MMM::LegacyMotionReaderXML Class Reference

The generic XML reader for legacy MMM motions. The following XML tags are initially supported by this reader: "comments", "description","joint_order","motion". Custom tag processors can be registered in order to read other data. Unknown tags are ignored by default. More...

#include <LegacyMotionReaderXML.h>

Inheritance diagram for MMM::LegacyMotionReaderXML:

Public Member Functions
LegacyMotionPtr	createMotionFromString (const std::string &xmlString, const std::string &motionName=std::string(), const std::filesystem::path &motionFilePath=std::string())
std::vector< std::string >	getMotionNames (const std::filesystem::path &xmlFile) const
std::vector< std::string >	getMotionNamesFromXMLString (std::string motionXML) const
bool	isModelLoaded ()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LegacyMotionReaderXML (bool mmmOnly=false, bool logging=true)
LegacyMotionList	loadAllMotions (const std::filesystem::path &xmlFile)
LegacyMotionList	loadAllMotionsFromString (const std::string &xmlDataString)
LegacyMotionPtr	loadMotion (const rapidxml::xml_node< char > *motionNode, const std::string &motionName, const std::filesystem::path &motionFilePath)
LegacyMotionPtr	loadMotion (const std::filesystem::path &xmlFile, const std::string &motionName=std::string())
virtual bool	processMotionFrameXMLTag (rapidxml::xml_node< char > *tag, MotionFramePtr motionframe)
	Implement the XMLMotionFrameTagProcessor method in order to process the standard motion-data tags.
virtual bool	processMotionXMLTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
	Implement the XMLTagProcessor method in order to process the standard MMM tags.
bool	registerMotionFrameXMLTag (const std::string &xmlTag, XMLMotionFrameTagProcessorPtr processor)
bool	registerMotionXMLTag (const std::string &xmlTag, XMLMotionTagProcessorPtr processor)
void	setHandleMissingModelFile (const std::function< void(std::filesystem::path &)> &handleMissingModelFile)

Protected Member Functions
bool	processCommentsTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
bool	processJointOrderTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
bool	processModelProcessorConfigTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
bool	processModelTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
bool	processMotionFramesTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
bool	processMotionFrameTag (rapidxml::xml_node< char > *tag, LegacyMotionPtr motion)
bool	registerMotionFrameXMLTag (const std::string &xmlTag, XMLMotionFrameTagProcessor *processor)
bool	registerMotionXMLTag (const std::string &xmlTag, XMLMotionTagProcessor *processor)

Protected Attributes
bool	logging
bool	mmmOnly
ModelReaderXMLPtr	mr
std::vector< XMLMotionTagProcessorPtr >	processorList
std::vector< XMLMotionFrameTagProcessorPtr >	processorListMotionFrame
std::map< std::string, XMLMotionTagProcessor * >	xmlProcessors
std::map< std::string, XMLMotionFrameTagProcessor * >	xmlProcessorsMotionFrame

Detailed Description

The generic XML reader for legacy MMM motions. The following XML tags are initially supported by this reader: "comments", "description","joint_order","motion". Custom tag processors can be registered in order to read other data. Unknown tags are ignored by default.

See also

XMLTagProcessor

XMLMotionFrameTagProcessor

Member Function Documentation

createMotionFromString()

LegacyMotionPtr MMM::LegacyMotionReaderXML::createMotionFromString	(	const std::string &	xmlString,
		const std::string &	motionName = std::string(),
		const std::filesystem::path &	motionFilePath = std::string()
	)

Parse the XML string and generate motion. A complete XML string is expected e.g <MMM><Motion> ... </Motion></MMM> In case an error was detected, an empty LegacyMotionPtr is returned.

Parameters

motionName

The name of the motion. If empty, the first motion is used.

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loadMotion()

LegacyMotionPtr MMM::LegacyMotionReaderXML::loadMotion	(	const std::filesystem::path &	xmlFile,
		const std::string &	motionName = std::string()
	)

Load XML data.

Parameters

xmlFile	The xmlFile path.
motionName	The name of the motion. If empty the first motion is selected.

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registerMotionFrameXMLTag()

bool MMM::LegacyMotionReaderXML::registerMotionFrameXMLTag	(	const std::string &	xmlTag,
		XMLMotionFrameTagProcessorPtr	processor
	)

Register factory methods for processing custom MotionFrame XML tags.

Parameters

xmlTag	The string that identifies this custom tag. Existing tag processors that are already registered with this name are overwritten.
processor	The factory that will create MotionFrameEntry objects.

Returns

True on success.

registerMotionXMLTag()

bool MMM::LegacyMotionReaderXML::registerMotionXMLTag	(	const std::string &	xmlTag,
		XMLMotionTagProcessorPtr	processor
	)

Register factory methods for processing custom Motion XML tags.

Parameters

xmlTag	The string that identifies this custom tag. Existing tag processors that are already registered with this name are overwritten.
processor	The factory that will create MotionEntry objects.

Returns

True on success.

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

• /builds/sw/mmm/core/MMM/Motion/Legacy/LegacyMotionReaderXML.h
• /builds/sw/mmm/core/MMM/Motion/Legacy/LegacyMotionReaderXML.cpp