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/*
* Copyright 2012 Open Source Robotics Foundation
*
* 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.
*
*/
#ifndef _SDF_PARSER_HH_
#define _SDF_PARSER_HH_
#include <string>
#include "sdf/SDFImpl.hh"
#include "sdf/system_util.hh"
/// \ingroup sdf_parser
/// \brief namespace for Simulation Description Format parser
namespace sdf
{
/// \brief Init based on the installed sdf_format.xml file
SDFORMAT_VISIBLE
bool init(SDFPtr _sdf);
/// \brief Initialize the SDF interface using a file
SDFORMAT_VISIBLE
bool initFile(const std::string &_filename, SDFPtr _sdf);
/// \brief Initialize an SDFElement interface using a file
SDFORMAT_VISIBLE
bool initFile(const std::string &_filename, ElementPtr _sdf);
/// \brief Initialize the SDF interface using a string
SDFORMAT_VISIBLE
bool initString(const std::string &_xmlString, SDFPtr _sdf);
/// \brief Populate the SDF values from a file
/// \param[in] _filename Name of the SDF file
/// \return Populated SDF pointer.
SDFORMAT_VISIBLE
sdf::SDFPtr readFile(const std::string &_filename);
/// \brief Populate the SDF values from a file
/// \param[in] _filename Name of the SDF file
/// \param[out] _errors Parsing errors will be appended to this variable.
/// \return Populated SDF pointer.
SDFORMAT_VISIBLE
sdf::SDFPtr readFile(const std::string &_filename, Errors &_errors);
/// \brief Populate the SDF values from a file
///
/// This populates the given sdf pointer from a file. If the file is a URDF
/// file it is converted to SDF first. All files are converted to the latest
/// SDF version
/// \param[in] _filename Name of the SDF file
/// \param[in] _sdf Pointer to an SDF object.
/// \param[out] _errors Parsing errors will be appended to this variable.
/// \return True if successful.
SDFORMAT_VISIBLE
bool readFile(const std::string &_filename, SDFPtr _sdf, Errors &_errors);
/// \brief Populate the SDF values from a file
///
/// This populates the given sdf pointer from a file. If the file is a URDF
/// file it is converted to SDF first. All files are converted to the latest
/// SDF version
/// \param[in] _filename Name of the SDF file
/// \param[in] _sdf Pointer to an SDF object.
/// \return True if successful.
SDFORMAT_VISIBLE
bool readFile(const std::string &_filename, SDFPtr _sdf);
/// \brief Populate the SDF values from a string
///
/// This populates the sdf pointer from a string. If the string is a URDF
/// string it is converted to SDF first. All string are converted to the
/// latest SDF version
/// \param[out] _errors Parsing errors will be appended to this variable.
SDFORMAT_VISIBLE
bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors);
/// \brief Populate the SDF values from a string
///
/// This populates the sdf pointer from a string. If the string is a URDF
/// string it is converted to SDF first. All string are converted to the
/// latest SDF version
SDFORMAT_VISIBLE
bool readString(const std::string &_xmlString, SDFPtr _sdf);
/// \brief Populate the SDF values from a string
///
/// This populates the sdf pointer from a string. If the string is a URDF
/// string it is converted to SDF first. All strings are converted to the
/// latest SDF version
/// \param[out] _errors Parsing errors will be appended to this variable.
SDFORMAT_VISIBLE
bool readString(const std::string &_xmlString, ElementPtr _sdf,
Errors &_errors);
/// \brief Populate the SDF values from a string
///
/// This populates the sdf pointer from a string. If the string is a URDF
/// string it is converted to SDF first. All strings are converted to the
/// latest SDF version
SDFORMAT_VISIBLE
bool readString(const std::string &_xmlString, ElementPtr _sdf);
/// \brief Get the file path to the model file
/// \param[in] _modelDirPath directory system path of the model
/// \return string with the full filesystem path to the best version (greater
/// SDF protocol supported by this sdformat version) of the .sdf
/// model files hosted by _modelDirPath.
SDFORMAT_VISIBLE
std::string getModelFilePath(const std::string &_modelDirPath);
SDFORMAT_VISIBLE
void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF);
/// \brief Convert an SDF file to a specific SDF version.
/// \param[in] _filename Name of the SDF file to convert.
/// \param[in] _version Version to convert _filename to.
/// \param[out] _sdf Pointer to the converted SDF document.
/// \return True on success.
SDFORMAT_VISIBLE
bool convertFile(const std::string &_filename, const std::string &_version,
SDFPtr _sdf);
/// \brief Convert an SDF string to a specific SDF version.
/// \param[in] _sdfString The SDF string to convert.
/// \param[in] _version Version to convert _filename to.
/// \param[out] _sdf Pointer to the converted SDF document.
/// \return True on success.
SDFORMAT_VISIBLE
bool convertString(const std::string &_sdfString,
const std::string &_version, SDFPtr _sdf);
}
#endif
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