RobWorkProject: DOMBasisTypes Class Reference

Utility class to help read in the content of a XML-files parsed with Xerces. More...

#include <DOMBasisTypes.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 rw::math::Q	readQ (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Q element read from element. More...

static rw::math::Vector3D	readVector3D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Vector3D<> element read from element. More...

static rw::math::Vector2D	readVector2D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Vector2D<> element read from element. More...

static rw::math::RPY	readRPY (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::RPY<> element read from element. More...

static rw::math::EAA	readEAA (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::EAA<> element read from element. More...

static rw::math::Quaternion	readQuaternion (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Quaternion<> element read from element. More...

static rw::math::Rotation3D	readRotation3D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Rotation3D<> element read from element. More...

static rw::math::Rotation3D	readRotation3DStructure (rw::core::DOMElem::Ptr element)
	Returns rw::math::Rotation3D<> element read from element. More...

static rw::math::Rotation2D	readRotation2D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Rotation2D<> element read from element. More...

static rw::math::Rotation2D	readRotation2DStructure (rw::core::DOMElem::Ptr element)
	Returns rw::math::Rotation2D<> element read from element. More...

static rw::math::Transform3D	readTransform3D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Transform3D<> element read from element. More...

static rw::math::Transform2D	readTransform2D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::Transform2D<> element read from element. More...

static rw::math::VelocityScrew6D	readVelocityScrew6D (rw::core::DOMElem::Ptr element, bool doCheckHeader=false)
	Returns rw::math::VelocityScrew6D<> element read from element. More...

static rw::kinematics::State	readState (rw::core::DOMElem::Ptr element, rw::core::Ptr< rw::models::WorkCell > workcell, bool doCheckHeader=false)
	Returns rw::kinematics::State<> element read from element. 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	write (const rw::math::Q &val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes the content of val to elem. More...

static rw::core::DOMElem::Ptr	write (const rw::math::Vector3D<> &val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes the content of val to elem. More...

static rw::core::DOMElem::Ptr	write (const rw::math::Vector2D<> &val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes the content of val to elem. More...

static rw::core::DOMElem::Ptr	write (const rw::math::Transform2D<> &val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes the content of val to elem. More...

static rw::core::DOMElem::Ptr	write (const rw::math::Transform3D<> &val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes the content of val to elem. More...

static rw::core::DOMElem::Ptr	write (const Eigen::MatrixXd &val, rw::core::DOMElem::Ptr elem, bool addHeader=true)
	Writes the content of val to elem. More...

static Eigen::MatrixXd	readMatrix (rw::core::DOMElem::Ptr elem)
	Reads in a matrix from element. 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	createQ (const rw::math::Q &q, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent q. More...

static rw::core::DOMElem::Ptr	createVector3D (const rw::math::Vector3D<> &v, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent v. More...

static rw::core::DOMElem::Ptr	createPos (const rw::math::Vector3D<> &v, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent v. More...

static rw::core::DOMElem::Ptr	createVector2D (const rw::math::Vector2D<> &v, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent v. More...

static rw::core::DOMElem::Ptr	createRPY (const rw::math::RPY<> &rpy, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent rpy. More...

static rw::core::DOMElem::Ptr	createEAA (const rw::math::EAA<> &eaa, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent eaa. More...

static rw::core::DOMElem::Ptr	createQuaternion (const rw::math::Quaternion<> &quat, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent quat. More...

static rw::core::DOMElem::Ptr	createRotation3D (const rw::math::Rotation3D<> &rot, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent rot. More...

static rw::core::DOMElem::Ptr	createRotation2D (const rw::math::Rotation2D<> &rot, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent rot. More...

static rw::core::DOMElem::Ptr	createTransform3D (const rw::math::Transform3D<> &trans, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent trans. More...

static rw::core::DOMElem::Ptr	createTransform2D (const rw::math::Transform2D<> &trans, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent trans. More...

static rw::core::DOMElem::Ptr	createVelocityScrew6D (const rw::math::VelocityScrew6D<> &vs, rw::core::DOMElem::Ptr doc)
	Creates a DOMElement to represent vs. More...

static rw::core::DOMElem::Ptr	createState (const rw::kinematics::State &state, rw::core::DOMElem::Ptr doc)
	Creates an element to represent state. More...

static rw::core::DOMElem::Ptr	createQState (const rw::kinematics::State &state, rw::core::DOMElem::Ptr doc)
	Creates an element to represent the rw::kinematics::QState contained in state. More...

static rw::core::DOMElem::Ptr	createTreeState (const rw::kinematics::State &state, rw::core::DOMElem::Ptr doc)
	Creates an element to represent the rw::kinematics::TreeState contained in state. 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.

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

◆ createEAA()

static rw::core::DOMElem::Ptr createEAA	(	const rw::math::EAA<> &	eaa,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent eaa.

Creates a DOMElement owned by doc and representing eaa

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

Parameters

eaa	[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

◆ createPos()

static rw::core::DOMElem::Ptr createPos	(	const rw::math::Vector3D<> &	v,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent v.

Creates a DOMElement owned by doc and representing v

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createQ()

static rw::core::DOMElem::Ptr createQ	(	const rw::math::Q &	q,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent q.

Creates a DOMElement owned by doc and representing q

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createQState()

static rw::core::DOMElem::Ptr createQState	(	const rw::kinematics::State &	state,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent the rw::kinematics::QState contained in state.

Creates a DOMElement owned by doc and representing the rw::kinematics::QState contained in state

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createQuaternion()

static rw::core::DOMElem::Ptr createQuaternion	(	const rw::math::Quaternion<> &	quat,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent quat.

Creates a DOMElement owned by doc and representing quat

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createRotation2D()

static rw::core::DOMElem::Ptr createRotation2D	(	const rw::math::Rotation2D<> &	rot,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent rot.

Creates a DOMElement owned by doc and representing rot

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createRotation3D()

static rw::core::DOMElem::Ptr createRotation3D	(	const rw::math::Rotation3D<> &	rot,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent rot.

Creates a DOMElement owned by doc and representing rot

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createRPY()

static rw::core::DOMElem::Ptr createRPY	(	const rw::math::RPY<> &	rpy,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent rpy.

Creates a DOMElement owned by doc and representing rpy

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createState()

static rw::core::DOMElem::Ptr createState	(	const rw::kinematics::State &	state,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent state.

Creates a DOMElement owned by doc and representing state

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

Parameters

state	[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

◆ createTransform2D()

static rw::core::DOMElem::Ptr createTransform2D	(	const rw::math::Transform2D<> &	trans,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent trans.

Creates a DOMElement owned by doc and representing trans

This method may throw a rw::comon::Exception in case of errors

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createTransform3D()

static rw::core::DOMElem::Ptr createTransform3D	(	const rw::math::Transform3D<> &	trans,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent trans.

Creates a DOMElement owned by doc and representing trans

This method may throw a rw::comon::Exception in case of errors

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createTreeState()

static rw::core::DOMElem::Ptr createTreeState	(	const rw::kinematics::State &	state,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates an element to represent the rw::kinematics::TreeState contained in state.

Creates a DOMElement owned by doc and representing the rw::kinematics::QState contained in state

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createVector2D()

static rw::core::DOMElem::Ptr createVector2D	(	const rw::math::Vector2D<> &	v,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent v.

Creates a DOMElement owned by doc and representing v

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createVector3D()

static rw::core::DOMElem::Ptr createVector3D	(	const rw::math::Vector3D<> &	v,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent v.

Creates a DOMElement owned by doc and representing v

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

Parameters

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

Returns: Pointer to the newly created DOMElement

◆ createVelocityScrew6D()

static rw::core::DOMElem::Ptr createVelocityScrew6D	(	const rw::math::VelocityScrew6D<> &	vs,
		rw::core::DOMElem::Ptr	doc
	)

static

Creates a DOMElement to represent vs.

Creates a DOMElement owned by doc and representing vs

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

Parameters

vs	[in] Value to represent
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

◆ readEAA()

static rw::math::EAA readEAA	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::EAA<> element read from element.

Read in element and returns a rw::math::EAA<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches EAA. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ 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

◆ readMatrix()

static Eigen::MatrixXd readMatrix ( rw::core::DOMElem::Ptr elem )

static

Reads in a matrix from element.

Parameters

elem	[in] The element from which to read

Returns: Eigen matrix

◆ readQ()

static rw::math::Q readQ	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Q element read from element.

Read in element and returns a rw::math::Q corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches QId. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readQuaternion()

static rw::math::Quaternion readQuaternion	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Quaternion<> element read from element.

Read in element and returns a rw::math::Quaternion<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Quaternion. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readRotation2D()

static rw::math::Rotation2D readRotation2D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Rotation2D<> element read from element.

Read in element and returns a rw::math::Rotation2D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Rotation2D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readRotation2DStructure()

static rw::math::Rotation2D readRotation2DStructure ( rw::core::DOMElem::Ptr element )

static

Returns rw::math::Rotation2D<> element read from element.

Read in element and returns a rw::math::Rotation2D corresponding to the content. The content can be either a Rotation3D or and angle. If the name does not an exception is thrown.

Parameters

element [in] Element to read

Returns: The element read

◆ readRotation3D()

static rw::math::Rotation3D readRotation3D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Rotation3D<> element read from element.

Read in element and returns a rw::math::Rotation3D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Rotation3D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readRotation3DStructure()

static rw::math::Rotation3D readRotation3DStructure ( rw::core::DOMElem::Ptr element )

static

Returns rw::math::Rotation3D<> element read from element.

Read in element and returns a rw::math::Rotation3D corresponding to the content. The content can be either a RPY, EAA, Quaternion or Rotation3D. If the name does not an exception is thrown.

Parameters

element [in] Element to read

Returns: The element read

◆ readRPY()

static rw::math::RPY readRPY	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::RPY<> element read from element.

Read in element and returns a rw::math::RPY<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches RPY. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readState()

static rw::kinematics::State readState	(	rw::core::DOMElem::Ptr	element,
		rw::core::Ptr< rw::models::WorkCell >	workcell,
		bool	doCheckHeader = `false`
	)

static

Returns rw::kinematics::State<> element read from element.

Reads in element and returns a rw::kinematics::State corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches State. If the name does not an exception is thrown. If the structure of the state does not match an exception is thrown.

Parameters

element	[in] Element to read
workcell	[in] WorkCell to which the state should match.
doCheckHeader	[in] True if the header name should be checked

Returns: The State read from 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

◆ readTransform2D()

static rw::math::Transform2D readTransform2D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Transform2D<> element read from element.

Read in element and returns a rw::math::Transform2D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Transform2D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readTransform3D()

static rw::math::Transform3D readTransform3D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Transform3D<> element read from element.

Read in element and returns a rw::math::Transform3D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Transform3D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readVector2D()

static rw::math::Vector2D readVector2D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Vector2D<> element read from element.

Read in element and returns a rw::math::Vector2D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Vector2D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readVector3D()

static rw::math::Vector3D readVector3D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::Vector3D<> element read from element.

Read in element and returns a rw::math::Vector3D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches Vector3D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ readVelocityScrew6D()

static rw::math::VelocityScrew6D readVelocityScrew6D	(	rw::core::DOMElem::Ptr	element,
		bool	doCheckHeader = `false`
	)

static

Returns rw::math::VelocityScrew6D<> element read from element.

Read in element and returns a rw::math::VelocityScrew6D<> corresponding to the content. If doCheckHeader = true it checks that the elements tag name matches VelocityScrew6D. If the name does not an exception is thrown.

Parameters

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

Returns: The element read

◆ write() [1/9]

static rw::core::DOMElem::Ptr write	(	const Eigen::MatrixXd &	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes the content of 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() [2/9]

static rw::core::DOMElem::Ptr write	(	const rw::math::Q &	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes the content of 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() [3/9]

static rw::core::DOMElem::Ptr write	(	const rw::math::Transform2D<> &	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes the content of 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() [4/9]

static rw::core::DOMElem::Ptr write	(	const rw::math::Transform3D<> &	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes the content of 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() [5/9]

static rw::core::DOMElem::Ptr write	(	const rw::math::Vector2D<> &	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes the content of 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() [6/9]

static rw::core::DOMElem::Ptr write	(	const rw::math::Vector3D<> &	val,
		rw::core::DOMElem::Ptr	elem,
		bool	addHeader = `true`
	)

static

Writes the content of 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() [7/9]

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() [8/9]

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() [9/9]

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:

DOMBasisTypes.hpp

Classes

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ createBoolean()

◆ createDouble()

◆ createDoubleList()

◆ createEAA()

◆ createElement()

◆ createFloat()

◆ createInteger()

◆ createIntList()

◆ createPos()

◆ createQ()

◆ createQState()

◆ createQuaternion()

◆ createRotation2D()

◆ createRotation3D()

◆ createRPY()

◆ createState()

◆ createString()

◆ createStringList()

◆ createStringPair()

◆ createTransform2D()

◆ createTransform3D()

◆ createTreeState()

◆ createVector2D()

◆ createVector3D()

◆ createVelocityScrew6D()

◆ 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()

◆ readEAA()

◆ readFloat()

◆ readInt()

◆ readIntList()

◆ readMatrix()

◆ readQ()

◆ readQuaternion()

◆ readRotation2D()

◆ readRotation2DStructure()

◆ readRotation3D()

◆ readRotation3DStructure()

◆ readRPY()