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WorldFile.hh Go to the documentation of this file. /* * 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: A class for reading and writing the world file. * Author: Andrew Howard * Date: 15 Nov 2001 * CVS info: $Id: WorldFile.hh,v 1.22 2004/11/14 07:39:04 inspectorg Exp $ */ #ifndef WORLDFILE_HH #define WORLDFILE_HH #include <libxml/parser.h> #include "Vector.hh" #include "Color.hh" // Forward declarations class WorldFileNode; class WorldFile { public: WorldFile(); public: ~WorldFile(); public: int Load( const char *filename ); public: int LoadString( const char *str ); public: int Save( const char *filename ); public: bool WarnUnused(); public: WorldFileNode *GetRootNode() const; // Create wrappers private: WorldFileNode *CreateNodes( WorldFileNode *parent, xmlNodePtr xmlNode ); public: char *filename; // XML data private: xmlDocPtr xmlDoc; // The root of the tree private: WorldFileNode *root; }; class WorldFileNode { public: WorldFileNode( WorldFile *file, WorldFileNode *parent, xmlNodePtr xmlNode, xmlDocPtr xmlDoc ); public: ~WorldFileNode(); public: const char *GetName(); public: const char *GetNSPrefix(); public: WorldFileNode *GetNext(); public: WorldFileNode *GetChild(); public: WorldFileNode *GetChild( const char *name ); public: WorldFileNode *GetChildByNSPrefix( const char *prefix); private: char* GetNodeValue( const char *key ); private: void SetNodeValue( const char *key, const char* value ); public: void Print(); public: bool WarnUnused(); public: bool IsDefined( const char *key ) {return GetNodeValue(key) != NULL;} public: const char *GetString( const char *key, const char *def, int require = 0 ); public: void SetString( const char *key, const char *v); public: const char *GetFilename( const char *key, const char *def, int require = 0); public: const char *SearchFilename( const char *key, const char *path, const char *def, int require = 0); public: int GetInt( const char *key, int def, int require = 0 ); public: double GetDouble( const char *key, double def, int require = 0 ); public: bool GetBool( const char *key, bool def, int require = 0 ); public: double GetLength( const char *key, double def, int require = 0 ); public: double GetAngle( const char *key, double def, int require = 0 ); public: double GetTime( const char *key, double def, int require = 0 ); public: GzVector GetPosition( const char *key, GzVector def ); public: void SetPosition( const char *key, GzVector v ); public: GzQuatern GetRotation( const char *key, GzQuatern def ); public: void SetRotation( const char *key, GzQuatern v ); /* REMOVE // @brief Read a pose // // Poses are specfied with three vectors: @htmlonly<lookat>pos_x // pos_y pos_z at_x at_y at_z up_x up_y up_z</lookat>@endhtmlonly. // The object will be positioned at @c pos, with the x-axis pointing // at @c at, and the z-axis pointing in the @c up direction. The @c // up vector may be omitted. public: GzPose GetPose( const char *key, GzPose def ); */ public: GzColor GetColor( const char *key, GzColor def ); public: const char *GetTupleString( const char *key, int index, const char *def ); public: double GetTupleDouble( const char *key, int index, double def ); public: int GetTupleInt( const char *key, int index, int def ); public: double GetTupleLength( const char *key, int index, double def ); public: double GetTupleAngle( const char *key, int index, double def ); // Our document private: WorldFile *file; // Our parent private: WorldFileNode *parent; // Our siblings private: WorldFileNode *next, *prev; // Our children private: WorldFileNode *child_first, *child_last; // XML data private: xmlNodePtr xmlNode; // XML data private: xmlDocPtr xmlDoc; // Flag set if the node has been accessed private: bool used; // Warts friend class WorldFile; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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