#include <visp3/core/vpXmlParserHomogeneousMatrix.h>

Public Types
enum	vpXmlCodeSequenceType { SEQUENCE_OK, SEQUENCE_ERROR }

Public Member Functions
	vpXmlParserHomogeneousMatrix ()

	~vpXmlParserHomogeneousMatrix ()

vpHomogeneousMatrix	getHomogeneousMatrix () const

std::string	getHomogeneousMatrixName () const

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)

Detailed Description

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

Warning: This class is only available if pugixml third-party is successfully built.

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[])
{
  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;
  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[])
{
  // 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;
  }
  return 0;
}