Functions
const std::string	resolvePath (const std::string &path)
	Resolves file paths to their canonical form. More...

const std::string	loadFileToString (const std::string &path)
	Loads a file to a string. More...

const std::string	runCommand (const std::string &cmd)
	Runs a command cmd and returns stdout as a string. More...

const std::pair< bool, YAML::Node >	loadFileToYAML (const std::string &path)
	Loads a file to a YAML node. More...

void	createDirectory (const std::string &dir)
	Creates a directory. More...

void	createFile (std::ofstream &out, const std::string &file)
	Creates a file and opens an output stream. Creates directories if they do not exist. More...

const std::pair< bool, std::vector< std::string > >	listDirectory (const std::string &directory)
	Lists of the contents of a directory. More...

boost::posix_time::ptime	getDate ()
	Get the current time (up to milliseconds) More...

std::vector< std::string >	tokenize (const std::string &string, const std::string &separators)
	Separates a string into tokens, based upon separators. More...

bool	YAMLToFile (const YAML::Node &node, const std::string &file)
	Write the contents of a YAML node out to a potentially new file. More...

void	sleep (double seconds)
	Have this thread sleep for some number of seconds. More...

bool	isNode (const YAML::Node &node)
	Returns true if node is a valid YAML node. More...

Eigen::VectorXd	toVector (const YAML::Node &node)
	Convert a sequence of doubles in YAML to an Eigen vector. More...

YAML::Node	toVector (const Eigen::Ref< const Eigen::VectorXd > &vec)
	Convert a sequence of doubles in an Eigen vector to YAML. More...

template<typename... Args>
void	throwParsingError (const YAML::Node &node, const std::string &fmt, Args &&... args)
	Convenience function to print out a YAML error message with line and column information. More...

RobotPtr	loadRobot (const std::string &filename)
	Loads a robot from a YAML file. More...

bool	loadStates (RobotPtr robot, const std::string &filename)
	Loads named robot states from a YAML file. More...

Function Documentation

◆ createDirectory()

void se2ez::io::createDirectory ( const std::string & dir )

Creates a directory.

Parameters

[in] dir Directory to create.

Definition at line 157 of file io.cpp.

◆ createFile()

void se2ez::io::createFile	(	std::ofstream &	out,
		const std::string &	file
	)

Creates a file and opens an output stream. Creates directories if they do not exist.

Parameters

[out]	out	Output stream to initialize.
[in]	file	File to create and open.

Definition at line 162 of file io.cpp.

◆ getDate()

boost::posix_time::ptime se2ez::io::getDate ( )

Get the current time (up to milliseconds)

Returns: The time.

Definition at line 195 of file io.cpp.

◆ isNode()

bool se2ez::io::isNode ( const YAML::Node & node )

Returns true if node is a valid YAML node.

Parameters

[in] node Node to check.

Returns: True if node is a YAML node.

Definition at line 258 of file yaml.cpp.

◆ listDirectory()

const std::pair< bool, std::vector< std::string > > se2ez::io::listDirectory ( const std::string & directory )

Lists of the contents of a directory.

Parameters

[in] directory Directory to list.

Returns: A pair of a bool and a vector of strings of filenames of the directories contents. The first element will be true on success, false on failure. These filenames are absolute paths.

Definition at line 176 of file io.cpp.

◆ loadFileToString()

const std::string se2ez::io::loadFileToString ( const std::string & path )

Loads a file to a string.

Parameters

[in] path File to load.

Returns: The loaded file, or "" on failure (file does not exist).

Definition at line 89 of file io.cpp.

◆ loadFileToYAML()

const std::pair< bool, YAML::Node > se2ez::io::loadFileToYAML ( const std::string & path )

Loads a file to a YAML node.

Parameters

[in] path File to load.

Returns: A pair, where the first is true on success false on failure, and second is the YAML node.

Definition at line 123 of file io.cpp.

◆ loadRobot()

RobotPtr se2ez::io::loadRobot ( const std::string & filename )

Loads a robot from a YAML file.

Parameters

[in] filename The filename to load.

Returns: A robot compiled from filename, and a nullptr on failure.

Definition at line 303 of file yaml.cpp.

◆ loadStates()

bool se2ez::io::loadStates	(	RobotPtr	robot,
		const std::string &	filename
	)

Loads named robot states from a YAML file.

Parameters

[in,out]	robot	Robot to load named states into.
[in]	filename	The filename to load.

Returns: True on success, false on failure.

Definition at line 326 of file yaml.cpp.

◆ resolvePath()

const std::string se2ez::io::resolvePath ( const std::string & path )

Resolves file paths to their canonical form.

Parameters

[in] path Path to resolve.

Returns: The canonical path, or "" on failure.

Definition at line 79 of file io.cpp.

◆ runCommand()

const std::string se2ez::io::runCommand ( const std::string & cmd )

Runs a command cmd and returns stdout as a string.

Parameters

[in] cmd Command to run.

Returns: Contents of stdout from cmd, or "" on failure.

Definition at line 106 of file io.cpp.

◆ sleep()

void se2ez::io::sleep ( double seconds )

Have this thread sleep for some number of seconds.

Parameters

[in] seconds Seconds to sleep for.

Definition at line 207 of file io.cpp.

◆ throwParsingError()

template<typename... Args>

void se2ez::io::throwParsingError	(	const YAML::Node &	node,
		const std::string &	fmt,
		Args &&...	args
	)

Convenience function to print out a YAML error message with line and column information.

Parameters

[in]	node	Node that was culprit.
[in]	fmt	Format string for error message.
[in]	args	Arguments to format string.

Template Parameters

Args	Variadic arguments for format string.

Exceptions

std::runtime_error always.

Definition at line 42 of file utility.h.

◆ tokenize()

std::vector< std::string > se2ez::io::tokenize	(	const std::string &	string,
		const std::string &	separators
	)

Separates a string into tokens, based upon separators.

Parameters

[in]	string	String to tokenize.
[in]	separators	Separators to split string on.

Returns: The tokenized string.

Definition at line 200 of file io.cpp.

◆ toVector() [1/2]

Eigen::VectorXd se2ez::io::toVector ( const YAML::Node & node )

Convert a sequence of doubles in YAML to an Eigen vector.

Parameters

[in] node Node to parse.

Returns: The contents of the node as an Eigen vector.

Definition at line 282 of file yaml.cpp.

◆ toVector() [2/2]

YAML::Node se2ez::io::toVector ( const Eigen::Ref< const Eigen::VectorXd > & vec )

Convert a sequence of doubles in an Eigen vector to YAML.

Parameters

[in] vec Vector to convert

Returns: The contents of the node as a YAML node.

Definition at line 294 of file yaml.cpp.

◆ YAMLToFile()

bool se2ez::io::YAMLToFile	(	const YAML::Node &	node,
		const std::string &	file
	)

Write the contents of a YAML node out to a potentially new file.

Parameters

[in]	node	Node to write.
[in]	file	Filename to open.

Returns: True on success, false otherwise.

Definition at line 143 of file io.cpp.

Functions

Function Documentation

◆ createDirectory()

◆ createFile()

◆ getDate()

◆ isNode()

◆ listDirectory()

◆ loadFileToString()

◆ loadFileToYAML()

◆ loadRobot()

◆ loadStates()

◆ resolvePath()

◆ runCommand()

◆ sleep()

◆ throwParsingError()

◆ tokenize()

◆ toVector() [1/2]

◆ toVector() [2/2]

◆ YAMLToFile()