position pos.

An exception is thrown if there is no such value.

The utility function is parameterized by the type of value to access.

Parameters
tag[in] The tag to access.
key[in] The name of the property.
pos[in] The position of the property in the sequence of property values.
Returns
The value of the property.

◆ getAttribute() [2/2]

const T& rw::loaders::getAttribute ( const Tag tag,
const std::string &  key,
int  pos 
)

The property value for attribute key at position pos.

An exception is thrown if there is no such value.

The utility function is parameterized by the type of value to access.

Parameters
tag[in] The tag to access.
key[in] The name of the property.
pos[in] The position of the property in the sequence of property values.
Returns
The value of the property.

◆ getAttributePtr() [1/2]

T* rw::loaders::getAttributePtr ( Tag tag,
const std::string &  key,
int  pos 
)

The property value for attribute key at position pos.

NULL is returned if there is no such property value.

The utility function is parameterized by the type of value to access.

Parameters
tag[in] The tag to access.
key[in] The name of the property.
pos[in] The position of the property in the sequence of property values.
Returns
The value of the property or NULL if no such property.

◆ getAttributePtr() [2/2]

const T* rw::loaders::getAttributePtr ( const Tag tag,
const std::string &  key,
int  pos 
)

The property value for attribute key at position pos.

NULL is returned if there is no such property value.

The utility function is parameterized by the type of value to access.

Parameters
tag[in] The tag to access.
key[in] The name of the property.
pos[in] The position of the property in the sequence of property values.
Returns
The value of the property or NULL if no such property.

◆ getAttributeSize()

int rw::loaders::getAttributeSize ( const Tag tag,
const std::string &  key 
)

The number of values stored for an attribute.

An exception is thrown if the tag does not contain the attribute.

Parameters
tag[in] The tag containing the attributes.
key[in] The name of the attributes.
Returns
The number of attribute values.

◆ hasAttribute()

bool rw::loaders::hasAttribute ( const Tag tag,
const std::string &  key 
)

True if an attribute named key has been registered for tag tag.

Parameters
tag[in] The tag containing attributes.
key[in] The name of an attribute.
Returns
True iff tag contains the attribute named name.

◆ idDurationAttribute()

static const XMLCh* idDurationAttribute ( )
static

Identifier for duration specification for interpolators.

Returns
the identifier.

◆ idKappaAttribute()

static const XMLCh* idKappaAttribute ( )
static

Identifier for the parameter kappa used in LloydHayward blends.

Returns
the identifier.

◆ idLloydHaywardBlend()

static const XMLCh* idLloydHaywardBlend ( )
static

Identifier for rw::trajectory::LloydHaywardBlend in the XML format.

Returns
the identifier.

◆ idParabolicBlend()

static const XMLCh* idParabolicBlend ( )
static

Identifier for rw::trajectory::ParabolicBlend in the XML format.

Returns
the identifier.

◆ idQCubicSplineInterpolator()

static const XMLCh* idQCubicSplineInterpolator ( )
static

Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Q> in the XML format.

Returns
the identifier.

◆ idQLinearInterpolator()

static const XMLCh* idQLinearInterpolator ( )
static

Identifier for rw::trajectory::LinearInterpolator<rw::math::Q> in the XML format.

Returns
the identifier.

◆ idQTrajectory()

static const XMLCh* idQTrajectory ( )
static

Identifier for rw::trajectory::Trajectory<rw::math::Q> in the XML format.

Returns
the identifier.

◆ idR3DCubicSplineInterpolator()

static const XMLCh* idR3DCubicSplineInterpolator ( )
static

Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Rotation3D<> > in the XML format.

Returns
the identifier.

◆ idR3DLinearInterpolator()

static const XMLCh* idR3DLinearInterpolator ( )
static

Identifier for rw::trajectory::LinearInterpolator<rw::math::Rotation3D<> > in the XML format.

Returns
the identifier.

◆ idR3DTrajectory()

static const XMLCh* idR3DTrajectory ( )
static

Identifier for rw::trajectory::Trajectory<rw::math::Rotation3D> in the XML format.

Returns
the identifier.

◆ idStartTimeAttribute()

static const XMLCh* idStartTimeAttribute ( )
static

Identifier for duration specification for interpolators.

Returns
the identifier.

◆ idT3DCubicSplineInterpolator()

static const XMLCh* idT3DCubicSplineInterpolator ( )
static

Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Transform3D<> > in the XML format.

Returns
the identifier.

◆ idT3DLinearInterpolator()

static const XMLCh* idT3DLinearInterpolator ( )
static

Identifier for rw::trajectory::LinearInterpolator<rw::math::Transform3D<> > in the XML format.

Returns
the identifier.

◆ idT3DTrajectory()

static const XMLCh* idT3DTrajectory ( )
static

Identifier for rw::trajectory::Trajectory<rw::math::Transform3D> in the XML format.

Returns
the identifier.

◆ idTauAttribute()

static const XMLCh* idTauAttribute ( )
static

Identifier for the blend time tau used for blends.

Returns
the identifier.

◆ idV3DCircularInterpolator()

static const XMLCh* idV3DCircularInterpolator ( )
static

Identifier for rw::trajectory::CircularInterpolator<rw::math::Vector3D<> > in the XML format.

Returns
the identifier.

◆ idV3DCubicSplineInterpolator()

static const XMLCh* idV3DCubicSplineInterpolator ( )
static

Identifier for rw::trajectory::CubicSplineInterpolator<rw::math::Vector3D<> > in the XML format.

Returns
the identifier.

◆ idV3DLinearInterpolator()

static const XMLCh* idV3DLinearInterpolator ( )
static

Identifier for rw::trajectory::LinearInterpolator<rw::math::Vector3D<> > in the XML format.

Returns
the identifier.

◆ idV3DTrajectory()

static const XMLCh* idV3DTrajectory ( )
static

Identifier for rw::trajectory::Trajectory<rw::math::Vector3D> in the XML format.

Returns
the identifier.

◆ loadTagFile()

std::vector<Tag> rw::loaders::loadTagFile ( const std::string &  file)

Load the tags of the file file.

Parameters
file[in] The file to load.
Returns
The tags of the file.

◆ operator<<()

std::ostream& rw::loaders::operator<< ( std::ostream &  out,
const Tag tag 
)

If tag contains properties that not among the types supported for tags the the output will not be in the valid tag format, but the output may still be useful for debugging.