StdSceneReader.h

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#ifndef CNOID_UTIL_STD_SCENE_READER_H
#define CNOID_UTIL_STD_SCENE_READER_H
 
#include "EigenUtil.h"
#include "SceneGraph.h"
#include "ValueTree.h"
#include <cnoid/stdx/filesystem>
#include "exportdecl.h"
 
namespace cnoid {
 
class YAMLReader;
class FilePathVariableProcessor;
  
class CNOID_EXPORT StdSceneReader
{
public:
    StdSceneReader();
    ~StdSceneReader();
 
    void setMessageSink(std::ostream& os);
    void setDefaultDivisionNumber(int n);
    int defaultDivisionNumber() const;
 
    // One of the settings is valid for the following two functions
    void setBaseDirectory(const std::string& directory);
    void setFilePathVariableProcessor(FilePathVariableProcessor* processor);
 
    std::string baseDirectory() const;
    stdx::filesystem::path baseDirPath() const;
    void setYAMLReader(YAMLReader* reader);
    void clear();
    void readHeader(Mapping* info);
    void readHeader(Mapping* info, double formatVersion);
 
    enum AngleUnit { DEGREE, RADIAN };
    void setAngleUnit(AngleUnit unit);
    bool isDegreeMode() const {
        return isDegreeMode_;
    }
    double toRadian(double angle) const {
        return isDegreeMode_ ? radian(angle) : angle;
    }
    float toRadian(float angle) const {
        return isDegreeMode_ ? radian(angle) : angle;
    }
 
    bool readAngle(const Mapping* info, const char* key, double& angle) const;
    bool readAngle(const Mapping* info, std::initializer_list<const char*> keys, double& angle) const;
    bool readAngle(const Mapping* info, const char* key, float& angle) const;
    bool readAngle(const Mapping* info, std::initializer_list<const char*> keys, float& angle) const;
    bool readRotation(const Mapping* info, Matrix3& out_R) const;
    bool readRotation(const Mapping* info, const char* key, Matrix3& out_R) const;
    bool readRotation(const Mapping* info, std::initializer_list<const char*> keys, Matrix3& out_R) const;
    bool extractRotation(Mapping* info, Matrix3& out_R) const;
    bool readTranslation(const Mapping* info, Vector3& out_p) const;
    bool readTranslation(const Mapping* info, const char* key, Vector3& out_p) const;
    bool extractTranslation(Mapping* info, Vector3& out_p) const;
    SgNode* readNode(Mapping* info);
    SgNode* readNode(Mapping* info, const std::string& type);
    SgNode* readScene(ValueNode* scene);
 
    struct Resource {
        SgNodePtr scene;
        ValueNodePtr info;
        std::string uri;
        std::string directory;
        std::string fragment;
    };
    Resource readResourceNode(Mapping* info);
    
    typedef std::function<std::string(const std::string& path, std::ostream& os)> UriSchemeHandler;
    
    static void registerUriSchemeHandler(const std::string& scheme, UriSchemeHandler handler);
 
    [[deprecated("Use readAngle(const Mapping* info, const char* key, double& angle) const")]]
    bool readAngle(const Mapping& info, const char* key, double& angle) const;
    [[deprecated("Use readAngle(const Mapping* info, const char* key, float& angle) const")]]
    bool readAngle(const Mapping& info, const char* key, float& angle) const;
    [[deprecated("Use readRotation(const Mapping* info, Matrix3& out_R) const")]]
    bool readRotation(const Mapping& info, Matrix3& out_R) const;
    [[deprecated("Use readRotation(const Mapping* info, const char* key, Matrix3& out_R) const")]]
    bool readRotation(const Mapping& info, const char* key, Matrix3& out_R) const;
    [[deprecated("Use extractRotation(Mapping* info, Matrix3& out_R) const")]]
    bool extractRotation(Mapping& info, Matrix3& out_R) const;
    [[deprecated("Use readTranslation(const Mapping* info, Vector3& out_p) const")]]
    bool readTranslation(const Mapping& info, Vector3& out_p) const;
    [[deprecated("Use readTranslation(const Mapping* info, const char* key, Vector3& out_p) const")]]
    bool readTranslation(const Mapping& info, const char* key, Vector3& out_p) const;
    [[deprecated("Use extractTranslation(Mapping* info, Vector3& out_p) const")]]
    bool extractTranslation(Mapping& info, Vector3& out_p) const;
    [[deprecated("Use readNode(Mapping* info)")]]
    SgNode* readNode(Mapping& info);
    [[deprecated("Use readNode(Mapping* info, const std::string& type)")]]
    SgNode* readNode(Mapping& info, const std::string& type);
    [[deprecated("Use readResourceNode(Mapping* info)")]]
    Resource readResourceNode(Mapping& info);
 
private:
    class Impl;
    Impl* impl;
 
    bool isDegreeMode_;
};
 
}
 
#endif