Utility class to help read in the content of a XML-files parsed with Xerces The Class is part of the core Library in a limited edition. Use DOMBasisTypes for a full implementation. More...

#include <DOMCoreBasisTypes.hpp>

Classes
class	Initializer
	Utility class which initializes local static variables. More...

Static Public Member Functions
static const std::string &	idQ ()
	Identifier for rw::math::Q in the XML format. More...

static const std::string &	idVector3D ()
	Identifier for rw::math::Vector3D<> in the XML format. More...

static const std::string &	idVector2D ()
	Identifier for rw::math::Vector2D<> in the XML format. More...

static const std::string &	idRotation3D ()
	Identifier for rw::math::Rotation3D<> in the XML format. More...

static const std::string &	idRPY ()
	Identifier for rw::math::RPY<> in the XML format. More...

static const std::string &	idEAA ()
	Identifier for rw::math::EAA<> in the XML format. More...

static const std::string &	idQuaternion ()
	Identifier for rw::math::Quaternion<> in the XML format. More...

static const std::string &	idRotation2D ()
	Identifier for rw::math::Rotation2D<> in the XML format. More...

static const std::string &	idRotation2DAngle ()
	Identifier for single angle used to specify rw::math::Rotation2D<> in the XML format. More...

static const std::string &	idTransform2D ()
	Identifier for rw::math::Transform2D<> in the XML format. More...

static const std::string &	idTransform3D ()
	Identifier for rw::math::Transform3D<> in the XML format. More...

static const std::string &	idMatrix ()
	Identifier for rw::math::MatrixXd<> in the XML format. More...

static const std::string &	idVelocityScrew6D ()
	Identifier for rw::math::VelocityScrew6D<> in the XML format. More...

static const std::string &	idPos ()
	Identifier for the position specification used in Transform3D. More...

static const std::string &	idLinear ()
	Identifier for specifying the linear part in a VelocityScrew6D. More...

static const std::string &	idAngular ()
	Identifier for specifying the angular part in a VelocityScrew6D. More...

static const std::string &	idState ()
	Identifier for specifying a State. More...

static const std::string &	idQState ()
	Identifier for specifying a State. More...

static const std::string &	idTreeState ()
	Identifier for specifying a State. More...

static const std::string &	idBoolean ()
	Identifier for specifying a boolean. More...

static const std::string &	idDouble ()
	Identifier for specifying a double. More...

static const std::string &	idFloat ()
	Identifier for specifying a float. More...

static const std::string &	idInteger ()
	Identifier for specifying an integer. More...

static const std::string &	idString ()
	Identifier for specifying a string. More...

static const std::string &	idStringList ()
	Identifier for specifying a list of strings. More...

static const std::string &	idIntList ()
	Identifier for specifying a list of integers. More...

static const std::string &	idDoubleList ()
	Identifier for specifying a list of doubles. More...

static const std::string &	idStringPair ()
	Identifier for specifying a pair of strings. More...

static const std::string &	idUnitAttribute ()
	Identifier for the unit attribute. More...

static const std::string &	idPlane ()
	Identifier for a Plane. More...

static const std::string &	idBox ()
	Identifier for a Box. More...

static const std::string &	idSphere ()
	Identifier for a Sphere. More...

static const std::string &	idCone ()
	Identifier for a Cone. More...

static const std::string &	idCylinder ()
	Identifier for a Cylinder. More...

static const std::string &	idTube ()
	Identifier for a Tube. More...

static double	getUnit (const std::string key)
	Returns the conversion value for a given unit. More...

static std::pair< std::string, std::string >	readStringPair (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns pair of strings from element. More...

static std::vector< std::pair< std::string, std::string > >	readStringPairs (rw::core::DOMElem::Ptr element)
	Reads in a list of string pairs that are childs of element. More...

static std::vector< std::string >	readStringList (rw::core::DOMElem::Ptr element)
	Reads in a list of strings that are childs of element. More...

static std::string	readString (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in a string element. More...

static double	readDouble (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in a double element. More...

static float	readFloat (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in a double element. More...

static int	readInt (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in an integer element. More...

static std::vector< int >	readIntList (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in a list of integers from element. More...

static std::vector< double >	readDoubleList (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in a list of doubles from element. More...

static bool	readBool (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Reads in a boolean element. More...

static rw::core::DOMElem::Ptr	write (int val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes val to elem. More...

static rw::core::DOMElem::Ptr	write (double val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes val to elem. More...

static rw::core::DOMElem::Ptr	write (const std::string &str, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes str to elem. More...

static rw::core::DOMElem::Ptr	createElement (const std::string &id, const std::string &value, rw::core::DOMElem::Ptr doc)
	Create an element with name id and content value in the DOMDocument doc. More...

static rw::core::DOMElem::Ptr	createBoolean (bool value, rw::core::DOMElem::Ptr doc)
	Creates an element to represent value. More...

static rw::core::DOMElem::Ptr	createDouble (double value, rw::core::DOMElem::Ptr doc)
	Creates an element to represent value. More...

static rw::core::DOMElem::Ptr	createFloat (float value, rw::core::DOMElem::Ptr doc)
	Creates an element to represent value. More...

static rw::core::DOMElem::Ptr	createInteger (int value, rw::core::DOMElem::Ptr doc)
	Creates an element to represent value. More...

static rw::core::DOMElem::Ptr	createString (const std::string &string, rw::core::DOMElem::Ptr doc)
	Creates an element to represent string. More...

static rw::core::DOMElem::Ptr	createStringList (const std::vector< std::string > &strings, rw::core::DOMElem::Ptr doc)
	Creates an element to represent strings. More...

static rw::core::DOMElem::Ptr	createIntList (const std::vector< int > &ints, rw::core::DOMElem::Ptr doc)
	Creates an element to represent ints. More...

static rw::core::DOMElem::Ptr	createDoubleList (const std::vector< double > &doubles, rw::core::DOMElem::Ptr doc)
	Creates an element to represent doubles. More...

static rw::core::DOMElem::Ptr	createStringPair (const std::string &first, const std::string &second, rw::core::DOMElem::Ptr doc)
	Creates an element to represent strings first and second. More...

Detailed Description

Utility class to help read in the content of a XML-files parsed with Xerces The Class is part of the core Library in a limited edition. Use DOMBasisTypes for a full implementation.

Member Function Documentation

◆ createBoolean()

static rw::core::DOMElem::Ptr createBoolean	(	bool	value,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent value.

Creates a DOMElement owned by doc and representing value

The method may throw a rw::core::Exception in case of errors

Parameters

value	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createDouble()

static rw::core::DOMElem::Ptr createDouble	(	double	value,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent value.

Creates a DOMElement owned by doc and representing value

The method may throw a rw::core::Exception in case of errors

Parameters

value	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createDoubleList()

static rw::core::DOMElem::Ptr createDoubleList	(	const std::vector< double > &	doubles,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent doubles.

Creates a DOMElement owned by doc and representing doubles

The method may throw a rw::core::Exception in case of errors

Parameters

doubles	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createElement()

static rw::core::DOMElem::Ptr createElement	(	const std::string &	id,
		const std::string &	value,
		rw::core::DOMElem::Ptr	doc
	)

static

Create an element with name id and content value in the DOMDocument doc.

Create an element named id and adds a DOMText-node containing value as a child to it.

Parameters

id	[in] Name of the new element
value	[in] Text value of the new element
doc	[in] Document for which the new element shall be created

Returns: The new element.

◆ createFloat()

static rw::core::DOMElem::Ptr createFloat	(	float	value,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent value.

Creates a DOMElement owned by doc and representing value

The method may throw a rw::core::Exception in case of errors

Parameters

value	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createInteger()

static rw::core::DOMElem::Ptr createInteger	(	int	value,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent value.

Creates a DOMElement owned by doc and representing value

The method may throw a rw::core::Exception in case of errors

Parameters

value	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createIntList()

static rw::core::DOMElem::Ptr createIntList	(	const std::vector< int > &	ints,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent ints.

Creates a DOMElement owned by doc and representing ints

The method may throw a rw::core::Exception in case of errors

Parameters

ints	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createString()

static rw::core::DOMElem::Ptr createString	(	const std::string &	string,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent string.

Creates a DOMElement owned by doc and representing string

The method may throw a rw::core::Exception in case of errors

Parameters

string	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createStringList()

static rw::core::DOMElem::Ptr createStringList	(	const std::vector< std::string > &	strings,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent strings.

Creates a DOMElement owned by doc and representing strings

The method may throw a rw::core::Exception in case of errors

Parameters

strings	[in] Value to represent
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ createStringPair()

static rw::core::DOMElem::Ptr createStringPair	(	const std::string &	first,
		const std::string &	second,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent strings first and second.

Creates a DOMElement owned by doc and representing strings first and second

The method may throw a rw::core::Exception in case of errors

Parameters

first	[in] First string in the pair
second	[in] Second string in the pair
doc	[in] Document which should contain the element

Returns: Pointer to the newly created DOMElement

◆ getUnit()

static double getUnit ( const std::string key )

static

Returns the conversion value for a given unit.

The value returned can be used to convert the values specified in the element to the standard units used in RobWork.

Throws an exception if key cannot be matched to a unit

Parameters

key	[in] The key for which the get the unit

Returns: Conversion value

◆ idAngular()

static const std::string& idAngular ( )

static

Identifier for specifying the angular part in a VelocityScrew6D.

Returns: the identifier.

◆ idBoolean()

static const std::string& idBoolean ( )

static

Identifier for specifying a boolean.

Returns: the identifier.

◆ idBox()

static const std::string& idBox ( )

static

Identifier for a Box.

Returns: the identifier.

◆ idCone()

static const std::string& idCone ( )

static

Identifier for a Cone.

Returns: the identifier.

◆ idCylinder()

static const std::string& idCylinder ( )

static

Identifier for a Cylinder.

Returns: the identifier.

◆ idDouble()

static const std::string& idDouble ( )

static

Identifier for specifying a double.

Returns: the identifier.

◆ idDoubleList()

static const std::string& idDoubleList ( )

static

Identifier for specifying a list of doubles.

Returns: the identifier.

◆ idEAA()

static const std::string& idEAA ( )

static

Identifier for rw::math::EAA<> in the XML format.

Returns: the identifier.

◆ idFloat()

static const std::string& idFloat ( )

static

Identifier for specifying a float.

Returns: the identifier.

◆ idInteger()

static const std::string& idInteger ( )

static

Identifier for specifying an integer.

Returns: the identifier.

◆ idIntList()

static const std::string& idIntList ( )

static

Identifier for specifying a list of integers.

Returns: the identifier.

◆ idLinear()

static const std::string& idLinear ( )

static

Identifier for specifying the linear part in a VelocityScrew6D.

Returns: the identifier.

◆ idMatrix()

static const std::string& idMatrix ( )

static

Identifier for rw::math::MatrixXd<> in the XML format.

Returns: the identifier.

◆ idPlane()

static const std::string& idPlane ( )

static

Identifier for a Plane.

Returns: the identifier.

◆ idPos()

static const std::string& idPos ( )

static

Identifier for the position specification used in Transform3D.

Returns: the identifier.

◆ idQ()

static const std::string& idQ ( )

static

Identifier for rw::math::Q in the XML format.

Returns: the identifier.

◆ idQState()

static const std::string& idQState ( )

static

Identifier for specifying a State.

Returns: the identifier.

◆ idQuaternion()

static const std::string& idQuaternion ( )

static

Identifier for rw::math::Quaternion<> in the XML format.

Returns: the identifier.

◆ idRotation2D()

static const std::string& idRotation2D ( )

static

Identifier for rw::math::Rotation2D<> in the XML format.

Returns: the identifier.

◆ idRotation2DAngle()

static const std::string& idRotation2DAngle ( )

static

Identifier for single angle used to specify rw::math::Rotation2D<> in the XML format.

Returns: the identifier.

◆ idRotation3D()

static const std::string& idRotation3D ( )

static

Identifier for rw::math::Rotation3D<> in the XML format.

Returns: the identifier.

◆ idRPY()

static const std::string& idRPY ( )

static

Identifier for rw::math::RPY<> in the XML format.

Returns: the identifier.

◆ idSphere()

static const std::string& idSphere ( )

static

Identifier for a Sphere.

Returns: the identifier.

◆ idState()

static const std::string& idState ( )

static

Identifier for specifying a State.

Returns: the identifier.

◆ idString()

static const std::string& idString ( )

static

Identifier for specifying a string.

Returns: the identifier.

◆ idStringList()

static const std::string& idStringList ( )

static

Identifier for specifying a list of strings.

Returns: the identifier.

◆ idStringPair()

static const std::string& idStringPair ( )

static

Identifier for specifying a pair of strings.

Returns: the identifier.

◆ idTransform2D()

static const std::string& idTransform2D ( )

static

Identifier for rw::math::Transform2D<> in the XML format.

Returns: the identifier.

◆ idTransform3D()

static const std::string& idTransform3D ( )

static

Identifier for rw::math::Transform3D<> in the XML format.

Returns: the identifier.

◆ idTreeState()

static const std::string& idTreeState ( )

static

Identifier for specifying a State.

Returns: the identifier.

◆ idTube()

static const std::string& idTube ( )

static

Identifier for a Tube.

Returns: the identifier.; the identifier.

◆ idUnitAttribute()

static const std::string& idUnitAttribute ( )

static

Identifier for the unit attribute.

Returns: the identifier.

◆ idVector2D()

static const std::string& idVector2D ( )

static

Identifier for rw::math::Vector2D<> in the XML format.

Returns: the identifier.

◆ idVector3D()

static const std::string& idVector3D ( )

static

Identifier for rw::math::Vector3D<> in the XML format.

Returns: the identifier.

◆ idVelocityScrew6D()

static const std::string& idVelocityScrew6D ( )

static

Identifier for rw::math::VelocityScrew6D<> in the XML format.

Returns: the identifier.

◆ readBool()

static bool readBool	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in a boolean element.

Read in element and converts the content to a bool. Only if the content of the node equals "true" is true returned. Otherwise the method returns false.

Throws a rw::core::Exception if failing to read or parse.

Parameters

element	[in] Element to read in
doCheckHeader	[in] True if the element name should be checked

Returns: bool represented in element

◆ readDouble()

static double readDouble	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in a double element.

Read in element and converts the content to a double Throws a rw::core::Exception if failing to read or parse.

Parameters

element	[in] Element to read in
doCheckHeader	[in] True if the element name should be checked

Returns: double represented in element

◆ readDoubleList()

static std::vector<double> readDoubleList	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in a list of doubles from element.

Read in element and converts the content to a list of doubles Throws a rw::core::Exception if failing to read or parse.

Parameters

element	[in] Element to read in
doCheckHeader	[in] True if the element name should be checked

Returns: std::vector<double> represented in element

◆ readFloat()

static float readFloat	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in a double element.

Read in element and converts the content to a double Throws a rw::core::Exception if failing to read or parse.

Parameters

element	[in] Element to read in
doCheckHeader	[in] True if the element name should be checked

Returns: double represented in element

◆ readInt()

static int readInt	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in an integer element.

Read in element and converts the content to an integer Throws a rw::core::Exception if failing to read or parse.

Parameters

element	[in] Element to read in
doCheckHeader	[in] True if the element name should be checked

Returns: int represented in element

◆ readIntList()

static std::vector<int> readIntList	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in a list of integers from element.

Read in element and converts the content to a list of integers Throws a rw::core::Exception if failing to read or parse.

Parameters

element	[in] Element to read in
doCheckHeader	[in] True if the element name should be checked

Returns: std::vector<int> represented in element

◆ readString()

static std::string readString	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Reads in a string element.

Reads in element as a string element. Throws a rw::core::Exception on error

Parameters

element	[in] Element to parse
doCheckHeader	[in] True if the element name should be checked

Returns: String giving the content of element

◆ readStringList()

static std::vector<std::string> readStringList ( rw::core::DOMElem::Ptr element )

static

Reads in a list of strings that are childs of element.

Reads in all strings which are childs of the element element.

Throws rw::core::Exception if failing to read and parse content.

Parameters

element [in] Element which string pairs as children

Returns: List of strings

◆ readStringPair()

static std::pair<std::string, std::string> readStringPair	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns pair of strings from element.

Reads in element and returns a pair of strings. If doCheckHeader = true it checks that the element tag name matches XMLBasicTypes::StringPairId. Throws a rw::core::Exception if header does not match or if failing to read two strings.

Parameters

element	[in] Element to read
doCheckHeader	[in] True if the element name should be checked

Returns: Pair of strings

◆ readStringPairs()

static std::vector<std::pair<std::string, std::string> > readStringPairs ( rw::core::DOMElem::Ptr element )

static

Reads in a list of string pairs that are childs of element.

Reads in all string pairs which are childs of the element element. This is for example used when reading in DAF setups.

Throws rw::core::Exception if failing to read and parse content.

Parameters

element [in] Element which string pairs as children

Returns: List of string pairs

◆ write() [1/3]

static rw::core::DOMElem::Ptr write	(	const std::string &	str,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes str to elem.

Parameters

str	[in] Value to write
elem	[in] Element to which to write
addHeader	[in] Whether or not to set the header of elem

Returns: newly created DOMElem

◆ write() [2/3]

static rw::core::DOMElem::Ptr write	(	double	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes val to elem.

Parameters

val	[in] Value to write
elem	[in] Element to which to write
addHeader	[in] Whether or not to set the header of elem

Returns: newly created DOMElem

◆ write() [3/3]

static rw::core::DOMElem::Ptr write	(	int	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes val to elem.

Parameters

val	[in] Value to write
elem	[in] Element to which to write
addHeader	[in] Whether or not to set the header of elem

Returns: newly created DOMElem

The documentation for this class was generated from the following file:

DOMCoreBasisTypes.hpp

Classes

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ createBoolean()

◆ createDouble()

◆ createDoubleList()

◆ createElement()

◆ createFloat()

◆ createInteger()

◆ createIntList()

◆ createString()

◆ createStringList()

◆ createStringPair()

◆ getUnit()

◆ idAngular()

◆ idBoolean()

◆ idBox()

◆ idCone()

◆ idCylinder()

◆ idDouble()

◆ idDoubleList()

◆ idEAA()

◆ idFloat()

◆ idInteger()

◆ idIntList()

◆ idLinear()

◆ idMatrix()

◆ idPlane()

◆ idPos()

◆ idQ()

◆ idQState()

◆ idQuaternion()

◆ idRotation2D()

◆ idRotation2DAngle()

◆ idRotation3D()

◆ idRPY()

◆ idSphere()

◆ idState()

◆ idString()

◆ idStringList()

◆ idStringPair()

◆ idTransform2D()

◆ idTransform3D()

◆ idTreeState()

◆ idTube()

◆ idUnitAttribute()

◆ idVector2D()

◆ idVector3D()

◆ idVelocityScrew6D()

◆ readBool()

◆ readDouble()

◆ readDoubleList()

◆ readFloat()

◆ readInt()

◆ readIntList()

◆ readString()

◆ readStringList()

◆ readStringPair()

◆ readStringPairs()

◆ write() [1/3]

◆ write() [2/3]

◆ write() [3/3]