#include <model_loader.h>

Public Member Functions
bool	create (const tue::config::DataConstPointer &data, const UUID &id_opt, const UUID &parent_id, UpdateRequest &req, std::stringstream &error, const std::string &model_path="", const geo::Pose3D &pose_offset=geo::Pose3D::identity())
	create add entity to update_request from config data. More...

bool	create (const tue::config::DataConstPointer &data, UpdateRequest &req, std::stringstream &error)
	create add entity to update_request from config data. "_root" will be used as id. More...

bool	create (const UUID &id, const std::string &type, UpdateRequest &req, std::stringstream &error, const bool allow_sdf=false)
	create add entity to update_request with id 'id' of the type 'type'. If allow_sdf is true, also sdf models are considered. Otherwise only ED yaml models are used. More...

bool	createSDF (const tue::config::DataConstPointer &data, const UUID &parent_id, const geo::Pose3D &parent_pose, const UUID &id_override, const boost::shared_ptr< const geo::Pose3D > pose_override, UpdateRequest &req, std::stringstream &error)
	createSDF add SDF entity to update_request from config data. More...

bool	exists (const std::string &type) const
	exists Check of a model of type 'type' exist More...

	ModelLoader ()

	~ModelLoader ()

Private Types
typedef std::pair< tue::config::DataConstPointer, std::vector< std::string > >	ModelData

Private Member Functions
std::string	getModelPath (const std::string &type) const
	getModelPath get file path of model of type 'type' More...

std::string	getSDFPath (const std::string &uri) const
	getSDFPath get file path of SDF model with uri 'uri' More...

tue::config::DataConstPointer	loadModelData (std::string type, std::vector< std::string > &types, std::stringstream &error, const bool allow_sdf=false)
	loadModelData load data of model of type 'type' More...

tue::config::DataConstPointer	loadSDFData (std::string uri, std::stringstream &error)
	loadSDFData load data of SDF model of uri 'uri' More...

ModelData	readModelCache (std::string type) const
	readModelCache read the model cache, which contains the data and all types More...

Private Attributes
std::vector< std::string >	ed_model_paths_

std::vector< std::string >	file_paths_

std::map< std::string, ModelData >	model_cache_

std::vector< std::string >	model_paths_

std::map< std::string, geo::ShapePtr >	shape_cache_

Detailed Description

Definition at line 18 of file model_loader.h.

Member Typedef Documentation

◆ ModelData

typedef std::pair<tue::config::DataConstPointer, std::vector<std::string> > ed::models::ModelLoader::ModelData

private

Definition at line 87 of file model_loader.h.

Constructor & Destructor Documentation

◆ ModelLoader()

ed::models::ModelLoader::ModelLoader ( )

Definition at line 51 of file model_loader.cpp.

◆ ~ModelLoader()

ed::models::ModelLoader::~ModelLoader ( )

Definition at line 78 of file model_loader.cpp.

Member Function Documentation

◆ create() [1/3]

bool ed::models::ModelLoader::create	(	const tue::config::DataConstPointer &	data,
		const UUID &	id_opt,
		const UUID &	parent_id,
		UpdateRequest &	req,
		std::stringstream &	error,
		const std::string &	model_path = `""`,
		const geo::Pose3D &	pose_offset = `geo::Pose3D::identity()`
	)

create add entity to update_request from config data.

Parameters

data	should contain the right data and should be at the correct reading point
id_opt	Optional id, if no id in data
parent_id	prefix to id, unless starting with "_"
req	UpdateRequest to 'fill'
error	error stream
model_path	path where the data is read. Is used for relative paths in the data
pose_offset	pose offset, if no pose in data, this pose will be the final pose.

Returns: bool, which indicates succes

Definition at line 329 of file model_loader.cpp.

◆ create() [2/3]

bool ed::models::ModelLoader::create	(	const tue::config::DataConstPointer &	data,
		UpdateRequest &	req,
		std::stringstream &	error
	)

create add entity to update_request from config data. "_root" will be used as id.

Parameters

data	should contain the right data and should be at the correct reading point
req	UpdateRequest to 'fill'
error	error stream

Returns: bool, which indicates succes

Definition at line 322 of file model_loader.cpp.

◆ create() [3/3]

bool ed::models::ModelLoader::create	(	const UUID &	id,
		const std::string &	type,
		UpdateRequest &	req,
		std::stringstream &	error,
		const bool	allow_sdf = `false`
	)

create add entity to update_request with id 'id' of the type 'type'. If allow_sdf is true, also sdf models are considered. Otherwise only ED yaml models are used.

Parameters

id	new id of the entity
type	type of the entity
req	UpdateRequest to 'fill'
error	error stream
allow_sdf	Allow SDF models, or only ED yaml models

Returns: bool, which indicates succes

Definition at line 285 of file model_loader.cpp.

◆ createSDF()

bool ed::models::ModelLoader::createSDF	(	const tue::config::DataConstPointer &	data,
		const UUID &	parent_id,
		const geo::Pose3D &	parent_pose,
		const UUID &	id_override,
		const boost::shared_ptr< const geo::Pose3D >	pose_override,
		UpdateRequest &	req,
		std::stringstream &	error
	)

createSDF add SDF entity to update_request from config data.

Parameters

data	should contain the right data and should be at the correct reading point
parent_id	prefix to id, unless starting with "_"
parent_pose	pose offset which will always be applied
id_override	if not empty, this will override the id of the model
pose_override	if not empty, this will override the pose of the model
req	UpdateRequest to 'fill'
error	error stream

Returns: bool, which indicates succes

Definition at line 466 of file model_loader.cpp.

◆ exists()

bool ed::models::ModelLoader::exists ( const std::string & type ) const

exists Check of a model of type 'type' exist

Parameters

type	model type

Returns: bool, which indicates of type exist

Definition at line 264 of file model_loader.cpp.

◆ getModelPath()

std::string ed::models::ModelLoader::getModelPath ( const std::string & type ) const

private

getModelPath get file path of model of type 'type'

ModelLoader::getModelPath.

Parameters

type	type of the model

Returns: path of the model, empty if model not found

Parameters

type type

Returns: The full path or empty string, if not found

Definition at line 90 of file model_loader.cpp.

◆ getSDFPath()

std::string ed::models::ModelLoader::getSDFPath ( const std::string & uri ) const

private

getSDFPath get file path of SDF model with uri 'uri'

Parameters

uri	uri of the model

Returns: path of the model, empty if model not found

Definition at line 104 of file model_loader.cpp.

◆ loadModelData()

tue::config::DataConstPointer ed::models::ModelLoader::loadModelData	(	std::string	type,
		std::vector< std::string > &	types,
		std::stringstream &	error,
		const bool	allow_sdf = `false`
	)

private

loadModelData load data of model of type 'type'

Parameters

type	type of the model
types	vector of model types for recursive inheritance
error	error stream
allow_sdf	Allow SDF models, or only ED yaml models

Returns: DataConstPointer with the data, empty in case of error

Definition at line 156 of file model_loader.cpp.

◆ loadSDFData()

tue::config::DataConstPointer ed::models::ModelLoader::loadSDFData	(	std::string	uri,
		std::stringstream &	error
	)

private

loadSDFData load data of SDF model of uri 'uri'

Parameters

uri	uri of the model
error	error stream

Returns: DataConstPointer with the data, empty in case of error

Definition at line 225 of file model_loader.cpp.

◆ readModelCache()

ModelLoader::ModelData ed::models::ModelLoader::readModelCache ( std::string type ) const

private

readModelCache read the model cache, which contains the data and all types

Parameters

type	type of the model to look for

Returns: ModelData, DataPointer is empty in case type not in cache

Definition at line 143 of file model_loader.cpp.

Member Data Documentation

◆ ed_model_paths_

std::vector<std::string> ed::models::ModelLoader::ed_model_paths_

private

Definition at line 96 of file model_loader.h.

◆ file_paths_

std::vector<std::string> ed::models::ModelLoader::file_paths_

private

Definition at line 98 of file model_loader.h.

◆ model_cache_

std::map<std::string, ModelData> ed::models::ModelLoader::model_cache_

private

Definition at line 90 of file model_loader.h.

◆ model_paths_

std::vector<std::string> ed::models::ModelLoader::model_paths_

private

Definition at line 97 of file model_loader.h.

◆ shape_cache_

std::map<std::string, geo::ShapePtr> ed::models::ModelLoader::shape_cache_

private

Definition at line 93 of file model_loader.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ModelData

Constructor & Destructor Documentation

◆ ModelLoader()

◆ ~ModelLoader()

Member Function Documentation

◆ create() [1/3]

◆ create() [2/3]

◆ create() [3/3]

◆ createSDF()

◆ exists()

◆ getModelPath()

◆ getSDFPath()

◆ loadModelData()

◆ loadSDFData()

◆ readModelCache()

Member Data Documentation

◆ ed_model_paths_

◆ file_paths_

◆ model_cache_

◆ model_paths_

◆ shape_cache_