From 04632538ec3b496ff5e0e74555959c364ecc7a3c Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 31 Jul 2014 13:38:31 -0700 Subject: [PATCH] add tinyxml, urdfdom and urdfdom_headers from https://github.com/ros/urdfdom (removed BOOST dependency and make it compile on Windows) --- btgui/tinyxml/tinystr.cpp | 111 + btgui/tinyxml/tinystr.h | 305 +++ btgui/tinyxml/tinyxml.cpp | 1886 +++++++++++++++++ btgui/tinyxml/tinyxml.h | 1805 ++++++++++++++++ btgui/tinyxml/tinyxmlerror.cpp | 52 + btgui/tinyxml/tinyxmlparser.cpp | 1638 ++++++++++++++ btgui/urdf/boost_replacement/lexical_cast.h | 27 + .../urdf/boost_replacement/printf_console.cpp | 28 + btgui/urdf/boost_replacement/printf_console.h | 13 + btgui/urdf/boost_replacement/shared_ptr.h | 213 ++ btgui/urdf/boost_replacement/string_split.cpp | 253 +++ btgui/urdf/boost_replacement/string_split.h | 31 + btgui/urdf/premake4.lua | 50 + btgui/urdf/urdfdom/LICENSE | 15 + btgui/urdf/urdfdom/README.txt | 7 + .../include/urdf_parser/urdf_parser.h | 63 + .../urdfdom/urdf_parser/src/check_urdf.cpp | 137 ++ btgui/urdf/urdfdom/urdf_parser/src/joint.cpp | 579 +++++ btgui/urdf/urdfdom/urdf_parser/src/link.cpp | 505 +++++ btgui/urdf/urdfdom/urdf_parser/src/model.cpp | 238 +++ btgui/urdf/urdfdom/urdf_parser/src/pose.cpp | 91 + btgui/urdf/urdfdom/urdf_parser/src/twist.cpp | 85 + .../urdf_parser/src/urdf_model_state.cpp | 154 ++ .../urdfdom/urdf_parser/src/urdf_sensor.cpp | 364 ++++ btgui/urdf/urdfdom/urdf_parser/src/world.cpp | 71 + .../urdf/urdfdom/urdf_parser/test/memtest.cpp | 20 + btgui/urdf/urdfdom_headers/LICENSE | 15 + btgui/urdf/urdfdom_headers/README.txt | 6 + .../include/urdf_exception/exception.h | 53 + .../urdf_model/include/urdf_model/color.h | 102 + .../urdf_model/include/urdf_model/joint.h | 234 ++ .../urdf_model/include/urdf_model/link.h | 258 +++ .../urdf_model/include/urdf_model/model.h | 215 ++ .../urdf_model/include/urdf_model/pose.h | 265 +++ .../urdf_model/include/urdf_model/twist.h | 68 + .../include/urdf_model_state/model_state.h | 141 ++ .../include/urdf_model_state/twist.h | 42 + .../urdf_sensor/include/urdf_sensor/sensor.h | 176 ++ .../urdf_world/include/urdf_world/world.h | 114 + build3/premake4.lua | 7 +- 40 files changed, 10434 insertions(+), 3 deletions(-) create mode 100755 btgui/tinyxml/tinystr.cpp create mode 100755 btgui/tinyxml/tinystr.h create mode 100755 btgui/tinyxml/tinyxml.cpp create mode 100755 btgui/tinyxml/tinyxml.h create mode 100755 btgui/tinyxml/tinyxmlerror.cpp create mode 100755 btgui/tinyxml/tinyxmlparser.cpp create mode 100644 btgui/urdf/boost_replacement/lexical_cast.h create mode 100644 btgui/urdf/boost_replacement/printf_console.cpp create mode 100644 btgui/urdf/boost_replacement/printf_console.h create mode 100644 btgui/urdf/boost_replacement/shared_ptr.h create mode 100644 btgui/urdf/boost_replacement/string_split.cpp create mode 100644 btgui/urdf/boost_replacement/string_split.h create mode 100644 btgui/urdf/premake4.lua create mode 100644 btgui/urdf/urdfdom/LICENSE create mode 100644 btgui/urdf/urdfdom/README.txt create mode 100644 btgui/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/check_urdf.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/joint.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/link.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/model.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/pose.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/twist.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/urdf_model_state.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/urdf_sensor.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/src/world.cpp create mode 100644 btgui/urdf/urdfdom/urdf_parser/test/memtest.cpp create mode 100644 btgui/urdf/urdfdom_headers/LICENSE create mode 100644 btgui/urdf/urdfdom_headers/README.txt create mode 100644 btgui/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/color.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/model_state.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/twist.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_sensor/include/urdf_sensor/sensor.h create mode 100644 btgui/urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h diff --git a/btgui/tinyxml/tinystr.cpp b/btgui/tinyxml/tinystr.cpp new file mode 100755 index 000000000..066576820 --- /dev/null +++ b/btgui/tinyxml/tinystr.cpp @@ -0,0 +1,111 @@ +/* +www.sourceforge.net/projects/tinyxml + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any +damages arising from the use of this software. + +Permission is granted to anyone to use this software for any +purpose, including commercial applications, and to alter it and +redistribute it freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must +not claim that you wrote the original software. If you use this +software in a product, an acknowledgment in the product documentation +would be appreciated but is not required. + +2. Altered source versions must be plainly marked as such, and +must not be misrepresented as being the original software. + +3. This notice may not be removed or altered from any source +distribution. +*/ + + +#ifndef TIXML_USE_STL + +#include "tinystr.h" + +// Error value for find primitive +const TiXmlString::size_type TiXmlString::npos = static_cast< TiXmlString::size_type >(-1); + + +// Null rep. +TiXmlString::Rep TiXmlString::nullrep_ = { 0, 0, { '\0' } }; + + +void TiXmlString::reserve (size_type cap) +{ + if (cap > capacity()) + { + TiXmlString tmp; + tmp.init(length(), cap); + memcpy(tmp.start(), data(), length()); + swap(tmp); + } +} + + +TiXmlString& TiXmlString::assign(const char* str, size_type len) +{ + size_type cap = capacity(); + if (len > cap || cap > 3*(len + 8)) + { + TiXmlString tmp; + tmp.init(len); + memcpy(tmp.start(), str, len); + swap(tmp); + } + else + { + memmove(start(), str, len); + set_size(len); + } + return *this; +} + + +TiXmlString& TiXmlString::append(const char* str, size_type len) +{ + size_type newsize = length() + len; + if (newsize > capacity()) + { + reserve (newsize + capacity()); + } + memmove(finish(), str, len); + set_size(newsize); + return *this; +} + + +TiXmlString operator + (const TiXmlString & a, const TiXmlString & b) +{ + TiXmlString tmp; + tmp.reserve(a.length() + b.length()); + tmp += a; + tmp += b; + return tmp; +} + +TiXmlString operator + (const TiXmlString & a, const char* b) +{ + TiXmlString tmp; + TiXmlString::size_type b_len = static_cast( strlen(b) ); + tmp.reserve(a.length() + b_len); + tmp += a; + tmp.append(b, b_len); + return tmp; +} + +TiXmlString operator + (const char* a, const TiXmlString & b) +{ + TiXmlString tmp; + TiXmlString::size_type a_len = static_cast( strlen(a) ); + tmp.reserve(a_len + b.length()); + tmp.append(a, a_len); + tmp += b; + return tmp; +} + + +#endif // TIXML_USE_STL diff --git a/btgui/tinyxml/tinystr.h b/btgui/tinyxml/tinystr.h new file mode 100755 index 000000000..89cca3341 --- /dev/null +++ b/btgui/tinyxml/tinystr.h @@ -0,0 +1,305 @@ +/* +www.sourceforge.net/projects/tinyxml + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any +damages arising from the use of this software. + +Permission is granted to anyone to use this software for any +purpose, including commercial applications, and to alter it and +redistribute it freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must +not claim that you wrote the original software. If you use this +software in a product, an acknowledgment in the product documentation +would be appreciated but is not required. + +2. Altered source versions must be plainly marked as such, and +must not be misrepresented as being the original software. + +3. This notice may not be removed or altered from any source +distribution. +*/ + + +#ifndef TIXML_USE_STL + +#ifndef TIXML_STRING_INCLUDED +#define TIXML_STRING_INCLUDED + +#include +#include + +/* The support for explicit isn't that universal, and it isn't really + required - it is used to check that the TiXmlString class isn't incorrectly + used. Be nice to old compilers and macro it here: +*/ +#if defined(_MSC_VER) && (_MSC_VER >= 1200 ) + // Microsoft visual studio, version 6 and higher. + #define TIXML_EXPLICIT explicit +#elif defined(__GNUC__) && (__GNUC__ >= 3 ) + // GCC version 3 and higher.s + #define TIXML_EXPLICIT explicit +#else + #define TIXML_EXPLICIT +#endif + + +/* + TiXmlString is an emulation of a subset of the std::string template. + Its purpose is to allow compiling TinyXML on compilers with no or poor STL support. + Only the member functions relevant to the TinyXML project have been implemented. + The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase + a string and there's no more room, we allocate a buffer twice as big as we need. +*/ +class TiXmlString +{ + public : + // The size type used + typedef size_t size_type; + + // Error value for find primitive + static const size_type npos; // = -1; + + + // TiXmlString empty constructor + TiXmlString () : rep_(&nullrep_) + { + } + + // TiXmlString copy constructor + TiXmlString ( const TiXmlString & copy) : rep_(0) + { + init(copy.length()); + memcpy(start(), copy.data(), length()); + } + + // TiXmlString constructor, based on a string + TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0) + { + init( static_cast( strlen(copy) )); + memcpy(start(), copy, length()); + } + + // TiXmlString constructor, based on a string + TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0) + { + init(len); + memcpy(start(), str, len); + } + + // TiXmlString destructor + ~TiXmlString () + { + quit(); + } + + TiXmlString& operator = (const char * copy) + { + return assign( copy, (size_type)strlen(copy)); + } + + TiXmlString& operator = (const TiXmlString & copy) + { + return assign(copy.start(), copy.length()); + } + + + // += operator. Maps to append + TiXmlString& operator += (const char * suffix) + { + return append(suffix, static_cast( strlen(suffix) )); + } + + // += operator. Maps to append + TiXmlString& operator += (char single) + { + return append(&single, 1); + } + + // += operator. Maps to append + TiXmlString& operator += (const TiXmlString & suffix) + { + return append(suffix.data(), suffix.length()); + } + + + // Convert a TiXmlString into a null-terminated char * + const char * c_str () const { return rep_->str; } + + // Convert a TiXmlString into a char * (need not be null terminated). + const char * data () const { return rep_->str; } + + // Return the length of a TiXmlString + size_type length () const { return rep_->size; } + + // Alias for length() + size_type size () const { return rep_->size; } + + // Checks if a TiXmlString is empty + bool empty () const { return rep_->size == 0; } + + // Return capacity of string + size_type capacity () const { return rep_->capacity; } + + + // single char extraction + const char& at (size_type index) const + { + assert( index < length() ); + return rep_->str[ index ]; + } + + // [] operator + char& operator [] (size_type index) const + { + assert( index < length() ); + return rep_->str[ index ]; + } + + // find a char in a string. Return TiXmlString::npos if not found + size_type find (char lookup) const + { + return find(lookup, 0); + } + + // find a char in a string from an offset. Return TiXmlString::npos if not found + size_type find (char tofind, size_type offset) const + { + if (offset >= length()) return npos; + + for (const char* p = c_str() + offset; *p != '\0'; ++p) + { + if (*p == tofind) return static_cast< size_type >( p - c_str() ); + } + return npos; + } + + void clear () + { + //Lee: + //The original was just too strange, though correct: + // TiXmlString().swap(*this); + //Instead use the quit & re-init: + quit(); + init(0,0); + } + + /* Function to reserve a big amount of data when we know we'll need it. Be aware that this + function DOES NOT clear the content of the TiXmlString if any exists. + */ + void reserve (size_type cap); + + TiXmlString& assign (const char* str, size_type len); + + TiXmlString& append (const char* str, size_type len); + + void swap (TiXmlString& other) + { + Rep* r = rep_; + rep_ = other.rep_; + other.rep_ = r; + } + + private: + + void init(size_type sz) { init(sz, sz); } + void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; } + char* start() const { return rep_->str; } + char* finish() const { return rep_->str + rep_->size; } + + struct Rep + { + size_type size, capacity; + char str[1]; + }; + + void init(size_type sz, size_type cap) + { + if (cap) + { + // Lee: the original form: + // rep_ = static_cast(operator new(sizeof(Rep) + cap)); + // doesn't work in some cases of new being overloaded. Switching + // to the normal allocation, although use an 'int' for systems + // that are overly picky about structure alignment. + const size_type bytesNeeded = sizeof(Rep) + cap; + const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int ); + rep_ = reinterpret_cast( new int[ intsNeeded ] ); + + rep_->str[ rep_->size = sz ] = '\0'; + rep_->capacity = cap; + } + else + { + rep_ = &nullrep_; + } + } + + void quit() + { + if (rep_ != &nullrep_) + { + // The rep_ is really an array of ints. (see the allocator, above). + // Cast it back before delete, so the compiler won't incorrectly call destructors. + delete [] ( reinterpret_cast( rep_ ) ); + } + } + + Rep * rep_; + static Rep nullrep_; + +} ; + + +inline bool operator == (const TiXmlString & a, const TiXmlString & b) +{ + return ( a.length() == b.length() ) // optimization on some platforms + && ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare +} +inline bool operator < (const TiXmlString & a, const TiXmlString & b) +{ + return strcmp(a.c_str(), b.c_str()) < 0; +} + +inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); } +inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; } +inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); } +inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); } + +inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; } +inline bool operator == (const char* a, const TiXmlString & b) { return b == a; } +inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); } +inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); } + +TiXmlString operator + (const TiXmlString & a, const TiXmlString & b); +TiXmlString operator + (const TiXmlString & a, const char* b); +TiXmlString operator + (const char* a, const TiXmlString & b); + + +/* + TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString. + Only the operators that we need for TinyXML have been developped. +*/ +class TiXmlOutStream : public TiXmlString +{ +public : + + // TiXmlOutStream << operator. + TiXmlOutStream & operator << (const TiXmlString & in) + { + *this += in; + return *this; + } + + // TiXmlOutStream << operator. + TiXmlOutStream & operator << (const char * in) + { + *this += in; + return *this; + } + +} ; + +#endif // TIXML_STRING_INCLUDED +#endif // TIXML_USE_STL diff --git a/btgui/tinyxml/tinyxml.cpp b/btgui/tinyxml/tinyxml.cpp new file mode 100755 index 000000000..9c161dfcb --- /dev/null +++ b/btgui/tinyxml/tinyxml.cpp @@ -0,0 +1,1886 @@ +/* +www.sourceforge.net/projects/tinyxml +Original code by Lee Thomason (www.grinninglizard.com) + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any +damages arising from the use of this software. + +Permission is granted to anyone to use this software for any +purpose, including commercial applications, and to alter it and +redistribute it freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must +not claim that you wrote the original software. If you use this +software in a product, an acknowledgment in the product documentation +would be appreciated but is not required. + +2. Altered source versions must be plainly marked as such, and +must not be misrepresented as being the original software. + +3. This notice may not be removed or altered from any source +distribution. +*/ + +#include + +#ifdef TIXML_USE_STL +#include +#include +#endif + +#include "tinyxml.h" + +FILE* TiXmlFOpen( const char* filename, const char* mode ); + +bool TiXmlBase::condenseWhiteSpace = true; + +// Microsoft compiler security +FILE* TiXmlFOpen( const char* filename, const char* mode ) +{ + #if defined(_MSC_VER) && (_MSC_VER >= 1400 ) + FILE* fp = 0; + errno_t err = fopen_s( &fp, filename, mode ); + if ( !err && fp ) + return fp; + return 0; + #else + return fopen( filename, mode ); + #endif +} + +void TiXmlBase::EncodeString( const TIXML_STRING& str, TIXML_STRING* outString ) +{ + int i=0; + + while( i<(int)str.length() ) + { + unsigned char c = (unsigned char) str[i]; + + if ( c == '&' + && i < ( (int)str.length() - 2 ) + && str[i+1] == '#' + && str[i+2] == 'x' ) + { + // Hexadecimal character reference. + // Pass through unchanged. + // © -- copyright symbol, for example. + // + // The -1 is a bug fix from Rob Laveaux. It keeps + // an overflow from happening if there is no ';'. + // There are actually 2 ways to exit this loop - + // while fails (error case) and break (semicolon found). + // However, there is no mechanism (currently) for + // this function to return an error. + while ( i<(int)str.length()-1 ) + { + outString->append( str.c_str() + i, 1 ); + ++i; + if ( str[i] == ';' ) + break; + } + } + else if ( c == '&' ) + { + outString->append( entity[0].str, entity[0].strLength ); + ++i; + } + else if ( c == '<' ) + { + outString->append( entity[1].str, entity[1].strLength ); + ++i; + } + else if ( c == '>' ) + { + outString->append( entity[2].str, entity[2].strLength ); + ++i; + } + else if ( c == '\"' ) + { + outString->append( entity[3].str, entity[3].strLength ); + ++i; + } + else if ( c == '\'' ) + { + outString->append( entity[4].str, entity[4].strLength ); + ++i; + } + else if ( c < 32 ) + { + // Easy pass at non-alpha/numeric/symbol + // Below 32 is symbolic. + char buf[ 32 ]; + + #if defined(TIXML_SNPRINTF) + TIXML_SNPRINTF( buf, sizeof(buf), "&#x%02X;", (unsigned) ( c & 0xff ) ); + #else + sprintf( buf, "&#x%02X;", (unsigned) ( c & 0xff ) ); + #endif + + //*ME: warning C4267: convert 'size_t' to 'int' + //*ME: Int-Cast to make compiler happy ... + outString->append( buf, (int)strlen( buf ) ); + ++i; + } + else + { + //char realc = (char) c; + //outString->append( &realc, 1 ); + *outString += (char) c; // somewhat more efficient function call. + ++i; + } + } +} + + +TiXmlNode::TiXmlNode( NodeType _type ) : TiXmlBase() +{ + parent = 0; + type = _type; + firstChild = 0; + lastChild = 0; + prev = 0; + next = 0; +} + + +TiXmlNode::~TiXmlNode() +{ + TiXmlNode* node = firstChild; + TiXmlNode* temp = 0; + + while ( node ) + { + temp = node; + node = node->next; + delete temp; + } +} + + +void TiXmlNode::CopyTo( TiXmlNode* target ) const +{ + target->SetValue (value.c_str() ); + target->userData = userData; + target->location = location; +} + + +void TiXmlNode::Clear() +{ + TiXmlNode* node = firstChild; + TiXmlNode* temp = 0; + + while ( node ) + { + temp = node; + node = node->next; + delete temp; + } + + firstChild = 0; + lastChild = 0; +} + + +TiXmlNode* TiXmlNode::LinkEndChild( TiXmlNode* node ) +{ + assert( node->parent == 0 || node->parent == this ); + assert( node->GetDocument() == 0 || node->GetDocument() == this->GetDocument() ); + + if ( node->Type() == TiXmlNode::TINYXML_DOCUMENT ) + { + delete node; + if ( GetDocument() ) + GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + + node->parent = this; + + node->prev = lastChild; + node->next = 0; + + if ( lastChild ) + lastChild->next = node; + else + firstChild = node; // it was an empty list. + + lastChild = node; + return node; +} + + +TiXmlNode* TiXmlNode::InsertEndChild( const TiXmlNode& addThis ) +{ + if ( addThis.Type() == TiXmlNode::TINYXML_DOCUMENT ) + { + if ( GetDocument() ) + GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + TiXmlNode* node = addThis.Clone(); + if ( !node ) + return 0; + + return LinkEndChild( node ); +} + + +TiXmlNode* TiXmlNode::InsertBeforeChild( TiXmlNode* beforeThis, const TiXmlNode& addThis ) +{ + if ( !beforeThis || beforeThis->parent != this ) { + return 0; + } + if ( addThis.Type() == TiXmlNode::TINYXML_DOCUMENT ) + { + if ( GetDocument() ) + GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + + TiXmlNode* node = addThis.Clone(); + if ( !node ) + return 0; + node->parent = this; + + node->next = beforeThis; + node->prev = beforeThis->prev; + if ( beforeThis->prev ) + { + beforeThis->prev->next = node; + } + else + { + assert( firstChild == beforeThis ); + firstChild = node; + } + beforeThis->prev = node; + return node; +} + + +TiXmlNode* TiXmlNode::InsertAfterChild( TiXmlNode* afterThis, const TiXmlNode& addThis ) +{ + if ( !afterThis || afterThis->parent != this ) { + return 0; + } + if ( addThis.Type() == TiXmlNode::TINYXML_DOCUMENT ) + { + if ( GetDocument() ) + GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + + TiXmlNode* node = addThis.Clone(); + if ( !node ) + return 0; + node->parent = this; + + node->prev = afterThis; + node->next = afterThis->next; + if ( afterThis->next ) + { + afterThis->next->prev = node; + } + else + { + assert( lastChild == afterThis ); + lastChild = node; + } + afterThis->next = node; + return node; +} + + +TiXmlNode* TiXmlNode::ReplaceChild( TiXmlNode* replaceThis, const TiXmlNode& withThis ) +{ + if ( !replaceThis ) + return 0; + + if ( replaceThis->parent != this ) + return 0; + + if ( withThis.ToDocument() ) { + // A document can never be a child. Thanks to Noam. + TiXmlDocument* document = GetDocument(); + if ( document ) + document->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + + TiXmlNode* node = withThis.Clone(); + if ( !node ) + return 0; + + node->next = replaceThis->next; + node->prev = replaceThis->prev; + + if ( replaceThis->next ) + replaceThis->next->prev = node; + else + lastChild = node; + + if ( replaceThis->prev ) + replaceThis->prev->next = node; + else + firstChild = node; + + delete replaceThis; + node->parent = this; + return node; +} + + +bool TiXmlNode::RemoveChild( TiXmlNode* removeThis ) +{ + if ( !removeThis ) { + return false; + } + + if ( removeThis->parent != this ) + { + assert( 0 ); + return false; + } + + if ( removeThis->next ) + removeThis->next->prev = removeThis->prev; + else + lastChild = removeThis->prev; + + if ( removeThis->prev ) + removeThis->prev->next = removeThis->next; + else + firstChild = removeThis->next; + + delete removeThis; + return true; +} + +const TiXmlNode* TiXmlNode::FirstChild( const char * _value ) const +{ + const TiXmlNode* node; + for ( node = firstChild; node; node = node->next ) + { + if ( strcmp( node->Value(), _value ) == 0 ) + return node; + } + return 0; +} + + +const TiXmlNode* TiXmlNode::LastChild( const char * _value ) const +{ + const TiXmlNode* node; + for ( node = lastChild; node; node = node->prev ) + { + if ( strcmp( node->Value(), _value ) == 0 ) + return node; + } + return 0; +} + + +const TiXmlNode* TiXmlNode::IterateChildren( const TiXmlNode* previous ) const +{ + if ( !previous ) + { + return FirstChild(); + } + else + { + assert( previous->parent == this ); + return previous->NextSibling(); + } +} + + +const TiXmlNode* TiXmlNode::IterateChildren( const char * val, const TiXmlNode* previous ) const +{ + if ( !previous ) + { + return FirstChild( val ); + } + else + { + assert( previous->parent == this ); + return previous->NextSibling( val ); + } +} + + +const TiXmlNode* TiXmlNode::NextSibling( const char * _value ) const +{ + const TiXmlNode* node; + for ( node = next; node; node = node->next ) + { + if ( strcmp( node->Value(), _value ) == 0 ) + return node; + } + return 0; +} + + +const TiXmlNode* TiXmlNode::PreviousSibling( const char * _value ) const +{ + const TiXmlNode* node; + for ( node = prev; node; node = node->prev ) + { + if ( strcmp( node->Value(), _value ) == 0 ) + return node; + } + return 0; +} + + +void TiXmlElement::RemoveAttribute( const char * name ) +{ + #ifdef TIXML_USE_STL + TIXML_STRING str( name ); + TiXmlAttribute* node = attributeSet.Find( str ); + #else + TiXmlAttribute* node = attributeSet.Find( name ); + #endif + if ( node ) + { + attributeSet.Remove( node ); + delete node; + } +} + +const TiXmlElement* TiXmlNode::FirstChildElement() const +{ + const TiXmlNode* node; + + for ( node = FirstChild(); + node; + node = node->NextSibling() ) + { + if ( node->ToElement() ) + return node->ToElement(); + } + return 0; +} + + +const TiXmlElement* TiXmlNode::FirstChildElement( const char * _value ) const +{ + const TiXmlNode* node; + + for ( node = FirstChild( _value ); + node; + node = node->NextSibling( _value ) ) + { + if ( node->ToElement() ) + return node->ToElement(); + } + return 0; +} + + +const TiXmlElement* TiXmlNode::NextSiblingElement() const +{ + const TiXmlNode* node; + + for ( node = NextSibling(); + node; + node = node->NextSibling() ) + { + if ( node->ToElement() ) + return node->ToElement(); + } + return 0; +} + + +const TiXmlElement* TiXmlNode::NextSiblingElement( const char * _value ) const +{ + const TiXmlNode* node; + + for ( node = NextSibling( _value ); + node; + node = node->NextSibling( _value ) ) + { + if ( node->ToElement() ) + return node->ToElement(); + } + return 0; +} + + +const TiXmlDocument* TiXmlNode::GetDocument() const +{ + const TiXmlNode* node; + + for( node = this; node; node = node->parent ) + { + if ( node->ToDocument() ) + return node->ToDocument(); + } + return 0; +} + + +TiXmlElement::TiXmlElement (const char * _value) + : TiXmlNode( TiXmlNode::TINYXML_ELEMENT ) +{ + firstChild = lastChild = 0; + value = _value; +} + + +#ifdef TIXML_USE_STL +TiXmlElement::TiXmlElement( const std::string& _value ) + : TiXmlNode( TiXmlNode::TINYXML_ELEMENT ) +{ + firstChild = lastChild = 0; + value = _value; +} +#endif + + +TiXmlElement::TiXmlElement( const TiXmlElement& copy) + : TiXmlNode( TiXmlNode::TINYXML_ELEMENT ) +{ + firstChild = lastChild = 0; + copy.CopyTo( this ); +} + + +TiXmlElement& TiXmlElement::operator=( const TiXmlElement& base ) +{ + ClearThis(); + base.CopyTo( this ); + return *this; +} + + +TiXmlElement::~TiXmlElement() +{ + ClearThis(); +} + + +void TiXmlElement::ClearThis() +{ + Clear(); + while( attributeSet.First() ) + { + TiXmlAttribute* node = attributeSet.First(); + attributeSet.Remove( node ); + delete node; + } +} + + +const char* TiXmlElement::Attribute( const char* name ) const +{ + const TiXmlAttribute* node = attributeSet.Find( name ); + if ( node ) + return node->Value(); + return 0; +} + + +#ifdef TIXML_USE_STL +const std::string* TiXmlElement::Attribute( const std::string& name ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + if ( attrib ) + return &attrib->ValueStr(); + return 0; +} +#endif + + +const char* TiXmlElement::Attribute( const char* name, int* i ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + const char* result = 0; + + if ( attrib ) { + result = attrib->Value(); + if ( i ) { + attrib->QueryIntValue( i ); + } + } + return result; +} + + +#ifdef TIXML_USE_STL +const std::string* TiXmlElement::Attribute( const std::string& name, int* i ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + const std::string* result = 0; + + if ( attrib ) { + result = &attrib->ValueStr(); + if ( i ) { + attrib->QueryIntValue( i ); + } + } + return result; +} +#endif + + +const char* TiXmlElement::Attribute( const char* name, double* d ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + const char* result = 0; + + if ( attrib ) { + result = attrib->Value(); + if ( d ) { + attrib->QueryDoubleValue( d ); + } + } + return result; +} + + +#ifdef TIXML_USE_STL +const std::string* TiXmlElement::Attribute( const std::string& name, double* d ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + const std::string* result = 0; + + if ( attrib ) { + result = &attrib->ValueStr(); + if ( d ) { + attrib->QueryDoubleValue( d ); + } + } + return result; +} +#endif + + +int TiXmlElement::QueryIntAttribute( const char* name, int* ival ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + if ( !attrib ) + return TIXML_NO_ATTRIBUTE; + return attrib->QueryIntValue( ival ); +} + + +int TiXmlElement::QueryUnsignedAttribute( const char* name, unsigned* value ) const +{ + const TiXmlAttribute* node = attributeSet.Find( name ); + if ( !node ) + return TIXML_NO_ATTRIBUTE; + + int ival = 0; + int result = node->QueryIntValue( &ival ); + *value = (unsigned)ival; + return result; +} + + +int TiXmlElement::QueryBoolAttribute( const char* name, bool* bval ) const +{ + const TiXmlAttribute* node = attributeSet.Find( name ); + if ( !node ) + return TIXML_NO_ATTRIBUTE; + + int result = TIXML_WRONG_TYPE; + if ( StringEqual( node->Value(), "true", true, TIXML_ENCODING_UNKNOWN ) + || StringEqual( node->Value(), "yes", true, TIXML_ENCODING_UNKNOWN ) + || StringEqual( node->Value(), "1", true, TIXML_ENCODING_UNKNOWN ) ) + { + *bval = true; + result = TIXML_SUCCESS; + } + else if ( StringEqual( node->Value(), "false", true, TIXML_ENCODING_UNKNOWN ) + || StringEqual( node->Value(), "no", true, TIXML_ENCODING_UNKNOWN ) + || StringEqual( node->Value(), "0", true, TIXML_ENCODING_UNKNOWN ) ) + { + *bval = false; + result = TIXML_SUCCESS; + } + return result; +} + + + +#ifdef TIXML_USE_STL +int TiXmlElement::QueryIntAttribute( const std::string& name, int* ival ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + if ( !attrib ) + return TIXML_NO_ATTRIBUTE; + return attrib->QueryIntValue( ival ); +} +#endif + + +int TiXmlElement::QueryDoubleAttribute( const char* name, double* dval ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + if ( !attrib ) + return TIXML_NO_ATTRIBUTE; + return attrib->QueryDoubleValue( dval ); +} + + +#ifdef TIXML_USE_STL +int TiXmlElement::QueryDoubleAttribute( const std::string& name, double* dval ) const +{ + const TiXmlAttribute* attrib = attributeSet.Find( name ); + if ( !attrib ) + return TIXML_NO_ATTRIBUTE; + return attrib->QueryDoubleValue( dval ); +} +#endif + + +void TiXmlElement::SetAttribute( const char * name, int val ) +{ + TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); + if ( attrib ) { + attrib->SetIntValue( val ); + } +} + + +#ifdef TIXML_USE_STL +void TiXmlElement::SetAttribute( const std::string& name, int val ) +{ + TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); + if ( attrib ) { + attrib->SetIntValue( val ); + } +} +#endif + + +void TiXmlElement::SetDoubleAttribute( const char * name, double val ) +{ + TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); + if ( attrib ) { + attrib->SetDoubleValue( val ); + } +} + + +#ifdef TIXML_USE_STL +void TiXmlElement::SetDoubleAttribute( const std::string& name, double val ) +{ + TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); + if ( attrib ) { + attrib->SetDoubleValue( val ); + } +} +#endif + + +void TiXmlElement::SetAttribute( const char * cname, const char * cvalue ) +{ + TiXmlAttribute* attrib = attributeSet.FindOrCreate( cname ); + if ( attrib ) { + attrib->SetValue( cvalue ); + } +} + + +#ifdef TIXML_USE_STL +void TiXmlElement::SetAttribute( const std::string& _name, const std::string& _value ) +{ + TiXmlAttribute* attrib = attributeSet.FindOrCreate( _name ); + if ( attrib ) { + attrib->SetValue( _value ); + } +} +#endif + + +void TiXmlElement::Print( FILE* cfile, int depth ) const +{ + int i; + assert( cfile ); + for ( i=0; iNext() ) + { + fprintf( cfile, " " ); + attrib->Print( cfile, depth ); + } + + // There are 3 different formatting approaches: + // 1) An element without children is printed as a node + // 2) An element with only a text child is printed as text + // 3) An element with children is printed on multiple lines. + TiXmlNode* node; + if ( !firstChild ) + { + fprintf( cfile, " />" ); + } + else if ( firstChild == lastChild && firstChild->ToText() ) + { + fprintf( cfile, ">" ); + firstChild->Print( cfile, depth + 1 ); + fprintf( cfile, "", value.c_str() ); + } + else + { + fprintf( cfile, ">" ); + + for ( node = firstChild; node; node=node->NextSibling() ) + { + if ( !node->ToText() ) + { + fprintf( cfile, "\n" ); + } + node->Print( cfile, depth+1 ); + } + fprintf( cfile, "\n" ); + for( i=0; i", value.c_str() ); + } +} + + +void TiXmlElement::CopyTo( TiXmlElement* target ) const +{ + // superclass: + TiXmlNode::CopyTo( target ); + + // Element class: + // Clone the attributes, then clone the children. + const TiXmlAttribute* attribute = 0; + for( attribute = attributeSet.First(); + attribute; + attribute = attribute->Next() ) + { + target->SetAttribute( attribute->Name(), attribute->Value() ); + } + + TiXmlNode* node = 0; + for ( node = firstChild; node; node = node->NextSibling() ) + { + target->LinkEndChild( node->Clone() ); + } +} + +bool TiXmlElement::Accept( TiXmlVisitor* visitor ) const +{ + if ( visitor->VisitEnter( *this, attributeSet.First() ) ) + { + for ( const TiXmlNode* node=FirstChild(); node; node=node->NextSibling() ) + { + if ( !node->Accept( visitor ) ) + break; + } + } + return visitor->VisitExit( *this ); +} + + +TiXmlNode* TiXmlElement::Clone() const +{ + TiXmlElement* clone = new TiXmlElement( Value() ); + if ( !clone ) + return 0; + + CopyTo( clone ); + return clone; +} + + +const char* TiXmlElement::GetText() const +{ + const TiXmlNode* child = this->FirstChild(); + if ( child ) { + const TiXmlText* childText = child->ToText(); + if ( childText ) { + return childText->Value(); + } + } + return 0; +} + + +TiXmlDocument::TiXmlDocument() : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) +{ + tabsize = 4; + useMicrosoftBOM = false; + ClearError(); +} + +TiXmlDocument::TiXmlDocument( const char * documentName ) : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) +{ + tabsize = 4; + useMicrosoftBOM = false; + value = documentName; + ClearError(); +} + + +#ifdef TIXML_USE_STL +TiXmlDocument::TiXmlDocument( const std::string& documentName ) : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) +{ + tabsize = 4; + useMicrosoftBOM = false; + value = documentName; + ClearError(); +} +#endif + + +TiXmlDocument::TiXmlDocument( const TiXmlDocument& copy ) : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) +{ + copy.CopyTo( this ); +} + + +TiXmlDocument& TiXmlDocument::operator=( const TiXmlDocument& copy ) +{ + Clear(); + copy.CopyTo( this ); + return *this; +} + + +bool TiXmlDocument::LoadFile( TiXmlEncoding encoding ) +{ + return LoadFile( Value(), encoding ); +} + + +bool TiXmlDocument::SaveFile() const +{ + return SaveFile( Value() ); +} + +bool TiXmlDocument::LoadFile( const char* _filename, TiXmlEncoding encoding ) +{ + TIXML_STRING filename( _filename ); + value = filename; + + // reading in binary mode so that tinyxml can normalize the EOL + FILE* file = TiXmlFOpen( value.c_str (), "rb" ); + + if ( file ) + { + bool result = LoadFile( file, encoding ); + fclose( file ); + return result; + } + else + { + SetError( TIXML_ERROR_OPENING_FILE, 0, 0, TIXML_ENCODING_UNKNOWN ); + return false; + } +} + +bool TiXmlDocument::LoadFile( FILE* file, TiXmlEncoding encoding ) +{ + if ( !file ) + { + SetError( TIXML_ERROR_OPENING_FILE, 0, 0, TIXML_ENCODING_UNKNOWN ); + return false; + } + + // Delete the existing data: + Clear(); + location.Clear(); + + // Get the file size, so we can pre-allocate the string. HUGE speed impact. + long length = 0; + fseek( file, 0, SEEK_END ); + length = ftell( file ); + fseek( file, 0, SEEK_SET ); + + // Strange case, but good to handle up front. + if ( length <= 0 ) + { + SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return false; + } + + // Subtle bug here. TinyXml did use fgets. But from the XML spec: + // 2.11 End-of-Line Handling + // + // + // ...the XML processor MUST behave as if it normalized all line breaks in external + // parsed entities (including the document entity) on input, before parsing, by translating + // both the two-character sequence #xD #xA and any #xD that is not followed by #xA to + // a single #xA character. + // + // + // It is not clear fgets does that, and certainly isn't clear it works cross platform. + // Generally, you expect fgets to translate from the convention of the OS to the c/unix + // convention, and not work generally. + + /* + while( fgets( buf, sizeof(buf), file ) ) + { + data += buf; + } + */ + + char* buf = new char[ length+1 ]; + buf[0] = 0; + + if ( fread( buf, length, 1, file ) != 1 ) { + delete [] buf; + SetError( TIXML_ERROR_OPENING_FILE, 0, 0, TIXML_ENCODING_UNKNOWN ); + return false; + } + + // Process the buffer in place to normalize new lines. (See comment above.) + // Copies from the 'p' to 'q' pointer, where p can advance faster if + // a newline-carriage return is hit. + // + // Wikipedia: + // Systems based on ASCII or a compatible character set use either LF (Line feed, '\n', 0x0A, 10 in decimal) or + // CR (Carriage return, '\r', 0x0D, 13 in decimal) individually, or CR followed by LF (CR+LF, 0x0D 0x0A)... + // * LF: Multics, Unix and Unix-like systems (GNU/Linux, AIX, Xenix, Mac OS X, FreeBSD, etc.), BeOS, Amiga, RISC OS, and others + // * CR+LF: DEC RT-11 and most other early non-Unix, non-IBM OSes, CP/M, MP/M, DOS, OS/2, Microsoft Windows, Symbian OS + // * CR: Commodore 8-bit machines, Apple II family, Mac OS up to version 9 and OS-9 + + const char* p = buf; // the read head + char* q = buf; // the write head + const char CR = 0x0d; + const char LF = 0x0a; + + buf[length] = 0; + while( *p ) { + assert( p < (buf+length) ); + assert( q <= (buf+length) ); + assert( q <= p ); + + if ( *p == CR ) { + *q++ = LF; + p++; + if ( *p == LF ) { // check for CR+LF (and skip LF) + p++; + } + } + else { + *q++ = *p++; + } + } + assert( q <= (buf+length) ); + *q = 0; + + Parse( buf, 0, encoding ); + + delete [] buf; + return !Error(); +} + + +bool TiXmlDocument::SaveFile( const char * filename ) const +{ + // The old c stuff lives on... + FILE* fp = TiXmlFOpen( filename, "w" ); + if ( fp ) + { + bool result = SaveFile( fp ); + fclose( fp ); + return result; + } + return false; +} + + +bool TiXmlDocument::SaveFile( FILE* fp ) const +{ + if ( useMicrosoftBOM ) + { + const unsigned char TIXML_UTF_LEAD_0 = 0xefU; + const unsigned char TIXML_UTF_LEAD_1 = 0xbbU; + const unsigned char TIXML_UTF_LEAD_2 = 0xbfU; + + fputc( TIXML_UTF_LEAD_0, fp ); + fputc( TIXML_UTF_LEAD_1, fp ); + fputc( TIXML_UTF_LEAD_2, fp ); + } + Print( fp, 0 ); + return (ferror(fp) == 0); +} + + +void TiXmlDocument::CopyTo( TiXmlDocument* target ) const +{ + TiXmlNode::CopyTo( target ); + + target->error = error; + target->errorId = errorId; + target->errorDesc = errorDesc; + target->tabsize = tabsize; + target->errorLocation = errorLocation; + target->useMicrosoftBOM = useMicrosoftBOM; + + TiXmlNode* node = 0; + for ( node = firstChild; node; node = node->NextSibling() ) + { + target->LinkEndChild( node->Clone() ); + } +} + + +TiXmlNode* TiXmlDocument::Clone() const +{ + TiXmlDocument* clone = new TiXmlDocument(); + if ( !clone ) + return 0; + + CopyTo( clone ); + return clone; +} + + +void TiXmlDocument::Print( FILE* cfile, int depth ) const +{ + assert( cfile ); + for ( const TiXmlNode* node=FirstChild(); node; node=node->NextSibling() ) + { + node->Print( cfile, depth ); + fprintf( cfile, "\n" ); + } +} + + +bool TiXmlDocument::Accept( TiXmlVisitor* visitor ) const +{ + if ( visitor->VisitEnter( *this ) ) + { + for ( const TiXmlNode* node=FirstChild(); node; node=node->NextSibling() ) + { + if ( !node->Accept( visitor ) ) + break; + } + } + return visitor->VisitExit( *this ); +} + + +const TiXmlAttribute* TiXmlAttribute::Next() const +{ + // We are using knowledge of the sentinel. The sentinel + // have a value or name. + if ( next->value.empty() && next->name.empty() ) + return 0; + return next; +} + +/* +TiXmlAttribute* TiXmlAttribute::Next() +{ + // We are using knowledge of the sentinel. The sentinel + // have a value or name. + if ( next->value.empty() && next->name.empty() ) + return 0; + return next; +} +*/ + +const TiXmlAttribute* TiXmlAttribute::Previous() const +{ + // We are using knowledge of the sentinel. The sentinel + // have a value or name. + if ( prev->value.empty() && prev->name.empty() ) + return 0; + return prev; +} + +/* +TiXmlAttribute* TiXmlAttribute::Previous() +{ + // We are using knowledge of the sentinel. The sentinel + // have a value or name. + if ( prev->value.empty() && prev->name.empty() ) + return 0; + return prev; +} +*/ + +void TiXmlAttribute::Print( FILE* cfile, int /*depth*/, TIXML_STRING* str ) const +{ + TIXML_STRING n, v; + + EncodeString( name, &n ); + EncodeString( value, &v ); + + if (value.find ('\"') == TIXML_STRING::npos) { + if ( cfile ) { + fprintf (cfile, "%s=\"%s\"", n.c_str(), v.c_str() ); + } + if ( str ) { + (*str) += n; (*str) += "=\""; (*str) += v; (*str) += "\""; + } + } + else { + if ( cfile ) { + fprintf (cfile, "%s='%s'", n.c_str(), v.c_str() ); + } + if ( str ) { + (*str) += n; (*str) += "='"; (*str) += v; (*str) += "'"; + } + } +} + + +int TiXmlAttribute::QueryIntValue( int* ival ) const +{ + if ( TIXML_SSCANF( value.c_str(), "%d", ival ) == 1 ) + return TIXML_SUCCESS; + return TIXML_WRONG_TYPE; +} + +int TiXmlAttribute::QueryDoubleValue( double* dval ) const +{ + if ( TIXML_SSCANF( value.c_str(), "%lf", dval ) == 1 ) + return TIXML_SUCCESS; + return TIXML_WRONG_TYPE; +} + +void TiXmlAttribute::SetIntValue( int _value ) +{ + char buf [64]; + #if defined(TIXML_SNPRINTF) + TIXML_SNPRINTF(buf, sizeof(buf), "%d", _value); + #else + sprintf (buf, "%d", _value); + #endif + SetValue (buf); +} + +void TiXmlAttribute::SetDoubleValue( double _value ) +{ + char buf [256]; + #if defined(TIXML_SNPRINTF) + TIXML_SNPRINTF( buf, sizeof(buf), "%g", _value); + #else + sprintf (buf, "%g", _value); + #endif + SetValue (buf); +} + +int TiXmlAttribute::IntValue() const +{ + return atoi (value.c_str ()); +} + +double TiXmlAttribute::DoubleValue() const +{ + return atof (value.c_str ()); +} + + +TiXmlComment::TiXmlComment( const TiXmlComment& copy ) : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) +{ + copy.CopyTo( this ); +} + + +TiXmlComment& TiXmlComment::operator=( const TiXmlComment& base ) +{ + Clear(); + base.CopyTo( this ); + return *this; +} + + +void TiXmlComment::Print( FILE* cfile, int depth ) const +{ + assert( cfile ); + for ( int i=0; i", value.c_str() ); +} + + +void TiXmlComment::CopyTo( TiXmlComment* target ) const +{ + TiXmlNode::CopyTo( target ); +} + + +bool TiXmlComment::Accept( TiXmlVisitor* visitor ) const +{ + return visitor->Visit( *this ); +} + + +TiXmlNode* TiXmlComment::Clone() const +{ + TiXmlComment* clone = new TiXmlComment(); + + if ( !clone ) + return 0; + + CopyTo( clone ); + return clone; +} + + +void TiXmlText::Print( FILE* cfile, int depth ) const +{ + assert( cfile ); + if ( cdata ) + { + int i; + fprintf( cfile, "\n" ); + for ( i=0; i\n", value.c_str() ); // unformatted output + } + else + { + TIXML_STRING buffer; + EncodeString( value, &buffer ); + fprintf( cfile, "%s", buffer.c_str() ); + } +} + + +void TiXmlText::CopyTo( TiXmlText* target ) const +{ + TiXmlNode::CopyTo( target ); + target->cdata = cdata; +} + + +bool TiXmlText::Accept( TiXmlVisitor* visitor ) const +{ + return visitor->Visit( *this ); +} + + +TiXmlNode* TiXmlText::Clone() const +{ + TiXmlText* clone = 0; + clone = new TiXmlText( "" ); + + if ( !clone ) + return 0; + + CopyTo( clone ); + return clone; +} + + +TiXmlDeclaration::TiXmlDeclaration( const char * _version, + const char * _encoding, + const char * _standalone ) + : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) +{ + version = _version; + encoding = _encoding; + standalone = _standalone; +} + + +#ifdef TIXML_USE_STL +TiXmlDeclaration::TiXmlDeclaration( const std::string& _version, + const std::string& _encoding, + const std::string& _standalone ) + : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) +{ + version = _version; + encoding = _encoding; + standalone = _standalone; +} +#endif + + +TiXmlDeclaration::TiXmlDeclaration( const TiXmlDeclaration& copy ) + : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) +{ + copy.CopyTo( this ); +} + + +TiXmlDeclaration& TiXmlDeclaration::operator=( const TiXmlDeclaration& copy ) +{ + Clear(); + copy.CopyTo( this ); + return *this; +} + + +void TiXmlDeclaration::Print( FILE* cfile, int /*depth*/, TIXML_STRING* str ) const +{ + if ( cfile ) fprintf( cfile, "" ); + if ( str ) (*str) += "?>"; +} + + +void TiXmlDeclaration::CopyTo( TiXmlDeclaration* target ) const +{ + TiXmlNode::CopyTo( target ); + + target->version = version; + target->encoding = encoding; + target->standalone = standalone; +} + + +bool TiXmlDeclaration::Accept( TiXmlVisitor* visitor ) const +{ + return visitor->Visit( *this ); +} + + +TiXmlNode* TiXmlDeclaration::Clone() const +{ + TiXmlDeclaration* clone = new TiXmlDeclaration(); + + if ( !clone ) + return 0; + + CopyTo( clone ); + return clone; +} + + +void TiXmlUnknown::Print( FILE* cfile, int depth ) const +{ + for ( int i=0; i", value.c_str() ); +} + + +void TiXmlUnknown::CopyTo( TiXmlUnknown* target ) const +{ + TiXmlNode::CopyTo( target ); +} + + +bool TiXmlUnknown::Accept( TiXmlVisitor* visitor ) const +{ + return visitor->Visit( *this ); +} + + +TiXmlNode* TiXmlUnknown::Clone() const +{ + TiXmlUnknown* clone = new TiXmlUnknown(); + + if ( !clone ) + return 0; + + CopyTo( clone ); + return clone; +} + + +TiXmlAttributeSet::TiXmlAttributeSet() +{ + sentinel.next = &sentinel; + sentinel.prev = &sentinel; +} + + +TiXmlAttributeSet::~TiXmlAttributeSet() +{ + assert( sentinel.next == &sentinel ); + assert( sentinel.prev == &sentinel ); +} + + +void TiXmlAttributeSet::Add( TiXmlAttribute* addMe ) +{ + #ifdef TIXML_USE_STL + assert( !Find( TIXML_STRING( addMe->Name() ) ) ); // Shouldn't be multiply adding to the set. + #else + assert( !Find( addMe->Name() ) ); // Shouldn't be multiply adding to the set. + #endif + + addMe->next = &sentinel; + addMe->prev = sentinel.prev; + + sentinel.prev->next = addMe; + sentinel.prev = addMe; +} + +void TiXmlAttributeSet::Remove( TiXmlAttribute* removeMe ) +{ + TiXmlAttribute* node; + + for( node = sentinel.next; node != &sentinel; node = node->next ) + { + if ( node == removeMe ) + { + node->prev->next = node->next; + node->next->prev = node->prev; + node->next = 0; + node->prev = 0; + return; + } + } + assert( 0 ); // we tried to remove a non-linked attribute. +} + + +#ifdef TIXML_USE_STL +TiXmlAttribute* TiXmlAttributeSet::Find( const std::string& name ) const +{ + for( TiXmlAttribute* node = sentinel.next; node != &sentinel; node = node->next ) + { + if ( node->name == name ) + return node; + } + return 0; +} + +TiXmlAttribute* TiXmlAttributeSet::FindOrCreate( const std::string& _name ) +{ + TiXmlAttribute* attrib = Find( _name ); + if ( !attrib ) { + attrib = new TiXmlAttribute(); + Add( attrib ); + attrib->SetName( _name ); + } + return attrib; +} +#endif + + +TiXmlAttribute* TiXmlAttributeSet::Find( const char* name ) const +{ + for( TiXmlAttribute* node = sentinel.next; node != &sentinel; node = node->next ) + { + if ( strcmp( node->name.c_str(), name ) == 0 ) + return node; + } + return 0; +} + + +TiXmlAttribute* TiXmlAttributeSet::FindOrCreate( const char* _name ) +{ + TiXmlAttribute* attrib = Find( _name ); + if ( !attrib ) { + attrib = new TiXmlAttribute(); + Add( attrib ); + attrib->SetName( _name ); + } + return attrib; +} + + +#ifdef TIXML_USE_STL +std::istream& operator>> (std::istream & in, TiXmlNode & base) +{ + TIXML_STRING tag; + tag.reserve( 8 * 1000 ); + base.StreamIn( &in, &tag ); + + base.Parse( tag.c_str(), 0, TIXML_DEFAULT_ENCODING ); + return in; +} +#endif + + +#ifdef TIXML_USE_STL +std::ostream& operator<< (std::ostream & out, const TiXmlNode & base) +{ + TiXmlPrinter printer; + printer.SetStreamPrinting(); + base.Accept( &printer ); + out << printer.Str(); + + return out; +} + + +std::string& operator<< (std::string& out, const TiXmlNode& base ) +{ + TiXmlPrinter printer; + printer.SetStreamPrinting(); + base.Accept( &printer ); + out.append( printer.Str() ); + + return out; +} +#endif + + +TiXmlHandle TiXmlHandle::FirstChild() const +{ + if ( node ) + { + TiXmlNode* child = node->FirstChild(); + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::FirstChild( const char * value ) const +{ + if ( node ) + { + TiXmlNode* child = node->FirstChild( value ); + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::FirstChildElement() const +{ + if ( node ) + { + TiXmlElement* child = node->FirstChildElement(); + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::FirstChildElement( const char * value ) const +{ + if ( node ) + { + TiXmlElement* child = node->FirstChildElement( value ); + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::Child( int count ) const +{ + if ( node ) + { + int i; + TiXmlNode* child = node->FirstChild(); + for ( i=0; + child && iNextSibling(), ++i ) + { + // nothing + } + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::Child( const char* value, int count ) const +{ + if ( node ) + { + int i; + TiXmlNode* child = node->FirstChild( value ); + for ( i=0; + child && iNextSibling( value ), ++i ) + { + // nothing + } + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::ChildElement( int count ) const +{ + if ( node ) + { + int i; + TiXmlElement* child = node->FirstChildElement(); + for ( i=0; + child && iNextSiblingElement(), ++i ) + { + // nothing + } + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +TiXmlHandle TiXmlHandle::ChildElement( const char* value, int count ) const +{ + if ( node ) + { + int i; + TiXmlElement* child = node->FirstChildElement( value ); + for ( i=0; + child && iNextSiblingElement( value ), ++i ) + { + // nothing + } + if ( child ) + return TiXmlHandle( child ); + } + return TiXmlHandle( 0 ); +} + + +bool TiXmlPrinter::VisitEnter( const TiXmlDocument& ) +{ + return true; +} + +bool TiXmlPrinter::VisitExit( const TiXmlDocument& ) +{ + return true; +} + +bool TiXmlPrinter::VisitEnter( const TiXmlElement& element, const TiXmlAttribute* firstAttribute ) +{ + DoIndent(); + buffer += "<"; + buffer += element.Value(); + + for( const TiXmlAttribute* attrib = firstAttribute; attrib; attrib = attrib->Next() ) + { + buffer += " "; + attrib->Print( 0, 0, &buffer ); + } + + if ( !element.FirstChild() ) + { + buffer += " />"; + DoLineBreak(); + } + else + { + buffer += ">"; + if ( element.FirstChild()->ToText() + && element.LastChild() == element.FirstChild() + && element.FirstChild()->ToText()->CDATA() == false ) + { + simpleTextPrint = true; + // no DoLineBreak()! + } + else + { + DoLineBreak(); + } + } + ++depth; + return true; +} + + +bool TiXmlPrinter::VisitExit( const TiXmlElement& element ) +{ + --depth; + if ( !element.FirstChild() ) + { + // nothing. + } + else + { + if ( simpleTextPrint ) + { + simpleTextPrint = false; + } + else + { + DoIndent(); + } + buffer += ""; + DoLineBreak(); + } + return true; +} + + +bool TiXmlPrinter::Visit( const TiXmlText& text ) +{ + if ( text.CDATA() ) + { + DoIndent(); + buffer += ""; + DoLineBreak(); + } + else if ( simpleTextPrint ) + { + TIXML_STRING str; + TiXmlBase::EncodeString( text.ValueTStr(), &str ); + buffer += str; + } + else + { + DoIndent(); + TIXML_STRING str; + TiXmlBase::EncodeString( text.ValueTStr(), &str ); + buffer += str; + DoLineBreak(); + } + return true; +} + + +bool TiXmlPrinter::Visit( const TiXmlDeclaration& declaration ) +{ + DoIndent(); + declaration.Print( 0, 0, &buffer ); + DoLineBreak(); + return true; +} + + +bool TiXmlPrinter::Visit( const TiXmlComment& comment ) +{ + DoIndent(); + buffer += ""; + DoLineBreak(); + return true; +} + + +bool TiXmlPrinter::Visit( const TiXmlUnknown& unknown ) +{ + DoIndent(); + buffer += "<"; + buffer += unknown.Value(); + buffer += ">"; + DoLineBreak(); + return true; +} + diff --git a/btgui/tinyxml/tinyxml.h b/btgui/tinyxml/tinyxml.h new file mode 100755 index 000000000..a3589e5b2 --- /dev/null +++ b/btgui/tinyxml/tinyxml.h @@ -0,0 +1,1805 @@ +/* +www.sourceforge.net/projects/tinyxml +Original code by Lee Thomason (www.grinninglizard.com) + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any +damages arising from the use of this software. + +Permission is granted to anyone to use this software for any +purpose, including commercial applications, and to alter it and +redistribute it freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must +not claim that you wrote the original software. If you use this +software in a product, an acknowledgment in the product documentation +would be appreciated but is not required. + +2. Altered source versions must be plainly marked as such, and +must not be misrepresented as being the original software. + +3. This notice may not be removed or altered from any source +distribution. +*/ + + +#ifndef TINYXML_INCLUDED +#define TINYXML_INCLUDED + +#ifdef _MSC_VER +#pragma warning( push ) +#pragma warning( disable : 4530 ) +#pragma warning( disable : 4786 ) +#endif + +#include +#include +#include +#include +#include + +// Help out windows: +#if defined( _DEBUG ) && !defined( DEBUG ) +#define DEBUG +#endif + +#ifdef TIXML_USE_STL + #include + #include + #include + #define TIXML_STRING std::string +#else + #include "tinystr.h" + #define TIXML_STRING TiXmlString +#endif + +// Deprecated library function hell. Compilers want to use the +// new safe versions. This probably doesn't fully address the problem, +// but it gets closer. There are too many compilers for me to fully +// test. If you get compilation troubles, undefine TIXML_SAFE +#define TIXML_SAFE + +#ifdef TIXML_SAFE + #if defined(_MSC_VER) && (_MSC_VER >= 1400 ) + // Microsoft visual studio, version 2005 and higher. + #define TIXML_SNPRINTF _snprintf_s + #define TIXML_SSCANF sscanf_s + #elif defined(_MSC_VER) && (_MSC_VER >= 1200 ) + // Microsoft visual studio, version 6 and higher. + //#pragma message( "Using _sn* functions." ) + #define TIXML_SNPRINTF _snprintf + #define TIXML_SSCANF sscanf + #elif defined(__GNUC__) && (__GNUC__ >= 3 ) + // GCC version 3 and higher.s + //#warning( "Using sn* functions." ) + #define TIXML_SNPRINTF snprintf + #define TIXML_SSCANF sscanf + #else + #define TIXML_SNPRINTF snprintf + #define TIXML_SSCANF sscanf + #endif +#endif + +class TiXmlDocument; +class TiXmlElement; +class TiXmlComment; +class TiXmlUnknown; +class TiXmlAttribute; +class TiXmlText; +class TiXmlDeclaration; +class TiXmlParsingData; + +const int TIXML_MAJOR_VERSION = 2; +const int TIXML_MINOR_VERSION = 6; +const int TIXML_PATCH_VERSION = 2; + +/* Internal structure for tracking location of items + in the XML file. +*/ +struct TiXmlCursor +{ + TiXmlCursor() { Clear(); } + void Clear() { row = col = -1; } + + int row; // 0 based. + int col; // 0 based. +}; + + +/** + Implements the interface to the "Visitor pattern" (see the Accept() method.) + If you call the Accept() method, it requires being passed a TiXmlVisitor + class to handle callbacks. For nodes that contain other nodes (Document, Element) + you will get called with a VisitEnter/VisitExit pair. Nodes that are always leaves + are simply called with Visit(). + + If you return 'true' from a Visit method, recursive parsing will continue. If you return + false, no children of this node or its sibilings will be Visited. + + All flavors of Visit methods have a default implementation that returns 'true' (continue + visiting). You need to only override methods that are interesting to you. + + Generally Accept() is called on the TiXmlDocument, although all nodes suppert Visiting. + + You should never change the document from a callback. + + @sa TiXmlNode::Accept() +*/ +class TiXmlVisitor +{ +public: + virtual ~TiXmlVisitor() {} + + /// Visit a document. + virtual bool VisitEnter( const TiXmlDocument& /*doc*/ ) { return true; } + /// Visit a document. + virtual bool VisitExit( const TiXmlDocument& /*doc*/ ) { return true; } + + /// Visit an element. + virtual bool VisitEnter( const TiXmlElement& /*element*/, const TiXmlAttribute* /*firstAttribute*/ ) { return true; } + /// Visit an element. + virtual bool VisitExit( const TiXmlElement& /*element*/ ) { return true; } + + /// Visit a declaration + virtual bool Visit( const TiXmlDeclaration& /*declaration*/ ) { return true; } + /// Visit a text node + virtual bool Visit( const TiXmlText& /*text*/ ) { return true; } + /// Visit a comment node + virtual bool Visit( const TiXmlComment& /*comment*/ ) { return true; } + /// Visit an unknown node + virtual bool Visit( const TiXmlUnknown& /*unknown*/ ) { return true; } +}; + +// Only used by Attribute::Query functions +enum +{ + TIXML_SUCCESS, + TIXML_NO_ATTRIBUTE, + TIXML_WRONG_TYPE +}; + + +// Used by the parsing routines. +enum TiXmlEncoding +{ + TIXML_ENCODING_UNKNOWN, + TIXML_ENCODING_UTF8, + TIXML_ENCODING_LEGACY +}; + +const TiXmlEncoding TIXML_DEFAULT_ENCODING = TIXML_ENCODING_UNKNOWN; + +/** TiXmlBase is a base class for every class in TinyXml. + It does little except to establish that TinyXml classes + can be printed and provide some utility functions. + + In XML, the document and elements can contain + other elements and other types of nodes. + + @verbatim + A Document can contain: Element (container or leaf) + Comment (leaf) + Unknown (leaf) + Declaration( leaf ) + + An Element can contain: Element (container or leaf) + Text (leaf) + Attributes (not on tree) + Comment (leaf) + Unknown (leaf) + + A Decleration contains: Attributes (not on tree) + @endverbatim +*/ +class TiXmlBase +{ + friend class TiXmlNode; + friend class TiXmlElement; + friend class TiXmlDocument; + +public: + TiXmlBase() : userData(0) {} + virtual ~TiXmlBase() {} + + /** All TinyXml classes can print themselves to a filestream + or the string class (TiXmlString in non-STL mode, std::string + in STL mode.) Either or both cfile and str can be null. + + This is a formatted print, and will insert + tabs and newlines. + + (For an unformatted stream, use the << operator.) + */ + virtual void Print( FILE* cfile, int depth ) const = 0; + + /** The world does not agree on whether white space should be kept or + not. In order to make everyone happy, these global, static functions + are provided to set whether or not TinyXml will condense all white space + into a single space or not. The default is to condense. Note changing this + value is not thread safe. + */ + static void SetCondenseWhiteSpace( bool condense ) { condenseWhiteSpace = condense; } + + /// Return the current white space setting. + static bool IsWhiteSpaceCondensed() { return condenseWhiteSpace; } + + /** Return the position, in the original source file, of this node or attribute. + The row and column are 1-based. (That is the first row and first column is + 1,1). If the returns values are 0 or less, then the parser does not have + a row and column value. + + Generally, the row and column value will be set when the TiXmlDocument::Load(), + TiXmlDocument::LoadFile(), or any TiXmlNode::Parse() is called. It will NOT be set + when the DOM was created from operator>>. + + The values reflect the initial load. Once the DOM is modified programmatically + (by adding or changing nodes and attributes) the new values will NOT update to + reflect changes in the document. + + There is a minor performance cost to computing the row and column. Computation + can be disabled if TiXmlDocument::SetTabSize() is called with 0 as the value. + + @sa TiXmlDocument::SetTabSize() + */ + int Row() const { return location.row + 1; } + int Column() const { return location.col + 1; } ///< See Row() + + void SetUserData( void* user ) { userData = user; } ///< Set a pointer to arbitrary user data. + void* GetUserData() { return userData; } ///< Get a pointer to arbitrary user data. + const void* GetUserData() const { return userData; } ///< Get a pointer to arbitrary user data. + + // Table that returs, for a given lead byte, the total number of bytes + // in the UTF-8 sequence. + static const int utf8ByteTable[256]; + + virtual const char* Parse( const char* p, + TiXmlParsingData* data, + TiXmlEncoding encoding /*= TIXML_ENCODING_UNKNOWN */ ) = 0; + + /** Expands entities in a string. Note this should not contian the tag's '<', '>', etc, + or they will be transformed into entities! + */ + static void EncodeString( const TIXML_STRING& str, TIXML_STRING* out ); + + enum + { + TIXML_NO_ERROR = 0, + TIXML_ERROR, + TIXML_ERROR_OPENING_FILE, + TIXML_ERROR_PARSING_ELEMENT, + TIXML_ERROR_FAILED_TO_READ_ELEMENT_NAME, + TIXML_ERROR_READING_ELEMENT_VALUE, + TIXML_ERROR_READING_ATTRIBUTES, + TIXML_ERROR_PARSING_EMPTY, + TIXML_ERROR_READING_END_TAG, + TIXML_ERROR_PARSING_UNKNOWN, + TIXML_ERROR_PARSING_COMMENT, + TIXML_ERROR_PARSING_DECLARATION, + TIXML_ERROR_DOCUMENT_EMPTY, + TIXML_ERROR_EMBEDDED_NULL, + TIXML_ERROR_PARSING_CDATA, + TIXML_ERROR_DOCUMENT_TOP_ONLY, + + TIXML_ERROR_STRING_COUNT + }; + +protected: + + static const char* SkipWhiteSpace( const char*, TiXmlEncoding encoding ); + + inline static bool IsWhiteSpace( char c ) + { + return ( isspace( (unsigned char) c ) || c == '\n' || c == '\r' ); + } + inline static bool IsWhiteSpace( int c ) + { + if ( c < 256 ) + return IsWhiteSpace( (char) c ); + return false; // Again, only truly correct for English/Latin...but usually works. + } + + #ifdef TIXML_USE_STL + static bool StreamWhiteSpace( std::istream * in, TIXML_STRING * tag ); + static bool StreamTo( std::istream * in, int character, TIXML_STRING * tag ); + #endif + + /* Reads an XML name into the string provided. Returns + a pointer just past the last character of the name, + or 0 if the function has an error. + */ + static const char* ReadName( const char* p, TIXML_STRING* name, TiXmlEncoding encoding ); + + /* Reads text. Returns a pointer past the given end tag. + Wickedly complex options, but it keeps the (sensitive) code in one place. + */ + static const char* ReadText( const char* in, // where to start + TIXML_STRING* text, // the string read + bool ignoreWhiteSpace, // whether to keep the white space + const char* endTag, // what ends this text + bool ignoreCase, // whether to ignore case in the end tag + TiXmlEncoding encoding ); // the current encoding + + // If an entity has been found, transform it into a character. + static const char* GetEntity( const char* in, char* value, int* length, TiXmlEncoding encoding ); + + // Get a character, while interpreting entities. + // The length can be from 0 to 4 bytes. + inline static const char* GetChar( const char* p, char* _value, int* length, TiXmlEncoding encoding ) + { + assert( p ); + if ( encoding == TIXML_ENCODING_UTF8 ) + { + *length = utf8ByteTable[ *((const unsigned char*)p) ]; + assert( *length >= 0 && *length < 5 ); + } + else + { + *length = 1; + } + + if ( *length == 1 ) + { + if ( *p == '&' ) + return GetEntity( p, _value, length, encoding ); + *_value = *p; + return p+1; + } + else if ( *length ) + { + //strncpy( _value, p, *length ); // lots of compilers don't like this function (unsafe), + // and the null terminator isn't needed + for( int i=0; p[i] && i<*length; ++i ) { + _value[i] = p[i]; + } + return p + (*length); + } + else + { + // Not valid text. + return 0; + } + } + + // Return true if the next characters in the stream are any of the endTag sequences. + // Ignore case only works for english, and should only be relied on when comparing + // to English words: StringEqual( p, "version", true ) is fine. + static bool StringEqual( const char* p, + const char* endTag, + bool ignoreCase, + TiXmlEncoding encoding ); + + static const char* errorString[ TIXML_ERROR_STRING_COUNT ]; + + TiXmlCursor location; + + /// Field containing a generic user pointer + void* userData; + + // None of these methods are reliable for any language except English. + // Good for approximation, not great for accuracy. + static int IsAlpha( unsigned char anyByte, TiXmlEncoding encoding ); + static int IsAlphaNum( unsigned char anyByte, TiXmlEncoding encoding ); + inline static int ToLower( int v, TiXmlEncoding encoding ) + { + if ( encoding == TIXML_ENCODING_UTF8 ) + { + if ( v < 128 ) return tolower( v ); + return v; + } + else + { + return tolower( v ); + } + } + static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length ); + +private: + TiXmlBase( const TiXmlBase& ); // not implemented. + void operator=( const TiXmlBase& base ); // not allowed. + + struct Entity + { + const char* str; + unsigned int strLength; + char chr; + }; + enum + { + NUM_ENTITY = 5, + MAX_ENTITY_LENGTH = 6 + + }; + static Entity entity[ NUM_ENTITY ]; + static bool condenseWhiteSpace; +}; + + +/** The parent class for everything in the Document Object Model. + (Except for attributes). + Nodes have siblings, a parent, and children. A node can be + in a document, or stand on its own. The type of a TiXmlNode + can be queried, and it can be cast to its more defined type. +*/ +class TiXmlNode : public TiXmlBase +{ + friend class TiXmlDocument; + friend class TiXmlElement; + +public: + #ifdef TIXML_USE_STL + + /** An input stream operator, for every class. Tolerant of newlines and + formatting, but doesn't expect them. + */ + friend std::istream& operator >> (std::istream& in, TiXmlNode& base); + + /** An output stream operator, for every class. Note that this outputs + without any newlines or formatting, as opposed to Print(), which + includes tabs and new lines. + + The operator<< and operator>> are not completely symmetric. Writing + a node to a stream is very well defined. You'll get a nice stream + of output, without any extra whitespace or newlines. + + But reading is not as well defined. (As it always is.) If you create + a TiXmlElement (for example) and read that from an input stream, + the text needs to define an element or junk will result. This is + true of all input streams, but it's worth keeping in mind. + + A TiXmlDocument will read nodes until it reads a root element, and + all the children of that root element. + */ + friend std::ostream& operator<< (std::ostream& out, const TiXmlNode& base); + + /// Appends the XML node or attribute to a std::string. + friend std::string& operator<< (std::string& out, const TiXmlNode& base ); + + #endif + + /** The types of XML nodes supported by TinyXml. (All the + unsupported types are picked up by UNKNOWN.) + */ + enum NodeType + { + TINYXML_DOCUMENT, + TINYXML_ELEMENT, + TINYXML_COMMENT, + TINYXML_UNKNOWN, + TINYXML_TEXT, + TINYXML_DECLARATION, + TINYXML_TYPECOUNT + }; + + virtual ~TiXmlNode(); + + /** The meaning of 'value' changes for the specific type of + TiXmlNode. + @verbatim + Document: filename of the xml file + Element: name of the element + Comment: the comment text + Unknown: the tag contents + Text: the text string + @endverbatim + + The subclasses will wrap this function. + */ + const char *Value() const { return value.c_str (); } + + #ifdef TIXML_USE_STL + /** Return Value() as a std::string. If you only use STL, + this is more efficient than calling Value(). + Only available in STL mode. + */ + const std::string& ValueStr() const { return value; } + #endif + + const TIXML_STRING& ValueTStr() const { return value; } + + /** Changes the value of the node. Defined as: + @verbatim + Document: filename of the xml file + Element: name of the element + Comment: the comment text + Unknown: the tag contents + Text: the text string + @endverbatim + */ + void SetValue(const char * _value) { value = _value;} + + #ifdef TIXML_USE_STL + /// STL std::string form. + void SetValue( const std::string& _value ) { value = _value; } + #endif + + /// Delete all the children of this node. Does not affect 'this'. + void Clear(); + + /// One step up the DOM. + TiXmlNode* Parent() { return parent; } + const TiXmlNode* Parent() const { return parent; } + + const TiXmlNode* FirstChild() const { return firstChild; } ///< The first child of this node. Will be null if there are no children. + TiXmlNode* FirstChild() { return firstChild; } + const TiXmlNode* FirstChild( const char * value ) const; ///< The first child of this node with the matching 'value'. Will be null if none found. + /// The first child of this node with the matching 'value'. Will be null if none found. + TiXmlNode* FirstChild( const char * _value ) { + // Call through to the const version - safe since nothing is changed. Exiting syntax: cast this to a const (always safe) + // call the method, cast the return back to non-const. + return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->FirstChild( _value )); + } + const TiXmlNode* LastChild() const { return lastChild; } /// The last child of this node. Will be null if there are no children. + TiXmlNode* LastChild() { return lastChild; } + + const TiXmlNode* LastChild( const char * value ) const; /// The last child of this node matching 'value'. Will be null if there are no children. + TiXmlNode* LastChild( const char * _value ) { + return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->LastChild( _value )); + } + + #ifdef TIXML_USE_STL + const TiXmlNode* FirstChild( const std::string& _value ) const { return FirstChild (_value.c_str ()); } ///< STL std::string form. + TiXmlNode* FirstChild( const std::string& _value ) { return FirstChild (_value.c_str ()); } ///< STL std::string form. + const TiXmlNode* LastChild( const std::string& _value ) const { return LastChild (_value.c_str ()); } ///< STL std::string form. + TiXmlNode* LastChild( const std::string& _value ) { return LastChild (_value.c_str ()); } ///< STL std::string form. + #endif + + /** An alternate way to walk the children of a node. + One way to iterate over nodes is: + @verbatim + for( child = parent->FirstChild(); child; child = child->NextSibling() ) + @endverbatim + + IterateChildren does the same thing with the syntax: + @verbatim + child = 0; + while( child = parent->IterateChildren( child ) ) + @endverbatim + + IterateChildren takes the previous child as input and finds + the next one. If the previous child is null, it returns the + first. IterateChildren will return null when done. + */ + const TiXmlNode* IterateChildren( const TiXmlNode* previous ) const; + TiXmlNode* IterateChildren( const TiXmlNode* previous ) { + return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( previous ) ); + } + + /// This flavor of IterateChildren searches for children with a particular 'value' + const TiXmlNode* IterateChildren( const char * value, const TiXmlNode* previous ) const; + TiXmlNode* IterateChildren( const char * _value, const TiXmlNode* previous ) { + return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( _value, previous ) ); + } + + #ifdef TIXML_USE_STL + const TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) const { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form. + TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form. + #endif + + /** Add a new node related to this. Adds a child past the LastChild. + Returns a pointer to the new object or NULL if an error occured. + */ + TiXmlNode* InsertEndChild( const TiXmlNode& addThis ); + + + /** Add a new node related to this. Adds a child past the LastChild. + + NOTE: the node to be added is passed by pointer, and will be + henceforth owned (and deleted) by tinyXml. This method is efficient + and avoids an extra copy, but should be used with care as it + uses a different memory model than the other insert functions. + + @sa InsertEndChild + */ + TiXmlNode* LinkEndChild( TiXmlNode* addThis ); + + /** Add a new node related to this. Adds a child before the specified child. + Returns a pointer to the new object or NULL if an error occured. + */ + TiXmlNode* InsertBeforeChild( TiXmlNode* beforeThis, const TiXmlNode& addThis ); + + /** Add a new node related to this. Adds a child after the specified child. + Returns a pointer to the new object or NULL if an error occured. + */ + TiXmlNode* InsertAfterChild( TiXmlNode* afterThis, const TiXmlNode& addThis ); + + /** Replace a child of this node. + Returns a pointer to the new object or NULL if an error occured. + */ + TiXmlNode* ReplaceChild( TiXmlNode* replaceThis, const TiXmlNode& withThis ); + + /// Delete a child of this node. + bool RemoveChild( TiXmlNode* removeThis ); + + /// Navigate to a sibling node. + const TiXmlNode* PreviousSibling() const { return prev; } + TiXmlNode* PreviousSibling() { return prev; } + + /// Navigate to a sibling node. + const TiXmlNode* PreviousSibling( const char * ) const; + TiXmlNode* PreviousSibling( const char *_prev ) { + return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->PreviousSibling( _prev ) ); + } + + #ifdef TIXML_USE_STL + const TiXmlNode* PreviousSibling( const std::string& _value ) const { return PreviousSibling (_value.c_str ()); } ///< STL std::string form. + TiXmlNode* PreviousSibling( const std::string& _value ) { return PreviousSibling (_value.c_str ()); } ///< STL std::string form. + const TiXmlNode* NextSibling( const std::string& _value) const { return NextSibling (_value.c_str ()); } ///< STL std::string form. + TiXmlNode* NextSibling( const std::string& _value) { return NextSibling (_value.c_str ()); } ///< STL std::string form. + #endif + + /// Navigate to a sibling node. + const TiXmlNode* NextSibling() const { return next; } + TiXmlNode* NextSibling() { return next; } + + /// Navigate to a sibling node with the given 'value'. + const TiXmlNode* NextSibling( const char * ) const; + TiXmlNode* NextSibling( const char* _next ) { + return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->NextSibling( _next ) ); + } + + /** Convenience function to get through elements. + Calls NextSibling and ToElement. Will skip all non-Element + nodes. Returns 0 if there is not another element. + */ + const TiXmlElement* NextSiblingElement() const; + TiXmlElement* NextSiblingElement() { + return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement() ); + } + + /** Convenience function to get through elements. + Calls NextSibling and ToElement. Will skip all non-Element + nodes. Returns 0 if there is not another element. + */ + const TiXmlElement* NextSiblingElement( const char * ) const; + TiXmlElement* NextSiblingElement( const char *_next ) { + return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement( _next ) ); + } + + #ifdef TIXML_USE_STL + const TiXmlElement* NextSiblingElement( const std::string& _value) const { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form. + TiXmlElement* NextSiblingElement( const std::string& _value) { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form. + #endif + + /// Convenience function to get through elements. + const TiXmlElement* FirstChildElement() const; + TiXmlElement* FirstChildElement() { + return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement() ); + } + + /// Convenience function to get through elements. + const TiXmlElement* FirstChildElement( const char * _value ) const; + TiXmlElement* FirstChildElement( const char * _value ) { + return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement( _value ) ); + } + + #ifdef TIXML_USE_STL + const TiXmlElement* FirstChildElement( const std::string& _value ) const { return FirstChildElement (_value.c_str ()); } ///< STL std::string form. + TiXmlElement* FirstChildElement( const std::string& _value ) { return FirstChildElement (_value.c_str ()); } ///< STL std::string form. + #endif + + /** Query the type (as an enumerated value, above) of this node. + The possible types are: TINYXML_DOCUMENT, TINYXML_ELEMENT, TINYXML_COMMENT, + TINYXML_UNKNOWN, TINYXML_TEXT, and TINYXML_DECLARATION. + */ + int Type() const { return type; } + + /** Return a pointer to the Document this node lives in. + Returns null if not in a document. + */ + const TiXmlDocument* GetDocument() const; + TiXmlDocument* GetDocument() { + return const_cast< TiXmlDocument* >( (const_cast< const TiXmlNode* >(this))->GetDocument() ); + } + + /// Returns true if this node has no children. + bool NoChildren() const { return !firstChild; } + + virtual const TiXmlDocument* ToDocument() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual const TiXmlElement* ToElement() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual const TiXmlComment* ToComment() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual const TiXmlUnknown* ToUnknown() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual const TiXmlText* ToText() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual const TiXmlDeclaration* ToDeclaration() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + + virtual TiXmlDocument* ToDocument() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual TiXmlElement* ToElement() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual TiXmlComment* ToComment() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual TiXmlUnknown* ToUnknown() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual TiXmlText* ToText() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + virtual TiXmlDeclaration* ToDeclaration() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. + + /** Create an exact duplicate of this node and return it. The memory must be deleted + by the caller. + */ + virtual TiXmlNode* Clone() const = 0; + + /** Accept a hierchical visit the nodes in the TinyXML DOM. Every node in the + XML tree will be conditionally visited and the host will be called back + via the TiXmlVisitor interface. + + This is essentially a SAX interface for TinyXML. (Note however it doesn't re-parse + the XML for the callbacks, so the performance of TinyXML is unchanged by using this + interface versus any other.) + + The interface has been based on ideas from: + + - http://www.saxproject.org/ + - http://c2.com/cgi/wiki?HierarchicalVisitorPattern + + Which are both good references for "visiting". + + An example of using Accept(): + @verbatim + TiXmlPrinter printer; + tinyxmlDoc.Accept( &printer ); + const char* xmlcstr = printer.CStr(); + @endverbatim + */ + virtual bool Accept( TiXmlVisitor* visitor ) const = 0; + +protected: + TiXmlNode( NodeType _type ); + + // Copy to the allocated object. Shared functionality between Clone, Copy constructor, + // and the assignment operator. + void CopyTo( TiXmlNode* target ) const; + + #ifdef TIXML_USE_STL + // The real work of the input operator. + virtual void StreamIn( std::istream* in, TIXML_STRING* tag ) = 0; + #endif + + // Figure out what is at *p, and parse it. Returns null if it is not an xml node. + TiXmlNode* Identify( const char* start, TiXmlEncoding encoding ); + + TiXmlNode* parent; + NodeType type; + + TiXmlNode* firstChild; + TiXmlNode* lastChild; + + TIXML_STRING value; + + TiXmlNode* prev; + TiXmlNode* next; + +private: + TiXmlNode( const TiXmlNode& ); // not implemented. + void operator=( const TiXmlNode& base ); // not allowed. +}; + + +/** An attribute is a name-value pair. Elements have an arbitrary + number of attributes, each with a unique name. + + @note The attributes are not TiXmlNodes, since they are not + part of the tinyXML document object model. There are other + suggested ways to look at this problem. +*/ +class TiXmlAttribute : public TiXmlBase +{ + friend class TiXmlAttributeSet; + +public: + /// Construct an empty attribute. + TiXmlAttribute() : TiXmlBase() + { + document = 0; + prev = next = 0; + } + + #ifdef TIXML_USE_STL + /// std::string constructor. + TiXmlAttribute( const std::string& _name, const std::string& _value ) + { + name = _name; + value = _value; + document = 0; + prev = next = 0; + } + #endif + + /// Construct an attribute with a name and value. + TiXmlAttribute( const char * _name, const char * _value ) + { + name = _name; + value = _value; + document = 0; + prev = next = 0; + } + + const char* Name() const { return name.c_str(); } ///< Return the name of this attribute. + const char* Value() const { return value.c_str(); } ///< Return the value of this attribute. + #ifdef TIXML_USE_STL + const std::string& ValueStr() const { return value; } ///< Return the value of this attribute. + #endif + int IntValue() const; ///< Return the value of this attribute, converted to an integer. + double DoubleValue() const; ///< Return the value of this attribute, converted to a double. + + // Get the tinyxml string representation + const TIXML_STRING& NameTStr() const { return name; } + + /** QueryIntValue examines the value string. It is an alternative to the + IntValue() method with richer error checking. + If the value is an integer, it is stored in 'value' and + the call returns TIXML_SUCCESS. If it is not + an integer, it returns TIXML_WRONG_TYPE. + + A specialized but useful call. Note that for success it returns 0, + which is the opposite of almost all other TinyXml calls. + */ + int QueryIntValue( int* _value ) const; + /// QueryDoubleValue examines the value string. See QueryIntValue(). + int QueryDoubleValue( double* _value ) const; + + void SetName( const char* _name ) { name = _name; } ///< Set the name of this attribute. + void SetValue( const char* _value ) { value = _value; } ///< Set the value. + + void SetIntValue( int _value ); ///< Set the value from an integer. + void SetDoubleValue( double _value ); ///< Set the value from a double. + + #ifdef TIXML_USE_STL + /// STL std::string form. + void SetName( const std::string& _name ) { name = _name; } + /// STL std::string form. + void SetValue( const std::string& _value ) { value = _value; } + #endif + + /// Get the next sibling attribute in the DOM. Returns null at end. + const TiXmlAttribute* Next() const; + TiXmlAttribute* Next() { + return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Next() ); + } + + /// Get the previous sibling attribute in the DOM. Returns null at beginning. + const TiXmlAttribute* Previous() const; + TiXmlAttribute* Previous() { + return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Previous() ); + } + + bool operator==( const TiXmlAttribute& rhs ) const { return rhs.name == name; } + bool operator<( const TiXmlAttribute& rhs ) const { return name < rhs.name; } + bool operator>( const TiXmlAttribute& rhs ) const { return name > rhs.name; } + + /* Attribute parsing starts: first letter of the name + returns: the next char after the value end quote + */ + virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); + + // Prints this Attribute to a FILE stream. + virtual void Print( FILE* cfile, int depth ) const { + Print( cfile, depth, 0 ); + } + void Print( FILE* cfile, int depth, TIXML_STRING* str ) const; + + // [internal use] + // Set the document pointer so the attribute can report errors. + void SetDocument( TiXmlDocument* doc ) { document = doc; } + +private: + TiXmlAttribute( const TiXmlAttribute& ); // not implemented. + void operator=( const TiXmlAttribute& base ); // not allowed. + + TiXmlDocument* document; // A pointer back to a document, for error reporting. + TIXML_STRING name; + TIXML_STRING value; + TiXmlAttribute* prev; + TiXmlAttribute* next; +}; + + +/* A class used to manage a group of attributes. + It is only used internally, both by the ELEMENT and the DECLARATION. + + The set can be changed transparent to the Element and Declaration + classes that use it, but NOT transparent to the Attribute + which has to implement a next() and previous() method. Which makes + it a bit problematic and prevents the use of STL. + + This version is implemented with circular lists because: + - I like circular lists + - it demonstrates some independence from the (typical) doubly linked list. +*/ +class TiXmlAttributeSet +{ +public: + TiXmlAttributeSet(); + ~TiXmlAttributeSet(); + + void Add( TiXmlAttribute* attribute ); + void Remove( TiXmlAttribute* attribute ); + + const TiXmlAttribute* First() const { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; } + TiXmlAttribute* First() { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; } + const TiXmlAttribute* Last() const { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; } + TiXmlAttribute* Last() { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; } + + TiXmlAttribute* Find( const char* _name ) const; + TiXmlAttribute* FindOrCreate( const char* _name ); + +# ifdef TIXML_USE_STL + TiXmlAttribute* Find( const std::string& _name ) const; + TiXmlAttribute* FindOrCreate( const std::string& _name ); +# endif + + +private: + //*ME: Because of hidden/disabled copy-construktor in TiXmlAttribute (sentinel-element), + //*ME: this class must be also use a hidden/disabled copy-constructor !!! + TiXmlAttributeSet( const TiXmlAttributeSet& ); // not allowed + void operator=( const TiXmlAttributeSet& ); // not allowed (as TiXmlAttribute) + + TiXmlAttribute sentinel; +}; + + +/** The element is a container class. It has a value, the element name, + and can contain other elements, text, comments, and unknowns. + Elements also contain an arbitrary number of attributes. +*/ +class TiXmlElement : public TiXmlNode +{ +public: + /// Construct an element. + TiXmlElement (const char * in_value); + + #ifdef TIXML_USE_STL + /// std::string constructor. + TiXmlElement( const std::string& _value ); + #endif + + TiXmlElement( const TiXmlElement& ); + + TiXmlElement& operator=( const TiXmlElement& base ); + + virtual ~TiXmlElement(); + + /** Given an attribute name, Attribute() returns the value + for the attribute of that name, or null if none exists. + */ + const char* Attribute( const char* name ) const; + + /** Given an attribute name, Attribute() returns the value + for the attribute of that name, or null if none exists. + If the attribute exists and can be converted to an integer, + the integer value will be put in the return 'i', if 'i' + is non-null. + */ + const char* Attribute( const char* name, int* i ) const; + + /** Given an attribute name, Attribute() returns the value + for the attribute of that name, or null if none exists. + If the attribute exists and can be converted to an double, + the double value will be put in the return 'd', if 'd' + is non-null. + */ + const char* Attribute( const char* name, double* d ) const; + + /** QueryIntAttribute examines the attribute - it is an alternative to the + Attribute() method with richer error checking. + If the attribute is an integer, it is stored in 'value' and + the call returns TIXML_SUCCESS. If it is not + an integer, it returns TIXML_WRONG_TYPE. If the attribute + does not exist, then TIXML_NO_ATTRIBUTE is returned. + */ + int QueryIntAttribute( const char* name, int* _value ) const; + /// QueryUnsignedAttribute examines the attribute - see QueryIntAttribute(). + int QueryUnsignedAttribute( const char* name, unsigned* _value ) const; + /** QueryBoolAttribute examines the attribute - see QueryIntAttribute(). + Note that '1', 'true', or 'yes' are considered true, while '0', 'false' + and 'no' are considered false. + */ + int QueryBoolAttribute( const char* name, bool* _value ) const; + /// QueryDoubleAttribute examines the attribute - see QueryIntAttribute(). + int QueryDoubleAttribute( const char* name, double* _value ) const; + /// QueryFloatAttribute examines the attribute - see QueryIntAttribute(). + int QueryFloatAttribute( const char* name, float* _value ) const { + double d; + int result = QueryDoubleAttribute( name, &d ); + if ( result == TIXML_SUCCESS ) { + *_value = (float)d; + } + return result; + } + + #ifdef TIXML_USE_STL + /// QueryStringAttribute examines the attribute - see QueryIntAttribute(). + int QueryStringAttribute( const char* name, std::string* _value ) const { + const char* cstr = Attribute( name ); + if ( cstr ) { + *_value = std::string( cstr ); + return TIXML_SUCCESS; + } + return TIXML_NO_ATTRIBUTE; + } + + /** Template form of the attribute query which will try to read the + attribute into the specified type. Very easy, very powerful, but + be careful to make sure to call this with the correct type. + + NOTE: This method doesn't work correctly for 'string' types that contain spaces. + + @return TIXML_SUCCESS, TIXML_WRONG_TYPE, or TIXML_NO_ATTRIBUTE + */ + template< typename T > int QueryValueAttribute( const std::string& name, T* outValue ) const + { + const TiXmlAttribute* node = attributeSet.Find( name ); + if ( !node ) + return TIXML_NO_ATTRIBUTE; + + std::stringstream sstream( node->ValueStr() ); + sstream >> *outValue; + if ( !sstream.fail() ) + return TIXML_SUCCESS; + return TIXML_WRONG_TYPE; + } + + int QueryValueAttribute( const std::string& name, std::string* outValue ) const + { + const TiXmlAttribute* node = attributeSet.Find( name ); + if ( !node ) + return TIXML_NO_ATTRIBUTE; + *outValue = node->ValueStr(); + return TIXML_SUCCESS; + } + #endif + + /** Sets an attribute of name to a given value. The attribute + will be created if it does not exist, or changed if it does. + */ + void SetAttribute( const char* name, const char * _value ); + + #ifdef TIXML_USE_STL + const std::string* Attribute( const std::string& name ) const; + const std::string* Attribute( const std::string& name, int* i ) const; + const std::string* Attribute( const std::string& name, double* d ) const; + int QueryIntAttribute( const std::string& name, int* _value ) const; + int QueryDoubleAttribute( const std::string& name, double* _value ) const; + + /// STL std::string form. + void SetAttribute( const std::string& name, const std::string& _value ); + ///< STL std::string form. + void SetAttribute( const std::string& name, int _value ); + ///< STL std::string form. + void SetDoubleAttribute( const std::string& name, double value ); + #endif + + /** Sets an attribute of name to a given value. The attribute + will be created if it does not exist, or changed if it does. + */ + void SetAttribute( const char * name, int value ); + + /** Sets an attribute of name to a given value. The attribute + will be created if it does not exist, or changed if it does. + */ + void SetDoubleAttribute( const char * name, double value ); + + /** Deletes an attribute with the given name. + */ + void RemoveAttribute( const char * name ); + #ifdef TIXML_USE_STL + void RemoveAttribute( const std::string& name ) { RemoveAttribute (name.c_str ()); } ///< STL std::string form. + #endif + + const TiXmlAttribute* FirstAttribute() const { return attributeSet.First(); } ///< Access the first attribute in this element. + TiXmlAttribute* FirstAttribute() { return attributeSet.First(); } + const TiXmlAttribute* LastAttribute() const { return attributeSet.Last(); } ///< Access the last attribute in this element. + TiXmlAttribute* LastAttribute() { return attributeSet.Last(); } + + /** Convenience function for easy access to the text inside an element. Although easy + and concise, GetText() is limited compared to getting the TiXmlText child + and accessing it directly. + + If the first child of 'this' is a TiXmlText, the GetText() + returns the character string of the Text node, else null is returned. + + This is a convenient method for getting the text of simple contained text: + @verbatim + This is text + const char* str = fooElement->GetText(); + @endverbatim + + 'str' will be a pointer to "This is text". + + Note that this function can be misleading. If the element foo was created from + this XML: + @verbatim + This is text + @endverbatim + + then the value of str would be null. The first child node isn't a text node, it is + another element. From this XML: + @verbatim + This is text + @endverbatim + GetText() will return "This is ". + + WARNING: GetText() accesses a child node - don't become confused with the + similarly named TiXmlHandle::Text() and TiXmlNode::ToText() which are + safe type casts on the referenced node. + */ + const char* GetText() const; + + /// Creates a new Element and returns it - the returned element is a copy. + virtual TiXmlNode* Clone() const; + // Print the Element to a FILE stream. + virtual void Print( FILE* cfile, int depth ) const; + + /* Attribtue parsing starts: next char past '<' + returns: next char past '>' + */ + virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); + + virtual const TiXmlElement* ToElement() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + virtual TiXmlElement* ToElement() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + + /** Walk the XML tree visiting this node and all of its children. + */ + virtual bool Accept( TiXmlVisitor* visitor ) const; + +protected: + + void CopyTo( TiXmlElement* target ) const; + void ClearThis(); // like clear, but initializes 'this' object as well + + // Used to be public [internal use] + #ifdef TIXML_USE_STL + virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); + #endif + /* [internal use] + Reads the "value" of the element -- another element, or text. + This should terminate with the current end tag. + */ + const char* ReadValue( const char* in, TiXmlParsingData* prevData, TiXmlEncoding encoding ); + +private: + TiXmlAttributeSet attributeSet; +}; + + +/** An XML comment. +*/ +class TiXmlComment : public TiXmlNode +{ +public: + /// Constructs an empty comment. + TiXmlComment() : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) {} + /// Construct a comment from text. + TiXmlComment( const char* _value ) : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) { + SetValue( _value ); + } + TiXmlComment( const TiXmlComment& ); + TiXmlComment& operator=( const TiXmlComment& base ); + + virtual ~TiXmlComment() {} + + /// Returns a copy of this Comment. + virtual TiXmlNode* Clone() const; + // Write this Comment to a FILE stream. + virtual void Print( FILE* cfile, int depth ) const; + + /* Attribtue parsing starts: at the ! of the !-- + returns: next char past '>' + */ + virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); + + virtual const TiXmlComment* ToComment() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + virtual TiXmlComment* ToComment() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + + /** Walk the XML tree visiting this node and all of its children. + */ + virtual bool Accept( TiXmlVisitor* visitor ) const; + +protected: + void CopyTo( TiXmlComment* target ) const; + + // used to be public + #ifdef TIXML_USE_STL + virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); + #endif +// virtual void StreamOut( TIXML_OSTREAM * out ) const; + +private: + +}; + + +/** XML text. A text node can have 2 ways to output the next. "normal" output + and CDATA. It will default to the mode it was parsed from the XML file and + you generally want to leave it alone, but you can change the output mode with + SetCDATA() and query it with CDATA(). +*/ +class TiXmlText : public TiXmlNode +{ + friend class TiXmlElement; +public: + /** Constructor for text element. By default, it is treated as + normal, encoded text. If you want it be output as a CDATA text + element, set the parameter _cdata to 'true' + */ + TiXmlText (const char * initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT) + { + SetValue( initValue ); + cdata = false; + } + virtual ~TiXmlText() {} + + #ifdef TIXML_USE_STL + /// Constructor. + TiXmlText( const std::string& initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT) + { + SetValue( initValue ); + cdata = false; + } + #endif + + TiXmlText( const TiXmlText& copy ) : TiXmlNode( TiXmlNode::TINYXML_TEXT ) { copy.CopyTo( this ); } + TiXmlText& operator=( const TiXmlText& base ) { base.CopyTo( this ); return *this; } + + // Write this text object to a FILE stream. + virtual void Print( FILE* cfile, int depth ) const; + + /// Queries whether this represents text using a CDATA section. + bool CDATA() const { return cdata; } + /// Turns on or off a CDATA representation of text. + void SetCDATA( bool _cdata ) { cdata = _cdata; } + + virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); + + virtual const TiXmlText* ToText() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + virtual TiXmlText* ToText() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + + /** Walk the XML tree visiting this node and all of its children. + */ + virtual bool Accept( TiXmlVisitor* content ) const; + +protected : + /// [internal use] Creates a new Element and returns it. + virtual TiXmlNode* Clone() const; + void CopyTo( TiXmlText* target ) const; + + bool Blank() const; // returns true if all white space and new lines + // [internal use] + #ifdef TIXML_USE_STL + virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); + #endif + +private: + bool cdata; // true if this should be input and output as a CDATA style text element +}; + + +/** In correct XML the declaration is the first entry in the file. + @verbatim + + @endverbatim + + TinyXml will happily read or write files without a declaration, + however. There are 3 possible attributes to the declaration: + version, encoding, and standalone. + + Note: In this version of the code, the attributes are + handled as special cases, not generic attributes, simply + because there can only be at most 3 and they are always the same. +*/ +class TiXmlDeclaration : public TiXmlNode +{ +public: + /// Construct an empty declaration. + TiXmlDeclaration() : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) {} + +#ifdef TIXML_USE_STL + /// Constructor. + TiXmlDeclaration( const std::string& _version, + const std::string& _encoding, + const std::string& _standalone ); +#endif + + /// Construct. + TiXmlDeclaration( const char* _version, + const char* _encoding, + const char* _standalone ); + + TiXmlDeclaration( const TiXmlDeclaration& copy ); + TiXmlDeclaration& operator=( const TiXmlDeclaration& copy ); + + virtual ~TiXmlDeclaration() {} + + /// Version. Will return an empty string if none was found. + const char *Version() const { return version.c_str (); } + /// Encoding. Will return an empty string if none was found. + const char *Encoding() const { return encoding.c_str (); } + /// Is this a standalone document? + const char *Standalone() const { return standalone.c_str (); } + + /// Creates a copy of this Declaration and returns it. + virtual TiXmlNode* Clone() const; + // Print this declaration to a FILE stream. + virtual void Print( FILE* cfile, int depth, TIXML_STRING* str ) const; + virtual void Print( FILE* cfile, int depth ) const { + Print( cfile, depth, 0 ); + } + + virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); + + virtual const TiXmlDeclaration* ToDeclaration() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + virtual TiXmlDeclaration* ToDeclaration() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + + /** Walk the XML tree visiting this node and all of its children. + */ + virtual bool Accept( TiXmlVisitor* visitor ) const; + +protected: + void CopyTo( TiXmlDeclaration* target ) const; + // used to be public + #ifdef TIXML_USE_STL + virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); + #endif + +private: + + TIXML_STRING version; + TIXML_STRING encoding; + TIXML_STRING standalone; +}; + + +/** Any tag that tinyXml doesn't recognize is saved as an + unknown. It is a tag of text, but should not be modified. + It will be written back to the XML, unchanged, when the file + is saved. + + DTD tags get thrown into TiXmlUnknowns. +*/ +class TiXmlUnknown : public TiXmlNode +{ +public: + TiXmlUnknown() : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) {} + virtual ~TiXmlUnknown() {} + + TiXmlUnknown( const TiXmlUnknown& copy ) : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) { copy.CopyTo( this ); } + TiXmlUnknown& operator=( const TiXmlUnknown& copy ) { copy.CopyTo( this ); return *this; } + + /// Creates a copy of this Unknown and returns it. + virtual TiXmlNode* Clone() const; + // Print this Unknown to a FILE stream. + virtual void Print( FILE* cfile, int depth ) const; + + virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); + + virtual const TiXmlUnknown* ToUnknown() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + virtual TiXmlUnknown* ToUnknown() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + + /** Walk the XML tree visiting this node and all of its children. + */ + virtual bool Accept( TiXmlVisitor* content ) const; + +protected: + void CopyTo( TiXmlUnknown* target ) const; + + #ifdef TIXML_USE_STL + virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); + #endif + +private: + +}; + + +/** Always the top level node. A document binds together all the + XML pieces. It can be saved, loaded, and printed to the screen. + The 'value' of a document node is the xml file name. +*/ +class TiXmlDocument : public TiXmlNode +{ +public: + /// Create an empty document, that has no name. + TiXmlDocument(); + /// Create a document with a name. The name of the document is also the filename of the xml. + TiXmlDocument( const char * documentName ); + + #ifdef TIXML_USE_STL + /// Constructor. + TiXmlDocument( const std::string& documentName ); + #endif + + TiXmlDocument( const TiXmlDocument& copy ); + TiXmlDocument& operator=( const TiXmlDocument& copy ); + + virtual ~TiXmlDocument() {} + + /** Load a file using the current document value. + Returns true if successful. Will delete any existing + document data before loading. + */ + bool LoadFile( TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); + /// Save a file using the current document value. Returns true if successful. + bool SaveFile() const; + /// Load a file using the given filename. Returns true if successful. + bool LoadFile( const char * filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); + /// Save a file using the given filename. Returns true if successful. + bool SaveFile( const char * filename ) const; + /** Load a file using the given FILE*. Returns true if successful. Note that this method + doesn't stream - the entire object pointed at by the FILE* + will be interpreted as an XML file. TinyXML doesn't stream in XML from the current + file location. Streaming may be added in the future. + */ + bool LoadFile( FILE*, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); + /// Save a file using the given FILE*. Returns true if successful. + bool SaveFile( FILE* ) const; + + #ifdef TIXML_USE_STL + bool LoadFile( const std::string& filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ) ///< STL std::string version. + { + return LoadFile( filename.c_str(), encoding ); + } + bool SaveFile( const std::string& filename ) const ///< STL std::string version. + { + return SaveFile( filename.c_str() ); + } + #endif + + /** Parse the given null terminated block of xml data. Passing in an encoding to this + method (either TIXML_ENCODING_LEGACY or TIXML_ENCODING_UTF8 will force TinyXml + to use that encoding, regardless of what TinyXml might otherwise try to detect. + */ + virtual const char* Parse( const char* p, TiXmlParsingData* data = 0, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); + + /** Get the root element -- the only top level element -- of the document. + In well formed XML, there should only be one. TinyXml is tolerant of + multiple elements at the document level. + */ + const TiXmlElement* RootElement() const { return FirstChildElement(); } + TiXmlElement* RootElement() { return FirstChildElement(); } + + /** If an error occurs, Error will be set to true. Also, + - The ErrorId() will contain the integer identifier of the error (not generally useful) + - The ErrorDesc() method will return the name of the error. (very useful) + - The ErrorRow() and ErrorCol() will return the location of the error (if known) + */ + bool Error() const { return error; } + + /// Contains a textual (english) description of the error if one occurs. + const char * ErrorDesc() const { return errorDesc.c_str (); } + + /** Generally, you probably want the error string ( ErrorDesc() ). But if you + prefer the ErrorId, this function will fetch it. + */ + int ErrorId() const { return errorId; } + + /** Returns the location (if known) of the error. The first column is column 1, + and the first row is row 1. A value of 0 means the row and column wasn't applicable + (memory errors, for example, have no row/column) or the parser lost the error. (An + error in the error reporting, in that case.) + + @sa SetTabSize, Row, Column + */ + int ErrorRow() const { return errorLocation.row+1; } + int ErrorCol() const { return errorLocation.col+1; } ///< The column where the error occured. See ErrorRow() + + /** SetTabSize() allows the error reporting functions (ErrorRow() and ErrorCol()) + to report the correct values for row and column. It does not change the output + or input in any way. + + By calling this method, with a tab size + greater than 0, the row and column of each node and attribute is stored + when the file is loaded. Very useful for tracking the DOM back in to + the source file. + + The tab size is required for calculating the location of nodes. If not + set, the default of 4 is used. The tabsize is set per document. Setting + the tabsize to 0 disables row/column tracking. + + Note that row and column tracking is not supported when using operator>>. + + The tab size needs to be enabled before the parse or load. Correct usage: + @verbatim + TiXmlDocument doc; + doc.SetTabSize( 8 ); + doc.Load( "myfile.xml" ); + @endverbatim + + @sa Row, Column + */ + void SetTabSize( int _tabsize ) { tabsize = _tabsize; } + + int TabSize() const { return tabsize; } + + /** If you have handled the error, it can be reset with this call. The error + state is automatically cleared if you Parse a new XML block. + */ + void ClearError() { error = false; + errorId = 0; + errorDesc = ""; + errorLocation.row = errorLocation.col = 0; + //errorLocation.last = 0; + } + + /** Write the document to standard out using formatted printing ("pretty print"). */ + void Print() const { Print( stdout, 0 ); } + + /* Write the document to a string using formatted printing ("pretty print"). This + will allocate a character array (new char[]) and return it as a pointer. The + calling code pust call delete[] on the return char* to avoid a memory leak. + */ + //char* PrintToMemory() const; + + /// Print this Document to a FILE stream. + virtual void Print( FILE* cfile, int depth = 0 ) const; + // [internal use] + void SetError( int err, const char* errorLocation, TiXmlParsingData* prevData, TiXmlEncoding encoding ); + + virtual const TiXmlDocument* ToDocument() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + virtual TiXmlDocument* ToDocument() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. + + /** Walk the XML tree visiting this node and all of its children. + */ + virtual bool Accept( TiXmlVisitor* content ) const; + +protected : + // [internal use] + virtual TiXmlNode* Clone() const; + #ifdef TIXML_USE_STL + virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); + #endif + +private: + void CopyTo( TiXmlDocument* target ) const; + + bool error; + int errorId; + TIXML_STRING errorDesc; + int tabsize; + TiXmlCursor errorLocation; + bool useMicrosoftBOM; // the UTF-8 BOM were found when read. Note this, and try to write. +}; + + +/** + A TiXmlHandle is a class that wraps a node pointer with null checks; this is + an incredibly useful thing. Note that TiXmlHandle is not part of the TinyXml + DOM structure. It is a separate utility class. + + Take an example: + @verbatim + + + + + + + @endverbatim + + Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very + easy to write a *lot* of code that looks like: + + @verbatim + TiXmlElement* root = document.FirstChildElement( "Document" ); + if ( root ) + { + TiXmlElement* element = root->FirstChildElement( "Element" ); + if ( element ) + { + TiXmlElement* child = element->FirstChildElement( "Child" ); + if ( child ) + { + TiXmlElement* child2 = child->NextSiblingElement( "Child" ); + if ( child2 ) + { + // Finally do something useful. + @endverbatim + + And that doesn't even cover "else" cases. TiXmlHandle addresses the verbosity + of such code. A TiXmlHandle checks for null pointers so it is perfectly safe + and correct to use: + + @verbatim + TiXmlHandle docHandle( &document ); + TiXmlElement* child2 = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", 1 ).ToElement(); + if ( child2 ) + { + // do something useful + @endverbatim + + Which is MUCH more concise and useful. + + It is also safe to copy handles - internally they are nothing more than node pointers. + @verbatim + TiXmlHandle handleCopy = handle; + @endverbatim + + What they should not be used for is iteration: + + @verbatim + int i=0; + while ( true ) + { + TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", i ).ToElement(); + if ( !child ) + break; + // do something + ++i; + } + @endverbatim + + It seems reasonable, but it is in fact two embedded while loops. The Child method is + a linear walk to find the element, so this code would iterate much more than it needs + to. Instead, prefer: + + @verbatim + TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).FirstChild( "Child" ).ToElement(); + + for( child; child; child=child->NextSiblingElement() ) + { + // do something + } + @endverbatim +*/ +class TiXmlHandle +{ +public: + /// Create a handle from any node (at any depth of the tree.) This can be a null pointer. + TiXmlHandle( TiXmlNode* _node ) { this->node = _node; } + /// Copy constructor + TiXmlHandle( const TiXmlHandle& ref ) { this->node = ref.node; } + TiXmlHandle operator=( const TiXmlHandle& ref ) { if ( &ref != this ) this->node = ref.node; return *this; } + + /// Return a handle to the first child node. + TiXmlHandle FirstChild() const; + /// Return a handle to the first child node with the given name. + TiXmlHandle FirstChild( const char * value ) const; + /// Return a handle to the first child element. + TiXmlHandle FirstChildElement() const; + /// Return a handle to the first child element with the given name. + TiXmlHandle FirstChildElement( const char * value ) const; + + /** Return a handle to the "index" child with the given name. + The first child is 0, the second 1, etc. + */ + TiXmlHandle Child( const char* value, int index ) const; + /** Return a handle to the "index" child. + The first child is 0, the second 1, etc. + */ + TiXmlHandle Child( int index ) const; + /** Return a handle to the "index" child element with the given name. + The first child element is 0, the second 1, etc. Note that only TiXmlElements + are indexed: other types are not counted. + */ + TiXmlHandle ChildElement( const char* value, int index ) const; + /** Return a handle to the "index" child element. + The first child element is 0, the second 1, etc. Note that only TiXmlElements + are indexed: other types are not counted. + */ + TiXmlHandle ChildElement( int index ) const; + + #ifdef TIXML_USE_STL + TiXmlHandle FirstChild( const std::string& _value ) const { return FirstChild( _value.c_str() ); } + TiXmlHandle FirstChildElement( const std::string& _value ) const { return FirstChildElement( _value.c_str() ); } + + TiXmlHandle Child( const std::string& _value, int index ) const { return Child( _value.c_str(), index ); } + TiXmlHandle ChildElement( const std::string& _value, int index ) const { return ChildElement( _value.c_str(), index ); } + #endif + + /** Return the handle as a TiXmlNode. This may return null. + */ + TiXmlNode* ToNode() const { return node; } + /** Return the handle as a TiXmlElement. This may return null. + */ + TiXmlElement* ToElement() const { return ( ( node && node->ToElement() ) ? node->ToElement() : 0 ); } + /** Return the handle as a TiXmlText. This may return null. + */ + TiXmlText* ToText() const { return ( ( node && node->ToText() ) ? node->ToText() : 0 ); } + /** Return the handle as a TiXmlUnknown. This may return null. + */ + TiXmlUnknown* ToUnknown() const { return ( ( node && node->ToUnknown() ) ? node->ToUnknown() : 0 ); } + + /** @deprecated use ToNode. + Return the handle as a TiXmlNode. This may return null. + */ + TiXmlNode* Node() const { return ToNode(); } + /** @deprecated use ToElement. + Return the handle as a TiXmlElement. This may return null. + */ + TiXmlElement* Element() const { return ToElement(); } + /** @deprecated use ToText() + Return the handle as a TiXmlText. This may return null. + */ + TiXmlText* Text() const { return ToText(); } + /** @deprecated use ToUnknown() + Return the handle as a TiXmlUnknown. This may return null. + */ + TiXmlUnknown* Unknown() const { return ToUnknown(); } + +private: + TiXmlNode* node; +}; + + +/** Print to memory functionality. The TiXmlPrinter is useful when you need to: + + -# Print to memory (especially in non-STL mode) + -# Control formatting (line endings, etc.) + + When constructed, the TiXmlPrinter is in its default "pretty printing" mode. + Before calling Accept() you can call methods to control the printing + of the XML document. After TiXmlNode::Accept() is called, the printed document can + be accessed via the CStr(), Str(), and Size() methods. + + TiXmlPrinter uses the Visitor API. + @verbatim + TiXmlPrinter printer; + printer.SetIndent( "\t" ); + + doc.Accept( &printer ); + fprintf( stdout, "%s", printer.CStr() ); + @endverbatim +*/ +class TiXmlPrinter : public TiXmlVisitor +{ +public: + TiXmlPrinter() : depth( 0 ), simpleTextPrint( false ), + buffer(), indent( " " ), lineBreak( "\n" ) {} + + virtual bool VisitEnter( const TiXmlDocument& doc ); + virtual bool VisitExit( const TiXmlDocument& doc ); + + virtual bool VisitEnter( const TiXmlElement& element, const TiXmlAttribute* firstAttribute ); + virtual bool VisitExit( const TiXmlElement& element ); + + virtual bool Visit( const TiXmlDeclaration& declaration ); + virtual bool Visit( const TiXmlText& text ); + virtual bool Visit( const TiXmlComment& comment ); + virtual bool Visit( const TiXmlUnknown& unknown ); + + /** Set the indent characters for printing. By default 4 spaces + but tab (\t) is also useful, or null/empty string for no indentation. + */ + void SetIndent( const char* _indent ) { indent = _indent ? _indent : "" ; } + /// Query the indention string. + const char* Indent() { return indent.c_str(); } + /** Set the line breaking string. By default set to newline (\n). + Some operating systems prefer other characters, or can be + set to the null/empty string for no indenation. + */ + void SetLineBreak( const char* _lineBreak ) { lineBreak = _lineBreak ? _lineBreak : ""; } + /// Query the current line breaking string. + const char* LineBreak() { return lineBreak.c_str(); } + + /** Switch over to "stream printing" which is the most dense formatting without + linebreaks. Common when the XML is needed for network transmission. + */ + void SetStreamPrinting() { indent = ""; + lineBreak = ""; + } + /// Return the result. + const char* CStr() { return buffer.c_str(); } + /// Return the length of the result string. + size_t Size() { return buffer.size(); } + + #ifdef TIXML_USE_STL + /// Return the result. + const std::string& Str() { return buffer; } + #endif + +private: + void DoIndent() { + for( int i=0; i +#include + +#include "tinyxml.h" + +//#define DEBUG_PARSER +#if defined( DEBUG_PARSER ) +# if defined( DEBUG ) && defined( _MSC_VER ) +# include +# define TIXML_LOG OutputDebugString +# else +# define TIXML_LOG printf +# endif +#endif + +// Note tha "PutString" hardcodes the same list. This +// is less flexible than it appears. Changing the entries +// or order will break putstring. +TiXmlBase::Entity TiXmlBase::entity[ TiXmlBase::NUM_ENTITY ] = +{ + { "&", 5, '&' }, + { "<", 4, '<' }, + { ">", 4, '>' }, + { """, 6, '\"' }, + { "'", 6, '\'' } +}; + +// Bunch of unicode info at: +// http://www.unicode.org/faq/utf_bom.html +// Including the basic of this table, which determines the #bytes in the +// sequence from the lead byte. 1 placed for invalid sequences -- +// although the result will be junk, pass it through as much as possible. +// Beware of the non-characters in UTF-8: +// ef bb bf (Microsoft "lead bytes") +// ef bf be +// ef bf bf + +const unsigned char TIXML_UTF_LEAD_0 = 0xefU; +const unsigned char TIXML_UTF_LEAD_1 = 0xbbU; +const unsigned char TIXML_UTF_LEAD_2 = 0xbfU; + +const int TiXmlBase::utf8ByteTable[256] = +{ + // 0 1 2 3 4 5 6 7 8 9 a b c d e f + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x00 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x10 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x20 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x30 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x40 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x50 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x60 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x70 End of ASCII range + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x80 0x80 to 0xc1 invalid + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x90 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0xa0 + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0xb0 + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // 0xc0 0xc2 to 0xdf 2 byte + 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // 0xd0 + 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, // 0xe0 0xe0 to 0xef 3 byte + 4, 4, 4, 4, 4, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // 0xf0 0xf0 to 0xf4 4 byte, 0xf5 and higher invalid +}; + + +void TiXmlBase::ConvertUTF32ToUTF8( unsigned long input, char* output, int* length ) +{ + const unsigned long BYTE_MASK = 0xBF; + const unsigned long BYTE_MARK = 0x80; + const unsigned long FIRST_BYTE_MARK[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC }; + + if (input < 0x80) + *length = 1; + else if ( input < 0x800 ) + *length = 2; + else if ( input < 0x10000 ) + *length = 3; + else if ( input < 0x200000 ) + *length = 4; + else + { *length = 0; return; } // This code won't covert this correctly anyway. + + output += *length; + + // Scary scary fall throughs. + switch (*length) + { + case 4: + --output; + *output = (char)((input | BYTE_MARK) & BYTE_MASK); + input >>= 6; + case 3: + --output; + *output = (char)((input | BYTE_MARK) & BYTE_MASK); + input >>= 6; + case 2: + --output; + *output = (char)((input | BYTE_MARK) & BYTE_MASK); + input >>= 6; + case 1: + --output; + *output = (char)(input | FIRST_BYTE_MARK[*length]); + } +} + + +/*static*/ int TiXmlBase::IsAlpha( unsigned char anyByte, TiXmlEncoding /*encoding*/ ) +{ + // This will only work for low-ascii, everything else is assumed to be a valid + // letter. I'm not sure this is the best approach, but it is quite tricky trying + // to figure out alhabetical vs. not across encoding. So take a very + // conservative approach. + +// if ( encoding == TIXML_ENCODING_UTF8 ) +// { + if ( anyByte < 127 ) + return isalpha( anyByte ); + else + return 1; // What else to do? The unicode set is huge...get the english ones right. +// } +// else +// { +// return isalpha( anyByte ); +// } +} + + +/*static*/ int TiXmlBase::IsAlphaNum( unsigned char anyByte, TiXmlEncoding /*encoding*/ ) +{ + // This will only work for low-ascii, everything else is assumed to be a valid + // letter. I'm not sure this is the best approach, but it is quite tricky trying + // to figure out alhabetical vs. not across encoding. So take a very + // conservative approach. + +// if ( encoding == TIXML_ENCODING_UTF8 ) +// { + if ( anyByte < 127 ) + return isalnum( anyByte ); + else + return 1; // What else to do? The unicode set is huge...get the english ones right. +// } +// else +// { +// return isalnum( anyByte ); +// } +} + + +class TiXmlParsingData +{ + friend class TiXmlDocument; + public: + void Stamp( const char* now, TiXmlEncoding encoding ); + + const TiXmlCursor& Cursor() const { return cursor; } + + private: + // Only used by the document! + TiXmlParsingData( const char* start, int _tabsize, int row, int col ) + { + assert( start ); + stamp = start; + tabsize = _tabsize; + cursor.row = row; + cursor.col = col; + } + + TiXmlCursor cursor; + const char* stamp; + int tabsize; +}; + + +void TiXmlParsingData::Stamp( const char* now, TiXmlEncoding encoding ) +{ + assert( now ); + + // Do nothing if the tabsize is 0. + if ( tabsize < 1 ) + { + return; + } + + // Get the current row, column. + int row = cursor.row; + int col = cursor.col; + const char* p = stamp; + assert( p ); + + while ( p < now ) + { + // Treat p as unsigned, so we have a happy compiler. + const unsigned char* pU = (const unsigned char*)p; + + // Code contributed by Fletcher Dunn: (modified by lee) + switch (*pU) { + case 0: + // We *should* never get here, but in case we do, don't + // advance past the terminating null character, ever + return; + + case '\r': + // bump down to the next line + ++row; + col = 0; + // Eat the character + ++p; + + // Check for \r\n sequence, and treat this as a single character + if (*p == '\n') { + ++p; + } + break; + + case '\n': + // bump down to the next line + ++row; + col = 0; + + // Eat the character + ++p; + + // Check for \n\r sequence, and treat this as a single + // character. (Yes, this bizarre thing does occur still + // on some arcane platforms...) + if (*p == '\r') { + ++p; + } + break; + + case '\t': + // Eat the character + ++p; + + // Skip to next tab stop + col = (col / tabsize + 1) * tabsize; + break; + + case TIXML_UTF_LEAD_0: + if ( encoding == TIXML_ENCODING_UTF8 ) + { + if ( *(p+1) && *(p+2) ) + { + // In these cases, don't advance the column. These are + // 0-width spaces. + if ( *(pU+1)==TIXML_UTF_LEAD_1 && *(pU+2)==TIXML_UTF_LEAD_2 ) + p += 3; + else if ( *(pU+1)==0xbfU && *(pU+2)==0xbeU ) + p += 3; + else if ( *(pU+1)==0xbfU && *(pU+2)==0xbfU ) + p += 3; + else + { p +=3; ++col; } // A normal character. + } + } + else + { + ++p; + ++col; + } + break; + + default: + if ( encoding == TIXML_ENCODING_UTF8 ) + { + // Eat the 1 to 4 byte utf8 character. + int step = TiXmlBase::utf8ByteTable[*((const unsigned char*)p)]; + if ( step == 0 ) + step = 1; // Error case from bad encoding, but handle gracefully. + p += step; + + // Just advance one column, of course. + ++col; + } + else + { + ++p; + ++col; + } + break; + } + } + cursor.row = row; + cursor.col = col; + assert( cursor.row >= -1 ); + assert( cursor.col >= -1 ); + stamp = p; + assert( stamp ); +} + + +const char* TiXmlBase::SkipWhiteSpace( const char* p, TiXmlEncoding encoding ) +{ + if ( !p || !*p ) + { + return 0; + } + if ( encoding == TIXML_ENCODING_UTF8 ) + { + while ( *p ) + { + const unsigned char* pU = (const unsigned char*)p; + + // Skip the stupid Microsoft UTF-8 Byte order marks + if ( *(pU+0)==TIXML_UTF_LEAD_0 + && *(pU+1)==TIXML_UTF_LEAD_1 + && *(pU+2)==TIXML_UTF_LEAD_2 ) + { + p += 3; + continue; + } + else if(*(pU+0)==TIXML_UTF_LEAD_0 + && *(pU+1)==0xbfU + && *(pU+2)==0xbeU ) + { + p += 3; + continue; + } + else if(*(pU+0)==TIXML_UTF_LEAD_0 + && *(pU+1)==0xbfU + && *(pU+2)==0xbfU ) + { + p += 3; + continue; + } + + if ( IsWhiteSpace( *p ) ) // Still using old rules for white space. + ++p; + else + break; + } + } + else + { + while ( *p && IsWhiteSpace( *p ) ) + ++p; + } + + return p; +} + +#ifdef TIXML_USE_STL +/*static*/ bool TiXmlBase::StreamWhiteSpace( std::istream * in, TIXML_STRING * tag ) +{ + for( ;; ) + { + if ( !in->good() ) return false; + + int c = in->peek(); + // At this scope, we can't get to a document. So fail silently. + if ( !IsWhiteSpace( c ) || c <= 0 ) + return true; + + *tag += (char) in->get(); + } +} + +/*static*/ bool TiXmlBase::StreamTo( std::istream * in, int character, TIXML_STRING * tag ) +{ + //assert( character > 0 && character < 128 ); // else it won't work in utf-8 + while ( in->good() ) + { + int c = in->peek(); + if ( c == character ) + return true; + if ( c <= 0 ) // Silent failure: can't get document at this scope + return false; + + in->get(); + *tag += (char) c; + } + return false; +} +#endif + +// One of TinyXML's more performance demanding functions. Try to keep the memory overhead down. The +// "assign" optimization removes over 10% of the execution time. +// +const char* TiXmlBase::ReadName( const char* p, TIXML_STRING * name, TiXmlEncoding encoding ) +{ + // Oddly, not supported on some comilers, + //name->clear(); + // So use this: + *name = ""; + assert( p ); + + // Names start with letters or underscores. + // Of course, in unicode, tinyxml has no idea what a letter *is*. The + // algorithm is generous. + // + // After that, they can be letters, underscores, numbers, + // hyphens, or colons. (Colons are valid ony for namespaces, + // but tinyxml can't tell namespaces from names.) + if ( p && *p + && ( IsAlpha( (unsigned char) *p, encoding ) || *p == '_' ) ) + { + const char* start = p; + while( p && *p + && ( IsAlphaNum( (unsigned char ) *p, encoding ) + || *p == '_' + || *p == '-' + || *p == '.' + || *p == ':' ) ) + { + //(*name) += *p; // expensive + ++p; + } + if ( p-start > 0 ) { + name->assign( start, p-start ); + } + return p; + } + return 0; +} + +const char* TiXmlBase::GetEntity( const char* p, char* value, int* length, TiXmlEncoding encoding ) +{ + // Presume an entity, and pull it out. + TIXML_STRING ent; + int i; + *length = 0; + + if ( *(p+1) && *(p+1) == '#' && *(p+2) ) + { + unsigned long ucs = 0; + ptrdiff_t delta = 0; + unsigned mult = 1; + + if ( *(p+2) == 'x' ) + { + // Hexadecimal. + if ( !*(p+3) ) return 0; + + const char* q = p+3; + q = strchr( q, ';' ); + + if ( !q || !*q ) return 0; + + delta = q-p; + --q; + + while ( *q != 'x' ) + { + if ( *q >= '0' && *q <= '9' ) + ucs += mult * (*q - '0'); + else if ( *q >= 'a' && *q <= 'f' ) + ucs += mult * (*q - 'a' + 10); + else if ( *q >= 'A' && *q <= 'F' ) + ucs += mult * (*q - 'A' + 10 ); + else + return 0; + mult *= 16; + --q; + } + } + else + { + // Decimal. + if ( !*(p+2) ) return 0; + + const char* q = p+2; + q = strchr( q, ';' ); + + if ( !q || !*q ) return 0; + + delta = q-p; + --q; + + while ( *q != '#' ) + { + if ( *q >= '0' && *q <= '9' ) + ucs += mult * (*q - '0'); + else + return 0; + mult *= 10; + --q; + } + } + if ( encoding == TIXML_ENCODING_UTF8 ) + { + // convert the UCS to UTF-8 + ConvertUTF32ToUTF8( ucs, value, length ); + } + else + { + *value = (char)ucs; + *length = 1; + } + return p + delta + 1; + } + + // Now try to match it. + for( i=0; iappend( cArr, len ); + } + } + else + { + bool whitespace = false; + + // Remove leading white space: + p = SkipWhiteSpace( p, encoding ); + while ( p && *p + && !StringEqual( p, endTag, caseInsensitive, encoding ) ) + { + if ( *p == '\r' || *p == '\n' ) + { + whitespace = true; + ++p; + } + else if ( IsWhiteSpace( *p ) ) + { + whitespace = true; + ++p; + } + else + { + // If we've found whitespace, add it before the + // new character. Any whitespace just becomes a space. + if ( whitespace ) + { + (*text) += ' '; + whitespace = false; + } + int len; + char cArr[4] = { 0, 0, 0, 0 }; + p = GetChar( p, cArr, &len, encoding ); + if ( len == 1 ) + (*text) += cArr[0]; // more efficient + else + text->append( cArr, len ); + } + } + } + if ( p && *p ) + p += strlen( endTag ); + return ( p && *p ) ? p : 0; +} + +#ifdef TIXML_USE_STL + +void TiXmlDocument::StreamIn( std::istream * in, TIXML_STRING * tag ) +{ + // The basic issue with a document is that we don't know what we're + // streaming. Read something presumed to be a tag (and hope), then + // identify it, and call the appropriate stream method on the tag. + // + // This "pre-streaming" will never read the closing ">" so the + // sub-tag can orient itself. + + if ( !StreamTo( in, '<', tag ) ) + { + SetError( TIXML_ERROR_PARSING_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return; + } + + while ( in->good() ) + { + int tagIndex = (int) tag->length(); + while ( in->good() && in->peek() != '>' ) + { + int c = in->get(); + if ( c <= 0 ) + { + SetError( TIXML_ERROR_EMBEDDED_NULL, 0, 0, TIXML_ENCODING_UNKNOWN ); + break; + } + (*tag) += (char) c; + } + + if ( in->good() ) + { + // We now have something we presume to be a node of + // some sort. Identify it, and call the node to + // continue streaming. + TiXmlNode* node = Identify( tag->c_str() + tagIndex, TIXML_DEFAULT_ENCODING ); + + if ( node ) + { + node->StreamIn( in, tag ); + bool isElement = node->ToElement() != 0; + delete node; + node = 0; + + // If this is the root element, we're done. Parsing will be + // done by the >> operator. + if ( isElement ) + { + return; + } + } + else + { + SetError( TIXML_ERROR, 0, 0, TIXML_ENCODING_UNKNOWN ); + return; + } + } + } + // We should have returned sooner. + SetError( TIXML_ERROR, 0, 0, TIXML_ENCODING_UNKNOWN ); +} + +#endif + +const char* TiXmlDocument::Parse( const char* p, TiXmlParsingData* prevData, TiXmlEncoding encoding ) +{ + ClearError(); + + // Parse away, at the document level. Since a document + // contains nothing but other tags, most of what happens + // here is skipping white space. + if ( !p || !*p ) + { + SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + + // Note that, for a document, this needs to come + // before the while space skip, so that parsing + // starts from the pointer we are given. + location.Clear(); + if ( prevData ) + { + location.row = prevData->cursor.row; + location.col = prevData->cursor.col; + } + else + { + location.row = 0; + location.col = 0; + } + TiXmlParsingData data( p, TabSize(), location.row, location.col ); + location = data.Cursor(); + + if ( encoding == TIXML_ENCODING_UNKNOWN ) + { + // Check for the Microsoft UTF-8 lead bytes. + const unsigned char* pU = (const unsigned char*)p; + if ( *(pU+0) && *(pU+0) == TIXML_UTF_LEAD_0 + && *(pU+1) && *(pU+1) == TIXML_UTF_LEAD_1 + && *(pU+2) && *(pU+2) == TIXML_UTF_LEAD_2 ) + { + encoding = TIXML_ENCODING_UTF8; + useMicrosoftBOM = true; + } + } + + p = SkipWhiteSpace( p, encoding ); + if ( !p ) + { + SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); + return 0; + } + + while ( p && *p ) + { + TiXmlNode* node = Identify( p, encoding ); + if ( node ) + { + p = node->Parse( p, &data, encoding ); + LinkEndChild( node ); + } + else + { + break; + } + + // Did we get encoding info? + if ( encoding == TIXML_ENCODING_UNKNOWN + && node->ToDeclaration() ) + { + TiXmlDeclaration* dec = node->ToDeclaration(); + const char* enc = dec->Encoding(); + assert( enc ); + + if ( *enc == 0 ) + encoding = TIXML_ENCODING_UTF8; + else if ( StringEqual( enc, "UTF-8", true, TIXML_ENCODING_UNKNOWN ) ) + encoding = TIXML_ENCODING_UTF8; + else if ( StringEqual( enc, "UTF8", true, TIXML_ENCODING_UNKNOWN ) ) + encoding = TIXML_ENCODING_UTF8; // incorrect, but be nice + else + encoding = TIXML_ENCODING_LEGACY; + } + + p = SkipWhiteSpace( p, encoding ); + } + + // Was this empty? + if ( !firstChild ) { + SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, encoding ); + return 0; + } + + // All is well. + return p; +} + +void TiXmlDocument::SetError( int err, const char* pError, TiXmlParsingData* data, TiXmlEncoding encoding ) +{ + // The first error in a chain is more accurate - don't set again! + if ( error ) + return; + + assert( err > 0 && err < TIXML_ERROR_STRING_COUNT ); + error = true; + errorId = err; + errorDesc = errorString[ errorId ]; + + errorLocation.Clear(); + if ( pError && data ) + { + data->Stamp( pError, encoding ); + errorLocation = data->Cursor(); + } +} + + +TiXmlNode* TiXmlNode::Identify( const char* p, TiXmlEncoding encoding ) +{ + TiXmlNode* returnNode = 0; + + p = SkipWhiteSpace( p, encoding ); + if( !p || !*p || *p != '<' ) + { + return 0; + } + + p = SkipWhiteSpace( p, encoding ); + + if ( !p || !*p ) + { + return 0; + } + + // What is this thing? + // - Elements start with a letter or underscore, but xml is reserved. + // - Comments: "; + + if ( !StringEqual( p, startTag, false, encoding ) ) + { + if ( document ) + document->SetError( TIXML_ERROR_PARSING_COMMENT, p, data, encoding ); + return 0; + } + p += strlen( startTag ); + + // [ 1475201 ] TinyXML parses entities in comments + // Oops - ReadText doesn't work, because we don't want to parse the entities. + // p = ReadText( p, &value, false, endTag, false, encoding ); + // + // from the XML spec: + /* + [Definition: Comments may appear anywhere in a document outside other markup; in addition, + they may appear within the document type declaration at places allowed by the grammar. + They are not part of the document's character data; an XML processor MAY, but need not, + make it possible for an application to retrieve the text of comments. For compatibility, + the string "--" (double-hyphen) MUST NOT occur within comments.] Parameter entity + references MUST NOT be recognized within comments. + + An example of a comment: + + + */ + + value = ""; + // Keep all the white space. + while ( p && *p && !StringEqual( p, endTag, false, encoding ) ) + { + value.append( p, 1 ); + ++p; + } + if ( p && *p ) + p += strlen( endTag ); + + return p; +} + + +const char* TiXmlAttribute::Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ) +{ + p = SkipWhiteSpace( p, encoding ); + if ( !p || !*p ) return 0; + + if ( data ) + { + data->Stamp( p, encoding ); + location = data->Cursor(); + } + // Read the name, the '=' and the value. + const char* pErr = p; + p = ReadName( p, &name, encoding ); + if ( !p || !*p ) + { + if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, pErr, data, encoding ); + return 0; + } + p = SkipWhiteSpace( p, encoding ); + if ( !p || !*p || *p != '=' ) + { + if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, p, data, encoding ); + return 0; + } + + ++p; // skip '=' + p = SkipWhiteSpace( p, encoding ); + if ( !p || !*p ) + { + if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, p, data, encoding ); + return 0; + } + + const char* end; + const char SINGLE_QUOTE = '\''; + const char DOUBLE_QUOTE = '\"'; + + if ( *p == SINGLE_QUOTE ) + { + ++p; + end = "\'"; // single quote in string + p = ReadText( p, &value, false, end, false, encoding ); + } + else if ( *p == DOUBLE_QUOTE ) + { + ++p; + end = "\""; // double quote in string + p = ReadText( p, &value, false, end, false, encoding ); + } + else + { + // All attribute values should be in single or double quotes. + // But this is such a common error that the parser will try + // its best, even without them. + value = ""; + while ( p && *p // existence + && !IsWhiteSpace( *p ) // whitespace + && *p != '/' && *p != '>' ) // tag end + { + if ( *p == SINGLE_QUOTE || *p == DOUBLE_QUOTE ) { + // [ 1451649 ] Attribute values with trailing quotes not handled correctly + // We did not have an opening quote but seem to have a + // closing one. Give up and throw an error. + if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, p, data, encoding ); + return 0; + } + value += *p; + ++p; + } + } + return p; +} + +#ifdef TIXML_USE_STL +void TiXmlText::StreamIn( std::istream * in, TIXML_STRING * tag ) +{ + while ( in->good() ) + { + int c = in->peek(); + if ( !cdata && (c == '<' ) ) + { + return; + } + if ( c <= 0 ) + { + TiXmlDocument* document = GetDocument(); + if ( document ) + document->SetError( TIXML_ERROR_EMBEDDED_NULL, 0, 0, TIXML_ENCODING_UNKNOWN ); + return; + } + + (*tag) += (char) c; + in->get(); // "commits" the peek made above + + if ( cdata && c == '>' && tag->size() >= 3 ) { + size_t len = tag->size(); + if ( (*tag)[len-2] == ']' && (*tag)[len-3] == ']' ) { + // terminator of cdata. + return; + } + } + } +} +#endif + +const char* TiXmlText::Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ) +{ + value = ""; + TiXmlDocument* document = GetDocument(); + + if ( data ) + { + data->Stamp( p, encoding ); + location = data->Cursor(); + } + + const char* const startTag = ""; + + if ( cdata || StringEqual( p, startTag, false, encoding ) ) + { + cdata = true; + + if ( !StringEqual( p, startTag, false, encoding ) ) + { + if ( document ) + document->SetError( TIXML_ERROR_PARSING_CDATA, p, data, encoding ); + return 0; + } + p += strlen( startTag ); + + // Keep all the white space, ignore the encoding, etc. + while ( p && *p + && !StringEqual( p, endTag, false, encoding ) + ) + { + value += *p; + ++p; + } + + TIXML_STRING dummy; + p = ReadText( p, &dummy, false, endTag, false, encoding ); + return p; + } + else + { + bool ignoreWhite = true; + + const char* end = "<"; + p = ReadText( p, &value, ignoreWhite, end, false, encoding ); + if ( p && *p ) + return p-1; // don't truncate the '<' + return 0; + } +} + +#ifdef TIXML_USE_STL +void TiXmlDeclaration::StreamIn( std::istream * in, TIXML_STRING * tag ) +{ + while ( in->good() ) + { + int c = in->get(); + if ( c <= 0 ) + { + TiXmlDocument* document = GetDocument(); + if ( document ) + document->SetError( TIXML_ERROR_EMBEDDED_NULL, 0, 0, TIXML_ENCODING_UNKNOWN ); + return; + } + (*tag) += (char) c; + + if ( c == '>' ) + { + // All is well. + return; + } + } +} +#endif + +const char* TiXmlDeclaration::Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding _encoding ) +{ + p = SkipWhiteSpace( p, _encoding ); + // Find the beginning, find the end, and look for + // the stuff in-between. + TiXmlDocument* document = GetDocument(); + if ( !p || !*p || !StringEqual( p, "SetError( TIXML_ERROR_PARSING_DECLARATION, 0, 0, _encoding ); + return 0; + } + if ( data ) + { + data->Stamp( p, _encoding ); + location = data->Cursor(); + } + p += 5; + + version = ""; + encoding = ""; + standalone = ""; + + while ( p && *p ) + { + if ( *p == '>' ) + { + ++p; + return p; + } + + p = SkipWhiteSpace( p, _encoding ); + if ( StringEqual( p, "version", true, _encoding ) ) + { + TiXmlAttribute attrib; + p = attrib.Parse( p, data, _encoding ); + version = attrib.Value(); + } + else if ( StringEqual( p, "encoding", true, _encoding ) ) + { + TiXmlAttribute attrib; + p = attrib.Parse( p, data, _encoding ); + encoding = attrib.Value(); + } + else if ( StringEqual( p, "standalone", true, _encoding ) ) + { + TiXmlAttribute attrib; + p = attrib.Parse( p, data, _encoding ); + standalone = attrib.Value(); + } + else + { + // Read over whatever it is. + while( p && *p && *p != '>' && !IsWhiteSpace( *p ) ) + ++p; + } + } + return 0; +} + +bool TiXmlText::Blank() const +{ + for ( unsigned i=0; i + +namespace boost +{ + + template T lexical_cast(const char* txt) + { + double result = atof(txt); + return result; + }; + + struct bad_lexical_cast + { + const char* what() + { + return ("bad lexical cast\n"); + } + + }; + +} //namespace boost + +#endif + diff --git a/btgui/urdf/boost_replacement/printf_console.cpp b/btgui/urdf/boost_replacement/printf_console.cpp new file mode 100644 index 000000000..9c9014ac6 --- /dev/null +++ b/btgui/urdf/boost_replacement/printf_console.cpp @@ -0,0 +1,28 @@ +#include "printf_console.h" +#include + + +void logError(const char* msg, const char* arg0, const char* arg1, const char* arg2) +{ + printf("%s %s %s %s\n", msg,arg0,arg1,arg2); + +} + +void logDebug(const char* msg, float v0, float v1) +{ + printf("%s %f %f\n", msg, v0, v1); +}; +void logDebug(const char* msg, const char* msg1, const char* arg1) +{ + printf("%s %s %s\n", msg, msg1, arg1); + +} + +void logInform(const char* msg, const char* arg0) +{ + printf("%s %s\n", msg, arg0); +} +void logWarn(const char* msg,int id, const char* arg0) +{ + printf("%s %d %s\n", msg,id,arg0); +} diff --git a/btgui/urdf/boost_replacement/printf_console.h b/btgui/urdf/boost_replacement/printf_console.h new file mode 100644 index 000000000..247aab2c5 --- /dev/null +++ b/btgui/urdf/boost_replacement/printf_console.h @@ -0,0 +1,13 @@ +#ifndef PRINTF_CONSOLE_H +#define PRINTF_CONSOLE_H + + +void logError(const char* msg="", const char* arg0="", const char* arg1="", const char* arg2=""); +void logDebug(const char* msg, float v0, float v1); +void logDebug(const char* msg, const char* msg1="", const char* arg1=""); +void logInform(const char* msg, const char* arg0=""); +void logWarn(const char* msg,int id, const char* arg0=""); + +#endif + + diff --git a/btgui/urdf/boost_replacement/shared_ptr.h b/btgui/urdf/boost_replacement/shared_ptr.h new file mode 100644 index 000000000..e1a6b349c --- /dev/null +++ b/btgui/urdf/boost_replacement/shared_ptr.h @@ -0,0 +1,213 @@ +/* +Bullet Continuous Collision Detection and Physics Library Maya Plugin +Copyright (c) 2008 Walt Disney Studios + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising +from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must +not claim that you wrote the original software. If you use this +software in a product, an acknowledgment in the product documentation +would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must +not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + +Written by: Nicola Candussi + +Modified by Francisco Gochez +Dec 2011 - Added deferencing operator +*/ + +//my_shared_ptr + +#ifndef DYN_SHARED_PTR_H +#define DYN_SHARED_PTR_H + +#define DYN_SHARED_PTR_THREAD_SAFE + + +#include + +#ifdef _WIN32 +#include + +namespace boost +{ +class my_shared_count { +public: + my_shared_count(): m_count(1) { } + ~my_shared_count() { } + + long increment() + { +#ifdef DYN_SHARED_PTR_THREAD_SAFE + return InterlockedIncrement(&m_count); +#else + return ++m_count; +#endif + } + + long decrement() { +#ifdef DYN_SHARED_PTR_THREAD_SAFE + return InterlockedDecrement(&m_count); +#else + return ++m_count; +#endif + } + + long use_count() { return m_count; } + +private: + long m_count; +}; +}; +#else //ifdef WIN32 + + +#include + +class my_shared_count { +public: + my_shared_count(): m_count(1) { +#ifdef DYN_SHARED_PTR_THREAD_SAFE + pthread_mutex_init(&m_mutex, 0); +#endif + } + ~my_shared_count() { +#ifdef DYN_SHARED_PTR_THREAD_SAFE + pthread_mutex_destroy(&m_mutex); +#endif + } + + long increment() + { +#ifdef DYN_SHARED_PTR_THREAD_SAFE + pthread_mutex_lock(&m_mutex); +#endif + long c = ++m_count; +#ifdef DYN_SHARED_PTR_THREAD_SAFE + pthread_mutex_unlock(&m_mutex); +#endif + return c; + } + + long decrement() { +#ifdef DYN_SHARED_PTR_THREAD_SAFE + pthread_mutex_lock(&m_mutex); +#endif + long c = --m_count; +#ifdef DYN_SHARED_PTR_THREAD_SAFE + pthread_mutex_unlock(&m_mutex); +#endif + return c; + } + + long use_count() { return m_count; } + +private: + long m_count; + mutable pthread_mutex_t m_mutex; +}; + +#endif + + +template +class my_shared_ptr +{ +public: + my_shared_ptr(): m_ptr(NULL), m_count(NULL) { } + my_shared_ptr(my_shared_ptr const& other): + m_ptr(other.m_ptr), + m_count(other.m_count) + { + if(other.m_count != NULL) other.m_count->increment(); + } + + template + my_shared_ptr(my_shared_ptr const& other): + m_ptr(other.m_ptr), + m_count(other.m_count) + { + if(other.m_count != NULL) other.m_count->increment(); + } + + my_shared_ptr(T const* other): m_ptr(const_cast(other)), m_count(NULL) + { + if(other != NULL) m_count = new my_shared_count; + } + + ~my_shared_ptr() + { + giveup_ownership(); + } + + void reset(T const* other) + { + if(m_ptr == other) return; + giveup_ownership(); + m_ptr = const_cast(other); + if(other != NULL) m_count = new my_shared_count; + else m_count = NULL; + } + + T* get() { return m_ptr; } + T const* get() const { return m_ptr; } + T* operator->() { return m_ptr; } + T const* operator->() const { return m_ptr; } + operator bool() const { return m_ptr != NULL; } + T& operator*() const + { + assert(m_ptr != 0); + return *m_ptr; + } + + bool operator<(my_shared_ptr const& rhs) const { return m_ptr < rhs.m_ptr; } + + my_shared_ptr& operator=(my_shared_ptr const& other) { + if(m_ptr == other.m_ptr) return *this; + giveup_ownership(); + m_ptr = other.m_ptr; + m_count = other.m_count; + if(other.m_count != NULL) m_count->increment(); + return *this; + } + + template + my_shared_ptr& operator=(my_shared_ptr& other) { + if(m_ptr == other.m_ptr) return *this; + giveup_ownership(); + m_ptr = other.m_ptr; + m_count = other.m_count; + if(other.m_count != NULL) m_count->increment(); + return *this; + } + +protected: + + template friend class my_shared_ptr; + void giveup_ownership() + { + if(m_count != NULL) { + if( m_count->decrement() == 0) { + delete m_ptr; + m_ptr = NULL; + delete m_count; + m_count = NULL; + } + } + } + +protected: + T *m_ptr; + my_shared_count *m_count; + +}; + + +#endif diff --git a/btgui/urdf/boost_replacement/string_split.cpp b/btgui/urdf/boost_replacement/string_split.cpp new file mode 100644 index 000000000..bbe8146f4 --- /dev/null +++ b/btgui/urdf/boost_replacement/string_split.cpp @@ -0,0 +1,253 @@ + + +#include +#include +#include +#include +#include + +#include "string_split.h" + +namespace boost +{ + void split( std::vector&pieces, const std::string& vector_str, std::vector separators) + { + assert(separators.size()==1); + if (separators.size()==1) + { + char** strArray = str_split(vector_str.c_str(),separators[0].c_str()); + int numSubStr = str_array_len(strArray); + for (int i=0;i is_any_of(const char* seps) + { + std::vector strArray; + + int numSeps = strlen(seps); + for (int i=0;i +#include +#include + +namespace boost +{ + void split( std::vector&pieces, const std::string& vector_str, std::vector separators); + std::vector is_any_of(const char* seps); +}; + +///The string split C code is by Lars Wirzenius +///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char + + +/* Split a string into substrings. Return dynamic array of dynamically + allocated substrings, or NULL if there was an error. Caller is + expected to free the memory, for example with str_array_free. */ +char** str_split(const char* input, const char* sep); + +/* Free a dynamic array of dynamic strings. */ +void str_array_free(char** array); + +/* Return length of a NULL-delimited array of strings. */ +size_t str_array_len(char** array); + +#endif //STRING_SPLIT_H + diff --git a/btgui/urdf/premake4.lua b/btgui/urdf/premake4.lua new file mode 100644 index 000000000..65abdb218 --- /dev/null +++ b/btgui/urdf/premake4.lua @@ -0,0 +1,50 @@ + + + project "urdf_test" + + flags {"FloatStrict"} + + language "C++" + + kind "ConsoleApp" + targetdir "../../bin" + +-- links { +-- } + + includedirs { + ".", + "boost_replacement", + "../tinyxml", + "urdfdom/urdf_parser/include", + "urdfdom_headers/urdf_exception/include", + "urdfdom_headers/urdf_model/include", + + } + + + files { + "urdfdom/urdf_parser/src/check_urdf.cpp", + "urdfdom/urdf_parser/src/pose.cpp", + "urdfdom/urdf_parser/src/model.cpp", + "urdfdom/urdf_parser/src/link.cpp", + "urdfdom/urdf_parser/src/joint.cpp", + "urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h", + "urdfdom_headers/urdf_exception/include/urdf_exception/exception.h", + "urdfdom_headers/urdf_model/include/urdf_model/pose.h", + "urdfdom_headers/urdf_model/include/urdf_model/model.h", + "urdfdom_headers/urdf_model/include/urdf_model/link.h", + "urdfdom_headers/urdf_model/include/urdf_model/joint.h", + "../tinyxml/tinystr.cpp", + "../tinyxml/tinyxml.cpp", + "../tinyxml/tinyxmlerror.cpp", + "../tinyxml/tinyxmlparser.cpp", + "boost_replacement/lexical_cast.h", + "boost_replacement/shared_ptr.h", + "boost_replacement/printf_console.cpp", + "boost_replacement/printf_console.h", + "boost_replacement/string_split.cpp", + "boost_replacement/string_split.h", + + + } diff --git a/btgui/urdf/urdfdom/LICENSE b/btgui/urdf/urdfdom/LICENSE new file mode 100644 index 000000000..e80920e25 --- /dev/null +++ b/btgui/urdf/urdfdom/LICENSE @@ -0,0 +1,15 @@ +Software License Agreement (Apache License) + +Copyright 2011 John Hsu + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. diff --git a/btgui/urdf/urdfdom/README.txt b/btgui/urdf/urdfdom/README.txt new file mode 100644 index 000000000..4e3bff6d8 --- /dev/null +++ b/btgui/urdf/urdfdom/README.txt @@ -0,0 +1,7 @@ +The URDF (U-Robot Description Format) library + provides core data structures and a simple XML parsers + for populating the class data structures from an URDF file. + +For now, the details of the URDF specifications reside on + http://ros.org/wiki/urdf + diff --git a/btgui/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h b/btgui/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h new file mode 100644 index 000000000..b4bf6082a --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h @@ -0,0 +1,63 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_PARSER_URDF_PARSER_H +#define URDF_PARSER_URDF_PARSER_H + +#include + +#include +#include + +//#include + +#ifndef M_PI +#define M_PI 3.1415925438 +#endif //M_PI + + +#include + + + + +namespace urdf{ + + my_shared_ptr parseURDF(const std::string &xml_string); + +} + +#endif diff --git a/btgui/urdf/urdfdom/urdf_parser/src/check_urdf.cpp b/btgui/urdf/urdfdom/urdf_parser/src/check_urdf.cpp new file mode 100644 index 000000000..530d64286 --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/check_urdf.cpp @@ -0,0 +1,137 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include "urdf_parser/urdf_parser.h" +#include +#include + +using namespace urdf; + +void printTree(my_shared_ptr link,int level = 0) +{ + level+=2; + int count = 0; + for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + { + if (*child) + { + for(int j=0;jname << std::endl; + // first grandchild + printTree(*child,level); + } + else + { + for(int j=0;jname << " has a null child!" << *child << std::endl; + } + } + +} + + +#define MSTRINGIFY(A) #A + + +const char* urdf_char = MSTRINGIFY( + + + + + + + + + + + + + + + + + + + + +); + + +int main(int argc, char** argv) +{ + + std::string xml_string; + + if (argc < 2){ + std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl; + + xml_string = std::string(urdf_char); + + } else + { + + + std::fstream xml_file(argv[1], std::fstream::in); + while ( xml_file.good() ) + { + std::string line; + std::getline( xml_file, line); + xml_string += (line + "\n"); + } + xml_file.close(); + } + + my_shared_ptr robot = parseURDF(xml_string); + if (!robot){ + std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; + return -1; + } + std::cout << "robot name is: " << robot->getName() << std::endl; + + // get info from parser + std::cout << "---------- Successfully Parsed XML ---------------" << std::endl; + // get root link + my_shared_ptr root_link=robot->getRoot(); + if (!root_link) return -1; + + std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl; + + + // print entire tree + printTree(root_link); + return 0; +} + diff --git a/btgui/urdf/urdfdom/urdf_parser/src/joint.cpp b/btgui/urdf/urdfdom/urdf_parser/src/joint.cpp new file mode 100644 index 000000000..3852fe08f --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/joint.cpp @@ -0,0 +1,579 @@ +/********************************************************************* +* Software Ligcense Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + +#include +#include +#ifdef URDF_USE_BOOST +#include +#else +#include +#endif +#include + +#ifdef URDF_USE_CONSOLE_BRIDGE + #include +#else + #include "printf_console.h" +#endif + +#include +#include + +namespace urdf{ + +bool parsePose(Pose &pose, TiXmlElement* xml); + +bool parseJointDynamics(JointDynamics &jd, TiXmlElement* config) +{ + jd.clear(); + + // Get joint damping + const char* damping_str = config->Attribute("damping"); + if (damping_str == NULL){ + logDebug("urdfdom.joint_dynamics: no damping, defaults to 0"); + jd.damping = 0; + } + else + { + try + { + jd.damping = boost::lexical_cast(damping_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("damping value (%s) is not a float: %s",damping_str, e.what()); + return false; + } + } + + // Get joint friction + const char* friction_str = config->Attribute("friction"); + if (friction_str == NULL){ + logDebug("urdfdom.joint_dynamics: no friction, defaults to 0"); + jd.friction = 0; + } + else + { + try + { + jd.friction = boost::lexical_cast(friction_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("friction value (%s) is not a float: %s",friction_str, e.what()); + return false; + } + } + + if (damping_str == NULL && friction_str == NULL) + { + logError("joint dynamics element specified with no damping and no friction"); + return false; + } + else{ + logDebug("urdfdom.joint_dynamics: damping %f and friction %f", jd.damping, jd.friction); + return true; + } +} + +bool parseJointLimits(JointLimits &jl, TiXmlElement* config) +{ + jl.clear(); + + // Get lower joint limit + const char* lower_str = config->Attribute("lower"); + if (lower_str == NULL){ + logDebug("urdfdom.joint_limit: no lower, defaults to 0"); + jl.lower = 0; + } + else + { + try + { + jl.lower = boost::lexical_cast(lower_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("lower value (%s) is not a float: %s", lower_str, e.what()); + return false; + } + } + + // Get upper joint limit + const char* upper_str = config->Attribute("upper"); + if (upper_str == NULL){ + logDebug("urdfdom.joint_limit: no upper, , defaults to 0"); + jl.upper = 0; + } + else + { + try + { + jl.upper = boost::lexical_cast(upper_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("upper value (%s) is not a float: %s",upper_str, e.what()); + return false; + } + } + + // Get joint effort limit + const char* effort_str = config->Attribute("effort"); + if (effort_str == NULL){ + logError("joint limit: no effort"); + return false; + } + else + { + try + { + jl.effort = boost::lexical_cast(effort_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("effort value (%s) is not a float: %s",effort_str, e.what()); + return false; + } + } + + // Get joint velocity limit + const char* velocity_str = config->Attribute("velocity"); + if (velocity_str == NULL){ + logError("joint limit: no velocity"); + return false; + } + else + { + try + { + jl.velocity = boost::lexical_cast(velocity_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("velocity value (%s) is not a float: %s",velocity_str, e.what()); + return false; + } + } + + return true; +} + +bool parseJointSafety(JointSafety &js, TiXmlElement* config) +{ + js.clear(); + + // Get soft_lower_limit joint limit + const char* soft_lower_limit_str = config->Attribute("soft_lower_limit"); + if (soft_lower_limit_str == NULL) + { + logDebug("urdfdom.joint_safety: no soft_lower_limit, using default value"); + js.soft_lower_limit = 0; + } + else + { + try + { + js.soft_lower_limit = boost::lexical_cast(soft_lower_limit_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("soft_lower_limit value (%s) is not a float: %s",soft_lower_limit_str, e.what()); + return false; + } + } + + // Get soft_upper_limit joint limit + const char* soft_upper_limit_str = config->Attribute("soft_upper_limit"); + if (soft_upper_limit_str == NULL) + { + logDebug("urdfdom.joint_safety: no soft_upper_limit, using default value"); + js.soft_upper_limit = 0; + } + else + { + try + { + js.soft_upper_limit = boost::lexical_cast(soft_upper_limit_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("soft_upper_limit value (%s) is not a float: %s",soft_upper_limit_str, e.what()); + return false; + } + } + + // Get k_position_ safety "position" gain - not exactly position gain + const char* k_position_str = config->Attribute("k_position"); + if (k_position_str == NULL) + { + logDebug("urdfdom.joint_safety: no k_position, using default value"); + js.k_position = 0; + } + else + { + try + { + js.k_position = boost::lexical_cast(k_position_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("k_position value (%s) is not a float: %s",k_position_str, e.what()); + return false; + } + } + // Get k_velocity_ safety velocity gain + const char* k_velocity_str = config->Attribute("k_velocity"); + if (k_velocity_str == NULL) + { + logError("joint safety: no k_velocity"); + return false; + } + else + { + try + { + js.k_velocity = boost::lexical_cast(k_velocity_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("k_velocity value (%s) is not a float: %s",k_velocity_str, e.what()); + return false; + } + } + + return true; +} + +bool parseJointCalibration(JointCalibration &jc, TiXmlElement* config) +{ + jc.clear(); + + // Get rising edge position + const char* rising_position_str = config->Attribute("rising"); + if (rising_position_str == NULL) + { + logDebug("urdfdom.joint_calibration: no rising, using default value"); + jc.rising.reset(0); + } + else + { + try + { + jc.rising.reset(new double(boost::lexical_cast(rising_position_str))); + } + catch (boost::bad_lexical_cast &e) + { + logError("risingvalue (%s) is not a float: %s",rising_position_str, e.what()); + return false; + } + } + + // Get falling edge position + const char* falling_position_str = config->Attribute("falling"); + if (falling_position_str == NULL) + { + logDebug("urdfdom.joint_calibration: no falling, using default value"); + jc.falling.reset(0); + } + else + { + try + { + jc.falling.reset(new double(boost::lexical_cast(falling_position_str))); + } + catch (boost::bad_lexical_cast &e) + { + logError("fallingvalue (%s) is not a float: %s",falling_position_str, e.what()); + return false; + } + } + + return true; +} + +bool parseJointMimic(JointMimic &jm, TiXmlElement* config) +{ + jm.clear(); + + // Get name of joint to mimic + const char* joint_name_str = config->Attribute("joint"); + + if (joint_name_str == NULL) + { + logError("joint mimic: no mimic joint specified"); + return false; + } + else + jm.joint_name = joint_name_str; + + // Get mimic multiplier + const char* multiplier_str = config->Attribute("multiplier"); + + if (multiplier_str == NULL) + { + logDebug("urdfdom.joint_mimic: no multiplier, using default value of 1"); + jm.multiplier = 1; + } + else + { + try + { + jm.multiplier = boost::lexical_cast(multiplier_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("multiplier value (%s) is not a float: %s",multiplier_str, e.what()); + return false; + } + } + + + // Get mimic offset + const char* offset_str = config->Attribute("offset"); + if (offset_str == NULL) + { + logDebug("urdfdom.joint_mimic: no offset, using default value of 0"); + jm.offset = 0; + } + else + { + try + { + jm.offset = boost::lexical_cast(offset_str); + } + catch (boost::bad_lexical_cast &e) + { + logError("offset value (%s) is not a float: %s",offset_str, e.what()); + return false; + } + } + + return true; +} + +bool parseJoint(Joint &joint, TiXmlElement* config) +{ + joint.clear(); + + // Get Joint Name + const char *name = config->Attribute("name"); + if (!name) + { + logError("unnamed joint found"); + return false; + } + joint.name = name; + + // Get transform from Parent Link to Joint Frame + TiXmlElement *origin_xml = config->FirstChildElement("origin"); + if (!origin_xml) + { + logDebug("urdfdom: Joint [%s] missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", joint.name.c_str()); + joint.parent_to_joint_origin_transform.clear(); + } + else + { + if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml)) + { + joint.parent_to_joint_origin_transform.clear(); + logError("Malformed parent origin element for joint [%s]", joint.name.c_str()); + return false; + } + } + + // Get Parent Link + TiXmlElement *parent_xml = config->FirstChildElement("parent"); + if (parent_xml) + { + const char *pname = parent_xml->Attribute("link"); + if (!pname) + { + logInform("no parent link name specified for Joint link [%s]. this might be the root?", joint.name.c_str()); + } + else + { + joint.parent_link_name = std::string(pname); + } + } + + // Get Child Link + TiXmlElement *child_xml = config->FirstChildElement("child"); + if (child_xml) + { + const char *pname = child_xml->Attribute("link"); + if (!pname) + { + logInform("no child link name specified for Joint link [%s].", joint.name.c_str()); + } + else + { + joint.child_link_name = std::string(pname); + } + } + + // Get Joint type + const char* type_char = config->Attribute("type"); + if (!type_char) + { + logError("joint [%s] has no type, check to see if it's a reference.", joint.name.c_str()); + return false; + } + + std::string type_str = type_char; + if (type_str == "planar") + joint.type = Joint::PLANAR; + else if (type_str == "floating") + joint.type = Joint::FLOATING; + else if (type_str == "revolute") + joint.type = Joint::REVOLUTE; + else if (type_str == "continuous") + joint.type = Joint::CONTINUOUS; + else if (type_str == "prismatic") + joint.type = Joint::PRISMATIC; + else if (type_str == "fixed") + joint.type = Joint::FIXED; + else + { + logError("Joint [%s] has no known type [%s]", joint.name.c_str(), type_str.c_str()); + return false; + } + + // Get Joint Axis + if (joint.type != Joint::FLOATING && joint.type != Joint::FIXED) + { + // axis + TiXmlElement *axis_xml = config->FirstChildElement("axis"); + if (!axis_xml){ + logDebug("urdfdom: no axis elemement for Joint link [%s], defaulting to (1,0,0) axis", joint.name.c_str()); + joint.axis = Vector3(1.0, 0.0, 0.0); + } + else{ + if (axis_xml->Attribute("xyz")){ + try { + joint.axis.init(axis_xml->Attribute("xyz")); + } + catch (ParseError &e) { + joint.axis.clear(); + logError("Malformed axis element for joint [%s]: %s", joint.name.c_str(), e.what()); + return false; + } + } + } + } + + // Get limit + TiXmlElement *limit_xml = config->FirstChildElement("limit"); + if (limit_xml) + { + joint.limits.reset(new JointLimits()); + if (!parseJointLimits(*joint.limits, limit_xml)) + { + logError("Could not parse limit element for joint [%s]", joint.name.c_str()); + joint.limits.reset(0); + return false; + } + } + else if (joint.type == Joint::REVOLUTE) + { + logError("Joint [%s] is of type REVOLUTE but it does not specify limits", joint.name.c_str()); + return false; + } + else if (joint.type == Joint::PRISMATIC) + { + logError("Joint [%s] is of type PRISMATIC without limits", joint.name.c_str()); + return false; + } + + // Get safety + TiXmlElement *safety_xml = config->FirstChildElement("safety_controller"); + if (safety_xml) + { + joint.safety.reset(new JointSafety()); + if (!parseJointSafety(*joint.safety, safety_xml)) + { + logError("Could not parse safety element for joint [%s]", joint.name.c_str()); + joint.safety.reset(0); + return false; + } + } + + // Get calibration + TiXmlElement *calibration_xml = config->FirstChildElement("calibration"); + if (calibration_xml) + { + joint.calibration.reset(new JointCalibration()); + if (!parseJointCalibration(*joint.calibration, calibration_xml)) + { + logError("Could not parse calibration element for joint [%s]", joint.name.c_str()); + joint.calibration.reset(0); + return false; + } + } + + // Get Joint Mimic + TiXmlElement *mimic_xml = config->FirstChildElement("mimic"); + if (mimic_xml) + { + joint.mimic.reset(new JointMimic()); + if (!parseJointMimic(*joint.mimic, mimic_xml)) + { + logError("Could not parse mimic element for joint [%s]", joint.name.c_str()); + joint.mimic.reset(0); + return false; + } + } + + // Get Dynamics + TiXmlElement *prop_xml = config->FirstChildElement("dynamics"); + if (prop_xml) + { + joint.dynamics.reset(new JointDynamics()); + if (!parseJointDynamics(*joint.dynamics, prop_xml)) + { + logError("Could not parse joint_dynamics element for joint [%s]", joint.name.c_str()); + joint.dynamics.reset(0); + return false; + } + } + + return true; +} + + + + +} diff --git a/btgui/urdf/urdfdom/urdf_parser/src/link.cpp b/btgui/urdf/urdfdom/urdf_parser/src/link.cpp new file mode 100644 index 000000000..e28906c3c --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/link.cpp @@ -0,0 +1,505 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + + +#include +#include +//#include +//#include +#ifdef URDF_USE_BOOST +#include +#else +#include +#endif + +#include +#include +#ifdef URDF_USE_CONSOLE_BRIDGE +#include +#else +#include "printf_console.h" +#endif + + + +namespace urdf{ + +bool parsePose(Pose &pose, TiXmlElement* xml); + +bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_ok) +{ + bool has_rgb = false; + bool has_filename = false; + + material.clear(); + + if (!config->Attribute("name")) + { + logError("Material must contain a name attribute"); + return false; + } + + material.name = config->Attribute("name"); + + // texture + TiXmlElement *t = config->FirstChildElement("texture"); + if (t) + { + if (t->Attribute("filename")) + { + material.texture_filename = t->Attribute("filename"); + has_filename = true; + } + } + + // color + TiXmlElement *c = config->FirstChildElement("color"); + if (c) + { + if (c->Attribute("rgba")) { + + try { + material.color.init(c->Attribute("rgba")); + has_rgb = true; + } + catch (ParseError &e) { + material.color.clear(); + logError(std::string("Material [" + material.name + "] has malformed color rgba values: " + e.what()).c_str()); + } + } + } + + if (!has_rgb && !has_filename) { + if (!only_name_is_ok) // no need for an error if only name is ok + { + if (!has_rgb) logError(std::string("Material ["+material.name+"] color has no rgba").c_str()); + if (!has_filename) logError(std::string("Material ["+material.name+"] not defined in file").c_str()); + } + return false; + } + return true; +} + + +bool parseSphere(Sphere &s, TiXmlElement *c) +{ + s.clear(); + + s.type = Geometry::SPHERE; + if (!c->Attribute("radius")) + { + logError("Sphere shape must have a radius attribute"); + return false; + } + + try + { + s.radius = boost::lexical_cast(c->Attribute("radius")); + } + catch (boost::bad_lexical_cast &e) + { + // std::stringstream stm; + // stm << "radius [" << c->Attribute("radius") << "] is not a valid float: " << e.what(); + // logError(stm.str().c_str()); + logError("radius issue"); + return false; + } + + return true; +} + +bool parseBox(Box &b, TiXmlElement *c) +{ + b.clear(); + + b.type = Geometry::BOX; + if (!c->Attribute("size")) + { + logError("Box shape has no size attribute"); + return false; + } + try + { + b.dim.init(c->Attribute("size")); + } + catch (ParseError &e) + { + b.dim.clear(); + logError(e.what()); + return false; + } + return true; +} + +bool parseCylinder(Cylinder &y, TiXmlElement *c) +{ + y.clear(); + + y.type = Geometry::CYLINDER; + if (!c->Attribute("length") || + !c->Attribute("radius")) + { + logError("Cylinder shape must have both length and radius attributes"); + return false; + } + + try + { + y.length = boost::lexical_cast(c->Attribute("length")); + } + catch (boost::bad_lexical_cast &e) + { + // std::stringstream stm; + // stm << "length [" << c->Attribute("length") << "] is not a valid float"; + //logError(stm.str().c_str()); + logError("length"); + return false; + } + + try + { + y.radius = boost::lexical_cast(c->Attribute("radius")); + } + catch (boost::bad_lexical_cast &e) + { + // std::stringstream stm; + // stm << "radius [" << c->Attribute("radius") << "] is not a valid float"; + //logError(stm.str().c_str()); + logError("radius"); + return false; + } + return true; +} + + +bool parseMesh(Mesh &m, TiXmlElement *c) +{ + m.clear(); + + m.type = Geometry::MESH; + if (!c->Attribute("filename")) { + logError("Mesh must contain a filename attribute"); + return false; + } + + m.filename = c->Attribute("filename"); + + if (c->Attribute("scale")) { + try { + m.scale.init(c->Attribute("scale")); + } + catch (ParseError &e) { + m.scale.clear(); + logError("Mesh scale was specified, but could not be parsed: %s", e.what()); + return false; + } + } + else + { + m.scale.x = m.scale.y = m.scale.z = 1; + } + return true; +} + +my_shared_ptr parseGeometry(TiXmlElement *g) +{ + my_shared_ptr geom; + if (!g) return geom; + + TiXmlElement *shape = g->FirstChildElement(); + if (!shape) + { + logError("Geometry tag contains no child element."); + return geom; + } + + const std::string type_name = shape->ValueTStr().c_str(); + if (type_name == "sphere") + { + Sphere *s = new Sphere(); + geom.reset(s); + if (parseSphere(*s, shape)) + return geom; + } + else if (type_name == "box") + { + Box *b = new Box(); + geom.reset(b); + if (parseBox(*b, shape)) + return geom; + } + else if (type_name == "cylinder") + { + Cylinder *c = new Cylinder(); + geom.reset(c); + if (parseCylinder(*c, shape)) + return geom; + } + else if (type_name == "mesh") + { + Mesh *m = new Mesh(); + geom.reset(m); + if (parseMesh(*m, shape)) + return geom; + } + else + { + logError("Unknown geometry type '%s'", type_name.c_str()); + return geom; + } + + return my_shared_ptr(); +} + +bool parseInertial(Inertial &i, TiXmlElement *config) +{ + i.clear(); + + // Origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (o) + { + if (!parsePose(i.origin, o)) + return false; + } + + TiXmlElement *mass_xml = config->FirstChildElement("mass"); + if (!mass_xml) + { + logError("Inertial element must have a mass element"); + return false; + } + if (!mass_xml->Attribute("value")) + { + logError("Inertial: mass element must have value attribute"); + return false; + } + + try + { + i.mass = boost::lexical_cast(mass_xml->Attribute("value")); + } + catch (boost::bad_lexical_cast &e) + { + // std::stringstream stm; + // stm << "Inertial: mass [" << mass_xml->Attribute("value") + // << "] is not a float"; + //logError(stm.str().c_str()); + logError("Inertial mass issue"); + return false; + } + + TiXmlElement *inertia_xml = config->FirstChildElement("inertia"); + if (!inertia_xml) + { + logError("Inertial element must have inertia element"); + return false; + } + if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") && + inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") && + inertia_xml->Attribute("izz"))) + { + logError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes"); + return false; + } + try + { + i.ixx = boost::lexical_cast(inertia_xml->Attribute("ixx")); + i.ixy = boost::lexical_cast(inertia_xml->Attribute("ixy")); + i.ixz = boost::lexical_cast(inertia_xml->Attribute("ixz")); + i.iyy = boost::lexical_cast(inertia_xml->Attribute("iyy")); + i.iyz = boost::lexical_cast(inertia_xml->Attribute("iyz")); + i.izz = boost::lexical_cast(inertia_xml->Attribute("izz")); + } + catch (boost::bad_lexical_cast &e) + { + /* std::stringstream stm; + stm << "Inertial: one of the inertia elements is not a valid double:" + << " ixx [" << inertia_xml->Attribute("ixx") << "]" + << " ixy [" << inertia_xml->Attribute("ixy") << "]" + << " ixz [" << inertia_xml->Attribute("ixz") << "]" + << " iyy [" << inertia_xml->Attribute("iyy") << "]" + << " iyz [" << inertia_xml->Attribute("iyz") << "]" + << " izz [" << inertia_xml->Attribute("izz") << "]"; + logError(stm.str().c_str()); + */ + logError("Inertia error"); + + return false; + } + return true; +} + +bool parseVisual(Visual &vis, TiXmlElement *config) +{ + vis.clear(); + + // Origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (o) { + if (!parsePose(vis.origin, o)) + return false; + } + + // Geometry + TiXmlElement *geom = config->FirstChildElement("geometry"); + vis.geometry = parseGeometry(geom); + if (!vis.geometry) + return false; + + const char *name_char = config->Attribute("name"); + if (name_char) + vis.name = name_char; + + // Material + TiXmlElement *mat = config->FirstChildElement("material"); + if (mat) { + // get material name + if (!mat->Attribute("name")) { + logError("Visual material must contain a name attribute"); + return false; + } + vis.material_name = mat->Attribute("name"); + + // try to parse material element in place + vis.material.reset(new Material()); + if (!parseMaterial(*vis.material, mat, true)) + { + logDebug("urdfdom: material has only name, actual material definition may be in the model"); + } + } + + return true; +} + +bool parseCollision(Collision &col, TiXmlElement* config) +{ + col.clear(); + + // Origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (o) { + if (!parsePose(col.origin, o)) + return false; + } + + // Geometry + TiXmlElement *geom = config->FirstChildElement("geometry"); + col.geometry = parseGeometry(geom); + if (!col.geometry) + return false; + + const char *name_char = config->Attribute("name"); + if (name_char) + col.name = name_char; + + return true; +} + +bool parseLink(Link &link, TiXmlElement* config) +{ + + link.clear(); + + const char *name_char = config->Attribute("name"); + if (!name_char) + { + logError("No name given for the link."); + return false; + } + link.name = std::string(name_char); + + // Inertial (optional) + TiXmlElement *i = config->FirstChildElement("inertial"); + if (i) + { + link.inertial.reset(new Inertial()); + if (!parseInertial(*link.inertial, i)) + { + logError("Could not parse inertial element for Link [%s]", link.name.c_str()); + return false; + } + } + + // Multiple Visuals (optional) + for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual")) + { + + my_shared_ptr vis; + vis.reset(new Visual()); + if (parseVisual(*vis, vis_xml)) + { + link.visual_array.push_back(vis); + } + else + { + vis.reset(0); + logError("Could not parse visual element for Link [%s]", link.name.c_str()); + return false; + } + } + + // Visual (optional) + // Assign the first visual to the .visual ptr, if it exists + if (!link.visual_array.empty()) + link.visual = link.visual_array[0]; + + // Multiple Collisions (optional) + for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision")) + { + my_shared_ptr col; + col.reset(new Collision()); + if (parseCollision(*col, col_xml)) + { + link.collision_array.push_back(col); + } + else + { + col.reset(0); + logError("Could not parse collision element for Link [%s]", link.name.c_str()); + return false; + } + } + + // Collision (optional) + // Assign the first collision to the .collision ptr, if it exists + if (!link.collision_array.empty()) + link.collision = link.collision_array[0]; + return true; + +} + +} diff --git a/btgui/urdf/urdfdom/urdf_parser/src/model.cpp b/btgui/urdf/urdfdom/urdf_parser/src/model.cpp new file mode 100644 index 000000000..8819c739e --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/model.cpp @@ -0,0 +1,238 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ +//#include +#include +#include "urdf_parser/urdf_parser.h" +#ifdef URDF_USE_CONSOLE_BRIDGE + #include +#else + #include "printf_console.h" +#endif + +namespace urdf{ + +bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_ok); +bool parseLink(Link &link, TiXmlElement *config); +bool parseJoint(Joint &joint, TiXmlElement *config); + + +my_shared_ptr parseURDF(const std::string &xml_string) +{ + my_shared_ptr model(new ModelInterface); + model->clear(); + + TiXmlDocument xml_doc; + xml_doc.Parse(xml_string.c_str()); + if (xml_doc.Error()) + { + logError(xml_doc.ErrorDesc()); + xml_doc.ClearError(); + model.reset(0); + return model; + } + + TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot"); + if (!robot_xml) + { + logError("Could not find the 'robot' element in the xml file"); + model.reset(0); + return model; + } + + // Get robot name + const char *name = robot_xml->Attribute("name"); + if (!name) + { + logError("No name given for the robot."); + model.reset(0); + return model; + } + model->name_ = std::string(name); + + // Get all Material elements + for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material")) + { + my_shared_ptr material; + material.reset(new Material); + + try { + parseMaterial(*material, material_xml, false); // material needs to be fully defined here + if (model->getMaterial(material->name)) + { + logError("material '%s' is not unique.", material->name.c_str()); + material.reset(0); + model.reset(0); + return model; + } + else + { + model->materials_.insert(make_pair(material->name,material)); + logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str()); + } + } + catch (ParseError &e) { + logError("material xml is not initialized correctly"); + material.reset(0); + model.reset(0); + return model; + } + } + + // Get all Link elements + for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) + { + my_shared_ptr link; + link.reset(new Link); + + try { + parseLink(*link, link_xml); + if (model->getLink(link->name)) + { + logError("link '%s' is not unique.", link->name.c_str()); + model.reset(0); + return model; + } + else + { + // set link visual material + logDebug("urdfdom: setting link '%s' material", link->name.c_str()); + if (link->visual) + { + if (!link->visual->material_name.empty()) + { + if (model->getMaterial(link->visual->material_name)) + { + logDebug("urdfdom: setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str()); + link->visual->material = model->getMaterial( link->visual->material_name.c_str() ); + } + else + { + if (link->visual->material) + { + logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str()); + model->materials_.insert(make_pair(link->visual->material->name,link->visual->material)); + } + else + { + logError("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str()); + model.reset(0); + return model; + } + } + } + } + + model->links_.insert(make_pair(link->name,link)); + logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str()); + } + } + catch (ParseError &e) { + logError("link xml is not initialized correctly"); + model.reset(0); + return model; + } + } + if (model->links_.empty()){ + logError("No link elements found in urdf file"); + model.reset(0); + return model; + } + + // Get all Joint elements + for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) + { + my_shared_ptr joint; + joint.reset(new Joint); + + if (parseJoint(*joint, joint_xml)) + { + if (model->getJoint(joint->name)) + { + logError("joint '%s' is not unique.", joint->name.c_str()); + model.reset(0); + return model; + } + else + { + model->joints_.insert(make_pair(joint->name,joint)); + logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str()); + } + } + else + { + logError("joint xml is not initialized correctly"); + model.reset(0); + return model; + } + } + + + // every link has children links and joints, but no parents, so we create a + // local convenience data structure for keeping child->parent relations + std::map parent_link_tree; + parent_link_tree.clear(); + + // building tree: name mapping + try + { + model->initTree(parent_link_tree); + } + catch(ParseError &e) + { + logError("Failed to build tree: %s", e.what()); + model.reset(0); + return model; + } + + // find the root link + try + { + model->initRoot(parent_link_tree); + } + catch(ParseError &e) + { + logError("Failed to find root link: %s", e.what()); + model.reset(0); + return model; + } + + return model; +} + + + +} + diff --git a/btgui/urdf/urdfdom/urdf_parser/src/pose.cpp b/btgui/urdf/urdfdom/urdf_parser/src/pose.cpp new file mode 100644 index 000000000..6b78e1da9 --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/pose.cpp @@ -0,0 +1,91 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen, John Hsu */ + + +#include +#include +#include +//#include +#include + +#ifdef URDF_USE_CONSOLE_BRIDGE +#include +#else +#include "printf_console.h" +#endif + +#include +#include + + +namespace urdf{ + +bool parsePose(Pose &pose, TiXmlElement* xml) +{ + pose.clear(); + if (xml) + { + const char* xyz_str = xml->Attribute("xyz"); + if (xyz_str != NULL) + { + try { + pose.position.init(xyz_str); + } + catch (ParseError &e) { + logError(e.what()); + return false; + } + } + + const char* rpy_str = xml->Attribute("rpy"); + if (rpy_str != NULL) + { + try { + pose.rotation.init(rpy_str); + } + catch (ParseError &e) { + logError(e.what()); + return false; + } + } + } + return true; +} + + +} + + diff --git a/btgui/urdf/urdfdom/urdf_parser/src/twist.cpp b/btgui/urdf/urdfdom/urdf_parser/src/twist.cpp new file mode 100644 index 000000000..211782564 --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/twist.cpp @@ -0,0 +1,85 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + + +#include +#include +#include +#include +#include +#include +#include + +namespace urdf{ + +bool parseTwist(Twist &twist, TiXmlElement* xml) +{ + twist.clear(); + if (xml) + { + const char* linear_char = xml->Attribute("linear"); + if (linear_char != NULL) + { + try { + twist.linear.init(linear_char); + } + catch (ParseError &e) { + twist.linear.clear(); + logError("Malformed linear string [%s]: %s", linear_char, e.what()); + return false; + } + } + + const char* angular_char = xml->Attribute("angular"); + if (angular_char != NULL) + { + try { + twist.angular.init(angular_char); + } + catch (ParseError &e) { + twist.angular.clear(); + logError("Malformed angular [%s]: %s", angular_char, e.what()); + return false; + } + } + } + return true; +} + +} + + + diff --git a/btgui/urdf/urdfdom/urdf_parser/src/urdf_model_state.cpp b/btgui/urdf/urdfdom/urdf_parser/src/urdf_model_state.cpp new file mode 100644 index 000000000..4cb60f892 --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/urdf_model_state.cpp @@ -0,0 +1,154 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + + +#include +#include +#include +#include +#include +#include +#include + +namespace urdf{ + +bool parseModelState(ModelState &ms, TiXmlElement* config) +{ + ms.clear(); + + const char *name_char = config->Attribute("name"); + if (!name_char) + { + logError("No name given for the model_state."); + return false; + } + ms.name = std::string(name_char); + + const char *time_stamp_char = config->Attribute("time_stamp"); + if (time_stamp_char) + { + try { + double sec = boost::lexical_cast(time_stamp_char); + ms.time_stamp.set(sec); + } + catch (boost::bad_lexical_cast &e) { + logError("Parsing time stamp [%s] failed: %s", time_stamp_char, e.what()); + return false; + } + } + + TiXmlElement *joint_state_elem = config->FirstChildElement("joint_state"); + if (joint_state_elem) + { + boost::shared_ptr joint_state; + joint_state.reset(new JointState()); + + const char *joint_char = joint_state_elem->Attribute("joint"); + if (joint_char) + joint_state->joint = std::string(joint_char); + else + { + logError("No joint name given for the model_state."); + return false; + } + + // parse position + const char *position_char = joint_state_elem->Attribute("position"); + if (position_char) + { + + std::vector pieces; + boost::split( pieces, position_char, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + try { + joint_state->position.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) { + throw ParseError("position element ("+ pieces[i] +") is not a valid float"); + } + } + } + } + + // parse velocity + const char *velocity_char = joint_state_elem->Attribute("velocity"); + if (velocity_char) + { + + std::vector pieces; + boost::split( pieces, velocity_char, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + try { + joint_state->velocity.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) { + throw ParseError("velocity element ("+ pieces[i] +") is not a valid float"); + } + } + } + } + + // parse effort + const char *effort_char = joint_state_elem->Attribute("effort"); + if (effort_char) + { + + std::vector pieces; + boost::split( pieces, effort_char, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + try { + joint_state->effort.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) { + throw ParseError("effort element ("+ pieces[i] +") is not a valid float"); + } + } + } + } + + // add to vector + ms.joint_states.push_back(joint_state); + } +}; + + + +} + + diff --git a/btgui/urdf/urdfdom/urdf_parser/src/urdf_sensor.cpp b/btgui/urdf/urdfdom/urdf_parser/src/urdf_sensor.cpp new file mode 100644 index 000000000..58db5cdbe --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/urdf_sensor.cpp @@ -0,0 +1,364 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + + +#include +#include +#include +#include +#include +#include +#include + +namespace urdf{ + +bool parsePose(Pose &pose, TiXmlElement* xml); + +bool parseCamera(Camera &camera, TiXmlElement* config) +{ + camera.clear(); + camera.type = VisualSensor::CAMERA; + + TiXmlElement *image = config->FirstChildElement("image"); + if (image) + { + const char* width_char = image->Attribute("width"); + if (width_char) + { + try + { + camera.width = boost::lexical_cast(width_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Camera image width [%s] is not a valid int: %s", width_char, e.what()); + return false; + } + } + else + { + logError("Camera sensor needs an image width attribute"); + return false; + } + + const char* height_char = image->Attribute("height"); + if (height_char) + { + try + { + camera.height = boost::lexical_cast(height_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Camera image height [%s] is not a valid int: %s", height_char, e.what()); + return false; + } + } + else + { + logError("Camera sensor needs an image height attribute"); + return false; + } + + const char* format_char = image->Attribute("format"); + if (format_char) + camera.format = std::string(format_char); + else + { + logError("Camera sensor needs an image format attribute"); + return false; + } + + const char* hfov_char = image->Attribute("hfov"); + if (hfov_char) + { + try + { + camera.hfov = boost::lexical_cast(hfov_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Camera image hfov [%s] is not a valid float: %s", hfov_char, e.what()); + return false; + } + } + else + { + logError("Camera sensor needs an image hfov attribute"); + return false; + } + + const char* near_char = image->Attribute("near"); + if (near_char) + { + try + { + camera.near = boost::lexical_cast(near_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Camera image near [%s] is not a valid float: %s", near_char, e.what()); + return false; + } + } + else + { + logError("Camera sensor needs an image near attribute"); + return false; + } + + const char* far_char = image->Attribute("far"); + if (far_char) + { + try + { + camera.far = boost::lexical_cast(far_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Camera image far [%s] is not a valid float: %s", far_char, e.what()); + return false; + } + } + else + { + logError("Camera sensor needs an image far attribute"); + return false; + } + + } + else + { + logError("Camera sensor has no element"); + return false; + } + return true; +} + +bool parseRay(Ray &ray, TiXmlElement* config) +{ + ray.clear(); + ray.type = VisualSensor::RAY; + + TiXmlElement *horizontal = config->FirstChildElement("horizontal"); + if (horizontal) + { + const char* samples_char = horizontal->Attribute("samples"); + if (samples_char) + { + try + { + ray.horizontal_samples = boost::lexical_cast(samples_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray horizontal samples [%s] is not a valid float: %s", samples_char, e.what()); + return false; + } + } + + const char* resolution_char = horizontal->Attribute("resolution"); + if (resolution_char) + { + try + { + ray.horizontal_resolution = boost::lexical_cast(resolution_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray horizontal resolution [%s] is not a valid float: %s", resolution_char, e.what()); + return false; + } + } + + const char* min_angle_char = horizontal->Attribute("min_angle"); + if (min_angle_char) + { + try + { + ray.horizontal_min_angle = boost::lexical_cast(min_angle_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray horizontal min_angle [%s] is not a valid float: %s", min_angle_char, e.what()); + return false; + } + } + + const char* max_angle_char = horizontal->Attribute("max_angle"); + if (max_angle_char) + { + try + { + ray.horizontal_max_angle = boost::lexical_cast(max_angle_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray horizontal max_angle [%s] is not a valid float: %s", max_angle_char, e.what()); + return false; + } + } + } + + TiXmlElement *vertical = config->FirstChildElement("vertical"); + if (vertical) + { + const char* samples_char = vertical->Attribute("samples"); + if (samples_char) + { + try + { + ray.vertical_samples = boost::lexical_cast(samples_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray vertical samples [%s] is not a valid float: %s", samples_char, e.what()); + return false; + } + } + + const char* resolution_char = vertical->Attribute("resolution"); + if (resolution_char) + { + try + { + ray.vertical_resolution = boost::lexical_cast(resolution_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray vertical resolution [%s] is not a valid float: %s", resolution_char, e.what()); + return false; + } + } + + const char* min_angle_char = vertical->Attribute("min_angle"); + if (min_angle_char) + { + try + { + ray.vertical_min_angle = boost::lexical_cast(min_angle_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray vertical min_angle [%s] is not a valid float: %s", min_angle_char, e.what()); + return false; + } + } + + const char* max_angle_char = vertical->Attribute("max_angle"); + if (max_angle_char) + { + try + { + ray.vertical_max_angle = boost::lexical_cast(max_angle_char); + } + catch (boost::bad_lexical_cast &e) + { + logError("Ray vertical max_angle [%s] is not a valid float: %s", max_angle_char, e.what()); + return false; + } + } + } +} + +boost::shared_ptr parseVisualSensor(TiXmlElement *g) +{ + boost::shared_ptr visual_sensor; + + // get sensor type + TiXmlElement *sensor_xml; + if (g->FirstChildElement("camera")) + { + Camera *camera = new Camera(); + visual_sensor.reset(camera); + sensor_xml = g->FirstChildElement("camera"); + if (!parseCamera(*camera, sensor_xml)) + visual_sensor.reset(); + } + else if (g->FirstChildElement("ray")) + { + Ray *ray = new Ray(); + visual_sensor.reset(ray); + sensor_xml = g->FirstChildElement("ray"); + if (!parseRay(*ray, sensor_xml)) + visual_sensor.reset(); + } + else + { + logError("No know sensor types [camera|ray] defined in block"); + } + return visual_sensor; +} + + +bool parseSensor(Sensor &sensor, TiXmlElement* config) +{ + sensor.clear(); + + const char *name_char = config->Attribute("name"); + if (!name_char) + { + logError("No name given for the sensor."); + return false; + } + sensor.name = std::string(name_char); + + // parse parent_link_name + const char *parent_link_name_char = config->Attribute("parent_link_name"); + if (!parent_link_name_char) + { + logError("No parent_link_name given for the sensor."); + return false; + } + sensor.parent_link_name = std::string(parent_link_name_char); + + // parse origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (o) + { + if (!parsePose(sensor.origin, o)) + return false; + } + + // parse sensor + sensor.sensor = parseVisualSensor(config); + return true; +} + + +} + + diff --git a/btgui/urdf/urdfdom/urdf_parser/src/world.cpp b/btgui/urdf/urdfdom/urdf_parser/src/world.cpp new file mode 100644 index 000000000..f858b259d --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/src/world.cpp @@ -0,0 +1,71 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace urdf{ + +bool parseWorld(World &world, TiXmlElement* config) +{ + + // to be implemented + + return true; +} + +bool exportWorld(World &world, TiXmlElement* xml) +{ + TiXmlElement * world_xml = new TiXmlElement("world"); + world_xml->SetAttribute("name", world.name); + + // to be implemented + // exportModels(*world.models, world_xml); + + xml->LinkEndChild(world_xml); + + return true; +} + +} diff --git a/btgui/urdf/urdfdom/urdf_parser/test/memtest.cpp b/btgui/urdf/urdfdom/urdf_parser/test/memtest.cpp new file mode 100644 index 000000000..d835eb3db --- /dev/null +++ b/btgui/urdf/urdfdom/urdf_parser/test/memtest.cpp @@ -0,0 +1,20 @@ +#include "urdf_parser/urdf_parser.h" +#include +#include + +int main(int argc, char** argv){ + while (true){ + std::string xml_string; + std::fstream xml_file(argv[1], std::fstream::in); + while ( xml_file.good() ) + { + std::string line; + std::getline( xml_file, line); + xml_string += (line + "\n"); + } + xml_file.close(); + + + urdf::parseURDF(xml_string); + } +} diff --git a/btgui/urdf/urdfdom_headers/LICENSE b/btgui/urdf/urdfdom_headers/LICENSE new file mode 100644 index 000000000..e80920e25 --- /dev/null +++ b/btgui/urdf/urdfdom_headers/LICENSE @@ -0,0 +1,15 @@ +Software License Agreement (Apache License) + +Copyright 2011 John Hsu + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. diff --git a/btgui/urdf/urdfdom_headers/README.txt b/btgui/urdf/urdfdom_headers/README.txt new file mode 100644 index 000000000..6a841d52e --- /dev/null +++ b/btgui/urdf/urdfdom_headers/README.txt @@ -0,0 +1,6 @@ +The URDF (U-Robot Description Format) headers + provides core data structure headers for URDF. + +For now, the details of the URDF specifications reside on + http://ros.org/wiki/urdf + diff --git a/btgui/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h b/btgui/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h new file mode 100644 index 000000000..24222f1ff --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h @@ -0,0 +1,53 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +// URDF exceptions +#ifndef URDF_INTERFACE_EXCEPTION_H_ +#define URDF_INTERFACE_EXCEPTION_H_ + +#include +#include + +namespace urdf +{ + +class ParseError: public std::runtime_error +{ +public: + ParseError(const std::string &error_msg) : std::runtime_error(error_msg) {}; +}; + +} + +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/color.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/color.h new file mode 100644 index 000000000..ffb70c922 --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/color.h @@ -0,0 +1,102 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Josh Faust */ + +#ifndef URDF_INTERFACE_COLOR_H +#define URDF_INTERFACE_COLOR_H + +#include +#include +#include +//#include +//#include + +namespace urdf +{ + +class Color +{ +public: + Color() {this->clear();}; + float r; + float g; + float b; + float a; + + void clear() + { + r = g = b = 0.0f; + a = 1.0f; + } + bool init(const std::string &vector_str) + { + this->clear(); + std::vector pieces; + std::vector rgba; +#if 0 + boost::split( pieces, vector_str, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i) + { + if (!pieces[i].empty()) + { + try + { + rgba.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) + { + return false; + } + } + } + + if (rgba.size() != 4) + { + return false; + } +#endif + this->r = rgba[0]; + this->g = rgba[1]; + this->b = rgba[2]; + this->a = rgba[3]; + + return true; + }; +}; + +} + +#endif + diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h new file mode 100644 index 000000000..0cfb80fc7 --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h @@ -0,0 +1,234 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_INTERFACE_JOINT_H +#define URDF_INTERFACE_JOINT_H + +#include +#include +#ifdef URDF_USE_BOOST +#include +#define my_shared_ptr my_shared_ptr +#else +#include +#endif + +#include "urdf_model/pose.h" + + +namespace urdf{ + +class Link; + +class JointDynamics +{ +public: + JointDynamics() { this->clear(); }; + double damping; + double friction; + + void clear() + { + damping = 0; + friction = 0; + }; +}; + +class JointLimits +{ +public: + JointLimits() { this->clear(); }; + double lower; + double upper; + double effort; + double velocity; + + void clear() + { + lower = 0; + upper = 0; + effort = 0; + velocity = 0; + }; +}; + +/// \brief Parameters for Joint Safety Controllers +class JointSafety +{ +public: + /// clear variables on construction + JointSafety() { this->clear(); }; + + /// + /// IMPORTANT: The safety controller support is very much PR2 specific, not intended for generic usage. + /// + /// Basic safety controller operation is as follows + /// + /// current safety controllers will take effect on joints outside the position range below: + /// + /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, + /// JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position] + /// + /// if (joint_position is outside of the position range above) + /// velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) + /// velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) + /// else + /// velocity_limit_min = -JointLimits::velocity + /// velocity_limit_max = JointLimits::velocity + /// + /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, + /// velocity_limit_max - JointLimits::effort / JointSafety::k_velocity] + /// + /// if (joint_velocity is outside of the velocity range above) + /// effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) + /// effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max) + /// else + /// effort_limit_min = -JointLimits::effort + /// effort_limit_max = JointLimits::effort + /// + /// Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max] + /// + /// Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits + /// + double soft_upper_limit; + double soft_lower_limit; + double k_position; + double k_velocity; + + void clear() + { + soft_upper_limit = 0; + soft_lower_limit = 0; + k_position = 0; + k_velocity = 0; + }; +}; + + +class JointCalibration +{ +public: + JointCalibration() { this->clear(); }; + double reference_position; + my_shared_ptr rising, falling; + + void clear() + { + reference_position = 0; + }; +}; + +class JointMimic +{ +public: + JointMimic() { this->clear(); }; + double offset; + double multiplier; + std::string joint_name; + + void clear() + { + offset = 0.0; + multiplier = 0.0; + joint_name.clear(); + }; +}; + + +class Joint +{ +public: + + Joint() { this->clear(); }; + + std::string name; + enum + { + UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED + } type; + + /// \brief type_ meaning of axis_ + /// ------------------------------------------------------ + /// UNKNOWN unknown type + /// REVOLUTE rotation axis + /// PRISMATIC translation axis + /// FLOATING N/A + /// PLANAR plane normal axis + /// FIXED N/A + Vector3 axis; + + /// child Link element + /// child link frame is the same as the Joint frame + std::string child_link_name; + + /// parent Link element + /// origin specifies the transform from Parent Link to Joint Frame + std::string parent_link_name; + /// transform from Parent Link frame to Joint frame + Pose parent_to_joint_origin_transform; + + /// Joint Dynamics + my_shared_ptr dynamics; + + /// Joint Limits + my_shared_ptr limits; + + /// Unsupported Hidden Feature + my_shared_ptr safety; + + /// Unsupported Hidden Feature + my_shared_ptr calibration; + + /// Option to Mimic another Joint + my_shared_ptr mimic; + + void clear() + { + this->axis.clear(); + this->child_link_name.clear(); + this->parent_link_name.clear(); + this->parent_to_joint_origin_transform.clear(); + this->dynamics.reset(0); + this->limits.reset(0); + this->safety.reset(0); + this->calibration.reset(0); + this->type = UNKNOWN; + }; +}; + +} + +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h new file mode 100644 index 000000000..649516469 --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h @@ -0,0 +1,258 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_INTERFACE_LINK_H +#define URDF_INTERFACE_LINK_H + +#include +#include +#include + + +#ifdef URDF_USE_BOOST + #include + #include +#else + #include +#endif + +#include "joint.h" +#include "color.h" +#include "pose.h" + +namespace urdf{ + +class Geometry +{ +public: + enum {SPHERE, BOX, CYLINDER, MESH} type; + + virtual ~Geometry(void) + { + } +}; + +class Sphere : public Geometry +{ +public: + Sphere() { this->clear(); type = SPHERE; }; + double radius; + + void clear() + { + radius = 0; + }; +}; + +class Box : public Geometry +{ +public: + Box() { this->clear(); type = BOX; } + Vector3 dim; + + void clear() + { + this->dim.clear(); + }; +}; + +class Cylinder : public Geometry +{ +public: + Cylinder() { this->clear(); type = CYLINDER; }; + double length; + double radius; + + void clear() + { + length = 0; + radius = 0; + }; +}; + +class Mesh : public Geometry +{ +public: + Mesh() { this->clear(); type = MESH; }; + std::string filename; + Vector3 scale; + + void clear() + { + filename.clear(); + // default scale + scale.x = 1; + scale.y = 1; + scale.z = 1; + }; +}; + +class Material +{ +public: + Material() { this->clear(); }; + std::string name; + std::string texture_filename; + Color color; + + void clear() + { + color.clear(); + texture_filename.clear(); + name.clear(); + }; +}; + +class Inertial +{ +public: + Inertial() { this->clear(); }; + Pose origin; + double mass; + double ixx,ixy,ixz,iyy,iyz,izz; + + void clear() + { + origin.clear(); + mass = 0; + ixx = ixy = ixz = iyy = iyz = izz = 0; + }; +}; + +class Visual +{ +public: + Visual() { this->clear(); }; + Pose origin; + my_shared_ptr geometry; + + std::string material_name; + my_shared_ptr material; + + void clear() + { + origin.clear(); + material_name.clear(); + material.reset(0); + geometry.reset(0); + name.clear(); + }; + + std::string name; +}; + +class Collision +{ +public: + Collision() { this->clear(); }; + Pose origin; + my_shared_ptr geometry; + + void clear() + { + origin.clear(); + geometry.reset(0); + name.clear(); + }; + + std::string name; + +}; + + +class Link +{ +public: + Link() { this->clear(); }; + + std::string name; + + /// inertial element + my_shared_ptr inertial; + + /// visual element + my_shared_ptr visual; + + /// collision element + my_shared_ptr collision; + + /// if more than one collision element is specified, all collision elements are placed in this array (the collision member points to the first element of the array) + std::vector > collision_array; + + /// if more than one visual element is specified, all visual elements are placed in this array (the visual member points to the first element of the array) + std::vector > visual_array; + + /// Parent Joint element + /// explicitly stating "parent" because we want directional-ness for tree structure + /// every link can have one parent + my_shared_ptr parent_joint; + + std::vector > child_joints; + std::vector > child_links; + + const Link* getParent() const + {return parent_link_;} + + void setParent(const my_shared_ptr &parent) + { + parent_link_ = parent.get(); + } + + void clear() + { + this->name.clear(); + this->inertial.reset(0); + this->visual.reset(0); + this->collision.reset(0); + this->parent_joint.reset(0); + this->child_joints.clear(); + this->child_links.clear(); + this->collision_array.clear(); + this->visual_array.clear(); + }; + +private: +// boost::weak_ptr parent_link_; + const Link* parent_link_; + +}; + + + + +} + +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h new file mode 100644 index 000000000..b40fdb53d --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h @@ -0,0 +1,215 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_INTERFACE_MODEL_H +#define URDF_INTERFACE_MODEL_H + +#include +#include +//#include +#include + +#include + +namespace urdf { + +class ModelInterface +{ +public: + my_shared_ptr getRoot(void) const{return this->root_link_;}; + my_shared_ptr getLink(const std::string& name) const + { + my_shared_ptr ptr; + if (this->links_.find(name) == this->links_.end()) + ptr.reset(0); + else + ptr = this->links_.find(name)->second; + return ptr; + }; + + my_shared_ptr getJoint(const std::string& name) const + { + my_shared_ptr ptr; + if (this->joints_.find(name) == this->joints_.end()) + ptr.reset(0); + else + ptr = this->joints_.find(name)->second; + return ptr; + }; + + + const std::string& getName() const {return name_;}; + void getLinks(std::vector >& links) const + { + for (std::map >::const_iterator link = this->links_.begin();link != this->links_.end(); link++) + { + links.push_back(link->second); + } + }; + + void clear() + { + name_.clear(); + this->links_.clear(); + this->joints_.clear(); + this->materials_.clear(); + this->root_link_.reset(0); + }; + + /// non-const getLink() + void getLink(const std::string& name,my_shared_ptr &link) const + { + my_shared_ptr ptr; + if (this->links_.find(name) == this->links_.end()) + ptr.reset(0); + else + ptr = this->links_.find(name)->second; + link = ptr; + }; + + /// non-const getMaterial() + my_shared_ptr getMaterial(const std::string& name) const + { + my_shared_ptr ptr; + if (this->materials_.find(name) == this->materials_.end()) + ptr.reset(0); + else + ptr = this->materials_.find(name)->second; + return ptr; + }; + + void initTree(std::map &parent_link_tree) + { + // loop through all joints, for every link, assign children links and children joints + for (std::map >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) + { + std::string parent_link_name = joint->second->parent_link_name; + std::string child_link_name = joint->second->child_link_name; + + if (parent_link_name.empty() || child_link_name.empty()) + { + assert(0); + + // throw ParseError("Joint [" + joint->second->name + "] is missing a parent and/or child link specification."); + } + else + { + // find child and parent links + my_shared_ptr child_link, parent_link; + this->getLink(child_link_name, child_link); + if (!child_link) + { + assert(0); +// throw ParseError("child link [" + child_link_name + "] of joint [" + joint->first + "] not found"); + } + this->getLink(parent_link_name, parent_link); + if (!parent_link) + { + assert(0); + +/* throw ParseError("parent link [" + parent_link_name + "] of joint [" + joint->first + "] not found. This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [" + joint->first + "] from your urdf file, or add \"\" to your urdf file."); + + */} + + //set parent link for child link + child_link->setParent(parent_link); + + //set parent joint for child link + child_link->parent_joint = joint->second; + + //set child joint for parent link + parent_link->child_joints.push_back(joint->second); + + //set child link for parent link + parent_link->child_links.push_back(child_link); + + // fill in child/parent string map + parent_link_tree[child_link->name] = parent_link_name; + } + } + } + + void initRoot(const std::map &parent_link_tree) + { + this->root_link_.reset(0); + + // find the links that have no parent in the tree + for (std::map >::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) + { + std::map::const_iterator parent = parent_link_tree.find(l->first); + if (parent == parent_link_tree.end()) + { + // store root link + if (!this->root_link_) + { + getLink(l->first, this->root_link_); + } + // we already found a root link + else + { + assert(0); + // throw ParseError("Two root links found: [" + this->root_link_->name + "] and [" + l->first + "]"); + } + } + } + if (!this->root_link_) + { + assert(0); + //throw ParseError("No root link found. The robot xml is not a valid tree."); + } + } + + + /// \brief complete list of Links + std::map > links_; + /// \brief complete list of Joints + std::map > joints_; + /// \brief complete list of Materials + std::map > materials_; + + /// \brief The name of the robot model + std::string name_; + + /// \brief The root is always a link (the parent of the tree describing the robot) + my_shared_ptr root_link_; + + + +}; + +} + +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h new file mode 100644 index 000000000..1f99efb3c --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h @@ -0,0 +1,265 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_INTERFACE_POSE_H +#define URDF_INTERFACE_POSE_H + +#include +//#include +#include +#include +#ifndef M_PI +#define M_PI 3.141592538 +#endif //M_PI + +#ifdef URDF_USE_BOOST + #include + #include +#else + #include + #include +#endif //URDF_USE_BOOST + +#include +#include + +namespace urdf{ + +class Vector3 +{ +public: + Vector3(double _x,double _y, double _z) {this->x=_x;this->y=_y;this->z=_z;}; + Vector3() {this->clear();}; + double x; + double y; + double z; + + void clear() {this->x=this->y=this->z=0.0;}; + void init(const std::string &vector_str) + { + this->clear(); + std::vector pieces; + std::vector xyz; + boost::split( pieces, vector_str, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + try { + xyz.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) + { + assert(0); + // throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a vector value)"); + } + } + } + + + + if (xyz.size() != 3) + { + assert(0); + // throw ParseError("Parser found " + boost::lexical_cast(xyz.size()) + " elements but 3 expected while parsing vector [" + vector_str + "]"); + } + this->x = xyz[0]; + this->y = xyz[1]; + this->z = xyz[2]; + } + + Vector3 operator+(Vector3 vec) + { + return Vector3(this->x+vec.x,this->y+vec.y,this->z+vec.z); + }; +}; + +class Rotation +{ +public: + Rotation(double _x,double _y, double _z, double _w) {this->x=_x;this->y=_y;this->z=_z;this->w=_w;}; + Rotation() {this->clear();}; + void getQuaternion(double &quat_x,double &quat_y,double &quat_z, double &quat_w) const + { + quat_x = this->x; + quat_y = this->y; + quat_z = this->z; + quat_w = this->w; + }; + void getRPY(double &roll,double &pitch,double &yaw) const + { + double sqw; + double sqx; + double sqy; + double sqz; + + sqx = this->x * this->x; + sqy = this->y * this->y; + sqz = this->z * this->z; + sqw = this->w * this->w; + + roll = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz); + double sarg = -2 * (this->x*this->z - this->w*this->y); + pitch = sarg <= -1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg)); + yaw = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz); + + }; + void setFromQuaternion(double quat_x,double quat_y,double quat_z,double quat_w) + { + this->x = quat_x; + this->y = quat_y; + this->z = quat_z; + this->w = quat_w; + this->normalize(); + }; + void setFromRPY(double roll, double pitch, double yaw) + { + double phi, the, psi; + + phi = roll / 2.0; + the = pitch / 2.0; + psi = yaw / 2.0; + + this->x = sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi); + this->y = cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi); + this->z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi); + this->w = cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi); + + this->normalize(); + }; + + double x,y,z,w; + + void init(const std::string &rotation_str) + { + this->clear(); + Vector3 rpy; + rpy.init(rotation_str); + setFromRPY(rpy.x, rpy.y, rpy.z); + } + + void clear() { this->x=this->y=this->z=0.0;this->w=1.0; } + + void normalize() + { + double s = sqrt(this->x * this->x + + this->y * this->y + + this->z * this->z + + this->w * this->w); + if (s == 0.0) + { + this->x = 0.0; + this->y = 0.0; + this->z = 0.0; + this->w = 1.0; + } + else + { + this->x /= s; + this->y /= s; + this->z /= s; + this->w /= s; + } + }; + + // Multiplication operator (copied from gazebo) + Rotation operator*( const Rotation &qt ) const + { + Rotation c; + + c.x = this->w * qt.x + this->x * qt.w + this->y * qt.z - this->z * qt.y; + c.y = this->w * qt.y - this->x * qt.z + this->y * qt.w + this->z * qt.x; + c.z = this->w * qt.z + this->x * qt.y - this->y * qt.x + this->z * qt.w; + c.w = this->w * qt.w - this->x * qt.x - this->y * qt.y - this->z * qt.z; + + return c; + }; + /// Rotate a vector using the quaternion + Vector3 operator*(Vector3 vec) const + { + Rotation tmp; + Vector3 result; + + tmp.w = 0.0; + tmp.x = vec.x; + tmp.y = vec.y; + tmp.z = vec.z; + + tmp = (*this) * (tmp * this->GetInverse()); + + result.x = tmp.x; + result.y = tmp.y; + result.z = tmp.z; + + return result; + }; + // Get the inverse of this quaternion + Rotation GetInverse() const + { + Rotation q; + + double norm = this->w*this->w+this->x*this->x+this->y*this->y+this->z*this->z; + + if (norm > 0.0) + { + q.w = this->w / norm; + q.x = -this->x / norm; + q.y = -this->y / norm; + q.z = -this->z / norm; + } + + return q; + }; + + +}; + +class Pose +{ +public: + Pose() { this->clear(); }; + + Vector3 position; + Rotation rotation; + + void clear() + { + this->position.clear(); + this->rotation.clear(); + }; +}; + +} + +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h new file mode 100644 index 000000000..ba57e4c0c --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h @@ -0,0 +1,68 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + +#ifndef URDF_TWIST_H +#define URDF_TWIST_H + +#include +#include +#include +#include +#include + +namespace urdf{ + + +class Twist +{ +public: + Twist() { this->clear(); }; + + Vector3 linear; + // Angular velocity represented by Euler angles + Vector3 angular; + + void clear() + { + this->linear.clear(); + this->angular.clear(); + }; +}; + +} + +#endif + diff --git a/btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/model_state.h b/btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/model_state.h new file mode 100644 index 000000000..b1327191a --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/model_state.h @@ -0,0 +1,141 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + +#ifndef URDF_MODEL_STATE_H +#define URDF_MODEL_STATE_H + +#include +#include +#include +#include +#include + +#include "urdf_model/pose.h" +#include + + +namespace urdf{ + +class Time +{ +public: + Time() { this->clear(); }; + + void set(double _seconds) + { + this->sec = (int32_t)(floor(_seconds)); + this->nsec = (int32_t)(round((_seconds - this->sec) * 1e9)); + this->Correct(); + }; + + operator double () + { + return (static_cast(this->sec) + + static_cast(this->nsec)*1e-9); + }; + + int32_t sec; + int32_t nsec; + + void clear() + { + this->sec = 0; + this->nsec = 0; + }; +private: + void Correct() + { + // Make any corrections + if (this->nsec >= 1e9) + { + this->sec++; + this->nsec = (int32_t)(this->nsec - 1e9); + } + else if (this->nsec < 0) + { + this->sec--; + this->nsec = (int32_t)(this->nsec + 1e9); + } + }; +}; + + +class JointState +{ +public: + JointState() { this->clear(); }; + + /// joint name + std::string joint; + + std::vector position; + std::vector velocity; + std::vector effort; + + void clear() + { + this->joint.clear(); + this->position.clear(); + this->velocity.clear(); + this->effort.clear(); + } +}; + +class ModelState +{ +public: + ModelState() { this->clear(); }; + + /// state name must be unique + std::string name; + + Time time_stamp; + + void clear() + { + this->name.clear(); + this->time_stamp.set(0); + this->joint_states.clear(); + }; + + std::vector > joint_states; + +}; + +} + +#endif + diff --git a/btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/twist.h b/btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/twist.h new file mode 100644 index 000000000..05f1917b9 --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/twist.h @@ -0,0 +1,42 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#ifndef URDF_MODEL_STATE_TWIST_ +#define URDF_MODEL_STATE_TWIST_ + +#warning "Please Use #include " + +#include + +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_sensor/include/urdf_sensor/sensor.h b/btgui/urdf/urdfdom_headers/urdf_sensor/include/urdf_sensor/sensor.h new file mode 100644 index 000000000..3b996957b --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_sensor/include/urdf_sensor/sensor.h @@ -0,0 +1,176 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + +/* example + + + + + 1.5708 + + + + + + + + + + + + + + +*/ + + + +#ifndef URDF_SENSOR_H +#define URDF_SENSOR_H + +#include +#include +#include +#include +#include +#include "urdf_model/pose.h" +#include "urdf_model/joint.h" +#include "urdf_model/link.h" + +namespace urdf{ + +class VisualSensor +{ +public: + enum {CAMERA, RAY} type; + virtual ~VisualSensor(void) + { + } +}; + +class Camera : public VisualSensor +{ +public: + Camera() { this->clear(); }; + unsigned int width, height; + /// format is optional: defaults to R8G8B8), but can be + /// (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) + std::string format; + double hfov; + double near; + double far; + + void clear() + { + hfov = 0; + width = 0; + height = 0; + format.clear(); + near = 0; + far = 0; + }; +}; + +class Ray : public VisualSensor +{ +public: + Ray() { this->clear(); }; + unsigned int horizontal_samples; + double horizontal_resolution; + double horizontal_min_angle; + double horizontal_max_angle; + unsigned int vertical_samples; + double vertical_resolution; + double vertical_min_angle; + double vertical_max_angle; + + void clear() + { + // set defaults + horizontal_samples = 1; + horizontal_resolution = 1; + horizontal_min_angle = 0; + horizontal_max_angle = 0; + vertical_samples = 1; + vertical_resolution = 1; + vertical_min_angle = 0; + vertical_max_angle = 0; + }; +}; + + +class Sensor +{ +public: + Sensor() { this->clear(); }; + + /// sensor name must be unique + std::string name; + + /// update rate in Hz + double update_rate; + + /// transform from parent frame to optical center + /// with z-forward and x-right, y-down + Pose origin; + + /// sensor + boost::shared_ptr sensor; + + + /// Parent link element name. A pointer is stored in parent_link_. + std::string parent_link_name; + + boost::shared_ptr getParent() const + {return parent_link_.lock();}; + + void setParent(boost::shared_ptr parent) + { this->parent_link_ = parent; } + + void clear() + { + this->name.clear(); + this->sensor.reset(); + this->parent_link_name.clear(); + this->parent_link_.reset(); + }; + +private: + boost::weak_ptr parent_link_; + +}; +} +#endif diff --git a/btgui/urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h b/btgui/urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h new file mode 100644 index 000000000..eb13fc4b1 --- /dev/null +++ b/btgui/urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h @@ -0,0 +1,114 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + +/* encapsulates components in a world + see http://ros.org/wiki/usdf/XML/urdf_world and + for details +*/ +/* example world XML + + + + + ... + + + + + + + + + + + + + + + + + + + +*/ + +#ifndef USDF_STATE_H +#define USDF_STATE_H + +#include +#include +#include +#include +#include +#include + +#include "urdf_model/model.h" +#include "urdf_model/pose.h" +#include "urdf_model/twist.h" + +namespace urdf{ + +class Entity +{ +public: + boost::shared_ptr model; + Pose origin; + Twist twist; +}; + +class World +{ +public: + World() { this->clear(); }; + + /// world name must be unique + std::string name; + + std::vector models; + + void initXml(TiXmlElement* config); + + void clear() + { + this->name.clear(); + }; +}; +} + +#endif + diff --git a/build3/premake4.lua b/build3/premake4.lua index 4f5d5be50..bcc6ddeb4 100644 --- a/build3/premake4.lua +++ b/build3/premake4.lua @@ -79,9 +79,9 @@ } end - - flags { "NoRTTI", "NoExceptions"} - defines { "_HAS_EXCEPTIONS=0" } +-- comment-out for now, URDF reader needs exceptions +-- flags { "NoRTTI", "NoExceptions"} +-- defines { "_HAS_EXCEPTIONS=0" } targetdir "../bin" location("./" .. act .. postfix) @@ -117,6 +117,7 @@ if findOpenGL() then -- include "../Demos3/ImplicitCloth" include "../Demos3/SimpleOpenGL3" + include "../btgui/urdf" include "../btgui/lua-5.2.3" include "../test/lua"