XMLTrajectoryLoader Class Reference

Enables loading in trajectories file specified in the RobWork Trajectory XML format. More...

#include <XMLTrajectoryLoader.hpp>

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

Public Types
enum	Type { QType = 0 , Vector3DType , Rotation3DType , Transform3DType }
	Enumeration specifying which type of trajectory, that has been loaded. More...

Public Member Functions
	XMLTrajectoryLoader (const std::string &filename, const std::string &schemaFileName="")
	Constructs XMLTrajectoryLoader and parser filename. More...
	XMLTrajectoryLoader (std::istream &instream, const std::string &schemaFileName="")
	Constract XMLTrajectoryLoader and parser input from instream. More...
virtual	~XMLTrajectoryLoader ()
	Destructor.
Type	getType ()
	Returns the type of the trajectory loaded.
rw::trajectory::QTrajectory::Ptr	getQTrajectory ()
	Returns trajectory with template type rw::math::Q. More...
rw::trajectory::Vector3DTrajectory::Ptr	getVector3DTrajectory ()
	Returns trajectory with template type rw::math::Vector3D<> More...
rw::trajectory::Rotation3DTrajectory::Ptr	getRotation3DTrajectory ()
	Returns trajectory with template type rw::math::Rotation3D<> More...
rw::trajectory::Transform3DTrajectory::Ptr	getTransform3DTrajectory ()
	Returns trajectory with template type rw::math::Transform3D<> More...

Detailed Description

Enables loading in trajectories file specified in the RobWork Trajectory XML format.

The XMLTrajectoryLoader loads in a file containing a trajectory specified according to the rwxml_trajectory.xsd schema. The XML-file can be parsed either with or without schema verification. The schema can either be specified in the XML-file or given as argument to the constructor.

A trajectory can contain either rw::math::Q, rw::math::Vector3D, rw::math::Rotation3D or rw::math::Transform3D elements. If the type of the trajectory in the file in unknown it can be determined using the XMLTrajectoryLoader::getType after loading.

If reading in a trajectory fails an exception is thrown

Member Enumeration Documentation

Type

enum Type

Enumeration specifying which type of trajectory, that has been loaded.

Enumerator
Vector3DType	rw::trajectory::Trajectory<Q>
Rotation3DType	rw::trajectory::Trajectory<Vector3D>
Transform3DType	rw::trajectory::Trajectory<Rotation3D> rw::trajectory::Trajectory<Transform3D>

Constructor & Destructor Documentation

XMLTrajectoryLoader() [1/2]

XMLTrajectoryLoader	(	const std::string &	filename,
		const std::string &	schemaFileName = ""
	)

Constructs XMLTrajectoryLoader and parser filename.

It is possible to specify whether to use the default schema which is the default behavior. If a schema is specified in the XML-file or no schema should be used set useDefaultSchema to false.

If reading in the trajectory fails an exception is thrown

Parameters

filename	[in] The file to load
schemaFileName	[in] Name of the schema to use. If empty it will use the schema specified in the XML-file if available.

XMLTrajectoryLoader() [2/2]

XMLTrajectoryLoader	(	std::istream &	instream,
		const std::string &	schemaFileName = ""
	)

Constract XMLTrajectoryLoader and parser input from instream.

It is possible to specify whether to use the default schema which is the default behavior. If a schema is specified in the XML-file or no schema should be used set useDefaultSchema to false.

If reading in the trajectory fails an exception is thrown

Parameters

instream	[in] The istream to read from
schemaFileName	[in] Name of the schema to use. If empty it will use the schema specified in the XML-file if available.

Member Function Documentation

getQTrajectory()

rw::trajectory::QTrajectory::Ptr getQTrajectory

(

)

Returns trajectory with template type rw::math::Q.

If the loaded path is not of type Transform3DPath it throws an exception.

Returns

Copy of trajectory

getRotation3DTrajectory()

rw::trajectory::Rotation3DTrajectory::Ptr getRotation3DTrajectory

(

)

Returns trajectory with template type rw::math::Rotation3D<>

If the loaded path is not of type Transform3DPath it throws an exception.

Returns

Copy of trajectory

getTransform3DTrajectory()

rw::trajectory::Transform3DTrajectory::Ptr getTransform3DTrajectory

(

)

Returns trajectory with template type rw::math::Transform3D<>

If the loaded path is not of type Transform3DPath it throws an exception.

Returns

Copy of trajectory

getVector3DTrajectory()

rw::trajectory::Vector3DTrajectory::Ptr getVector3DTrajectory

(

)

Returns trajectory with template type rw::math::Vector3D<>

If the loaded trajectory does not contain this type an exception is thrown.

Returns

Copy of trajectory

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

• XMLTrajectoryLoader.hpp