#include <CParserBase.hpp>

Inheritance diagram for scl::CParserBase:

Public Member Functions
	CParserBase ()

virtual	~CParserBase ()

virtual bool	listRobotsInFile (const std::string &arg_file, std::vector< std::string > &arg_robot_names)=0

virtual bool	readRobotFromFile (const std::string &arg_file, const std::string &arg_robot_name, scl::SRobotParsed &arg_robot)=0

virtual bool	saveRobotToFile (scl::SRobotParsed &arg_robot, const std::string &arg_file)

virtual bool	listMuscleSysInFile (const std::string &arg_file, std::vector< std::string > &arg_msys_names)

virtual bool	readMuscleSysFromFile (const std::string &arg_file, const std::string &arg_msys_name, scl::SActuatorSetMuscleParsed &arg_msys)

virtual bool	listGraphicsInFile (const std::string &arg_file, std::vector< std::string > &arg_graphics_names)

virtual bool	readGraphicsFromFile (const std::string &arg_file, const std::string &arg_graphics_name, scl::SGraphicsParsed &arg_graphics)

virtual bool	listUISpecsInFile (const std::string &arg_file, std::vector< std::string > &arg_ui_spec_names)

virtual bool	readUISpecFromFile (const std::string &arg_file, const std::string &arg_ui_spec_name, scl::SUIParsed &arg_ui_spec)

virtual bool	listControllersInFile (const std::string &arg_file, std::vector< std::pair< std::string, std::string > > &arg_ctrl_name_and_type)

virtual bool	readGcControllerFromFile (const std::string &arg_file, const std::string &arg_ctrl_name, std::string &ret_must_use_robot, scl::SControllerGc &arg_ctrl)

virtual bool	readTaskControllerFromFile (const std::string &arg_file, const std::string &arg_ctrl_name, std::string &ret_must_use_robot, std::vector< scl::STaskBase * > &ret_taskvec, std::vector< scl::SNonControlTaskBase * > &ret_task_non_ctrl_vec)

Detailed Description

This class is a base for reading a robot definition into an SRobotParsed data structure.

All file-format specific parsers will subclass this API class.

Constructor & Destructor Documentation

scl::CParserBase::CParserBase ( )

inline

Default constructor. Does nothing.

virtual scl::CParserBase::~CParserBase ( )

inlinevirtual

Default destructor. Does nothing.

Member Function Documentation

virtual bool scl::CParserBase::listControllersInFile	(	const std::string &	arg_file,
		std::vector< std::pair< std::string, std::string > > &	arg_ctrl_name_and_type
	)

inlinevirtual

Optional: The subclass may support read out the controller specifications in a file. Each controller is to be stored as a <name, type> pair

Reimplemented in scl::CParserScl.

virtual bool scl::CParserBase::listGraphicsInFile	(	const std::string &	arg_file,
		std::vector< std::string > &	arg_graphics_names
	)

inlinevirtual

Optional: Returns a list of graphics views in a file. Required : If readGraphicsFromFile() is implemented

Reimplemented in scl::CParserSai, and scl::CParserScl.

virtual bool scl::CParserBase::listMuscleSysInFile	(	const std::string &	arg_file,
		std::vector< std::string > &	arg_msys_names
	)

inlinevirtual

Optional: Returns a list of muscle systems in a file. Required : If readMuscleSysFromFile() is implemented

virtual bool scl::CParserBase::listRobotsInFile	(	const std::string &	arg_file,
		std::vector< std::string > &	arg_robot_names
	)

pure virtual

Returns a list of robots and the files in which their specifications reside.

Implemented in scl::CParserOsimForOldFiles, scl::CParserOsim, scl::CParserScl, and scl::CParserSai.

virtual bool scl::CParserBase::listUISpecsInFile	(	const std::string &	arg_file,
		std::vector< std::string > &	arg_ui_spec_names
	)

inlinevirtual

Optional: If required, the subclass may support parsing user interface specifications.

Reimplemented in scl::CParserScl.

virtual bool scl::CParserBase::readGcControllerFromFile	(	const std::string &	arg_file,
		const std::string &	arg_ctrl_name,
		std::string &	ret_must_use_robot,
		scl::SControllerGc &	arg_ctrl
	)

inlinevirtual

Optional: The subclass may support parsing gc controller specifications (There are 2 different controller reading functions because the data structures are totally incompatible)

Reimplemented in scl::CParserScl.

virtual bool scl::CParserBase::readGraphicsFromFile	(	const std::string &	arg_file,
		const std::string &	arg_graphics_name,
		scl::SGraphicsParsed &	arg_graphics
	)

inlinevirtual

Optional: If required, the subclass may support parsing graphics specifications.

Parameters

arg_graphics The robot's data will be filled into this data structure

Reimplemented in scl::CParserSai, and scl::CParserScl.

virtual bool scl::CParserBase::readMuscleSysFromFile	(	const std::string &	arg_file,
		const std::string &	arg_msys_name,
		scl::SActuatorSetMuscleParsed &	arg_msys
	)

inlinevirtual

Reads a muscle model from a file.

Reimplemented in scl::CParserOsimForOldFiles, and scl::CParserOsim.

virtual bool scl::CParserBase::readRobotFromFile	(	const std::string &	arg_file,
		const std::string &	arg_robot_name,
		scl::SRobotParsed &	arg_robot
	)

pure virtual

Required : Reads in a robot from the given file.

This function must be implemented by parsers who inherit from CParserBase. Its implementation will depend on the file format supported.

NOTE : Subclass implementation details for the readRobotFromFile() function: 1) Add a bunch of SRigidBody links to the SRobotParsed's branching representation, "robot_.robot_br_rep_", after reading in the values from a file 2) When all the links have been read in, call "robot_.robot_br_rep_.linkNodes()"

If you want to implement a new parser for a new filetype, please see how you should populate the SRobotParsed data structure from an existing parser. Eg. The Scl parser implements the full API

Parameters

arg_robot_name	The spec which will be instantiated in the object
arg_robot	The robot's data will be filled into this data structure

Implemented in scl::CParserOsimForOldFiles, scl::CParserOsim, scl::CParserSai, and scl::CParserScl.

virtual bool scl::CParserBase::readTaskControllerFromFile	(	const std::string &	arg_file,
		const std::string &	arg_ctrl_name,
		std::string &	ret_must_use_robot,
		std::vector< scl::STaskBase * > &	ret_taskvec,
		std::vector< scl::SNonControlTaskBase * > &	ret_task_non_ctrl_vec
	)

inlinevirtual

Optional: The subclass may support parsing task controller specifications (There are 2 different controller reading functions because the data structures are totally incompatible)

Parameters

ret_taskvec Returns a vector of tasks that this task controller can execute. Typically, the task controller will execute all of them simultaneously with a priority order.

Reimplemented in scl::CParserScl.

virtual bool scl::CParserBase::readUISpecFromFile	(	const std::string &	arg_file,
		const std::string &	arg_ui_spec_name,
		scl::SUIParsed &	arg_ui_spec
	)

inlinevirtual

Optional: If required, the subclass may support parsing user interface specifications.

Reimplemented in scl::CParserScl.

virtual bool scl::CParserBase::saveRobotToFile	(	scl::SRobotParsed &	arg_robot,
		const std::string &	arg_file
	)

inlinevirtual

Saves a robot definition to file. Takes the name of the robot and a file name as aguments.

Looks up the robot in the database and writes it to a file if it exists.

Reimplemented in scl::CParserSai, and scl::CParserScl.

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

/home/samir/Code/control/scl.git/src/scl/parser/CParserBase.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation