GraspIO

Classes
struct	gpElementParserData
struct	gpContactParserData
struct	gpGraspParserData
Typedefs
typedef struct gpElementParserData	gpElementParserData
typedef struct gpContactParserData	gpContactParserData
typedef struct gpGraspParserData	gpGraspParserData
Functions
int	gpSave_grasp_list (std::list< gpGrasp > &graspList, std::string filename)
std::string	getNodeString (xmlDocPtr doc, xmlNodePtr node)
void	warningMessage (int line_number, const xmlChar *URL, const xmlChar *element_name, std::string &message)
void	formatErrorMessage (int line_number, const xmlChar *URL, const xmlChar *element_name, std::string &message)
void	elementMissingMessage (int line_number, const xmlChar *URL, const xmlChar *element_name, std::string &message)
bool	gpParseElement (xmlDocPtr doc, xmlNodePtr entry_node, std::string element, gpElementParserData &data)
bool	gpParseContact (xmlDocPtr doc, xmlNodePtr entry_node, gpContactParserData &data)
bool	gpParseGrasp (xmlDocPtr doc, xmlNodePtr entry_node, gpGraspParserData &data)
int	gpLoad_grasp_list (std::string filename, std::list< gpGrasp > &graspList)
int	gpCheck_grasp_list_validity (std::list< gpGrasp > &graspList, std::string objectName)

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Detailed Description

This module is used to read and write files (in XML format) containing a list of grasps computed for a given object with a given hand.

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Function Documentation

std::string getNodeString	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Converts the char string of the given node to a std::string after removing all newline characters as well as space characters at the end of the string.

int gpCheck_grasp_list_validity	(	std::list< gpGrasp > &	graspList,
		std::string	objectName
	)

Checks the validity of a grasp list.

Parameters:

graspList	the grasp list to check
objectName	name of the object (a freeflying robot) we load the list for

Returns:

GP_OK in case of success (valid list), GP_ERROR otherwise

int gpLoad_grasp_list	(	std::string	filename,
		std::list< gpGrasp > &	graspList
	)

Parses an XML file describing a grasp list.

Parameters:

filename	name of the XML file
graspList	the grasp list that will be filled with the content of the file

Returns:

GP_OK in case of success, GP_ERROR otherwise

bool gpParseContact	(	xmlDocPtr	doc,
		xmlNodePtr	entry_node,
		gpContactParserData &	data
	)

Reads the content of a <contact> node and fills the gpContactParserData structure.

Parameters:

doc	pointer to the structure used by libxml2 to parse the XML document
entry_node	the node whose children will be browsed
data	the data structure that will be used to store all the read information about the body

Returns:

true if all the mandatory elements were found, false otherwise

bool gpParseElement	(	xmlDocPtr	doc,
		xmlNodePtr	entry_node,
		std::string	element,
		gpElementParserData &	data
	)

Reads the content of the given node and fills the appropriate field in the gpElementParserData structure. This function is used for simple element (with no chidren nodes).

Parameters:

doc	pointer to the structure used by libxml2 to parse the XML document
entry_node	the node whose children will be browsed
element	the name of the element that will be looked for among the entry node children
data	the data structure that will be used to store the read information

Returns:

true if the searched element was found, false otherwise

bool gpParseGrasp	(	xmlDocPtr	doc,
		xmlNodePtr	entry_node,
		gpGraspParserData &	data
	)

Reads the content of a <grasp> node and fills the gpGraspParserData structure.

Parameters:

doc	pointer to the structure used by libxml2 to parse the XML document
entry_node	the node whose children will be browsed
data	the data structure that will be used to store all the read information about the body

Returns:

true if all the mandatory elements were found, false otherwise

int gpSave_grasp_list	(	std::list< gpGrasp > &	graspList,
		std::string	filename
	)

Saves a grasp list as a file in XML format.

Parameters:

graspList	the grasp list to save
filename	the file where to save the list in (if it has no .xml extension, the extension will be added)

Returns:

GP_OK in case of success, GP_ERROR otherwise