#include <visp3/core/vpXmlParserHomogeneousMatrix.h>

Inheritance diagram for vpXmlParserHomogeneousMatrix:

Public Types
enum	vpXmlCodeType { 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 }

enum	vpXmlCodeSequenceType { SEQUENCE_OK, SEQUENCE_ERROR }

Public Member Functions
	vpXmlParserHomogeneousMatrix ()

	vpXmlParserHomogeneousMatrix (vpXmlParserHomogeneousMatrix &twinParser)

virtual	~vpXmlParserHomogeneousMatrix ()

vpHomogeneousMatrix	getHomogeneousMatrix () const

std::string	getHomogeneousMatrixName () const

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)

Public Member Functions Inherited from vpXmlParser
void	parse (const std::string &filename)

void	save (const std::string &filename, const bool append=false)

void	setMap (const std::map< std::string, int > &_map)

void	setMainTag (const std::string &tag)

Static Public Member Functions
Static Public Member Functions Inherited from vpXmlParser
static void	cleanup ()

Protected Member Functions
Protected Member Functions Inherited from vpXmlParser
bool	xmlReadBoolChild (xmlDocPtr doc, xmlNodePtr node)

char *	xmlReadCharChild (xmlDocPtr doc, xmlNodePtr node)

double	xmlReadDoubleChild (xmlDocPtr doc, xmlNodePtr node)

float	xmlReadFloatChild (xmlDocPtr doc, xmlNodePtr node)

int	xmlReadIntChild (xmlDocPtr doc, xmlNodePtr node)

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

unsigned int	xmlReadUnsignedIntChild (xmlDocPtr doc, xmlNodePtr node)

void	xmlWriteBoolChild (xmlNodePtr node, const char *label, const bool value)

void	xmlWriteCharChild (xmlNodePtr node, const char label, const char value)

void	xmlWriteDoubleChild (xmlNodePtr node, const char *label, const double value)

void	xmlWriteFloatChild (xmlNodePtr node, const char *label, const float value)

void	xmlWriteIntChild (xmlNodePtr node, const char *label, const int value)

void	xmlWriteStringChild (xmlNodePtr node, const char *label, const std::string &value)

void	xmlWriteUnsignedIntChild (xmlNodePtr node, const char *label, const unsigned int value)

Protected Attributes
std::map< std::string, int >	nodeMap

std::string	main_tag

Detailed Description

XML parser to load and save an homogeneous matrix in a file.

Warning: This class is only available if libxml2 is installed and detected by ViSP. Installation instructions are provided here https://visp.inria.fr/3rd_xml2.

To have a complete description of the homogeneous matrix implemented in ViSP, see vpHomogeneousMatrix.

Example of an XML file "homogeneous_matrixes.xml" containing a Pose vector that will be converted in an homogeneous matrix:

<?xml version="1.0"?>
<root>
  <homogeneous_transformation>
    <!--Name of the homogeneous matrix-->
    <name>eMc</name>
    <values>
      <!--Translation vector with values in meters -->
      <tx>1.00</tx>
      <ty>1.30</ty>
      <tz>3.50</tz>
      <!--Rotational vector expressed in angle axis representation with values in radians -->
      <theta_ux>0.20</theta_ux>
      <theta_uy>0.30</theta_uy>
      <theta_uz>0.50</theta_uz>
    </values>
  </homogeneous_transformation>
</root>

Example of loading an existing homogeneous matrix from an XML file.

#include <iostream>
#include <string>
#include <visp3/core/vpXmlParserHomogeneousMatrix.h>
int main(int argc, char* argv[])
{
#ifdef VISP_HAVE_XML2
  vpHomogeneousMatrix eMc;
  // Create a XML parser
  vpXmlParserHomogeneousMatrix p;
  // Define the name of the matrix to load
  std::string name = "eMc";
  if (p.parse(eMc,"homogeneous_matrixes.xml", name) != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
    std::cout << "Cannot found the Homogeneous matrix named " << name << "." << std::endl;
  }
  else
    std::cout << "Homogeneous matrix " << name <<": " << std::endl << eMc << std::endl;
#endif
  return 0;
}

Example of writing an homogenoeus matrix in a XML file.

Note: Before writing an homogeneous matrix check if there is already in the xml file a matrix with the same name. If you are sure to overwrite it please delete it manually from the file before.

#include <iostream>
#include <string>
#include <visp3/core/vpXmlParserHomogeneousMatrix.h>
int main(int argc, char* argv[])
{
#ifdef VISP_HAVE_XML2
  // Create Pose Vector and convert to homogeneous matrix
  vpPoseVector r(1.0,1.3,3.5,0.2,0.3,0.5);
  vpHomogeneousMatrix M(r);
  // Create a XML parser
  vpXmlParserHomogeneousMatrix p;
  // Define the name of the matrix
  std::string name_M =  "eMe";
  // Define name of the file xml to fill
  char filename[FILENAME_MAX];
  sprintf(filename, "%s", "homogeneous_matrixes.xml");
  if (p.save(M, filename, name_M) != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
    std::cout << "Cannot save the Homogeneous matrix" << std::endl;
  }
  vpXmlParser::cleanup();
#endif
  return 0;
}

Definition at line 163 of file vpXmlParserHomogeneousMatrix.h.

Member Enumeration Documentation

enum vpXmlParserHomogeneousMatrix::vpXmlCodeSequenceType

Enumerator
SEQUENCE_OK
SEQUENCE_ERROR

Definition at line 184 of file vpXmlParserHomogeneousMatrix.h.

enum vpXmlParserHomogeneousMatrix::vpXmlCodeType

Enumerator
CODE_XML_BAD
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

Definition at line 169 of file vpXmlParserHomogeneousMatrix.h.

Constructor & Destructor Documentation

vpXmlParserHomogeneousMatrix::vpXmlParserHomogeneousMatrix ( )

Default constructor

Definition at line 73 of file vpXmlParserHomogeneousMatrix.cpp.

vpXmlParserHomogeneousMatrix::vpXmlParserHomogeneousMatrix ( vpXmlParserHomogeneousMatrix & twinParser )

Copy constructor

Parameters

twinParser : parser object to copy

Definition at line 81 of file vpXmlParserHomogeneousMatrix.cpp.

virtual vpXmlParserHomogeneousMatrix::~vpXmlParserHomogeneousMatrix ( )

inlinevirtual

Default destructor.

Definition at line 200 of file vpXmlParserHomogeneousMatrix.h.

Member Function Documentation

static void vpXmlParser::cleanup ( )

inlinestaticinherited

As stated in http://xmlsoft.org/html/libxml-parser.html#xmlCleanupParser to clean up memory allocated by the xml2 library itself, the user should call xmlCleanupParser() only when the process has finished using the xml2 library. In case of doubt abstain from calling this function or do it just before calling exit() to avoid leak reports from valgrind ! That's why in ViSP the destructor doesn't call xmlCleanupParser(). Rather we provide the static function vpXmlParser::cleanup() that calls xmlCleanupParser() that could be called just before exit().

Examples:: mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, testXmlParser.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 308 of file vpXmlParser.h.

vpHomogeneousMatrix vpXmlParserHomogeneousMatrix::getHomogeneousMatrix ( ) const

inline

Definition at line 203 of file vpXmlParserHomogeneousMatrix.h.

std::string vpXmlParserHomogeneousMatrix::getHomogeneousMatrixName ( ) const

inline

Definition at line 204 of file vpXmlParserHomogeneousMatrix.h.

vpXmlParserHomogeneousMatrix & vpXmlParserHomogeneousMatrix::operator= ( const vpXmlParserHomogeneousMatrix & twinParser )

Copy operator

Parameters

twinParser : parser object to copy

Returns: a copy of the input.

Definition at line 93 of file vpXmlParserHomogeneousMatrix.cpp.

int vpXmlParserHomogeneousMatrix::parse	(	vpHomogeneousMatrix &	M,
		const std::string &	filename,
		const std::string &	name
	)

Parse an xml file to load an homogeneous matrix

Parameters

M	: homogeneous matrix to fill.
filename	: name of the xml file to parse.
name	: name of the homogeneous matrix to find in the xml file.

Returns: error code.

Definition at line 110 of file vpXmlParserHomogeneousMatrix.cpp.

References SEQUENCE_ERROR.

void vpXmlParser::parse ( const std::string & filename )

inherited

parse the document. The data in the file are stored in the attributes of the child class. This method calls the readMainClass method which has to be implemented for every child class depending on the content to parse.

Parameters

filename : name of the file to parse

Definition at line 436 of file vpXmlParser.cpp.

References vpException::ioError, vpXmlParser::readMainClass(), and vpERROR_TRACE.

Referenced by vpMbtEdgeKltXmlParser::parse(), vpMbtXmlParser::parse(), vpMbtKltXmlParser::parse(), vpMbXmlParser::parse(), and vpXmlConfigParserKeyPoint::parse().

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

Save an homogeneous matrix in an xml file.

Parameters

M	: homogeneous matrix to save.
filename	: name of the xml file to fill.
name	: name of the homogeneous matrix.

Returns: error code.

Definition at line 151 of file vpXmlParserHomogeneousMatrix.cpp.

References SEQUENCE_ERROR, and SEQUENCE_OK.

void vpXmlParser::save	(	const std::string &	filename,
		const bool	append = `false`
	)

inherited

Save the content of the class in the file given in parameters. The data of the class are in the child class. This method calls the write_main_class method which has to be implemented for every class depending on the data to save.

Parameters

filename	: the name of the file used to record the data
append	: if true and if the file exists, the data will be added to the data already in the file

Definition at line 469 of file vpXmlParser.cpp.

References vpException::ioError, vpXmlParser::main_tag, vpERROR_TRACE, and vpXmlParser::writeMainClass().

void vpXmlParserHomogeneousMatrix::setHomogeneousMatrixName ( const std::string & name )

inline

Definition at line 211 of file vpXmlParserHomogeneousMatrix.h.

void vpXmlParser::setMainTag ( const std::string & tag )

inlineinherited

set the name of the main tag

The main tag corresponds to the name of the root node

Parameters

tag	: name of the root node of the document

Definition at line 293 of file vpXmlParser.h.

Referenced by vpMbXmlParser::init().

void vpXmlParser::setMap ( const std::map< std::string, int > & _map )

inlineinherited

Set the map describing the data to parse. This map stores the name of each node and an associated key used to simplify the parsing of the file.

If the following file want to be parsed:

<config>
  <range>5</range>
  <step>7</step>
  <size_filter>3</size_filter>
</config>

The following map has to be declared:

std::map dataToParse;
dataToParse["config"] = 0;
dataToParse["range"] = 1;
dataToParse["step"] = 2;
dataToParse["size_filter"] = 3;

Or, you can use keyzord instead of number as key but it implies to declare in the child class an enumeration type of the name. For example:

typedef enum{
  config,
  range,
  step,
  size_filter} data_enum;
std::map dataToParse;
dataToParse["config"] = config;
dataToParse["range"] = range;
dataToParse["step"] = step;
dataToParse["size_filter"] = size_filter;

Parameters

_map	: the map describing the data to parse

Definition at line 284 of file vpXmlParser.h.

bool vpXmlParser::xmlReadBoolChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read a boolean

Warning: throw a vpException::ioError if the value cannot be parsed to a bool

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the bool value in the node

Definition at line 289 of file vpXmlParser.cpp.

References vpException::fatalError.

char * vpXmlParser::xmlReadCharChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

Read an array of character.

Warning: The array of characters is allocated and must be explicitly freed to avoid memory leak.

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: pointer to an allocated array of character.

Definition at line 106 of file vpXmlParser.cpp.

References vpException::fatalError.

double vpXmlParser::xmlReadDoubleChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read a double

Warning: throw a vpException::ioError if the value cannot be parsed to a double

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the double value in the node

Definition at line 219 of file vpXmlParser.cpp.

References vpException::fatalError, and vpException::ioError.

Referenced by vpMbXmlParser::read_camera(), vpMbtXmlParser::read_contrast(), vpMbXmlParser::read_face(), vpMbtKltXmlParser::read_klt(), and vpMbXmlParser::read_lod().

float vpXmlParser::xmlReadFloatChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read a float

Warning: throw a vpException::ioError if the value cannot be parsed to a float

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the float value in the node

Definition at line 252 of file vpXmlParser.cpp.

References vpException::fatalError, and vpException::ioError.

int vpXmlParser::xmlReadIntChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read an int

Warning: throw a vpException::ioError if the value cannot be parsed to an integer

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the integer value in the node

Definition at line 151 of file vpXmlParser.cpp.

References vpException::fatalError, and vpException::ioError.

Referenced by vpMbXmlParser::read_face(), vpMbXmlParser::read_lod(), vpMbtXmlParser::read_sample(), and vpMbtXmlParser::read_sample_deprecated().

std::string vpXmlParser::xmlReadStringChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

Read an array of character.

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: std::string representing the value.

Definition at line 127 of file vpXmlParser.cpp.

References vpException::fatalError.

unsigned int vpXmlParser::xmlReadUnsignedIntChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read an int

Warning: throw a vpException::ioError if the value cannot be parsed to an unsigned integer

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the unsigned integer value in the node

Definition at line 185 of file vpXmlParser.cpp.

References vpException::fatalError, and vpException::ioError.

Referenced by vpMbtKltXmlParser::read_klt(), vpMbtXmlParser::read_mask(), and vpMbtXmlParser::read_range().

void vpXmlParser::xmlWriteBoolChild	(	xmlNodePtr	node,
		const char *	label,
		const bool	value
	)

protectedinherited

write a bool.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: boolean to write (true or false)

Definition at line 414 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteCharChild	(	xmlNodePtr	node,
		const char *	label,
		const char *	value
	)

protectedinherited

write an array of character.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: pointer to the array of character to write

Definition at line 314 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteDoubleChild	(	xmlNodePtr	node,
		const char *	label,
		const double	value
	)

protectedinherited

write a double.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: double to write

Definition at line 380 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteFloatChild	(	xmlNodePtr	node,
		const char *	label,
		const float	value
	)

protectedinherited

write a float.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: float to write

Definition at line 397 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteIntChild	(	xmlNodePtr	node,
		const char *	label,
		const int	value
	)

protectedinherited

write an integer.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: integer to write

Definition at line 345 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteStringChild	(	xmlNodePtr	node,
		const char *	label,
		const std::string &	value
	)

protectedinherited

write an array of character.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: std::string to write;

Definition at line 329 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteUnsignedIntChild	(	xmlNodePtr	node,
		const char *	label,
		const unsigned int	value
	)

protectedinherited

write an unsigned integer.

Parameters

node	: a pointer to the node to read value
label	: label (name of the data) of the node
value	: unsigned integer to write

Definition at line 362 of file vpXmlParser.cpp.

Member Data Documentation

std::string vpXmlParser::main_tag

protectedinherited

The name of the main tag for the file to parse

Definition at line 229 of file vpXmlParser.h.

Referenced by vpXmlParser::save(), and vpXmlParser::vpXmlParser().

std::map<std::string, int> vpXmlParser::nodeMap

protectedinherited

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation