17 #ifndef SDFORMAT_TYPES_HH_ 18 #define SDFORMAT_TYPES_HH_ 28 #include <sdf/sdf_config.h> 32 #if defined(__GNUC__) || defined(__clang__) 33 #define SDF_DEPRECATED(version) __attribute__((deprecated)) 34 #define SDF_FORCEINLINE __attribute__((always_inline)) 35 #elif defined(_MSC_VER) 36 #define SDF_DEPRECATED(version) 37 #define SDF_FORCEINLINE __forceinline 39 #define SDF_DEPRECATED(version) 40 #define SDF_FORCEINLINE 44 # define SDF_SUPPRESS_DEPRECATED_BEGIN \ 45 _Pragma("GCC diagnostic push") \ 46 _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"") 47 # define SDF_SUPPRESS_DEPRECATED_END _Pragma("GCC diagnostic pop") 48 #elif defined(__clang__) 49 # define SDF_SUPPRESS_DEPRECATED_BEGIN \ 50 _Pragma("clang diagnostic push") \ 51 _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"") 52 # define SDF_SUPPRESS_DEPRECATED_END _Pragma("clang diagnostic pop") 54 # define SDF_SUPPRESS_DEPRECATED_BEGIN 55 # define SDF_SUPPRESS_DEPRECATED_END 61 inline namespace SDF_VERSION_NAMESPACE {
79 std::vector<std::string>
split(
const std::string &_str,
80 const std::string &_splitter);
86 std::string
trim(
const char *_in);
92 std::string
trim(
const std::string &_in);
99 inline bool equal(
const T &_a,
const T &_b,
100 const T &_epsilon = 1e-6f)
102 return std::fabs(_a - _b) <= _epsilon;
124 public:
Color(
float _r = 0.0f,
float _g = 0.0f,
126 : r(_r), g(_g), b(_b), a(_a)
136 _out << _pt.
r <<
" " << _pt.
g <<
" " << _pt.
b <<
" " << _pt.
a;
143 public:
friend std::istream &operator>> (std::istream &_in,
Color &_pt)
146 _in.setf(std::ios_base::skipws);
147 _in >> _pt.
r >> _pt.
g >> _pt.
b >> _pt.
a;
154 public:
bool operator ==(
const Color &_clr)
const 156 return equal(this->r, _clr.
r) &&
188 public:
Time(int32_t _sec, int32_t _nsec)
189 : sec(_sec), nsec(_nsec)
200 _out << _time.
sec <<
" " << _time.
nsec;
212 _in.setf(std::ios_base::skipws);
213 _in >> _time.
sec >> _time.
nsec;
220 public:
bool operator ==(
const Time &_time)
const 222 return this->sec == _time.
sec && this->nsec == _time.
nsec;
248 std::pair<std::string, std::string>
SplitName(
249 const std::string &_absoluteName);
258 const std::string &_scopeName,
const std::string &_localName);
const std::string kSdfScopeDelimiter
Definition: Types.hh:64
SDFORMAT_VISIBLE std::string trim(const std::string &_in)
Trim leading and trailing whitespace from a string.
friend std::ostream & operator<<(std::ostream &_out, const Time &_time)
Stream insertion operator.
Definition: Types.hh:197
std::string SDFORMAT_VISIBLE lowercase(const std::string &_in)
Transforms a string to its lowercase equivalent.
friend std::istream & operator>>(std::istream &_in, Time &_time)
Stream extraction operator.
Definition: Types.hh:208
Defines a color.
Definition: Types.hh:116
int32_t nsec
Nanoseconds.
Definition: Types.hh:229
Time(int32_t _sec, int32_t _nsec)
Constructor.
Definition: Types.hh:188
double mass
Definition: Types.hh:235
float g
Green value.
Definition: Types.hh:166
constexpr char kUrdfStringSource[]
The source path replacement if the urdf was parsed from a string, instead of a file.
Definition: Types.hh:72
bool equal(const T &_a, const T &_b, const T &_epsilon=1e-6f)
check if two values are equal, within a tolerance
Definition: Types.hh:99
SDFORMAT_VISIBLE std::vector< std::string > split(const std::string &_str, const std::string &_splitter)
Split a string using the delimiter in splitter.
A class for inertial information about a link.
Definition: Types.hh:233
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
SDFORMAT_VISIBLE std::ostream & operator<<(std::ostream &_out, const sdf::Errors &_errs)
Output operator for a collection of errors.
float r
Red value.
Definition: Types.hh:163
Time()
Constructor.
Definition: Types.hh:180
float b
Blue value.
Definition: Types.hh:169
SDFORMAT_VISIBLE std::pair< std::string, std::string > SplitName(const std::string &_absoluteName)
Split a name into a two strings based on the '::' delimeter.
Color(float _r=0.0f, float _g=0.0f, float _b=0.0f, float _a=1.0f)
Constructor.
Definition: Types.hh:124
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
float a
Alpha value.
Definition: Types.hh:172
A Time class, can be used to hold wall- or sim-time.
Definition: Types.hh:177
SDFORMAT_VISIBLE std::string JoinName(const std::string &_scopeName, const std::string &_localName)
Join two strings with the '::' delimiter.
int32_t sec
Seconds.
Definition: Types.hh:226
namespace for Simulation Description Format parser
Definition: Actor.hh:33
constexpr char kSdfStringSource[]
The source path replacement if it was parsed from a string, instead of a file.
Definition: Types.hh:68
#define SDF_DEPRECATED(version)
Definition: Types.hh:39