hpp-manipulation-urdf 4.14.0
Implementation of a parser for hpp-manipulation.
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parser.hh
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1// Copyright (c) 2014, LAAS-CNRS
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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28
29#ifndef HPP_MANIPULATION_PARSER_HH
30#define HPP_MANIPULATION_PARSER_HH
31
32#include <tinyxml.h>
33
34#include <hpp/manipulation/fwd.hh>
35#include <iostream>
36#include <list>
37#include <map>
38#include <string>
39
40namespace hpp {
41namespace manipulation {
42namespace parser {
43typedef TiXmlElement XMLElement;
44typedef TiXmlDocument XMLDocument;
45typedef TiXmlAttribute XMLAttribute;
46typedef TiXmlNode XMLNode;
47typedef TiXmlText XMLText;
48
49class RootFactory;
50
57
60
86 public:
87 typedef std::vector<ObjectFactory*> ObjectFactoryList;
88
89 ObjectFactory(ObjectFactory* parent = NULL, const XMLElement* element = NULL);
90
91 virtual ~ObjectFactory() {}
92
95
98 virtual bool init();
99
106 void setAttribute(const XMLAttribute* attr);
107
109 virtual void addTextChild(const XMLText* text);
110
113 virtual bool finishAttributes();
114
116 virtual void finishTags();
117
119 virtual void finishFile();
120
122
125
128 std::string tagName() const;
129
132 std::string name() const;
133
135 bool hasAttribute(const std::string& attr) const;
136
138 std::string getAttribute(const std::string& attr) const;
139
142
148 bool getChildOfType(std::string type, ObjectFactory*& o);
149
151
155 void name(const std::string& n);
156
158 void name(const char* n);
159
161 template <typename T>
162 T* as() {
163 if (!dynamic_cast<T*>(this)) {
164 std::ostringstream oss;
165 oss << "Unexpected tag: " << this->tagName();
166 throw std::invalid_argument(oss.str().c_str());
167 }
168 return static_cast<T*>(this);
169 }
170
171 protected:
173
175
177
178 bool hasParent() const;
179
181
182 virtual void impl_setAttribute(const XMLAttribute* attr);
183
185
186 virtual std::ostream& print(std::ostream& os) const;
187
188 private:
189 ObjectFactory* parent_;
190 RootFactory* root_;
191 typedef std::map<std::string, ObjectFactoryList> ChildrenMap;
192 ChildrenMap children_;
193
194 const XMLElement* element_;
195
196 typedef std::map<std::string, std::string> AttributeMap;
197 AttributeMap attrMap_;
198 std::string name_;
199 int id_;
200
201 friend std::ostream& operator<<(std::ostream&, const ObjectFactory&);
202};
203
206 public:
207 virtual ~RootFactory() {}
208 RootFactory(const DevicePtr_t dev = DevicePtr_t());
209
210 DevicePtr_t device() const;
211
212 inline std::string prependPrefix(const std::string& in) const {
213 if (prefix_.empty()) return in;
214 return prefix_ + in;
215 }
216
217 inline std::string removePrefix(const std::string& in) const {
218 if (prefix_.empty()) return in;
219 assert(in.compare(0, prefix_.size(), prefix_) == 0);
220 return in.substr(prefix_.size());
221 }
222
223 void prefix(const std::string& prefix) {
224 if (prefix.empty()) return;
225 prefix_ = prefix + "/";
226 }
227
228 private:
229 DevicePtr_t device_;
230 std::string prefix_;
231};
232
234
237template <typename T>
239 const XMLElement* element = NULL) {
240 return new T(parent, element);
241}
242
248class Parser {
249 public:
250 typedef ObjectFactory* (*FactoryType)(ObjectFactory*, const XMLElement*);
252
259 Parser(bool fillWithDefaultFactories = true,
260 FactoryType defaultFactory = create<ObjectFactory>);
261
263
264 void addObjectFactory(const std::string& tagname, FactoryType factory);
265
266 void parseString(const std::string& xmlString, DevicePtr_t robot);
267
268 void parseFile(const std::string& filename, DevicePtr_t robot);
269
270 const ObjectFactoryList& objectFactories() const { return objectFactories_; }
271
273 void prefix(const std::string& prefix) { prefix_ = prefix; }
274
275 private:
276 XMLDocument doc_;
277 RootFactory* root_;
278 DevicePtr_t device_;
279
280 void loadFile(const char* filename);
281
282 void loadString(const char* xmlstring);
283
284 void parse();
285
286 void parseElement(const XMLElement* element, ObjectFactory* parent);
287
288 typedef std::map<std::string, FactoryType> ObjectFactoryMap;
289 typedef std::pair<std::string, FactoryType> ObjectFactoryPair;
290 typedef std::pair<ObjectFactoryMap::iterator, bool> ObjectFactoryInsertRet;
291 ObjectFactoryMap objFactoryMap_;
292 FactoryType defaultFactory_;
293
294 ObjectFactoryList objectFactories_;
295
296 std::string prefix_;
297
298 std::ostream& print(std::ostream&) const;
299 friend std::ostream& operator<<(std::ostream&, const Parser&);
300};
301
302std::ostream& operator<<(std::ostream&, const ObjectFactory&);
303std::ostream& operator<<(std::ostream&, const Parser&);
304} // namespace parser
305} // namespace manipulation
306} // namespace hpp
307
308#endif // HPP_MANIPULATION_PARSER_HH
Class that catch XML Parser events for a specific tag and build the corresponding Object.
Definition: parser.hh:85
virtual std::ostream & print(std::ostream &os) const
virtual ~ObjectFactory()
Definition: parser.hh:91
std::vector< ObjectFactory * > ObjectFactoryList
Definition: parser.hh:87
virtual void finishFile()
Called when parsing is finished.
void name(const std::string &n)
void setAttribute(const XMLAttribute *attr)
void addChild(ObjectFactory *child)
ObjectFactoryList getChildrenOfType(std::string type)
Get a list of ObjectFactory whose tag name is type.
void name(const char *n)
See name(const std::string&)
virtual void finishTags()
Called when all the child tags have been processed.
virtual void impl_setAttribute(const XMLAttribute *attr)
ObjectFactory(ObjectFactory *parent=NULL, const XMLElement *element=NULL)
bool hasAttribute(const std::string &attr) const
Check if an attribute was set.
T * as()
Cast this class to any child class.
Definition: parser.hh:162
std::string getAttribute(const std::string &attr) const
Return a given attributes.
friend std::ostream & operator<<(std::ostream &, const ObjectFactory &)
bool getChildOfType(std::string type, ObjectFactory *&o)
virtual void addTextChild(const XMLText *text)
Add Text child.
Parse an XML document.
Definition: parser.hh:248
Parser(bool fillWithDefaultFactories=true, FactoryType defaultFactory=create< ObjectFactory >)
void prefix(const std::string &prefix)
Set the prefix of all joints.
Definition: parser.hh:273
friend std::ostream & operator<<(std::ostream &, const Parser &)
void addObjectFactory(const std::string &tagname, FactoryType factory)
ObjectFactory *(* FactoryType)(ObjectFactory *, const XMLElement *)
Definition: parser.hh:250
void parseString(const std::string &xmlString, DevicePtr_t robot)
const ObjectFactoryList & objectFactories() const
Definition: parser.hh:270
ObjectFactory::ObjectFactoryList ObjectFactoryList
Definition: parser.hh:251
void parseFile(const std::string &filename, DevicePtr_t robot)
Represent a XML document.
Definition: parser.hh:205
virtual ~RootFactory()
Definition: parser.hh:207
std::string removePrefix(const std::string &in) const
Definition: parser.hh:217
RootFactory(const DevicePtr_t dev=DevicePtr_t())
void prefix(const std::string &prefix)
Definition: parser.hh:223
std::string prependPrefix(const std::string &in) const
Definition: parser.hh:212
std::ostream & operator<<(std::ostream &, const ObjectFactory &)
TiXmlDocument XMLDocument
Definition: parser.hh:44
TiXmlText XMLText
Definition: parser.hh:47
TiXmlNode XMLNode
Definition: parser.hh:46
TiXmlAttribute XMLAttribute
Definition: parser.hh:45
ObjectFactory * create(ObjectFactory *parent=NULL, const XMLElement *element=NULL)
Definition: parser.hh:238
TiXmlElement XMLElement
Definition: parser.hh:43
Definition: ignoretag.hh:34