#include <CParserSai.hpp>

Inheritance diagram for scl::CParserSai:

Collaboration diagram for scl::CParserSai:

Public Member Functions
virtual bool	listRobotsInFile (const std::string &arg_file, std::vector< std::string > &arg_robot_names)

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

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

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	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	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)

Private Member Functions
bool	readLink (const scl_tinyxml::TiXmlHandle &arg_tiHndl_link, const bool arg_is_root, const std::string &arg_parent_lnk_name, scl::SRobotParsed &arg_robot)

Private Attributes
const std::string	root_link_name_

Detailed Description

This class implements a limited subset of the CParserBase API for the legacy "SAI" file format.

Uses tinyXml to parse files.

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
	)

inlinevirtualinherited

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::CParserSai::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 from scl::CParserBase.

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

inlinevirtualinherited

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

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

inlinevirtual

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

Implements scl::CParserBase.

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

inlinevirtualinherited

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
	)

inlinevirtualinherited

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::CParserSai::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.

Reimplemented from scl::CParserBase.

bool scl::CParserSai::readLink	(	const scl_tinyxml::TiXmlHandle &	arg_tiHndl_link,
		const bool	arg_is_root,
		const std::string &	arg_parent_lnk_name,
		scl::SRobotParsed &	arg_robot
	)

private

Recursive SAI link specification reader

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

inlinevirtualinherited

Reads a muscle model from a file.

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

bool scl::CParserSai::readRobotFromFile	(	const std::string &	arg_file,
		const std::string &	arg_robot_name,
		scl::SRobotParsed &	arg_robot_object
	)

virtual

Only support reading from SAI files. Use the file converter to convert them into Scl files. (applications/scl_file_converter)

Since the SAI format only has one robot in a file, the "arg_robot_name" argument is not used.

Tags not supported:

Damping -> scl's damping is flat
OpID -> don't know what it does
collisionType -> scl doesn't presently have collision support

Notes:

Throws errors when required tags are missing
Prints warnings when non-required but important (dynamics info) tags are missing
Does nothing when default values can usually replace missing tags. Eg. joint limits
Sai seems to support w,x,y,z quaternions in its orientation tag. Eigen supports x,y,z,w.
Sai often has missing orientation tags (for free joints). This info is essential but we'll only issue warnings for now.

Parameters

arg_robot_name This argument is useless for SAI files. Only reads the first robot!!!

Implements scl::CParserBase.

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
	)

inlinevirtualinherited

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
	)

inlinevirtualinherited

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

Reimplemented in scl::CParserScl.

virtual bool scl::CParserSai::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 from scl::CParserBase.

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

/home/samir/Code/control/scl.git/src/scl/parser/saiparser/CParserSai.hpp
/home/samir/Code/control/scl.git/src/scl/parser/saiparser/CParserSai.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation