Exotica
xml_loader.h
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29 
30 #ifndef EXOTICA_CORE_XML_LOADER_H_
31 #define EXOTICA_CORE_XML_LOADER_H_
32 
35 #include <exotica_core/property.h>
36 #include <exotica_core/setup.h>
37 
38 namespace exotica
39 {
40 class XMLLoader
41 {
42 public:
43  static std::shared_ptr<XMLLoader> Instance()
44  {
45  if (!instance_) instance_.reset(new XMLLoader);
46  return instance_;
47  }
48 
49  ~XMLLoader() noexcept
50  {
51  }
52 
53  Initializer LoadXML(std::string file_name, bool parsePathAsXML = false);
54  void LoadXML(std::string file_name, Initializer& solver, Initializer& problem, const std::string& solver_name = "", const std::string& problem_name = "", bool parsePathAsXML = false);
55  static void Load(std::string file_name, Initializer& solver, Initializer& problem, const std::string& solver_name = "", const std::string& problem_name = "", bool parsePathAsXML = false)
56  {
57  Instance()->LoadXML(file_name, solver, problem, solver_name, problem_name, parsePathAsXML);
58  }
59 
60  static Initializer Load(std::string file_name, bool parsePathAsXML = false)
61  {
62  return Instance()->LoadXML(file_name, parsePathAsXML);
63  }
64 
65  static std::shared_ptr<exotica::MotionSolver> LoadSolver(const std::string& file_name)
66  {
67  Initializer solver, problem;
68  XMLLoader::Load(file_name, solver, problem);
69  PlanningProblemPtr any_problem = Setup::CreateProblem(problem);
70  MotionSolverPtr any_solver = Setup::CreateSolver(solver);
71  any_solver->SpecifyProblem(any_problem);
72  return any_solver;
73  }
74 
75  static std::shared_ptr<exotica::MotionSolver> LoadSolverStandalone(const std::string& file_name)
76  {
77  Initializer solver = XMLLoader::Load(file_name);
78  MotionSolverPtr any_solver = Setup::CreateSolver(solver);
79  return any_solver;
80  }
81 
82  static std::shared_ptr<exotica::PlanningProblem> LoadProblem(const std::string& file_name)
83  {
84  Initializer problem = XMLLoader::Load(file_name);
85  PlanningProblemPtr any_problem = Setup::CreateProblem(problem);
86  return any_problem;
87  }
88 
89 private:
90  XMLLoader();
91  static std::shared_ptr<XMLLoader> instance_;
92 };
93 } // namespace exotica
94 
95 #endif // EXOTICA_CORE_XML_LOADER_H_
planning_problem.h
exotica::XMLLoader::LoadProblem
static std::shared_ptr< exotica::PlanningProblem > LoadProblem(const std::string &file_name)
Definition: xml_loader.h:82
property.h
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::XMLLoader::Instance
static std::shared_ptr< XMLLoader > Instance()
Definition: xml_loader.h:43
exotica::XMLLoader::LoadSolver
static std::shared_ptr< exotica::MotionSolver > LoadSolver(const std::string &file_name)
Definition: xml_loader.h:65
exotica::XMLLoader
Definition: xml_loader.h:40
exotica::Setup::CreateProblem
static std::shared_ptr< exotica::PlanningProblem > CreateProblem(const std::string &type, bool prepend=true)
Definition: setup.h:65
exotica::XMLLoader::Load
static void Load(std::string file_name, Initializer &solver, Initializer &problem, const std::string &solver_name="", const std::string &problem_name="", bool parsePathAsXML=false)
Definition: xml_loader.h:55
exotica::XMLLoader::LoadXML
Initializer LoadXML(std::string file_name, bool parsePathAsXML=false)
exotica::Initializer
Definition: property.h:70
motion_solver.h
exotica::XMLLoader::instance_
static std::shared_ptr< XMLLoader > instance_
Definition: xml_loader.h:91
exotica::PlanningProblemPtr
std::shared_ptr< PlanningProblem > PlanningProblemPtr
Definition: planning_problem.h:116
exotica::XMLLoader::XMLLoader
XMLLoader()
setup.h
exotica::XMLLoader::Load
static Initializer Load(std::string file_name, bool parsePathAsXML=false)
Definition: xml_loader.h:60
exotica::XMLLoader::LoadSolverStandalone
static std::shared_ptr< exotica::MotionSolver > LoadSolverStandalone(const std::string &file_name)
Definition: xml_loader.h:75
exotica::XMLLoader::~XMLLoader
~XMLLoader() noexcept
Definition: xml_loader.h:49
exotica::Setup::CreateSolver
static std::shared_ptr< exotica::MotionSolver > CreateSolver(const std::string &type, bool prepend=true)
Definition: setup.h:63
exotica::MotionSolverPtr
std::shared_ptr< exotica::MotionSolver > MotionSolverPtr
Definition: motion_solver.h:66