Root.hh
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1/*
2 * Copyright 2017 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef SDF_ROOT_HH_
18#define SDF_ROOT_HH_
19
20#include <string>
21#include <ignition/utils/ImplPtr.hh>
22
23#include "sdf/SDFImpl.hh"
24#include "sdf/Types.hh"
25#include "sdf/sdf_config.h"
26#include "sdf/system_util.hh"
27
28namespace sdf
29{
30 // Inline bracket to help doxygen filtering.
31 inline namespace SDF_VERSION_NAMESPACE {
32 //
33
34 // Forward declarations.
35 class Actor;
36 class Light;
37 class Model;
38 class World;
39
55 {
57 public: Root();
58
64 public: Errors Load(const std::string &_filename);
65
72 public: Errors Load(
73 const std::string &_filename, const ParserConfig &_config);
74
80 public: Errors LoadSdfString(const std::string &_sdf);
81
89 const std::string &_sdf, const ParserConfig &_config);
90
96 public: Errors Load(const SDFPtr _sdf);
97
104 public: Errors Load(const SDFPtr _sdf, const ParserConfig &_config);
105
110 public: std::string Version() const;
111
115 public: void SetVersion(const std::string &_version);
116
119 public: uint64_t WorldCount() const;
120
126 public: const World *WorldByIndex(const uint64_t _index) const;
127
131 public: bool WorldNameExists(const std::string &_name) const;
132
136 public: const sdf::Model *Model() const;
137
141 public: const sdf::Light *Light() const;
142
146 public: const sdf::Actor *Actor() const;
147
152 public: sdf::ElementPtr Element() const;
153
155 IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
156 };
157 }
158}
159#endif
Provides a description of an actor.
Definition: Actor.hh:191
Provides a description of a light source.
Definition: Light.hh:64
Definition: Model.hh:49
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:85
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:55
Root()
Default constructor.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was generated during load.
Errors LoadSdfString(const std::string &_sdf)
Parse the given SDF string, and generate objects based on types specified in the SDF file.
const World * WorldByIndex(const uint64_t _index) const
Get a world based on an index.
const sdf::Model * Model() const
Get a pointer to the model object if it exists.
const sdf::Light * Light() const
Get a pointer to the light object if it exists.
Errors LoadSdfString(const std::string &_sdf, const ParserConfig &_config)
Parse the given SDF string, and generate objects based on types specified in the SDF file.
Errors Load(const SDFPtr _sdf)
Parse the given SDF pointer, and generate objects based on types specified in the SDF file.
const sdf::Actor * Actor() const
Get a pointer to the actor object if it exists.
Errors Load(const std::string &_filename)
Parse the given SDF file, and generate objects based on types specified in the SDF file.
std::string Version() const
Get the SDF version specified in the parsed file or SDF pointer.
bool WorldNameExists(const std::string &_name) const
Get whether a world name exists.
Errors Load(const std::string &_filename, const ParserConfig &_config)
Parse the given SDF file, and generate objects based on types specified in the SDF file.
void SetVersion(const std::string &_version)
Set the SDF version string.
Errors Load(const SDFPtr _sdf, const ParserConfig &_config)
Parse the given SDF pointer, and generate objects based on types specified in the SDF file.
uint64_t WorldCount() const
Get the number of worlds.
Definition: World.hh:55
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:52
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41