vpXmlParserHomogeneousMatrix.h

/****************************************************************************
 *
 * $Id: vpXmlParserHomogeneousMatrix.h 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * XML parser to load and save Homogeneous Matrix in a XML file
 *
 * Authors:
 * Giovanni Claudio
 *
 *****************************************************************************/

#ifndef vpXMLPARSERHOMOGENEOUSMATRIX_H
#define vpXMLPARSERHOMOGENEOUSMATRIX_H

#include <visp/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <string>
#include <visp/vpXmlParser.h>
#include <visp/vpHomogeneousMatrix.h>
#include <libxml/xmlmemory.h>      /* Functions of libxml.                */

class VISP_EXPORT vpXmlParserHomogeneousMatrix: public vpXmlParser
{

public:

  /* --- XML Code------------------------------------------------------------ */
  typedef enum
  {
    CODE_XML_BAD = -1,
    CODE_XML_OTHER,
    CODE_XML_M,
    CODE_XML_M_NAME,
    CODE_XML_VALUE,
    CODE_XML_TX,
    CODE_XML_TY,
    CODE_XML_TZ,
    CODE_XML_TUX,
    CODE_XML_TUY,
    CODE_XML_TUZ
  } vpXmlCodeType;

  typedef enum
  {
    SEQUENCE_OK,
    SEQUENCE_ERROR
  } vpXmlCodeSequenceType;

private :

  vpHomogeneousMatrix m_M;
  std::string m_name;

public:

  vpXmlParserHomogeneousMatrix();
  vpXmlParserHomogeneousMatrix(vpXmlParserHomogeneousMatrix& twinParser);
  ~vpXmlParserHomogeneousMatrix(){}

  // get/set functions
  vpHomogeneousMatrix getHomogeneousMatrix() const {return this->m_M;}
  std::string getHomogeneousMatrixName() const {return this->m_name;}

  vpXmlParserHomogeneousMatrix& operator =(const vpXmlParserHomogeneousMatrix& twinparser);
  int parse(vpHomogeneousMatrix &M, const std::string &filename, const std::string &name);

  int save(const vpHomogeneousMatrix &M, const std::string &filename, const std::string &name);

  void setHomogeneousMatrixName(const std::string& name){
    this->m_name = name;
  }

private:
  int read (xmlDocPtr doc, xmlNodePtr node,
            const std::string& name);

  int count (xmlDocPtr doc, xmlNodePtr node,
             const std::string& name);

  int read_matrix (xmlDocPtr doc, xmlNodePtr node,
                   const std::string& name);
  
  vpXmlCodeSequenceType read_values (xmlDocPtr doc, xmlNodePtr node,
                                     vpHomogeneousMatrix &M);
  
  static vpXmlCodeSequenceType str2xmlcode (char * str, vpXmlCodeType & res);
  void myXmlReadIntChild (xmlDocPtr doc,
                          xmlNodePtr node,
                          int &res,
                          vpXmlCodeSequenceType &code_error);

  void myXmlReadDoubleChild (xmlDocPtr doc,
                             xmlNodePtr node,
                             double &res,
                             vpXmlCodeSequenceType &code_error);

  void myXmlReadCharChild (xmlDocPtr doc,
                           xmlNodePtr node,
                           char **res);
  int write (xmlNodePtr node, const std::string& name);

private:

  virtual void readMainClass(xmlDocPtr , xmlNodePtr ){};
  
  virtual void writeMainClass(xmlNodePtr ){};
  
};
#endif //VISP_HAVE_XML2
#endif