vpXmlParserHomogeneousMatrix.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <libxml/xmlmemory.h> /* Functions of libxml.                */
#include <string>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpXmlParser.h>

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);
  virtual ~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