parser_deprecated.hh
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Nate Koenig, John Hsu */ 00036 00037 #ifndef URDF_PARSER_DEPRECATED_HH 00038 #define URDF_PARSER_DEPRECATED_HH 00039 00040 #include <string> 00041 #include <map> 00042 #include <boost/shared_ptr.hpp> 00043 #include <libxml/parser.h> 00044 00045 #include "sdf/interface/SDF.hh" 00046 #include "math/Pose.hh" 00047 00048 namespace deprecated_sdf 00049 { 00050 bool initLight(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00051 bool initSensor(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00052 bool initCamera(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00053 bool initRay(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00054 bool initContact(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00055 bool initInertial(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00056 bool initCollision(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00057 bool initOrigin(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00058 bool initLink(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00059 bool initVisual(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00060 bool initJoint(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00061 bool initModel(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00062 00064 bool initModelFile(const std::string &_filename, sdf::SDFPtr &_sdf); 00065 00067 bool initModelString(const std::string &_xmlstring, sdf::SDFPtr &_sdf); 00068 00070 bool initModelDoc(xmlDocPtr _xml, sdf::SDFPtr &_sdf); 00071 00073 bool initModelXml(xmlNodePtr _xml, sdf::SDFPtr &_sdf); 00074 00075 00077 bool initWorldFile(const std::string &_filename, sdf::SDFPtr &_sdf); 00078 00080 bool initWorldString(const std::string &_xmlstring, 00081 sdf::SDFPtr &_sdf); 00082 00084 bool initWorldDoc(xmlDocPtr _xml, sdf::SDFPtr &_sdf); 00085 00087 bool initWorld(xmlNodePtr _xml, sdf::SDFPtr &_sdf); 00088 00090 bool initScene(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00091 00093 bool initPhysics(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00094 00096 void copyChildren(xmlNodePtr _config, sdf::ElementPtr &_sdf); 00097 bool getPlugins(xmlNodePtr pluginXml, std::map<std::string, 00098 sdf::ElementPtr > &_sdf); 00099 00100 bool initAttr(xmlNodePtr _node, const std::string &_key, sdf::ParamPtr _attr); 00101 00103 // 00104 // Some helper functions copied from old XMLConfigNode class 00105 // 00106 // Get a child based on a name. Returns null if not found 00107 xmlNodePtr firstChildElement( xmlDocPtr node, const std::string &name); 00108 xmlNodePtr firstChildElement( xmlNodePtr node, const std::string &name); 00109 xmlNodePtr nextSiblingElement( xmlNodePtr node, const std::string &name); 00110 00112 // Get the next sibling of node according the namespace prefix 00113 xmlNodePtr getNextByNSPrefix(xmlNodePtr node, const std::string &prefix); 00115 // Get the first child with the appropriate NS prefix 00116 xmlNodePtr getChildByNSPrefix(xmlNodePtr node, const std::string &prefix ); 00117 00119 // Get a value associated with a node. 00120 std::string getNodeValue( xmlNodePtr node, const std::string &key ); 00121 std::string getNodeTuple(xmlNodePtr node, const std::string &key, int index); 00122 00124 // Get the value of this node 00125 std::string getValue(xmlNodePtr node); 00126 void PreParser(const std::string &fname, std::string &output); 00127 00128 00129 } 00130 00131 #endif
