XMLPathLoader Class Reference

Enables loading in path file specified in the RobWork Path XML format. More...

#include <XMLPathLoader.hpp>

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

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

Public Member Functions
	XMLPathLoader (const std::string &filename, rw::core::Ptr< rw::models::WorkCell > workcell=NULL, const std::string &schemaFileName="")
	Constructs XMLPathLoader and parser filename. More...
	XMLPathLoader (std::istream &instream, rw::core::Ptr< rw::models::WorkCell > workcell=NULL, const std::string &schemaFileName="")
	Constructs XMLPathLoader and parser input from instream. More...
	XMLPathLoader (xercesc::DOMElement *element)
	Constructs XMLPathLoader and load in path in element. More...
virtual	~XMLPathLoader ()
	Destructor.
Type	getType ()
	Returns the type of the path loaded.
rw::trajectory::QPath::Ptr	getQPath ()
	Returns path loaded. More...
rw::trajectory::Vector3DPath::Ptr	getVector3DPath ()
	Returns path loaded. More...
rw::trajectory::Rotation3DPath::Ptr	getRotation3DPath ()
	Returns path loaded. More...
rw::trajectory::Transform3DPath::Ptr	getTransform3DPath ()
	Returns loaded path. More...
rw::trajectory::StatePath::Ptr	getStatePath ()
	Returns loaded path. More...
rw::trajectory::TimedQPath::Ptr	getTimedQPath ()
	Returns loaded path. More...
rw::trajectory::TimedStatePath::Ptr	getTimedStatePath ()
	Returns loaded path. More...

Detailed Description

Enables loading in path file specified in the RobWork Path XML format.

The XMLPathLoader loads in a file containing a path specified according to the rwxml_path.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 path can contain either rw::math::Q, rw::math::Vector3D, rw::math::Rotation3D or rw::math::Transform3D elements. If the type of the path in the file in unknown it can be determined using the XMLPathLoader::getType after loading.

If reading in a path fails an exception is thrown

Member Enumeration Documentation

Type

enum Type

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

Enumerator
Vector3DType	rw::trajectory::QPath
Rotation3DType	rw::trajectory::Vector3DPath
Transform3DType	rw::trajectory::Rotation3DPath
StateType	rw::trajectory::Transform3DPath
TimedQType	rw::trajectory::StatePath
TimedStateType	rw::trajectory::TimedQPath rw::trajectory::TimedStatePath

Constructor & Destructor Documentation

XMLPathLoader() [1/3]

XMLPathLoader	(	const std::string &	filename,
		rw::core::Ptr< rw::models::WorkCell >	workcell = NULL,
		const std::string &	schemaFileName = ""
	)

Constructs XMLPathLoader 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 path fails an exception is thrown

Parameters

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

XMLPathLoader() [2/3]

XMLPathLoader	(	std::istream &	instream,
		rw::core::Ptr< rw::models::WorkCell >	workcell = NULL,
		const std::string &	schemaFileName = ""
	)

Constructs XMLPathLoader 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.

Throw rw::core::Exception if reading the path fails

Parameters

instream	[in] The input stream to read from
workcell	documentation missing !
schemaFileName	[in] Name of the schema to use. If empty it will use the schema specified in the XML-file if available.

XMLPathLoader() [3/3]

XMLPathLoader

(

xercesc::DOMElement *

element

)

Constructs XMLPathLoader and load in path in element.

No validation is applied hence the syntax of the element is assumed correct.

If loading the path fails an exception is thrown

Parameters

element

[in] DOMElement representing the path

Member Function Documentation

getQPath()

rw::trajectory::QPath::Ptr getQPath

(

)

Returns path loaded.

If the loaded path is not of type QPath a rw::core::Exception is thrown.

Returns

Pointer to the path

getRotation3DPath()

rw::trajectory::Rotation3DPath::Ptr getRotation3DPath

(

)

Returns path loaded.

If the loaded path is not of type Rotation3DPath a rw::core::Exception is thrown.

Returns

Pointer to the path

getStatePath()

rw::trajectory::StatePath::Ptr getStatePath

(

)

Returns loaded path.

If the loaded path is not of type StatePath a rw::core::Exception is thrown.

Returns

Pointer to the path

getTimedQPath()

rw::trajectory::TimedQPath::Ptr getTimedQPath

(

)

Returns loaded path.

If the loaded path is not of type TimedQPath a rw::core::Exception is thrown.

Returns

Pointer to the path

getTimedStatePath()

rw::trajectory::TimedStatePath::Ptr getTimedStatePath

(

)

Returns loaded path.

If the loaded path is not of type TimedStatePath a rw::core::Exception is thrown.

Returns

Pointer to the path

getTransform3DPath()

rw::trajectory::Transform3DPath::Ptr getTransform3DPath

(

)

Returns loaded path.

If the loaded path is not of type Transform3DPatha rw::core::Exception is thrown.

Returns

Pointer to the path

getVector3DPath()

rw::trajectory::Vector3DPath::Ptr getVector3DPath

(

)

Returns path loaded.

If the loaded path is not of type Vector3DPath a rw::core::Exception is thrown.

Returns

Pointer to the path

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

• XMLPathLoader.hpp