Visual Servoing Platform  version 3.1.0
vpXmlParserHomogeneousMatrix.h
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30  *
31  * Description:
32  * XML parser to load and save Homogeneous Matrix in a XML file
33  *
34  * Authors:
35  * Giovanni Claudio
36  *
37  *****************************************************************************/
38 
47 #ifndef vpXMLPARSERHOMOGENEOUSMATRIX_H
48 #define vpXMLPARSERHOMOGENEOUSMATRIX_H
49 
50 #include <visp3/core/vpConfig.h>
51 
52 #ifdef VISP_HAVE_XML2
53 
54 #include <libxml/xmlmemory.h> /* Functions of libxml. */
55 #include <string>
56 #include <visp3/core/vpHomogeneousMatrix.h>
57 #include <visp3/core/vpXmlParser.h>
58 
165 class VISP_EXPORT vpXmlParserHomogeneousMatrix : public vpXmlParser
166 {
167 
168 public:
169  /* --- XML Code------------------------------------------------------------
170  */
171  typedef enum {
172  CODE_XML_BAD = -1,
182  CODE_XML_TUZ
183  } vpXmlCodeType;
184 
185  typedef enum { SEQUENCE_OK, SEQUENCE_ERROR } vpXmlCodeSequenceType;
186 
187 private:
189  std::string m_name;
190 
191 public:
196 
197  // get/set functions
198  vpHomogeneousMatrix getHomogeneousMatrix() const { return this->m_M; }
199  std::string getHomogeneousMatrixName() const { return this->m_name; }
200 
201  vpXmlParserHomogeneousMatrix &operator=(const vpXmlParserHomogeneousMatrix &twinparser);
202  int parse(vpHomogeneousMatrix &M, const std::string &filename, const std::string &name);
203 
204  int save(const vpHomogeneousMatrix &M, const std::string &filename, const std::string &name);
205 
206  void setHomogeneousMatrixName(const std::string &name) { this->m_name = name; }
207 
208 private:
209  int read(xmlDocPtr doc, xmlNodePtr node, const std::string &name);
210 
211  int count(xmlDocPtr doc, xmlNodePtr node, const std::string &name);
212 
213  int read_matrix(xmlDocPtr doc, xmlNodePtr node, const std::string &name);
214 
215  vpXmlCodeSequenceType read_values(xmlDocPtr doc, xmlNodePtr node, vpHomogeneousMatrix &M);
216 
217  static vpXmlCodeSequenceType str2xmlcode(char *str, vpXmlCodeType &res);
218  void myXmlReadIntChild(xmlDocPtr doc, xmlNodePtr node, int &res, vpXmlCodeSequenceType &code_error);
219 
220  void myXmlReadDoubleChild(xmlDocPtr doc, xmlNodePtr node, double &res, vpXmlCodeSequenceType &code_error);
221 
222  void myXmlReadCharChild(xmlDocPtr doc, xmlNodePtr node, char **res);
223  int write(xmlNodePtr node, const std::string &name);
224 
225 private:
231  virtual void readMainClass(xmlDocPtr, xmlNodePtr){};
232 
238  virtual void writeMainClass(xmlNodePtr){};
239 };
240 #endif // VISP_HAVE_XML2
241 #endif
void setHomogeneousMatrixName(const std::string &name)
virtual ~vpXmlParserHomogeneousMatrix()
Default destructor.
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void writeMainClass(xmlNodePtr node)=0
void save(const std::string &filename, const bool append=false)
This class intends to simplify the creation of xml parser based on the libxml2 third party library...
Definition: vpXmlParser.h:177
XML parser to load and save an homogeneous matrix in a file.
virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node)=0
vpHomogeneousMatrix getHomogeneousMatrix() const
void parse(const std::string &filename)