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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 12 September 2005 21:38:45