#include <CParserScl.hpp>

Inheritance diagram for scl::CParserScl:

Collaboration diagram for scl::CParserScl:

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	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)

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)

Private Member Functions
bool	readRobotSpecFromFile (const std::string &arg_spec_file, const std::string &arg_robot_spec_name, scl::SRobotParsed &arg_robot)

virtual bool	readActuatorSetMuscleFromFile (const std::string &arg_spec_file, const std::string &arg_muscle_set_name, scl::SActuatorSetMuscleParsed &ret_mset)

Detailed Description

This class implements the entire CParserBase API.

It represents the file format of choice for scl.

Please see the CParserBase API for more details.

Member Function Documentation

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

virtual

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 from scl::CParserBase.

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

virtual

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

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

virtual

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

Implements scl::CParserBase.

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

virtual

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

Reimplemented from scl::CParserBase.

bool scl::CParserScl::readActuatorSetMuscleFromFile	(	const std::string &	arg_spec_file,
		const std::string &	arg_muscle_set_name,
		scl::SActuatorSetMuscleParsed &	ret_mset
	)

privatevirtual

Reads a robot's actuator set specification from a file. NOTE : This function is private because it does not seem reasonable to want to parse a muscle set without actually attaching it to a robot. As such actuator sets (in general) will be parsed with the readRobot. They are considered an intrinsic part of the robot's structure.

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

virtual

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

Reimplemented from scl::CParserBase.

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

virtual

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

Reimplemented from scl::CParserBase.

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::CParserScl::readRobotFromFile	(	const std::string &	arg_file,
		const std::string &	arg_robot_name,
		scl::SRobotParsed &	arg_robot
	)

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

Implements scl::CParserBase.

bool scl::CParserScl::readRobotSpecFromFile	(	const std::string &	arg_spec_file,
		const std::string &	arg_robot_spec_name,
		scl::SRobotParsed &	arg_robot
	)

private

Reads a robot specification from a file

bool scl::CParserScl::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
	)

virtual

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

PARSE ALL THE CONTROL TASKS HERE

PARSE ALL THE STANDARD CONTROLLER OPTIONS

These are contained in the STaskBase data structure

PARSE ALL THE NON STANDARD CONTROLLER OPTIONS

These are not contained in the STaskBase data structure. Each task should know what to do with them (in its init function).

END PARSING CONTROLLER OPTIONS

END PARSING ALL THE CONTROL TASKS HERE

PARSE ALL THE NON-CONTROL TASKS HERE

PARSE ALL THE STANDARD CONTROLLER OPTIONS

These are contained in the STaskBase data structure

PARSE ALL THE NON STANDARD CONTROLLER OPTIONS

These are not contained in the SNonControlTaskBase data structure. Each task should know what to do with them (in its init function).

END PARSING ALL THE NON-CONTROL TASKS HERE

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 from scl::CParserBase.

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

virtual

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

Reimplemented from scl::CParserBase.

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

virtual

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.

Root link

Loop over other links.

Reimplemented from scl::CParserBase.

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

/home/samir/Code/control/scl.git/src/scl/parser/sclparser/CParserScl.hpp
/home/samir/Code/control/scl.git/src/scl/parser/sclparser/CParserScl.cpp

Public Member Functions

Private Member Functions

Detailed Description

Member Function Documentation