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XMLConfig.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: XML config file
 * Author: Andrew Howard and Nate Koenig
 * Date: 3 Apr 2007
 * SVN: $Id: XMLConfig.hh 156 2007-11-26 20:26:57Z natepak $
 */

#ifndef XMLCONFIG_HH
#define XMLCONFIG_HH

#include <libxml/parser.h>
#include <libxml/xpath.h>
#include <string>

#include "Vector3.hh"
#include "Vector2.hh"
#include "Quatern.hh"
#include "Time.hh"

namespace gazebo
{
  
  // Forward declarations
  class XMLConfigNode;
  
  
  class XMLConfig
  {
    public: XMLConfig();
  
    public: ~XMLConfig();
  
    public: int Load( std::string filename );
  
    public: int LoadString( std::string str );
  
    public: int Save( std::string filename );
  
    public: XMLConfigNode *GetRootNode() const;
  
    private: XMLConfigNode *CreateNodes( XMLConfigNode *parent, 
                                         xmlNodePtr xmlNode );
    public: std::string filename;
    
    private: xmlDocPtr xmlDoc;
  
    private: XMLConfigNode *root;
  
    private: xmlXPathContextPtr xpathContex;
  };
  
  
  class XMLConfigNode
  {
    public: XMLConfigNode( XMLConfig *cfg, XMLConfigNode *parent, 
                          xmlNodePtr xmlNode, xmlDocPtr xmlDoc );
  
    public: ~XMLConfigNode();
  
    public: std::string GetName();
  
    public: std::string GetNSPrefix();
  
    public: XMLConfigNode *GetNext();

    public: XMLConfigNode *GetNext(std::string name);

    public: XMLConfigNode *GetNextByNSPrefix(std::string name);
  
    public: XMLConfigNode *GetChild();
  
    public: XMLConfigNode *GetChild( std::string name );
  
    public: XMLConfigNode *GetChildByNSPrefix( std::string prefix );
  
    public: XMLConfigNode *Rewind();
  
    public: void Print();
  
    public: std::string GetValue();
  
    public: std::string GetString( std::string key, std::string def, 
                                   int require = 0 );
  
    public: unsigned char GetChar( std::string key, char def, int require = 0 );
  
    public: std::string GetFilename( std::string key, std::string def, 
                                     int require = 0);
  
    public: int GetInt( std::string key, int def, int require = 0 );
  
    public: double GetDouble( std::string key, double def, int require = 0 );
  
    public: float GetFloat( std::string key, float def, int require = 0 );
  
    public: bool GetBool( std::string key, bool def, int require = 0 );
  
    public: double GetLength( std::string key, double def, int require = 0 );
  
    public: gazebo::Time GetTime( std::string key, double def, int require = 0 );
  
    public: Vector3 GetVector3( std::string key, Vector3 def );
  
    public: Vector2<double> GetVector2d( std::string key, Vector2<double> def );

    public: Vector2<int> GetVector2i( std::string key, Vector2<int> def );
  
    public: Quatern GetRotation( std::string key, Quatern def );
  
    public: std::string GetTupleString( std::string key, int index, 
                                        std::string def );
  
    public: int GetTupleInt( std::string key, int index, int def );
  
    public: double GetTupleDouble( std::string key, int index, double def );
  
    public: double GetTupleLength( std::string key, int index, double def );
  
    public: double GetTupleAngle( std::string key, int index, double def );
  
    protected: xmlChar* GetNodeValue( std::string key );
  
    private: XMLConfig *config;
    
    private: XMLConfigNode *parent;
    
    private: XMLConfigNode *next, *prev;
    
    private: XMLConfigNode *childFirst, *childLast;
  
    private: xmlNodePtr xmlNode;
  
    private: xmlDocPtr xmlDoc;
  };
  
}

#endif

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Last updated Aug 04 2007