diff --git a/404.html b/404.html new file mode 100644 index 0000000..54e2f51 --- /dev/null +++ b/404.html @@ -0,0 +1,417 @@ + + + + + + + + + + + + + + + + + + + + + + + Creo2Urdf + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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404 - Not found

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+ + + + + + + + + + \ No newline at end of file diff --git a/CHANGELOG/index.html b/CHANGELOG/index.html new file mode 100644 index 0000000..123c7ca --- /dev/null +++ b/CHANGELOG/index.html @@ -0,0 +1,738 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + Changelog - Creo2Urdf + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Changelog

+

All notable changes to this project will be documented in this file.

+

The format is based on Keep a Changelog, +and this project adheres to Semantic Versioning.

+

Unreleased

+
    +
  • Added includes parameter to creo2urdf to include additional yamls.
    • +
+

[0.4.7] - 2024-04-09

+
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  • Made creo2urdf runnable from terminal
    • +
+

[0.4.6] - 2024-03-19

+
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  • Account for part/link rotation when saving inertia matrix
    • +
+

[0.4.5] - 2024-01-17

+
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  • Added doxygen documentation
    • +
  • Removed the assumptions on the matching of axis and csys for defining joints.
    • +
  • Added the possibility to choose the output folder.
    • +
  • Added the possibility to choose the mesh format.
    • +
  • Added the possibility to export prismatic joints.
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+

[0.4.1] - 2023-11-23

+
    +
  • Added warningsAreFatal parameter
    • +
  • Added handling of exception when exporting stl files
    • +
  • Fixed urdf identation
    • +
+

[0.4.0] - 2023-09-01

+
    +
  • creo2urdf can export the urdf of an entire generic robot
    • +
+

[0.3.0] - 2023-07-20

+
    +
  • creo2urdf can export the urdf of the entire ergocub 1.1
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+

[0.2.5] - 2023-07-05

+
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  • creo2urdf can export the urdf of ergocub upperbody
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+

[0.2.0] - 2023-06-30

+
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  • creo2urdf can now export the urdf of the ergocub head+neck
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+

[0.1.0] - 2023-05-10

+
    +
  • First version of creo2urdf plugin working with the simple assembly with two links and one joint.
    • +
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I(...e).pipe(oe(o=>d(o,"change").pipe(m(()=>o))),Q(e[r]),m(o=>({index:e.indexOf(o),color:{media:o.getAttribute("data-md-color-media"),scheme:o.getAttribute("data-md-color-scheme"),primary:o.getAttribute("data-md-color-primary"),accent:o.getAttribute("data-md-color-accent")}})),B(1))}function Kn(e){let t=$("input",e),r=E("meta",{name:"theme-color"});document.head.appendChild(r);let o=E("meta",{name:"color-scheme"});document.head.appendChild(o);let n=$t("(prefers-color-scheme: light)");return C(()=>{let i=new g;return i.subscribe(a=>{if(document.body.setAttribute("data-md-color-switching",""),a.color.media==="(prefers-color-scheme)"){let s=matchMedia("(prefers-color-scheme: light)"),p=document.querySelector(s.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: 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Gr=Vt(Yr());function Ga(e){e.setAttribute("data-md-copying","");let t=e.closest("[data-copy]"),r=t?t.getAttribute("data-copy"):e.innerText;return e.removeAttribute("data-md-copying"),r.trimEnd()}function Bn({alert$:e}){Gr.default.isSupported()&&new F(t=>{new Gr.default("[data-clipboard-target], [data-clipboard-text]",{text:r=>r.getAttribute("data-clipboard-text")||Ga(P(r.getAttribute("data-clipboard-target")))}).on("success",r=>t.next(r))}).pipe(y(t=>{t.trigger.focus()}),m(()=>ye("clipboard.copied"))).subscribe(e)}function Gn(e,t){return e.protocol=t.protocol,e.hostname=t.hostname,e}function Ja(e,t){let r=new Map;for(let o of $("url",e)){let n=P("loc",o),i=[Gn(new URL(n.textContent),t)];r.set(`${i[0]}`,i);for(let a of $("[rel=alternate]",o)){let s=a.getAttribute("href");s!=null&&i.push(Gn(new URL(s),t))}}return r}function ur(e){return mn(new URL("sitemap.xml",e)).pipe(m(t=>Ja(t,new URL(e))),ve(()=>I(new Map)))}function Xa(e,t){if(!(e.target instanceof Element))return M;let 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g,o=r.pipe(X(),ne(!0));z([t.pipe(Ae(It)),r],(i,a)=>a).pipe(Z("value")).subscribe(({value:i})=>t.next({type:2,data:i})),r.pipe(Z("focus")).subscribe(({focus:i})=>{i&&Je("search",i)}),d(e.form,"reset").pipe(U(o)).subscribe(()=>e.focus());let n=P("header [for=__search]");return d(n,"click").subscribe(()=>e.focus()),ns(e,{worker$:t}).pipe(y(i=>r.next(i)),L(()=>r.complete()),m(i=>R({ref:e},i)),B(1))}function si(e,{worker$:t,query$:r}){let o=new g,n=tn(e.parentElement).pipe(b(Boolean)),i=e.parentElement,a=P(":scope > :first-child",e),s=P(":scope > :last-child",e);Ve("search").subscribe(l=>s.setAttribute("role",l?"list":"presentation")),o.pipe(ee(r),Ur(t.pipe(Ae(It)))).subscribe(([{items:l},{value:f}])=>{switch(l.length){case 0:a.textContent=f.length?ye("search.result.none"):ye("search.result.placeholder");break;case 1:a.textContent=ye("search.result.one");break;default:let u=sr(l.length);a.textContent=ye("search.result.other",u)}});let p=o.pipe(y(()=>s.innerHTML=""),v(({items:l})=>S(I(...l.slice(0,10)),I(...l.slice(10)).pipe(Ye(4),Vr(n),v(([f])=>f)))),m(Tn),pe());return p.subscribe(l=>s.appendChild(l)),p.pipe(oe(l=>{let f=fe("details",l);return typeof f=="undefined"?M:d(f,"toggle").pipe(U(o),m(()=>f))})).subscribe(l=>{l.open===!1&&l.offsetTop<=i.scrollTop&&i.scrollTo({top:l.offsetTop})}),t.pipe(b(dr),m(({data:l})=>l)).pipe(y(l=>o.next(l)),L(()=>o.complete()),m(l=>R({ref:e},l)))}function is(e,{query$:t}){return t.pipe(m(({value:r})=>{let o=xe();return o.hash="",r=r.replace(/\s+/g,"+").replace(/&/g,"%26").replace(/=/g,"%3D"),o.search=`q=${r}`,{url:o}}))}function ci(e,t){let r=new g,o=r.pipe(X(),ne(!0));return r.subscribe(({url:n})=>{e.setAttribute("data-clipboard-text",e.href),e.href=`${n}`}),d(e,"click").pipe(U(o)).subscribe(n=>n.preventDefault()),is(e,t).pipe(y(n=>r.next(n)),L(()=>r.complete()),m(n=>R({ref:e},n)))}function pi(e,{worker$:t,keyboard$:r}){let o=new g,n=Se("search-query"),i=S(d(n,"keydown"),d(n,"focus")).pipe(be(se),m(()=>n.value),K());return o.pipe(We(i),m(([{suggest:s},p])=>{let c=p.split(/([\s-]+)/);if(s!=null&&s.length&&c[c.length-1]){let l=s[s.length-1];l.startsWith(c[c.length-1])&&(c[c.length-1]=l)}else c.length=0;return c})).subscribe(s=>e.innerHTML=s.join("").replace(/\s/g," ")),r.pipe(b(({mode:s})=>s==="search")).subscribe(s=>{switch(s.type){case"ArrowRight":e.innerText.length&&n.selectionStart===n.value.length&&(n.value=e.innerText);break}}),t.pipe(b(dr),m(({data:s})=>s)).pipe(y(s=>o.next(s)),L(()=>o.complete()),m(()=>({ref:e})))}function li(e,{index$:t,keyboard$:r}){let o=Te();try{let n=ni(o.search,t),i=Se("search-query",e),a=Se("search-result",e);d(e,"click").pipe(b(({target:p})=>p instanceof Element&&!!p.closest("a"))).subscribe(()=>Je("search",!1)),r.pipe(b(({mode:p})=>p==="search")).subscribe(p=>{let c=Re();switch(p.type){case"Enter":if(c===i){let l=new Map;for(let f of $(":first-child [href]",a)){let u=f.firstElementChild;l.set(f,parseFloat(u.getAttribute("data-md-score")))}if(l.size){let[[f]]=[...l].sort(([,u],[,h])=>h-u);f.click()}p.claim()}break;case"Escape":case"Tab":Je("search",!1),i.blur();break;case"ArrowUp":case"ArrowDown":if(typeof c=="undefined")i.focus();else{let l=[i,...$(":not(details) > [href], summary, details[open] [href]",a)],f=Math.max(0,(Math.max(0,l.indexOf(c))+l.length+(p.type==="ArrowUp"?-1:1))%l.length);l[f].focus()}p.claim();break;default:i!==Re()&&i.focus()}}),r.pipe(b(({mode:p})=>p==="global")).subscribe(p=>{switch(p.type){case"f":case"s":case"/":i.focus(),i.select(),p.claim();break}});let s=ai(i,{worker$:n});return S(s,si(a,{worker$:n,query$:s})).pipe(Pe(...ae("search-share",e).map(p=>ci(p,{query$:s})),...ae("search-suggest",e).map(p=>pi(p,{worker$:n,keyboard$:r}))))}catch(n){return e.hidden=!0,Ke}}function mi(e,{index$:t,location$:r}){return z([t,r.pipe(Q(xe()),b(o=>!!o.searchParams.get("h")))]).pipe(m(([o,n])=>oi(o.config)(n.searchParams.get("h"))),m(o=>{var a;let n=new Map,i=document.createNodeIterator(e,NodeFilter.SHOW_TEXT);for(let s=i.nextNode();s;s=i.nextNode())if((a=s.parentElement)!=null&&a.offsetHeight){let p=s.textContent,c=o(p);c.length>p.length&&n.set(s,c)}for(let[s,p]of n){let{childNodes:c}=E("span",null,p);s.replaceWith(...Array.from(c))}return{ref:e,nodes:n}}))}function as(e,{viewport$:t,main$:r}){let o=e.closest(".md-grid"),n=o.offsetTop-o.parentElement.offsetTop;return z([r,t]).pipe(m(([{offset:i,height:a},{offset:{y:s}}])=>(a=a+Math.min(n,Math.max(0,s-i))-n,{height:a,locked:s>=i+n})),K((i,a)=>i.height===a.height&&i.locked===a.locked))}function Jr(e,o){var n=o,{header$:t}=n,r=io(n,["header$"]);let i=P(".md-sidebar__scrollwrap",e),{y:a}=Ue(i);return C(()=>{let s=new g,p=s.pipe(X(),ne(!0)),c=s.pipe(Le(0,me));return c.pipe(ee(t)).subscribe({next([{height:l},{height:f}]){i.style.height=`${l-2*a}px`,e.style.top=`${f}px`},complete(){i.style.height="",e.style.top=""}}),c.pipe(Ae()).subscribe(()=>{for(let l of $(".md-nav__link--active[href]",e)){if(!l.clientHeight)continue;let f=l.closest(".md-sidebar__scrollwrap");if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:h}=ce(f);f.scrollTo({top:u-h/2})}}}),ue($("label[tabindex]",e)).pipe(oe(l=>d(l,"click").pipe(be(se),m(()=>l),U(p)))).subscribe(l=>{let f=P(`[id="${l.htmlFor}"]`);P(`[aria-labelledby="${l.id}"]`).setAttribute("aria-expanded",`${f.checked}`)}),as(e,r).pipe(y(l=>s.next(l)),L(()=>s.complete()),m(l=>R({ref:e},l)))})}function fi(e,t){if(typeof t!="undefined"){let r=`https://api.github.com/repos/${e}/${t}`;return Ct(Ne(`${r}/releases/latest`).pipe(ve(()=>M),m(o=>({version:o.tag_name})),Be({})),Ne(r).pipe(ve(()=>M),m(o=>({stars:o.stargazers_count,forks:o.forks_count})),Be({}))).pipe(m(([o,n])=>R(R({},o),n)))}else{let r=`https://api.github.com/users/${e}`;return Ne(r).pipe(m(o=>({repositories:o.public_repos})),Be({}))}}function ui(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return Ne(r).pipe(ve(()=>M),m(({star_count:o,forks_count:n})=>({stars:o,forks:n})),Be({}))}function di(e){let t=e.match(/^.+github\.com\/([^/]+)\/?([^/]+)?/i);if(t){let[,r,o]=t;return fi(r,o)}if(t=e.match(/^.+?([^/]*gitlab[^/]+)\/(.+?)\/?$/i),t){let[,r,o]=t;return ui(r,o)}return M}var ss;function cs(e){return ss||(ss=C(()=>{let t=__md_get("__source",sessionStorage);if(t)return I(t);if(ae("consent").length){let o=__md_get("__consent");if(!(o&&o.github))return M}return di(e.href).pipe(y(o=>__md_set("__source",o,sessionStorage)))}).pipe(ve(()=>M),b(t=>Object.keys(t).length>0),m(t=>({facts:t})),B(1)))}function hi(e){let t=P(":scope > :last-child",e);return C(()=>{let r=new g;return r.subscribe(({facts:o})=>{t.appendChild(Sn(o)),t.classList.add("md-source__repository--active")}),cs(e).pipe(y(o=>r.next(o)),L(()=>r.complete()),m(o=>R({ref:e},o)))})}function ps(e,{viewport$:t,header$:r}){return ge(document.body).pipe(v(()=>mr(e,{header$:r,viewport$:t})),m(({offset:{y:o}})=>({hidden:o>=10})),Z("hidden"))}function bi(e,t){return C(()=>{let r=new g;return r.subscribe({next({hidden:o}){e.hidden=o},complete(){e.hidden=!1}}),(G("navigation.tabs.sticky")?I({hidden:!1}):ps(e,t)).pipe(y(o=>r.next(o)),L(()=>r.complete()),m(o=>R({ref:e},o)))})}function ls(e,{viewport$:t,header$:r}){let o=new Map,n=$(".md-nav__link",e);for(let s of n){let p=decodeURIComponent(s.hash.substring(1)),c=fe(`[id="${p}"]`);typeof c!="undefined"&&o.set(s,c)}let i=r.pipe(Z("height"),m(({height:s})=>{let p=Se("main"),c=P(":scope > :first-child",p);return s+.8*(c.offsetTop-p.offsetTop)}),pe());return ge(document.body).pipe(Z("height"),v(s=>C(()=>{let p=[];return 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n.title=o,pt(n,{viewport$:t}).pipe(U(e.pipe(Ce(1))),L(()=>n.removeAttribute("title")))})).subscribe(),e.pipe(v(()=>$(".md-status")),oe(r=>pt(r,{viewport$:t}))).subscribe()}function yi({document$:e,tablet$:t}){e.pipe(v(()=>$(".md-toggle--indeterminate")),y(r=>{r.indeterminate=!0,r.checked=!1}),oe(r=>d(r,"change").pipe(Dr(()=>r.classList.contains("md-toggle--indeterminate")),m(()=>r))),ee(t)).subscribe(([r,o])=>{r.classList.remove("md-toggle--indeterminate"),o&&(r.checked=!1)})}function fs(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function Ei({document$:e}){e.pipe(v(()=>$("[data-md-scrollfix]")),y(t=>t.removeAttribute("data-md-scrollfix")),b(fs),oe(t=>d(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function wi({viewport$:e,tablet$:t}){z([Ve("search"),t]).pipe(m(([r,o])=>r&&!o),v(r=>I(r).pipe(Ge(r?400:100))),ee(e)).subscribe(([r,{offset:{y:o}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${o}px`;else{let n=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",n&&window.scrollTo(0,n)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof o=="string"?o=document.createTextNode(o):o.parentNode&&o.parentNode.removeChild(o),r?t.insertBefore(this.previousSibling,o):t.replaceChild(o,this)}}}));function us(){return location.protocol==="file:"?Et(`${new URL("search/search_index.js",Xr.base)}`).pipe(m(()=>__index),B(1)):Ne(new URL("search/search_index.json",Xr.base))}document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var rt=Yo(),jt=nn(),Ot=cn(jt),Zr=on(),Oe=bn(),hr=$t("(min-width: 960px)"),Si=$t("(min-width: 1220px)"),Oi=pn(),Xr=Te(),Mi=document.forms.namedItem("search")?us():Ke,eo=new g;Bn({alert$:eo});var to=new g;G("navigation.instant")&&Zn({location$:jt,viewport$:Oe,progress$:to}).subscribe(rt);var Ti;((Ti=Xr.version)==null?void 0:Ti.provider)==="mike"&&ii({document$:rt});S(jt,Ot).pipe(Ge(125)).subscribe(()=>{Je("drawer",!1),Je("search",!1)});Zr.pipe(b(({mode:e})=>e==="global")).subscribe(e=>{switch(e.type){case"p":case",":let t=fe("link[rel=prev]");typeof t!="undefined"&&ct(t);break;case"n":case".":let r=fe("link[rel=next]");typeof r!="undefined"&&ct(r);break;case"Enter":let o=Re();o instanceof HTMLLabelElement&&o.click()}});xi({viewport$:Oe,document$:rt});yi({document$:rt,tablet$:hr});Ei({document$:rt});wi({viewport$:Oe,tablet$:hr});var tt=Nn(Se("header"),{viewport$:Oe}),Ft=rt.pipe(m(()=>Se("main")),v(e=>Qn(e,{viewport$:Oe,header$:tt})),B(1)),ds=S(...ae("consent").map(e=>xn(e,{target$:Ot})),...ae("dialog").map(e=>Dn(e,{alert$:eo})),...ae("header").map(e=>zn(e,{viewport$:Oe,header$:tt,main$:Ft})),...ae("palette").map(e=>Kn(e)),...ae("progress").map(e=>Yn(e,{progress$:to})),...ae("search").map(e=>li(e,{index$:Mi,keyboard$:Zr})),...ae("source").map(e=>hi(e))),hs=C(()=>S(...ae("announce").map(e=>gn(e)),...ae("content").map(e=>Un(e,{viewport$:Oe,target$:Ot,print$:Oi})),...ae("content").map(e=>G("search.highlight")?mi(e,{index$:Mi,location$:jt}):M),...ae("header-title").map(e=>qn(e,{viewport$:Oe,header$:tt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Si,()=>Jr(e,{viewport$:Oe,header$:tt,main$:Ft})):Nr(hr,()=>Jr(e,{viewport$:Oe,header$:tt,main$:Ft}))),...ae("tabs").map(e=>bi(e,{viewport$:Oe,header$:tt})),...ae("toc").map(e=>vi(e,{viewport$:Oe,header$:tt,main$:Ft,target$:Ot})),...ae("top").map(e=>gi(e,{viewport$:Oe,header$:tt,main$:Ft,target$:Ot})))),Li=rt.pipe(v(()=>hs),Pe(ds),B(1));Li.subscribe();window.document$=rt;window.location$=jt;window.target$=Ot;window.keyboard$=Zr;window.viewport$=Oe;window.tablet$=hr;window.screen$=Si;window.print$=Oi;window.alert$=eo;window.progress$=to;window.component$=Li;})(); 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"node_modules/rxjs/src/internal/observable/timer.ts", "node_modules/rxjs/src/internal/observable/merge.ts", "node_modules/rxjs/src/internal/observable/never.ts", "node_modules/rxjs/src/internal/util/argsOrArgArray.ts", "node_modules/rxjs/src/internal/operators/filter.ts", "node_modules/rxjs/src/internal/observable/zip.ts", "node_modules/rxjs/src/internal/operators/audit.ts", "node_modules/rxjs/src/internal/operators/auditTime.ts", "node_modules/rxjs/src/internal/operators/bufferCount.ts", "node_modules/rxjs/src/internal/operators/catchError.ts", "node_modules/rxjs/src/internal/operators/scanInternals.ts", "node_modules/rxjs/src/internal/operators/combineLatest.ts", "node_modules/rxjs/src/internal/operators/combineLatestWith.ts", "node_modules/rxjs/src/internal/operators/debounce.ts", "node_modules/rxjs/src/internal/operators/debounceTime.ts", "node_modules/rxjs/src/internal/operators/defaultIfEmpty.ts", "node_modules/rxjs/src/internal/operators/take.ts", 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"sourcesContent": ["(function (global, factory) {\n typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n typeof define === 'function' && define.amd ? define(factory) :\n (factory());\n}(this, (function () { 'use strict';\n\n /**\n * Applies the :focus-visible polyfill at the given scope.\n * A scope in this case is either the top-level Document or a Shadow Root.\n *\n * @param {(Document|ShadowRoot)} scope\n * @see https://github.com/WICG/focus-visible\n */\n function applyFocusVisiblePolyfill(scope) {\n var hadKeyboardEvent = true;\n var hadFocusVisibleRecently = false;\n var hadFocusVisibleRecentlyTimeout = null;\n\n var inputTypesAllowlist = {\n text: true,\n search: true,\n url: true,\n tel: true,\n email: true,\n password: true,\n number: true,\n date: true,\n month: true,\n week: true,\n time: true,\n datetime: true,\n 'datetime-local': true\n };\n\n /**\n * Helper function for legacy browsers and iframes which sometimes focus\n * elements like document, body, and non-interactive SVG.\n * @param {Element} el\n */\n function isValidFocusTarget(el) {\n if (\n el &&\n el !== document &&\n el.nodeName !== 'HTML' &&\n el.nodeName !== 'BODY' &&\n 'classList' in el &&\n 'contains' in el.classList\n ) {\n return true;\n }\n return false;\n }\n\n /**\n * Computes whether the given element should automatically trigger the\n * `focus-visible` class being added, i.e. whether it should always match\n * `:focus-visible` when focused.\n * @param {Element} el\n * @return {boolean}\n */\n function focusTriggersKeyboardModality(el) {\n var type = el.type;\n var tagName = el.tagName;\n\n if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n return true;\n }\n\n if (tagName === 'TEXTAREA' && !el.readOnly) {\n return true;\n }\n\n if (el.isContentEditable) {\n return true;\n }\n\n return false;\n }\n\n /**\n * Add the `focus-visible` class to the given element if it was not added by\n * the author.\n * @param {Element} el\n */\n function addFocusVisibleClass(el) {\n if (el.classList.contains('focus-visible')) {\n return;\n }\n el.classList.add('focus-visible');\n el.setAttribute('data-focus-visible-added', '');\n }\n\n /**\n * Remove the `focus-visible` class from the given element if it was not\n * originally added by the author.\n * @param {Element} el\n */\n function removeFocusVisibleClass(el) {\n if (!el.hasAttribute('data-focus-visible-added')) {\n return;\n }\n el.classList.remove('focus-visible');\n el.removeAttribute('data-focus-visible-added');\n }\n\n /**\n * If the most recent user interaction was via the keyboard;\n * and the key press did not include a meta, alt/option, or control key;\n * then the modality is keyboard. Otherwise, the modality is not keyboard.\n * Apply `focus-visible` to any current active element and keep track\n * of our keyboard modality state with `hadKeyboardEvent`.\n * @param {KeyboardEvent} e\n */\n function onKeyDown(e) {\n if (e.metaKey || e.altKey || e.ctrlKey) {\n return;\n }\n\n if (isValidFocusTarget(scope.activeElement)) {\n addFocusVisibleClass(scope.activeElement);\n }\n\n hadKeyboardEvent = true;\n }\n\n /**\n * If at any point a user clicks with a pointing device, ensure that we change\n * the modality away from keyboard.\n * This avoids the situation where a user presses a key on an already focused\n * element, and then clicks on a different element, focusing it with a\n * pointing device, while we still think we're in keyboard modality.\n * @param {Event} e\n */\n function onPointerDown(e) {\n hadKeyboardEvent = false;\n }\n\n /**\n * On `focus`, add the `focus-visible` class to the target if:\n * - the target received focus as a result of keyboard navigation, or\n * - the event target is an element that will likely require interaction\n * via the keyboard (e.g. a text box)\n * @param {Event} e\n */\n function onFocus(e) {\n // Prevent IE from focusing the document or HTML element.\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n addFocusVisibleClass(e.target);\n }\n }\n\n /**\n * On `blur`, remove the `focus-visible` class from the target.\n * @param {Event} e\n */\n function onBlur(e) {\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (\n e.target.classList.contains('focus-visible') ||\n e.target.hasAttribute('data-focus-visible-added')\n ) {\n // To detect a tab/window switch, we look for a blur event followed\n // rapidly by a visibility change.\n // If we don't see a visibility change within 100ms, it's probably a\n // regular focus change.\n hadFocusVisibleRecently = true;\n window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n hadFocusVisibleRecently = false;\n }, 100);\n removeFocusVisibleClass(e.target);\n }\n }\n\n /**\n * If the user changes tabs, keep track of whether or not the previously\n * focused element had .focus-visible.\n * @param {Event} e\n */\n function onVisibilityChange(e) {\n if (document.visibilityState === 'hidden') {\n // If the tab becomes active again, the browser will handle calling focus\n // on the element (Safari actually calls it twice).\n // If this tab change caused a blur on an element with focus-visible,\n // re-apply the class when the user switches back to the tab.\n if (hadFocusVisibleRecently) {\n hadKeyboardEvent = true;\n }\n addInitialPointerMoveListeners();\n }\n }\n\n /**\n * Add a group of listeners to detect usage of any pointing devices.\n * These listeners will be added when the polyfill first loads, and anytime\n * the window is blurred, so that they are active when the window regains\n * focus.\n */\n function addInitialPointerMoveListeners() {\n document.addEventListener('mousemove', onInitialPointerMove);\n document.addEventListener('mousedown', onInitialPointerMove);\n document.addEventListener('mouseup', onInitialPointerMove);\n document.addEventListener('pointermove', onInitialPointerMove);\n document.addEventListener('pointerdown', onInitialPointerMove);\n document.addEventListener('pointerup', onInitialPointerMove);\n document.addEventListener('touchmove', onInitialPointerMove);\n document.addEventListener('touchstart', onInitialPointerMove);\n document.addEventListener('touchend', onInitialPointerMove);\n }\n\n function removeInitialPointerMoveListeners() {\n document.removeEventListener('mousemove', onInitialPointerMove);\n document.removeEventListener('mousedown', onInitialPointerMove);\n document.removeEventListener('mouseup', onInitialPointerMove);\n document.removeEventListener('pointermove', onInitialPointerMove);\n document.removeEventListener('pointerdown', onInitialPointerMove);\n document.removeEventListener('pointerup', onInitialPointerMove);\n document.removeEventListener('touchmove', onInitialPointerMove);\n document.removeEventListener('touchstart', onInitialPointerMove);\n document.removeEventListener('touchend', onInitialPointerMove);\n }\n\n /**\n * When the polfyill first loads, assume the user is in keyboard modality.\n * If any event is received from a pointing device (e.g. mouse, pointer,\n * touch), turn off keyboard modality.\n * This accounts for situations where focus enters the page from the URL bar.\n * @param {Event} e\n */\n function onInitialPointerMove(e) {\n // Work around a Safari quirk that fires a mousemove on whenever the\n // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n return;\n }\n\n hadKeyboardEvent = false;\n removeInitialPointerMoveListeners();\n }\n\n // For some kinds of state, we are interested in changes at the global scope\n // only. For example, global pointer input, global key presses and global\n // visibility change should affect the state at every scope:\n document.addEventListener('keydown', onKeyDown, true);\n document.addEventListener('mousedown', onPointerDown, true);\n document.addEventListener('pointerdown', onPointerDown, true);\n document.addEventListener('touchstart', onPointerDown, true);\n document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n addInitialPointerMoveListeners();\n\n // For focus and blur, we specifically care about state changes in the local\n // scope. This is because focus / blur events that originate from within a\n // shadow root are not re-dispatched from the host element if it was already\n // the active element in its own scope:\n scope.addEventListener('focus', onFocus, true);\n scope.addEventListener('blur', onBlur, true);\n\n // We detect that a node is a ShadowRoot by ensuring that it is a\n // DocumentFragment and also has a host property. This check covers native\n // implementation and polyfill implementation transparently. If we only cared\n // about the native implementation, we could just check if the scope was\n // an instance of a ShadowRoot.\n if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n // have a root element to add a class to. So, we add this attribute to the\n // host element instead:\n scope.host.setAttribute('data-js-focus-visible', '');\n } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n document.documentElement.classList.add('js-focus-visible');\n document.documentElement.setAttribute('data-js-focus-visible', '');\n }\n }\n\n // It is important to wrap all references to global window and document in\n // these checks to support server-side rendering use cases\n // @see https://github.com/WICG/focus-visible/issues/199\n if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n // Make the polyfill helper globally available. This can be used as a signal\n // to interested libraries that wish to coordinate with the polyfill for e.g.,\n // applying the polyfill to a shadow root:\n window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n // Notify interested libraries of the polyfill's presence, in case the\n // polyfill was loaded lazily:\n var event;\n\n try {\n event = new CustomEvent('focus-visible-polyfill-ready');\n } catch (error) {\n // IE11 does not support using CustomEvent as a constructor directly:\n event = document.createEvent('CustomEvent');\n event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n }\n\n window.dispatchEvent(event);\n }\n\n if (typeof document !== 'undefined') {\n // Apply the polyfill to the global document, so that no JavaScript\n // coordination is required to use the polyfill in the top-level document:\n applyFocusVisiblePolyfill(document);\n }\n\n})));\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n try {\n return document.execCommand(type);\n } catch (err) {\n return false;\n }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n var selectedText = select_default()(target);\n command('cut');\n return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n fakeElement.style.fontSize = '12pt'; // Reset box model\n\n fakeElement.style.border = '0';\n fakeElement.style.padding = '0';\n fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n fakeElement.style.position = 'absolute';\n fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n fakeElement.style.top = \"\".concat(yPosition, \"px\");\n fakeElement.setAttribute('readonly', '');\n fakeElement.value = value;\n return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n var fakeElement = createFakeElement(value);\n options.container.appendChild(fakeElement);\n var selectedText = select_default()(fakeElement);\n command('copy');\n fakeElement.remove();\n return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n var selectedText = '';\n\n if (typeof target === 'string') {\n selectedText = fakeCopyAction(target, options);\n } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n selectedText = fakeCopyAction(target.value, options);\n } else {\n selectedText = select_default()(target);\n command('copy');\n }\n\n return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n // Defines base properties passed from constructor.\n var _options$action = options.action,\n action = _options$action === void 0 ? 'copy' : _options$action,\n container = options.container,\n target = options.target,\n text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n if (action !== 'copy' && action !== 'cut') {\n throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n } // Sets the `target` property using an element that will be have its content copied.\n\n\n if (target !== undefined) {\n if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n if (action === 'copy' && target.hasAttribute('disabled')) {\n throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n }\n\n if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n }\n } else {\n throw new Error('Invalid \"target\" value, use a valid Element');\n }\n } // Define selection strategy based on `text` property.\n\n\n if (text) {\n return actions_copy(text, {\n container: container\n });\n } // Defines which selection strategy based on `target` property.\n\n\n if (target) {\n return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n container: container\n });\n }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n var attribute = \"data-clipboard-\".concat(suffix);\n\n if (!element.hasAttribute(attribute)) {\n return;\n }\n\n return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n _inherits(Clipboard, _Emitter);\n\n var _super = _createSuper(Clipboard);\n\n /**\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n * @param {Object} options\n */\n function Clipboard(trigger, options) {\n var _this;\n\n _classCallCheck(this, Clipboard);\n\n _this = _super.call(this);\n\n _this.resolveOptions(options);\n\n _this.listenClick(trigger);\n\n return _this;\n }\n /**\n * Defines if attributes would be resolved using internal setter functions\n * or custom functions that were passed in the constructor.\n * @param {Object} options\n */\n\n\n _createClass(Clipboard, [{\n key: \"resolveOptions\",\n value: function resolveOptions() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n }\n /**\n * Adds a click event listener to the passed trigger.\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n */\n\n }, {\n key: \"listenClick\",\n value: function listenClick(trigger) {\n var _this2 = this;\n\n this.listener = listen_default()(trigger, 'click', function (e) {\n return _this2.onClick(e);\n });\n }\n /**\n * Defines a new `ClipboardAction` on each click event.\n * @param {Event} e\n */\n\n }, {\n key: \"onClick\",\n value: function onClick(e) {\n var trigger = e.delegateTarget || e.currentTarget;\n var action = this.action(trigger) || 'copy';\n var text = actions_default({\n action: action,\n container: this.container,\n target: this.target(trigger),\n text: this.text(trigger)\n }); // Fires an event based on the copy operation result.\n\n this.emit(text ? 'success' : 'error', {\n action: action,\n text: text,\n trigger: trigger,\n clearSelection: function clearSelection() {\n if (trigger) {\n trigger.focus();\n }\n\n window.getSelection().removeAllRanges();\n }\n });\n }\n /**\n * Default `action` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultAction\",\n value: function defaultAction(trigger) {\n return getAttributeValue('action', trigger);\n }\n /**\n * Default `target` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultTarget\",\n value: function defaultTarget(trigger) {\n var selector = getAttributeValue('target', trigger);\n\n if (selector) {\n return document.querySelector(selector);\n }\n }\n /**\n * Allow fire programmatically a copy action\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @returns Text copied.\n */\n\n }, {\n key: \"defaultText\",\n\n /**\n * Default `text` lookup function.\n * @param {Element} trigger\n */\n value: function defaultText(trigger) {\n return getAttributeValue('text', trigger);\n }\n /**\n * Destroy lifecycle.\n */\n\n }, {\n key: \"destroy\",\n value: function destroy() {\n this.listener.destroy();\n }\n }], [{\n key: \"copy\",\n value: function copy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n return actions_copy(target, options);\n }\n /**\n * Allow fire programmatically a cut action\n * @param {String|HTMLElement} target\n * @returns Text cutted.\n */\n\n }, {\n key: \"cut\",\n value: function cut(target) {\n return actions_cut(target);\n }\n /**\n * Returns the support of the given action, or all actions if no action is\n * given.\n * @param {String} [action]\n */\n\n }, {\n key: \"isSupported\",\n value: function isSupported() {\n var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n var actions = typeof action === 'string' ? [action] : action;\n var support = !!document.queryCommandSupported;\n actions.forEach(function (action) {\n support = support && !!document.queryCommandSupported(action);\n });\n return support;\n }\n }]);\n\n return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n var proto = Element.prototype;\n\n proto.matches = proto.matchesSelector ||\n proto.mozMatchesSelector ||\n proto.msMatchesSelector ||\n proto.oMatchesSelector ||\n proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n if (typeof element.matches === 'function' &&\n element.matches(selector)) {\n return element;\n }\n element = element.parentNode;\n }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n var listenerFn = listener.apply(this, arguments);\n\n element.addEventListener(type, listenerFn, useCapture);\n\n return {\n destroy: function() {\n element.removeEventListener(type, listenerFn, useCapture);\n }\n }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n // Handle the regular Element usage\n if (typeof elements.addEventListener === 'function') {\n return _delegate.apply(null, arguments);\n }\n\n // Handle Element-less usage, it defaults to global delegation\n if (typeof type === 'function') {\n // Use `document` as the first parameter, then apply arguments\n // This is a short way to .unshift `arguments` without running into deoptimizations\n return _delegate.bind(null, document).apply(null, arguments);\n }\n\n // Handle Selector-based usage\n if (typeof elements === 'string') {\n elements = document.querySelectorAll(elements);\n }\n\n // Handle Array-like based usage\n return Array.prototype.map.call(elements, function (element) {\n return _delegate(element, selector, type, callback, useCapture);\n });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n return function(e) {\n e.delegateTarget = closest(e.target, selector);\n\n if (e.delegateTarget) {\n callback.call(element, e);\n }\n }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n return value !== undefined\n && value instanceof HTMLElement\n && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return value !== undefined\n && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n && ('length' in value)\n && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n return typeof value === 'string'\n || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n if (!target && !type && !callback) {\n throw new Error('Missing required arguments');\n }\n\n if (!is.string(type)) {\n throw new TypeError('Second argument must be a String');\n }\n\n if (!is.fn(callback)) {\n throw new TypeError('Third argument must be a Function');\n }\n\n if (is.node(target)) {\n return listenNode(target, type, callback);\n }\n else if (is.nodeList(target)) {\n return listenNodeList(target, type, callback);\n }\n else if (is.string(target)) {\n return listenSelector(target, type, callback);\n }\n else {\n throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n node.addEventListener(type, callback);\n\n return {\n destroy: function() {\n node.removeEventListener(type, callback);\n }\n }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.addEventListener(type, callback);\n });\n\n return {\n destroy: function() {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.removeEventListener(type, callback);\n });\n }\n }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n var selectedText;\n\n if (element.nodeName === 'SELECT') {\n element.focus();\n\n selectedText = element.value;\n }\n else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n var isReadOnly = element.hasAttribute('readonly');\n\n if (!isReadOnly) {\n element.setAttribute('readonly', '');\n }\n\n element.select();\n element.setSelectionRange(0, element.value.length);\n\n if (!isReadOnly) {\n element.removeAttribute('readonly');\n }\n\n selectedText = element.value;\n }\n else {\n if (element.hasAttribute('contenteditable')) {\n element.focus();\n }\n\n var selection = window.getSelection();\n var range = document.createRange();\n\n range.selectNodeContents(element);\n selection.removeAllRanges();\n selection.addRange(range);\n\n selectedText = selection.toString();\n }\n\n return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n // Keep this empty so it's easier to inherit from\n // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n on: function (name, callback, ctx) {\n var e = this.e || (this.e = {});\n\n (e[name] || (e[name] = [])).push({\n fn: callback,\n ctx: ctx\n });\n\n return this;\n },\n\n once: function (name, callback, ctx) {\n var self = this;\n function listener () {\n self.off(name, listener);\n callback.apply(ctx, arguments);\n };\n\n listener._ = callback\n return this.on(name, listener, ctx);\n },\n\n emit: function (name) {\n var data = [].slice.call(arguments, 1);\n var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n var i = 0;\n var len = evtArr.length;\n\n for (i; i < len; i++) {\n evtArr[i].fn.apply(evtArr[i].ctx, data);\n }\n\n return this;\n },\n\n off: function (name, callback) {\n var e = this.e || (this.e = {});\n var evts = e[name];\n var liveEvents = [];\n\n if (evts && callback) {\n for (var i = 0, len = evts.length; i < len; i++) {\n if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n liveEvents.push(evts[i]);\n }\n }\n\n // Remove event from queue to prevent memory leak\n // Suggested by https://github.com/lazd\n // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n (liveEvents.length)\n ? e[name] = liveEvents\n : delete e[name];\n\n return this;\n }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n var str = '' + string;\n var match = matchHtmlRegExp.exec(str);\n\n if (!match) {\n return str;\n }\n\n var escape;\n var html = '';\n var index = 0;\n var lastIndex = 0;\n\n for (index = match.index; index < str.length; index++) {\n switch (str.charCodeAt(index)) {\n case 34: // \"\n escape = '"';\n break;\n case 38: // &\n escape = '&';\n break;\n case 39: // '\n escape = ''';\n break;\n case 60: // <\n escape = '<';\n break;\n case 62: // >\n escape = '>';\n break;\n default:\n continue;\n }\n\n if (lastIndex !== index) {\n html += str.substring(lastIndex, index);\n }\n\n lastIndex = index + 1;\n html += escape;\n }\n\n return lastIndex !== index\n ? html + str.substring(lastIndex, index)\n : html;\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath \n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n EMPTY,\n NEVER,\n Observable,\n Subject,\n defer,\n delay,\n filter,\n map,\n merge,\n mergeWith,\n shareReplay,\n switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n at,\n getActiveElement,\n getOptionalElement,\n requestJSON,\n setLocation,\n setToggle,\n watchDocument,\n watchKeyboard,\n watchLocation,\n watchLocationTarget,\n watchMedia,\n watchPrint,\n watchScript,\n watchViewport\n} from \"./browser\"\nimport {\n getComponentElement,\n getComponentElements,\n mountAnnounce,\n mountBackToTop,\n mountConsent,\n mountContent,\n mountDialog,\n mountHeader,\n mountHeaderTitle,\n mountPalette,\n mountProgress,\n mountSearch,\n mountSearchHiglight,\n mountSidebar,\n mountSource,\n mountTableOfContents,\n mountTabs,\n watchHeader,\n watchMain\n} from \"./components\"\nimport {\n SearchIndex,\n setupClipboardJS,\n setupInstantNavigation,\n setupVersionSelector\n} from \"./integrations\"\nimport {\n patchEllipsis,\n patchIndeterminate,\n patchScrollfix,\n patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable {\n if (location.protocol === \"file:\") {\n return watchScript(\n `${new URL(\"search/search_index.js\", config.base)}`\n )\n .pipe(\n // @ts-ignore - @todo fix typings\n map(() => __index),\n shareReplay(1)\n )\n } else {\n return requestJSON(\n new URL(\"search/search_index.json\", config.base)\n )\n }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$ = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$ = watchMedia(\"(min-width: 960px)\")\nconst screen$ = watchMedia(\"(min-width: 1220px)\")\nconst print$ = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n ? fetchSearchIndex()\n : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n setupInstantNavigation({ location$, viewport$, progress$ })\n .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n .pipe(\n delay(125)\n )\n .subscribe(() => {\n setToggle(\"drawer\", false)\n setToggle(\"search\", false)\n })\n\n/* Set up global keyboard handlers */\nkeyboard$\n .pipe(\n filter(({ mode }) => mode === \"global\")\n )\n .subscribe(key => {\n switch (key.type) {\n\n /* Go to previous page */\n case \"p\":\n case \",\":\n const prev = getOptionalElement(\"link[rel=prev]\")\n if (typeof prev !== \"undefined\")\n setLocation(prev)\n break\n\n /* Go to next page */\n case \"n\":\n case \".\":\n const next = getOptionalElement(\"link[rel=next]\")\n if (typeof next !== \"undefined\")\n setLocation(next)\n break\n\n /* Expand navigation, see https://bit.ly/3ZjG5io */\n case \"Enter\":\n const active = getActiveElement()\n if (active instanceof HTMLLabelElement)\n active.click()\n }\n })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n .pipe(\n map(() => getComponentElement(\"main\")),\n switchMap(el => watchMain(el, { viewport$, header$ })),\n shareReplay(1)\n )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n /* Consent */\n ...getComponentElements(\"consent\")\n .map(el => mountConsent(el, { target$ })),\n\n /* Dialog */\n ...getComponentElements(\"dialog\")\n .map(el => mountDialog(el, { alert$ })),\n\n /* Header */\n ...getComponentElements(\"header\")\n .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n /* Color palette */\n ...getComponentElements(\"palette\")\n .map(el => mountPalette(el)),\n\n /* Progress bar */\n ...getComponentElements(\"progress\")\n .map(el => mountProgress(el, { progress$ })),\n\n /* Search */\n ...getComponentElements(\"search\")\n .map(el => mountSearch(el, { index$, keyboard$ })),\n\n /* Repository information */\n ...getComponentElements(\"source\")\n .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n /* Announcement bar */\n ...getComponentElements(\"announce\")\n .map(el => mountAnnounce(el)),\n\n /* Content */\n ...getComponentElements(\"content\")\n .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n /* Search highlighting */\n ...getComponentElements(\"content\")\n .map(el => feature(\"search.highlight\")\n ? mountSearchHiglight(el, { index$, location$ })\n : EMPTY\n ),\n\n /* Header title */\n ...getComponentElements(\"header-title\")\n .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n /* Sidebar */\n ...getComponentElements(\"sidebar\")\n .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n ),\n\n /* Navigation tabs */\n ...getComponentElements(\"tabs\")\n .map(el => mountTabs(el, { viewport$, header$ })),\n\n /* Table of contents */\n ...getComponentElements(\"toc\")\n .map(el => mountTableOfContents(el, {\n viewport$, header$, main$, target$\n })),\n\n /* Back-to-top button */\n ...getComponentElements(\"top\")\n .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n .pipe(\n switchMap(() => content$),\n mergeWith(control$),\n shareReplay(1)\n )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$ = document$ /* Document observable */\nwindow.location$ = location$ /* Location subject */\nwindow.target$ = target$ /* Location target observable */\nwindow.keyboard$ = keyboard$ /* Keyboard observable */\nwindow.viewport$ = viewport$ /* Viewport observable */\nwindow.tablet$ = tablet$ /* Media tablet observable */\nwindow.screen$ = screen$ /* Media screen observable */\nwindow.print$ = print$ /* Media print observable */\nwindow.alert$ = alert$ /* Alert subject */\nwindow.progress$ = progress$ /* Progress indicator subject */\nwindow.component$ = component$ /* Component observable */\n", "/*! *****************************************************************************\r\nCopyright (c) Microsoft Corporation.\r\n\r\nPermission to use, copy, modify, and/or distribute this software for any\r\npurpose with or without fee is hereby granted.\r\n\r\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\r\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\r\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\r\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\r\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\r\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\r\nPERFORMANCE OF THIS SOFTWARE.\r\n***************************************************************************** */\r\n/* global Reflect, Promise */\r\n\r\nvar extendStatics = function(d, b) {\r\n extendStatics = Object.setPrototypeOf ||\r\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\r\n function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\r\n return extendStatics(d, b);\r\n};\r\n\r\nexport function __extends(d, b) {\r\n if (typeof b !== \"function\" && b !== null)\r\n throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\r\n extendStatics(d, b);\r\n function __() { this.constructor = d; }\r\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\r\n}\r\n\r\nexport var __assign = function() {\r\n __assign = Object.assign || function __assign(t) {\r\n for (var s, i = 1, n = arguments.length; i < n; i++) {\r\n s = arguments[i];\r\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\r\n }\r\n return t;\r\n }\r\n return __assign.apply(this, arguments);\r\n}\r\n\r\nexport function __rest(s, e) {\r\n var t = {};\r\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\r\n t[p] = s[p];\r\n if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\r\n for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\r\n if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\r\n t[p[i]] = s[p[i]];\r\n }\r\n return t;\r\n}\r\n\r\nexport function __decorate(decorators, target, key, desc) {\r\n var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\r\n if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\r\n else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\r\n return c > 3 && r && Object.defineProperty(target, key, r), r;\r\n}\r\n\r\nexport function __param(paramIndex, decorator) {\r\n return function (target, key) { decorator(target, key, paramIndex); }\r\n}\r\n\r\nexport function __metadata(metadataKey, metadataValue) {\r\n if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\r\n}\r\n\r\nexport function __awaiter(thisArg, _arguments, P, generator) {\r\n function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\r\n return new (P || (P = Promise))(function (resolve, reject) {\r\n function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\r\n function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\r\n function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\r\n step((generator = generator.apply(thisArg, _arguments || [])).next());\r\n });\r\n}\r\n\r\nexport function __generator(thisArg, body) {\r\n var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;\r\n return g = { next: verb(0), \"throw\": verb(1), \"return\": verb(2) }, typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\r\n function verb(n) { return function (v) { return step([n, v]); }; }\r\n function step(op) {\r\n if (f) throw new TypeError(\"Generator is already executing.\");\r\n while (_) try {\r\n if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\r\n if (y = 0, t) op = [op[0] & 2, t.value];\r\n switch (op[0]) {\r\n case 0: case 1: t = op; break;\r\n case 4: _.label++; return { value: op[1], done: false };\r\n case 5: _.label++; y = op[1]; op = [0]; continue;\r\n case 7: op = _.ops.pop(); _.trys.pop(); continue;\r\n default:\r\n if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\r\n if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\r\n if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\r\n if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\r\n if (t[2]) _.ops.pop();\r\n _.trys.pop(); continue;\r\n }\r\n op = body.call(thisArg, _);\r\n } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\r\n if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\r\n }\r\n}\r\n\r\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\r\n if (k2 === undefined) k2 = k;\r\n Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });\r\n}) : (function(o, m, k, k2) {\r\n if (k2 === undefined) k2 = k;\r\n o[k2] = m[k];\r\n});\r\n\r\nexport function __exportStar(m, o) {\r\n for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\r\n}\r\n\r\nexport function __values(o) {\r\n var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\r\n if (m) return m.call(o);\r\n if (o && typeof o.length === \"number\") return {\r\n next: function () {\r\n if (o && i >= o.length) o = void 0;\r\n return { value: o && o[i++], done: !o };\r\n }\r\n };\r\n throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\r\n}\r\n\r\nexport function __read(o, n) {\r\n var m = typeof Symbol === \"function\" && o[Symbol.iterator];\r\n if (!m) return o;\r\n var i = m.call(o), r, ar = [], e;\r\n try {\r\n while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\r\n }\r\n catch (error) { e = { error: error }; }\r\n finally {\r\n try {\r\n if (r && !r.done && (m = i[\"return\"])) m.call(i);\r\n }\r\n finally { if (e) throw e.error; }\r\n }\r\n return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spread() {\r\n for (var ar = [], i = 0; i < arguments.length; i++)\r\n ar = ar.concat(__read(arguments[i]));\r\n return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spreadArrays() {\r\n for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\r\n for (var r = Array(s), k = 0, i = 0; i < il; i++)\r\n for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\r\n r[k] = a[j];\r\n return r;\r\n}\r\n\r\nexport function __spreadArray(to, from, pack) {\r\n if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\r\n if (ar || !(i in from)) {\r\n if (!ar) ar = Array.prototype.slice.call(from, 0, i);\r\n ar[i] = from[i];\r\n }\r\n }\r\n return to.concat(ar || Array.prototype.slice.call(from));\r\n}\r\n\r\nexport function __await(v) {\r\n return this instanceof __await ? (this.v = v, this) : new __await(v);\r\n}\r\n\r\nexport function __asyncGenerator(thisArg, _arguments, generator) {\r\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n var g = generator.apply(thisArg, _arguments || []), i, q = [];\r\n return i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i;\r\n function verb(n) { if (g[n]) i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; }\r\n function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\r\n function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\r\n function fulfill(value) { resume(\"next\", value); }\r\n function reject(value) { resume(\"throw\", value); }\r\n function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\r\n}\r\n\r\nexport function __asyncDelegator(o) {\r\n var i, p;\r\n return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\r\n function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: n === \"return\" } : f ? f(v) : v; } : f; }\r\n}\r\n\r\nexport function __asyncValues(o) {\r\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n var m = o[Symbol.asyncIterator], i;\r\n return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\r\n function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\r\n function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\r\n}\r\n\r\nexport function __makeTemplateObject(cooked, raw) {\r\n if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\r\n return cooked;\r\n};\r\n\r\nvar __setModuleDefault = Object.create ? (function(o, v) {\r\n Object.defineProperty(o, \"default\", { enumerable: true, value: v });\r\n}) : function(o, v) {\r\n o[\"default\"] = v;\r\n};\r\n\r\nexport function __importStar(mod) {\r\n if (mod && mod.__esModule) return mod;\r\n var result = {};\r\n if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\r\n __setModuleDefault(result, mod);\r\n return result;\r\n}\r\n\r\nexport function __importDefault(mod) {\r\n return (mod && mod.__esModule) ? mod : { default: mod };\r\n}\r\n\r\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\r\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\r\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\r\n return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\r\n}\r\n\r\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\r\n if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\r\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\r\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\r\n return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\r\n}\r\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass(createImpl: (_super: any) => any): T {\n const _super = (instance: any) => {\n Error.call(instance);\n instance.stack = new Error().stack;\n };\n\n const ctorFunc = createImpl(_super);\n ctorFunc.prototype = Object.create(Error.prototype);\n ctorFunc.prototype.constructor = ctorFunc;\n return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n (_super) =>\n function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n _super(this);\n this.message = errors\n ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n ')}`\n : '';\n this.name = 'UnsubscriptionError';\n this.errors = errors;\n }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove(arr: T[] | undefined | null, item: T) {\n if (arr) {\n const index = arr.indexOf(item);\n 0 <= index && arr.splice(index, 1);\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n /** @nocollapse */\n public static EMPTY = (() => {\n const empty = new Subscription();\n empty.closed = true;\n return empty;\n })();\n\n /**\n * A flag to indicate whether this Subscription has already been unsubscribed.\n */\n public closed = false;\n\n private _parentage: Subscription[] | Subscription | null = null;\n\n /**\n * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n * list occurs in the {@link #add} and {@link #remove} methods.\n */\n private _finalizers: Exclude[] | null = null;\n\n /**\n * @param initialTeardown A function executed first as part of the finalization\n * process that is kicked off when {@link #unsubscribe} is called.\n */\n constructor(private initialTeardown?: () => void) {}\n\n /**\n * Disposes the resources held by the subscription. May, for instance, cancel\n * an ongoing Observable execution or cancel any other type of work that\n * started when the Subscription was created.\n * @return {void}\n */\n unsubscribe(): void {\n let errors: any[] | undefined;\n\n if (!this.closed) {\n this.closed = true;\n\n // Remove this from it's parents.\n const { _parentage } = this;\n if (_parentage) {\n this._parentage = null;\n if (Array.isArray(_parentage)) {\n for (const parent of _parentage) {\n parent.remove(this);\n }\n } else {\n _parentage.remove(this);\n }\n }\n\n const { initialTeardown: initialFinalizer } = this;\n if (isFunction(initialFinalizer)) {\n try {\n initialFinalizer();\n } catch (e) {\n errors = e instanceof UnsubscriptionError ? e.errors : [e];\n }\n }\n\n const { _finalizers } = this;\n if (_finalizers) {\n this._finalizers = null;\n for (const finalizer of _finalizers) {\n try {\n execFinalizer(finalizer);\n } catch (err) {\n errors = errors ?? [];\n if (err instanceof UnsubscriptionError) {\n errors = [...errors, ...err.errors];\n } else {\n errors.push(err);\n }\n }\n }\n }\n\n if (errors) {\n throw new UnsubscriptionError(errors);\n }\n }\n }\n\n /**\n * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n * because it has already been unsubscribed, then whatever finalizer is passed to it\n * will automatically be executed (unless the finalizer itself is also a closed subscription).\n *\n * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n * subscription to a any subscription will result in no operation. (A noop).\n *\n * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n * operation at all. (A noop).\n *\n * `Subscription` instances that are added to this instance will automatically remove themselves\n * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n * will need to be removed manually with {@link #remove}\n *\n * @param teardown The finalization logic to add to this subscription.\n */\n add(teardown: TeardownLogic): void {\n // Only add the finalizer if it's not undefined\n // and don't add a subscription to itself.\n if (teardown && teardown !== this) {\n if (this.closed) {\n // If this subscription is already closed,\n // execute whatever finalizer is handed to it automatically.\n execFinalizer(teardown);\n } else {\n if (teardown instanceof Subscription) {\n // We don't add closed subscriptions, and we don't add the same subscription\n // twice. Subscription unsubscribe is idempotent.\n if (teardown.closed || teardown._hasParent(this)) {\n return;\n }\n teardown._addParent(this);\n }\n (this._finalizers = this._finalizers ?? []).push(teardown);\n }\n }\n }\n\n /**\n * Checks to see if a this subscription already has a particular parent.\n * This will signal that this subscription has already been added to the parent in question.\n * @param parent the parent to check for\n */\n private _hasParent(parent: Subscription) {\n const { _parentage } = this;\n return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n }\n\n /**\n * Adds a parent to this subscription so it can be removed from the parent if it\n * unsubscribes on it's own.\n *\n * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n * @param parent The parent subscription to add\n */\n private _addParent(parent: Subscription) {\n const { _parentage } = this;\n this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n }\n\n /**\n * Called on a child when it is removed via {@link #remove}.\n * @param parent The parent to remove\n */\n private _removeParent(parent: Subscription) {\n const { _parentage } = this;\n if (_parentage === parent) {\n this._parentage = null;\n } else if (Array.isArray(_parentage)) {\n arrRemove(_parentage, parent);\n }\n }\n\n /**\n * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n *\n * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n * from every other `Subscription` they have been added to. This means that using the `remove` method\n * is not a common thing and should be used thoughtfully.\n *\n * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n * more than once, you will need to call `remove` the same number of times to remove all instances.\n *\n * All finalizer instances are removed to free up memory upon unsubscription.\n *\n * @param teardown The finalizer to remove from this subscription\n */\n remove(teardown: Exclude): void {\n const { _finalizers } = this;\n _finalizers && arrRemove(_finalizers, teardown);\n\n if (teardown instanceof Subscription) {\n teardown._removeParent(this);\n }\n }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n return (\n value instanceof Subscription ||\n (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n if (isFunction(finalizer)) {\n finalizer();\n } else {\n finalizer.unsubscribe();\n }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n onUnhandledError: null,\n onStoppedNotification: null,\n Promise: undefined,\n useDeprecatedSynchronousErrorHandling: false,\n useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n /**\n * A registration point for unhandled errors from RxJS. These are errors that\n * cannot were not handled by consuming code in the usual subscription path. For\n * example, if you have this configured, and you subscribe to an observable without\n * providing an error handler, errors from that subscription will end up here. This\n * will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onUnhandledError: ((err: any) => void) | null;\n\n /**\n * A registration point for notifications that cannot be sent to subscribers because they\n * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n * might want a different behavior. For example, with sources that attempt to report errors\n * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n * This will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onStoppedNotification: ((notification: ObservableNotification, subscriber: Subscriber) => void) | null;\n\n /**\n * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n * methods.\n *\n * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n * Promise constructor. If you need a Promise implementation other than native promises,\n * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n */\n Promise?: PromiseConstructorLike;\n\n /**\n * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n * call in a try/catch block. It also enables producer interference, a nasty bug\n * where a multicast can be broken for all observers by a downstream consumer with\n * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n * FOR MIGRATION REASONS.\n *\n * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n * behaviors described above. Will be removed in v8.\n */\n useDeprecatedSynchronousErrorHandling: boolean;\n\n /**\n * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n * `unsubscribe()` via `this` context in `next` functions created in observers passed\n * to `subscribe`.\n *\n * This is being removed because the performance was severely problematic, and it could also cause\n * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n * their `this` context overwritten.\n *\n * @deprecated As of version 8, RxJS will no longer support altering the\n * context of next functions provided as part of an observer to Subscribe. Instead,\n * you will have access to a subscription or a signal or token that will allow you to do things like\n * unsubscribe and test closed status. Will be removed in v8.\n */\n useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n delegate:\n | {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n }\n | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setTimeout(handler: () => void, timeout?: number, ...args) {\n const { delegate } = timeoutProvider;\n if (delegate?.setTimeout) {\n return delegate.setTimeout(handler, timeout, ...args);\n }\n return setTimeout(handler, timeout, ...args);\n },\n clearTimeout(handle) {\n const { delegate } = timeoutProvider;\n return (delegate?.clearTimeout || clearTimeout)(handle as any);\n },\n delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n timeoutProvider.setTimeout(() => {\n const { onUnhandledError } = config;\n if (onUnhandledError) {\n // Execute the user-configured error handler.\n onUnhandledError(err);\n } else {\n // Throw so it is picked up by the runtime's uncaught error mechanism.\n throw err;\n }\n });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification(value: T) {\n return createNotification('N', value, undefined) as NextNotification;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n return {\n kind,\n value,\n error,\n };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n const isRoot = !context;\n if (isRoot) {\n context = { errorThrown: false, error: null };\n }\n cb();\n if (isRoot) {\n const { errorThrown, error } = context!;\n context = null;\n if (errorThrown) {\n throw error;\n }\n }\n } else {\n // This is the general non-deprecated path for everyone that\n // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n cb();\n }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n if (config.useDeprecatedSynchronousErrorHandling && context) {\n context.errorThrown = true;\n context.error = err;\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber\n */\nexport class Subscriber extends Subscription implements Observer {\n /**\n * A static factory for a Subscriber, given a (potentially partial) definition\n * of an Observer.\n * @param next The `next` callback of an Observer.\n * @param error The `error` callback of an\n * Observer.\n * @param complete The `complete` callback of an\n * Observer.\n * @return A Subscriber wrapping the (partially defined)\n * Observer represented by the given arguments.\n * @nocollapse\n * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n * method, and there is no reason to be creating instances of `Subscriber` directly.\n * If you have a specific use case, please file an issue.\n */\n static create(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber {\n return new SafeSubscriber(next, error, complete);\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected isStopped: boolean = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected destination: Subscriber | Observer; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n */\n constructor(destination?: Subscriber | Observer) {\n super();\n if (destination) {\n this.destination = destination;\n // Automatically chain subscriptions together here.\n // if destination is a Subscription, then it is a Subscriber.\n if (isSubscription(destination)) {\n destination.add(this);\n }\n } else {\n this.destination = EMPTY_OBSERVER;\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `next` from\n * the Observable, with a value. The Observable may call this method 0 or more\n * times.\n * @param {T} [value] The `next` value.\n * @return {void}\n */\n next(value?: T): void {\n if (this.isStopped) {\n handleStoppedNotification(nextNotification(value), this);\n } else {\n this._next(value!);\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `error` from\n * the Observable, with an attached `Error`. Notifies the Observer that\n * the Observable has experienced an error condition.\n * @param {any} [err] The `error` exception.\n * @return {void}\n */\n error(err?: any): void {\n if (this.isStopped) {\n handleStoppedNotification(errorNotification(err), this);\n } else {\n this.isStopped = true;\n this._error(err);\n }\n }\n\n /**\n * The {@link Observer} callback to receive a valueless notification of type\n * `complete` from the Observable. Notifies the Observer that the Observable\n * has finished sending push-based notifications.\n * @return {void}\n */\n complete(): void {\n if (this.isStopped) {\n handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n } else {\n this.isStopped = true;\n this._complete();\n }\n }\n\n unsubscribe(): void {\n if (!this.closed) {\n this.isStopped = true;\n super.unsubscribe();\n this.destination = null!;\n }\n }\n\n protected _next(value: T): void {\n this.destination.next(value);\n }\n\n protected _error(err: any): void {\n try {\n this.destination.error(err);\n } finally {\n this.unsubscribe();\n }\n }\n\n protected _complete(): void {\n try {\n this.destination.complete();\n } finally {\n this.unsubscribe();\n }\n }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind any>(fn: Fn, thisArg: any): Fn {\n return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver implements Observer {\n constructor(private partialObserver: Partial>) {}\n\n next(value: T): void {\n const { partialObserver } = this;\n if (partialObserver.next) {\n try {\n partialObserver.next(value);\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n\n error(err: any): void {\n const { partialObserver } = this;\n if (partialObserver.error) {\n try {\n partialObserver.error(err);\n } catch (error) {\n handleUnhandledError(error);\n }\n } else {\n handleUnhandledError(err);\n }\n }\n\n complete(): void {\n const { partialObserver } = this;\n if (partialObserver.complete) {\n try {\n partialObserver.complete();\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n}\n\nexport class SafeSubscriber extends Subscriber {\n constructor(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((e?: any) => void) | null,\n complete?: (() => void) | null\n ) {\n super();\n\n let partialObserver: Partial>;\n if (isFunction(observerOrNext) || !observerOrNext) {\n // The first argument is a function, not an observer. The next\n // two arguments *could* be observers, or they could be empty.\n partialObserver = {\n next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n error: error ?? undefined,\n complete: complete ?? undefined,\n };\n } else {\n // The first argument is a partial observer.\n let context: any;\n if (this && config.useDeprecatedNextContext) {\n // This is a deprecated path that made `this.unsubscribe()` available in\n // next handler functions passed to subscribe. This only exists behind a flag\n // now, as it is *very* slow.\n context = Object.create(observerOrNext);\n context.unsubscribe = () => this.unsubscribe();\n partialObserver = {\n next: observerOrNext.next && bind(observerOrNext.next, context),\n error: observerOrNext.error && bind(observerOrNext.error, context),\n complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n };\n } else {\n // The \"normal\" path. Just use the partial observer directly.\n partialObserver = observerOrNext;\n }\n }\n\n // Wrap the partial observer to ensure it's a full observer, and\n // make sure proper error handling is accounted for.\n this.destination = new ConsumerObserver(partialObserver);\n }\n}\n\nfunction handleUnhandledError(error: any) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n captureError(error);\n } else {\n // Ideal path, we report this as an unhandled error,\n // which is thrown on a new call stack.\n reportUnhandledError(error);\n }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification, subscriber: Subscriber) {\n const { onStoppedNotification } = config;\n onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly> & { closed: true } = {\n closed: true,\n next: noop,\n error: defaultErrorHandler,\n complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n * map(i => range(i)),\n * mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity(x: T): T {\n return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe(fn1: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction, fn3: UnaryFunction): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction,\n ...fns: UnaryFunction[]\n): UnaryFunction;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on. \n */\nexport function pipe(...fns: Array>): UnaryFunction {\n return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray(fns: Array>): UnaryFunction {\n if (fns.length === 0) {\n return identity as UnaryFunction;\n }\n\n if (fns.length === 1) {\n return fns[0];\n }\n\n return function piped(input: T): R {\n return fns.reduce((prev: any, fn: UnaryFunction) => fn(prev), input as any);\n };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable\n */\nexport class Observable implements Subscribable {\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n source: Observable | undefined;\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n operator: Operator | undefined;\n\n /**\n * @constructor\n * @param {Function} subscribe the function that is called when the Observable is\n * initially subscribed to. This function is given a Subscriber, to which new values\n * can be `next`ed, or an `error` method can be called to raise an error, or\n * `complete` can be called to notify of a successful completion.\n */\n constructor(subscribe?: (this: Observable, subscriber: Subscriber) => TeardownLogic) {\n if (subscribe) {\n this._subscribe = subscribe;\n }\n }\n\n // HACK: Since TypeScript inherits static properties too, we have to\n // fight against TypeScript here so Subject can have a different static create signature\n /**\n * Creates a new Observable by calling the Observable constructor\n * @owner Observable\n * @method create\n * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n * @return {Observable} a new observable\n * @nocollapse\n * @deprecated Use `new Observable()` instead. Will be removed in v8.\n */\n static create: (...args: any[]) => any = (subscribe?: (subscriber: Subscriber) => TeardownLogic) => {\n return new Observable(subscribe);\n };\n\n /**\n * Creates a new Observable, with this Observable instance as the source, and the passed\n * operator defined as the new observable's operator.\n * @method lift\n * @param operator the operator defining the operation to take on the observable\n * @return a new observable with the Operator applied\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * If you have implemented an operator using `lift`, it is recommended that you create an\n * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n * scratch\" section here: https://rxjs.dev/guide/operators\n */\n lift(operator?: Operator): Observable {\n const observable = new Observable();\n observable.source = this;\n observable.operator = operator;\n return observable;\n }\n\n subscribe(observerOrNext?: Partial> | ((value: T) => void)): Subscription;\n /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n /**\n * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n *\n * Use it when you have all these Observables, but still nothing is happening.\n *\n * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n * might be for example a function that you passed to Observable's constructor, but most of the time it is\n * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n * the thought.\n *\n * Apart from starting the execution of an Observable, this method allows you to listen for values\n * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n * of the following ways.\n *\n * The first way is creating an object that implements {@link Observer} interface. It should have methods\n * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n * an `error` method to avoid missing thrown errors.\n *\n * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n *\n * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n * and you also handled emissions internally by using operators (e.g. using `tap`).\n *\n * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n *\n * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n * It is an Observable itself that decides when these functions will be called. For example {@link of}\n * by default emits all its values synchronously. Always check documentation for how given Observable\n * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n *\n * #### Examples\n *\n * Subscribe with an {@link guide/observer Observer}\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * const sumObserver = {\n * sum: 0,\n * next(value) {\n * console.log('Adding: ' + value);\n * this.sum = this.sum + value;\n * },\n * error() {\n * // We actually could just remove this method,\n * // since we do not really care about errors right now.\n * },\n * complete() {\n * console.log('Sum equals: ' + this.sum);\n * }\n * };\n *\n * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n * .subscribe(sumObserver);\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n *\n * ```ts\n * import { of } from 'rxjs'\n *\n * let sum = 0;\n *\n * of(1, 2, 3).subscribe(\n * value => {\n * console.log('Adding: ' + value);\n * sum = sum + value;\n * },\n * undefined,\n * () => console.log('Sum equals: ' + sum)\n * );\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Cancel a subscription\n *\n * ```ts\n * import { interval } from 'rxjs';\n *\n * const subscription = interval(1000).subscribe({\n * next(num) {\n * console.log(num)\n * },\n * complete() {\n * // Will not be called, even when cancelling subscription.\n * console.log('completed!');\n * }\n * });\n *\n * setTimeout(() => {\n * subscription.unsubscribe();\n * console.log('unsubscribed!');\n * }, 2500);\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 'unsubscribed!' after 2.5s\n * ```\n *\n * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n * Observable.\n * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n * the error will be thrown asynchronously as unhandled.\n * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n * @return {Subscription} a subscription reference to the registered handlers\n * @method subscribe\n */\n subscribe(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((error: any) => void) | null,\n complete?: (() => void) | null\n ): Subscription {\n const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n errorContext(() => {\n const { operator, source } = this;\n subscriber.add(\n operator\n ? // We're dealing with a subscription in the\n // operator chain to one of our lifted operators.\n operator.call(subscriber, source)\n : source\n ? // If `source` has a value, but `operator` does not, something that\n // had intimate knowledge of our API, like our `Subject`, must have\n // set it. We're going to just call `_subscribe` directly.\n this._subscribe(subscriber)\n : // In all other cases, we're likely wrapping a user-provided initializer\n // function, so we need to catch errors and handle them appropriately.\n this._trySubscribe(subscriber)\n );\n });\n\n return subscriber;\n }\n\n /** @internal */\n protected _trySubscribe(sink: Subscriber): TeardownLogic {\n try {\n return this._subscribe(sink);\n } catch (err) {\n // We don't need to return anything in this case,\n // because it's just going to try to `add()` to a subscription\n // above.\n sink.error(err);\n }\n }\n\n /**\n * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * #### Example\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(4));\n *\n * async function getTotal() {\n * let total = 0;\n *\n * await source$.forEach(value => {\n * total += value;\n * console.log('observable -> ' + value);\n * });\n *\n * return total;\n * }\n *\n * getTotal().then(\n * total => console.log('Total: ' + total)\n * );\n *\n * // Expected:\n * // 'observable -> 0'\n * // 'observable -> 1'\n * // 'observable -> 2'\n * // 'observable -> 3'\n * // 'Total: 6'\n * ```\n *\n * @param next a handler for each value emitted by the observable\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n */\n forEach(next: (value: T) => void): Promise;\n\n /**\n * @param next a handler for each value emitted by the observable\n * @param promiseCtor a constructor function used to instantiate the Promise\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n * @deprecated Passing a Promise constructor will no longer be available\n * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n * little benefit. If you need this functionality, it is recommended that you either\n * polyfill Promise, or you create an adapter to convert the returned native promise\n * to whatever promise implementation you wanted. Will be removed in v8.\n */\n forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise;\n\n forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n const subscriber = new SafeSubscriber({\n next: (value) => {\n try {\n next(value);\n } catch (err) {\n reject(err);\n subscriber.unsubscribe();\n }\n },\n error: reject,\n complete: resolve,\n });\n this.subscribe(subscriber);\n }) as Promise;\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): TeardownLogic {\n return this.source?.subscribe(subscriber);\n }\n\n /**\n * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n * @method Symbol.observable\n * @return {Observable} this instance of the observable\n */\n [Symbol_observable]() {\n return this;\n }\n\n /* tslint:disable:max-line-length */\n pipe(): Observable;\n pipe(op1: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction, op3: OperatorFunction): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction,\n ...operations: OperatorFunction[]\n ): Observable;\n /* tslint:enable:max-line-length */\n\n /**\n * Used to stitch together functional operators into a chain.\n * @method pipe\n * @return {Observable} the Observable result of all of the operators having\n * been called in the order they were passed in.\n *\n * ## Example\n *\n * ```ts\n * import { interval, filter, map, scan } from 'rxjs';\n *\n * interval(1000)\n * .pipe(\n * filter(x => x % 2 === 0),\n * map(x => x + x),\n * scan((acc, x) => acc + x)\n * )\n * .subscribe(x => console.log(x));\n * ```\n */\n pipe(...operations: OperatorFunction[]): Observable {\n return pipeFromArray(operations)(this);\n }\n\n /* tslint:disable:max-line-length */\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: typeof Promise): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: PromiseConstructorLike): Promise;\n /* tslint:enable:max-line-length */\n\n /**\n * Subscribe to this Observable and get a Promise resolving on\n * `complete` with the last emission (if any).\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * @method toPromise\n * @param [promiseCtor] a constructor function used to instantiate\n * the Promise\n * @return A Promise that resolves with the last value emit, or\n * rejects on an error. If there were no emissions, Promise\n * resolves with undefined.\n * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n */\n toPromise(promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n let value: T | undefined;\n this.subscribe(\n (x: T) => (value = x),\n (err: any) => reject(err),\n () => resolve(value)\n );\n }) as Promise;\n }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver(value: any): value is Observer {\n return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber(value: any): value is Subscriber {\n return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType['lift'] } {\n return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate(\n init: (liftedSource: Observable, subscriber: Subscriber) => (() => void) | void\n): OperatorFunction {\n return (source: Observable) => {\n if (hasLift(source)) {\n return source.lift(function (this: Subscriber, liftedSource: Observable) {\n try {\n return init(liftedSource, this);\n } catch (err) {\n this.error(err);\n }\n });\n }\n throw new TypeError('Unable to lift unknown Observable type');\n };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n onFinalize?: () => void\n): Subscriber {\n return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber extends Subscriber {\n /**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n */\n constructor(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n private onFinalize?: () => void,\n private shouldUnsubscribe?: () => boolean\n ) {\n // It's important - for performance reasons - that all of this class's\n // members are initialized and that they are always initialized in the same\n // order. This will ensure that all OperatorSubscriber instances have the\n // same hidden class in V8. This, in turn, will help keep the number of\n // hidden classes involved in property accesses within the base class as\n // low as possible. If the number of hidden classes involved exceeds four,\n // the property accesses will become megamorphic and performance penalties\n // will be incurred - i.e. inline caches won't be used.\n //\n // The reasons for ensuring all instances have the same hidden class are\n // further discussed in this blog post from Benedikt Meurer:\n // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n super(destination);\n this._next = onNext\n ? function (this: OperatorSubscriber, value: T) {\n try {\n onNext(value);\n } catch (err) {\n destination.error(err);\n }\n }\n : super._next;\n this._error = onError\n ? function (this: OperatorSubscriber, err: any) {\n try {\n onError(err);\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._error;\n this._complete = onComplete\n ? function (this: OperatorSubscriber) {\n try {\n onComplete();\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._complete;\n }\n\n unsubscribe() {\n if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n const { closed } = this;\n super.unsubscribe();\n // Execute additional teardown if we have any and we didn't already do so.\n !closed && this.onFinalize?.();\n }\n }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n schedule(callback: FrameRequestCallback): Subscription;\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n delegate:\n | {\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n }\n | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n schedule(callback) {\n let request = requestAnimationFrame;\n let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n const { delegate } = animationFrameProvider;\n if (delegate) {\n request = delegate.requestAnimationFrame;\n cancel = delegate.cancelAnimationFrame;\n }\n const handle = request((timestamp) => {\n // Clear the cancel function. The request has been fulfilled, so\n // attempting to cancel the request upon unsubscription would be\n // pointless.\n cancel = undefined;\n callback(timestamp);\n });\n return new Subscription(() => cancel?.(handle));\n },\n requestAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n },\n cancelAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n },\n delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n (_super) =>\n function ObjectUnsubscribedErrorImpl(this: any) {\n _super(this);\n this.name = 'ObjectUnsubscribedError';\n this.message = 'object unsubscribed';\n }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject extends Observable implements SubscriptionLike {\n closed = false;\n\n private currentObservers: Observer[] | null = null;\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n observers: Observer[] = [];\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n isStopped = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n hasError = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n thrownError: any = null;\n\n /**\n * Creates a \"subject\" by basically gluing an observer to an observable.\n *\n * @nocollapse\n * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n */\n static create: (...args: any[]) => any = (destination: Observer, source: Observable): AnonymousSubject => {\n return new AnonymousSubject(destination, source);\n };\n\n constructor() {\n // NOTE: This must be here to obscure Observable's constructor.\n super();\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n lift(operator: Operator): Observable {\n const subject = new AnonymousSubject(this, this);\n subject.operator = operator as any;\n return subject as any;\n }\n\n /** @internal */\n protected _throwIfClosed() {\n if (this.closed) {\n throw new ObjectUnsubscribedError();\n }\n }\n\n next(value: T) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n if (!this.currentObservers) {\n this.currentObservers = Array.from(this.observers);\n }\n for (const observer of this.currentObservers) {\n observer.next(value);\n }\n }\n });\n }\n\n error(err: any) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.hasError = this.isStopped = true;\n this.thrownError = err;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.error(err);\n }\n }\n });\n }\n\n complete() {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.isStopped = true;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.complete();\n }\n }\n });\n }\n\n unsubscribe() {\n this.isStopped = this.closed = true;\n this.observers = this.currentObservers = null!;\n }\n\n get observed() {\n return this.observers?.length > 0;\n }\n\n /** @internal */\n protected _trySubscribe(subscriber: Subscriber): TeardownLogic {\n this._throwIfClosed();\n return super._trySubscribe(subscriber);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._checkFinalizedStatuses(subscriber);\n return this._innerSubscribe(subscriber);\n }\n\n /** @internal */\n protected _innerSubscribe(subscriber: Subscriber) {\n const { hasError, isStopped, observers } = this;\n if (hasError || isStopped) {\n return EMPTY_SUBSCRIPTION;\n }\n this.currentObservers = null;\n observers.push(subscriber);\n return new Subscription(() => {\n this.currentObservers = null;\n arrRemove(observers, subscriber);\n });\n }\n\n /** @internal */\n protected _checkFinalizedStatuses(subscriber: Subscriber) {\n const { hasError, thrownError, isStopped } = this;\n if (hasError) {\n subscriber.error(thrownError);\n } else if (isStopped) {\n subscriber.complete();\n }\n }\n\n /**\n * Creates a new Observable with this Subject as the source. You can do this\n * to create custom Observer-side logic of the Subject and conceal it from\n * code that uses the Observable.\n * @return {Observable} Observable that the Subject casts to\n */\n asObservable(): Observable {\n const observable: any = new Observable();\n observable.source = this;\n return observable;\n }\n}\n\n/**\n * @class AnonymousSubject\n */\nexport class AnonymousSubject extends Subject {\n constructor(\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n public destination?: Observer,\n source?: Observable\n ) {\n super();\n this.source = source;\n }\n\n next(value: T) {\n this.destination?.next?.(value);\n }\n\n error(err: any) {\n this.destination?.error?.(err);\n }\n\n complete() {\n this.destination?.complete?.();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject\n */\nexport class BehaviorSubject extends Subject {\n constructor(private _value: T) {\n super();\n }\n\n get value(): T {\n return this.getValue();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n const subscription = super._subscribe(subscriber);\n !subscription.closed && subscriber.next(this._value);\n return subscription;\n }\n\n getValue(): T {\n const { hasError, thrownError, _value } = this;\n if (hasError) {\n throw thrownError;\n }\n this._throwIfClosed();\n return _value;\n }\n\n next(value: T): void {\n super.next((this._value = value));\n }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n now() {\n // Use the variable rather than `this` so that the function can be called\n // without being bound to the provider.\n return (dateTimestampProvider.delegate || Date).now();\n },\n delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject extends Subject {\n private _buffer: (T | number)[] = [];\n private _infiniteTimeWindow = true;\n\n /**\n * @param bufferSize The size of the buffer to replay on subscription\n * @param windowTime The amount of time the buffered items will stay buffered\n * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n * calculate the amount of time something has been buffered.\n */\n constructor(\n private _bufferSize = Infinity,\n private _windowTime = Infinity,\n private _timestampProvider: TimestampProvider = dateTimestampProvider\n ) {\n super();\n this._infiniteTimeWindow = _windowTime === Infinity;\n this._bufferSize = Math.max(1, _bufferSize);\n this._windowTime = Math.max(1, _windowTime);\n }\n\n next(value: T): void {\n const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n if (!isStopped) {\n _buffer.push(value);\n !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n }\n this._trimBuffer();\n super.next(value);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._trimBuffer();\n\n const subscription = this._innerSubscribe(subscriber);\n\n const { _infiniteTimeWindow, _buffer } = this;\n // We use a copy here, so reentrant code does not mutate our array while we're\n // emitting it to a new subscriber.\n const copy = _buffer.slice();\n for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n subscriber.next(copy[i] as T);\n }\n\n this._checkFinalizedStatuses(subscriber);\n\n return subscription;\n }\n\n private _trimBuffer() {\n const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n // If we don't have an infinite buffer size, and we're over the length,\n // use splice to truncate the old buffer values off. Note that we have to\n // double the size for instances where we're not using an infinite time window\n // because we're storing the values and the timestamps in the same array.\n const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n // Now, if we're not in an infinite time window, remove all values where the time is\n // older than what is allowed.\n if (!_infiniteTimeWindow) {\n const now = _timestampProvider.now();\n let last = 0;\n // Search the array for the first timestamp that isn't expired and\n // truncate the buffer up to that point.\n for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n last = i;\n }\n last && _buffer.splice(0, last + 1);\n }\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action extends Subscription {\n * new (scheduler: Scheduler, work: (state?: T) => void);\n * schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action\n */\nexport class Action extends Subscription {\n constructor(scheduler: Scheduler, work: (this: SchedulerAction, state?: T) => void) {\n super();\n }\n /**\n * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n * some context object, `state`. May happen at some point in the future,\n * according to the `delay` parameter, if specified.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler.\n * @return {void}\n */\n public schedule(state?: T, delay: number = 0): Subscription {\n return this;\n }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n delegate:\n | {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n }\n | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setInterval(handler: () => void, timeout?: number, ...args) {\n const { delegate } = intervalProvider;\n if (delegate?.setInterval) {\n return delegate.setInterval(handler, timeout, ...args);\n }\n return setInterval(handler, timeout, ...args);\n },\n clearInterval(handle) {\n const { delegate } = intervalProvider;\n return (delegate?.clearInterval || clearInterval)(handle as any);\n },\n delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction extends Action {\n public id: TimerHandle | undefined;\n public state?: T;\n // @ts-ignore: Property has no initializer and is not definitely assigned\n public delay: number;\n protected pending: boolean = false;\n\n constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (this.closed) {\n return this;\n }\n\n // Always replace the current state with the new state.\n this.state = state;\n\n const id = this.id;\n const scheduler = this.scheduler;\n\n //\n // Important implementation note:\n //\n // Actions only execute once by default, unless rescheduled from within the\n // scheduled callback. This allows us to implement single and repeat\n // actions via the same code path, without adding API surface area, as well\n // as mimic traditional recursion but across asynchronous boundaries.\n //\n // However, JS runtimes and timers distinguish between intervals achieved by\n // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n // serial `setTimeout` calls can be individually delayed, which delays\n // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n // guarantee the interval callback will be invoked more precisely to the\n // interval period, regardless of load.\n //\n // Therefore, we use `setInterval` to schedule single and repeat actions.\n // If the action reschedules itself with the same delay, the interval is not\n // canceled. If the action doesn't reschedule, or reschedules with a\n // different delay, the interval will be canceled after scheduled callback\n // execution.\n //\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, delay);\n }\n\n // Set the pending flag indicating that this action has been scheduled, or\n // has recursively rescheduled itself.\n this.pending = true;\n\n this.delay = delay;\n // If this action has already an async Id, don't request a new one.\n this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n return this;\n }\n\n protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n }\n\n protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n // If this action is rescheduled with the same delay time, don't clear the interval id.\n if (delay != null && this.delay === delay && this.pending === false) {\n return id;\n }\n // Otherwise, if the action's delay time is different from the current delay,\n // or the action has been rescheduled before it's executed, clear the interval id\n if (id != null) {\n intervalProvider.clearInterval(id);\n }\n\n return undefined;\n }\n\n /**\n * Immediately executes this action and the `work` it contains.\n * @return {any}\n */\n public execute(state: T, delay: number): any {\n if (this.closed) {\n return new Error('executing a cancelled action');\n }\n\n this.pending = false;\n const error = this._execute(state, delay);\n if (error) {\n return error;\n } else if (this.pending === false && this.id != null) {\n // Dequeue if the action didn't reschedule itself. Don't call\n // unsubscribe(), because the action could reschedule later.\n // For example:\n // ```\n // scheduler.schedule(function doWork(counter) {\n // /* ... I'm a busy worker bee ... */\n // var originalAction = this;\n // /* wait 100ms before rescheduling the action */\n // setTimeout(function () {\n // originalAction.schedule(counter + 1);\n // }, 100);\n // }, 1000);\n // ```\n this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n }\n }\n\n protected _execute(state: T, _delay: number): any {\n let errored: boolean = false;\n let errorValue: any;\n try {\n this.work(state);\n } catch (e) {\n errored = true;\n // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n // return here, we can't have it return \"\" or 0 or false.\n // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n errorValue = e ? e : new Error('Scheduled action threw falsy error');\n }\n if (errored) {\n this.unsubscribe();\n return errorValue;\n }\n }\n\n unsubscribe() {\n if (!this.closed) {\n const { id, scheduler } = this;\n const { actions } = scheduler;\n\n this.work = this.state = this.scheduler = null!;\n this.pending = false;\n\n arrRemove(actions, this);\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, null);\n }\n\n this.delay = null!;\n super.unsubscribe();\n }\n }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n * now(): number;\n * schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n public static now: () => number = dateTimestampProvider.now;\n\n constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n this.now = now;\n }\n\n /**\n * A getter method that returns a number representing the current time\n * (at the time this function was called) according to the scheduler's own\n * internal clock.\n * @return {number} A number that represents the current time. May or may not\n * have a relation to wall-clock time. May or may not refer to a time unit\n * (e.g. milliseconds).\n */\n public now: () => number;\n\n /**\n * Schedules a function, `work`, for execution. May happen at some point in\n * the future, according to the `delay` parameter, if specified. May be passed\n * some context object, `state`, which will be passed to the `work` function.\n *\n * The given arguments will be processed an stored as an Action object in a\n * queue of actions.\n *\n * @param {function(state: ?T): ?Subscription} work A function representing a\n * task, or some unit of work to be executed by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler itself.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @return {Subscription} A subscription in order to be able to unsubscribe\n * the scheduled work.\n */\n public schedule(work: (this: SchedulerAction, state?: T) => void, delay: number = 0, state?: T): Subscription {\n return new this.schedulerActionCtor(this, work).schedule(state, delay);\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n public actions: Array> = [];\n /**\n * A flag to indicate whether the Scheduler is currently executing a batch of\n * queued actions.\n * @type {boolean}\n * @internal\n */\n public _active: boolean = false;\n /**\n * An internal ID used to track the latest asynchronous task such as those\n * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n * others.\n * @type {any}\n * @internal\n */\n public _scheduled: TimerHandle | undefined;\n\n constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n super(SchedulerAction, now);\n }\n\n public flush(action: AsyncAction): void {\n const { actions } = this;\n\n if (this._active) {\n actions.push(action);\n return;\n }\n\n let error: any;\n this._active = true;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n this._active = false;\n\n if (error) {\n while ((action = actions.shift()!)) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * Schedule task as if you used setTimeout(task, duration)\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n * console.log(state);\n * this.schedule(state + 1, 1000); // `this` references currently executing Action,\n * // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction extends AsyncAction {\n constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (delay > 0) {\n return super.schedule(state, delay);\n }\n this.delay = delay;\n this.state = state;\n this.scheduler.flush(this);\n return this;\n }\n\n public execute(state: T, delay: number): any {\n return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n }\n\n protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n\n if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n\n // Otherwise flush the scheduler starting with this action.\n scheduler.flush(this);\n\n // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n // `TimerHandle`, and generally the return value here isn't really used. So the\n // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n // as opposed to refactoring every other instanceo of `requestAsyncId`.\n return 0;\n }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * Put every next task on a queue, instead of executing it immediately\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n * queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n * console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n * if (state !== 0) {\n * console.log('before', state);\n * this.schedule(state - 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * console.log('after', state);\n * }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction extends AsyncAction {\n constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay is greater than 0, request as an async action.\n if (delay !== null && delay > 0) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n // Push the action to the end of the scheduler queue.\n scheduler.actions.push(this);\n // If an animation frame has already been requested, don't request another\n // one. If an animation frame hasn't been requested yet, request one. Return\n // the current animation frame request id.\n return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n }\n\n protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n if (delay != null ? delay > 0 : this.delay > 0) {\n return super.recycleAsyncId(scheduler, id, delay);\n }\n // If the scheduler queue has no remaining actions with the same async id,\n // cancel the requested animation frame and set the scheduled flag to\n // undefined so the next AnimationFrameAction will request its own.\n const { actions } = scheduler;\n if (id != null && actions[actions.length - 1]?.id !== id) {\n animationFrameProvider.cancelAnimationFrame(id as number);\n scheduler._scheduled = undefined;\n }\n // Return undefined so the action knows to request a new async id if it's rescheduled.\n return undefined;\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n public flush(action?: AsyncAction): void {\n this._active = true;\n // The async id that effects a call to flush is stored in _scheduled.\n // Before executing an action, it's necessary to check the action's async\n // id to determine whether it's supposed to be executed in the current\n // flush.\n // Previous implementations of this method used a count to determine this,\n // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n // are removed from the actions array and that can shift actions that are\n // scheduled to be executed in a subsequent flush into positions at which\n // they are executed within the current flush.\n const flushId = this._scheduled;\n this._scheduled = undefined;\n\n const { actions } = this;\n let error: any;\n action = action || actions.shift()!;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n this._active = false;\n\n if (error) {\n while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * Perform task when `window.requestAnimationFrame` would fire\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html:
\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n * div.style.height = height + \"px\";\n *\n * this.schedule(height + 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * Just emits 'complete', and nothing else.\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n * next: () => console.log('Next'),\n * complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n * mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n return new Observable((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last(arr: T[]): T | undefined {\n return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = ((x: any): x is ArrayLike => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike {\n return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable {\n return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable(obj: any): obj is AsyncIterable {\n return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n // TODO: We should create error codes that can be looked up, so this can be less verbose.\n return new TypeError(\n `You provided ${\n input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n );\n}\n", "export function getSymbolIterator(): symbol {\n if (typeof Symbol !== 'function' || !Symbol.iterator) {\n return '@@iterator' as any;\n }\n\n return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable {\n return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator(readableStream: ReadableStreamLike): AsyncGenerator {\n const reader = readableStream.getReader();\n try {\n while (true) {\n const { value, done } = await reader.read();\n if (done) {\n return;\n }\n yield value!;\n }\n } finally {\n reader.releaseLock();\n }\n}\n\nexport function isReadableStreamLike(obj: any): obj is ReadableStreamLike {\n // We don't want to use instanceof checks because they would return\n // false for instances from another Realm, like an + + + +
+ +

Contains declarations for the Creo2Urdf class, the main component of the plugin. +More...

+
#include <creo2urdf/Utils.h>
+#include <creo2urdf/Sensorizer.h>
+#include <creo2urdf/ElementTreeManager.h>
+#include <pfcShrinkwrap.h>
+#include <pfcAssembly.h>
+#include <iDynTree/ModelIO/ModelExporter.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Model/Traversal.h>
+#include <rapidcsv.h>
+
+

Go to the source code of this file.

+ + + + + + + +

+Classes

class  Creo2Urdf
 A class that exports a Creo mechanism assembly to URDF. More...
 
class  Creo2UrdfAccess
 
+

Detailed Description

+

Contains declarations for the Creo2Urdf class, the main component of the plugin.

+
Bug:
No known bugs.
+
Copyright
(C) 2006-2024 Istituto Italiano di Tecnologia (IIT) All rights reserved. This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.
+ +

Definition in file Creo2Urdf.h.

+
+ + + + + diff --git a/doc/doxygen/doc/html/Creo2Urdf_8h_source.html b/doc/doxygen/doc/html/Creo2Urdf_8h_source.html new file mode 100644 index 0000000..960d59b --- /dev/null +++ b/doc/doxygen/doc/html/Creo2Urdf_8h_source.html @@ -0,0 +1,206 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Creo2Urdf.h Source File + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Creo2Urdf.h
+
+
+Go to the documentation of this file.
1 
+
12 #ifndef CREO2URDF_H
+
13 #define CREO2URDF_H
+
14 
+
15 #include <creo2urdf/Utils.h>
+
16 #include <creo2urdf/Sensorizer.h>
+
17 #include <creo2urdf/ElementTreeManager.h>
+
18 
+
19 #include <pfcShrinkwrap.h>
+
20 #include <pfcAssembly.h>
+
21 
+
22 #include <iDynTree/ModelIO/ModelExporter.h>
+
23 #include <iDynTree/ModelIO/ModelLoader.h>
+
24 #include <iDynTree/KinDynComputations.h>
+
25 #include <iDynTree/Model/Traversal.h>
+
26 
+
27 #include <rapidcsv.h>
+
28 
+
29 
+
37 class Creo2Urdf : public pfcUICommandActionListener {
+
38 public:
+
62  void OnCommand() override;
+
63 
+
64  Creo2Urdf() = default;
+
65  ~Creo2Urdf() = default;
+
66  Creo2Urdf(const std::string& yaml_path, const std::string& csv_path, const std::string& output_path, pfcModel_ptr asm_model_ptr) : m_yaml_path(yaml_path),
+
67  m_csv_path(csv_path),
+
68  m_output_path(output_path),
+
69  m_asm_model_ptr(asm_model_ptr) { }
+
70 
+
71 private:
+
78  bool exportModelToUrdf(iDynTree::Model mdl, iDynTree::ModelExporterOptions options);
+
79 
+
89  iDynTree::SpatialInertia computeSpatialInertiafromCreo(pfcMassProperty_ptr mass_prop, iDynTree::Transform H, const std::string& link_name);
+
90 
+
95  void populateExportedFrameInfoMap(pfcModel_ptr modelhdl);
+
96 
+
100  void readAssignedInertiasFromConfig();
+
101 
+
105  void readAssignedCollisionGeometryFromConfig();
+
106 
+
110  void readExportedFramesFromConfig();
+
111 
+
118  bool addMeshAndExport(pfcModel_ptr component_handle, const std::string& mesh_transform);
+
119 
+
125  bool loadYamlConfig(const std::string& filename);
+
126 
+
132  std::string getRenameElementFromConfig(const std::string& elem_name);
+
133 
+
134  iDynTree::Model idyn_model;
+
135  std::map<std::string, JointInfo> joint_info_map;
+
136  std::map<std::string, LinkInfo> link_info_map;
+
137  std::map<std::string, ExportedFrameInfo> exported_frame_info_map;
+
138  std::map<std::string, std::array<double,3>> assigned_inertias_map;
+
139  std::map<std::string, CollisionGeometryInfo> assigned_collision_geometry_map;
+
140  YAML::Node config;
+
141  bool exportAllUseradded{ false };
+
143  std::array<double, 3> scale{ 1.0, 1.0, 1.0 };
+
144  std::array<double, 3> originXYZ {0.0, 0.0, 0.0};
+
145  std::array<double, 3> originRPY {0.0, 0.0, 0.0};
+
146  bool warningsAreFatal{ true };
+
147  std::string m_yaml_path{ "" };
+
148  std::string m_csv_path{ "" };
+
149  std::string m_output_path{ "" };
+
150  pfcModel_ptr m_asm_model_ptr{ nullptr };
+
151 };
+
152 
+
153 class Creo2UrdfAccess : public pfcUICommandAccessListener {
+
154 public:
+
155  pfcCommandAccess OnCommandAccess(xbool AllowErrorMessages) override;
+
156 };
+
157 
+
158 #endif // !CREO2URDF_H
+
ElementTreeManager.h
Contains declarations for the ElementTreeManager class.
+
Sensorizer.h
Contains declarations for the Sensorizer class.
+
Utils.h
Utility functions amd data shared by classes.
+ +
Creo2UrdfAccess::OnCommandAccess
pfcCommandAccess OnCommandAccess(xbool AllowErrorMessages) override
+
Creo2Urdf
A class that exports a Creo mechanism assembly to URDF.
Definition: Creo2Urdf.h:37
+
Creo2Urdf::Creo2Urdf
Creo2Urdf()=default
+
Creo2Urdf::computeSpatialInertiafromCreo
iDynTree::SpatialInertia computeSpatialInertiafromCreo(pfcMassProperty_ptr mass_prop, iDynTree::Transform H, const std::string &link_name)
Compute spatial inertia from Creo mass properties. The mass properties are overridden by the YAML con...
+
Creo2Urdf::loadYamlConfig
bool loadYamlConfig(const std::string &filename)
Load YAML configuration from a file.
+
Creo2Urdf::addMeshAndExport
bool addMeshAndExport(pfcModel_ptr component_handle, const std::string &mesh_transform)
Creates a mesh file from the Creo model in the form defined in the configuration file.
+
Creo2Urdf::idyn_model
iDynTree::Model idyn_model
Definition: Creo2Urdf.h:134
+
Creo2Urdf::m_csv_path
std::string m_csv_path
Definition: Creo2Urdf.h:148
+
Creo2Urdf::m_asm_model_ptr
pfcModel_ptr m_asm_model_ptr
Definition: Creo2Urdf.h:150
+
Creo2Urdf::Creo2Urdf
Creo2Urdf(const std::string &yaml_path, const std::string &csv_path, const std::string &output_path, pfcModel_ptr asm_model_ptr)
Definition: Creo2Urdf.h:66
+
Creo2Urdf::exportModelToUrdf
bool exportModelToUrdf(iDynTree::Model mdl, iDynTree::ModelExporterOptions options)
Export the iDynTree model to URDF format if it is valid.
+
Creo2Urdf::originXYZ
std::array< double, 3 > originXYZ
Definition: Creo2Urdf.h:144
+
Creo2Urdf::config
YAML::Node config
Definition: Creo2Urdf.h:140
+
Creo2Urdf::exportAllUseradded
bool exportAllUseradded
Definition: Creo2Urdf.h:141
+
Creo2Urdf::populateExportedFrameInfoMap
void populateExportedFrameInfoMap(pfcModel_ptr modelhdl)
Populate the exported frame information map from the Creo model handle.
+
Creo2Urdf::~Creo2Urdf
~Creo2Urdf()=default
+
Creo2Urdf::readExportedFramesFromConfig
void readExportedFramesFromConfig()
Read exported frames from the loaded YAML configuration.
+
Creo2Urdf::m_yaml_path
std::string m_yaml_path
Definition: Creo2Urdf.h:147
+
Creo2Urdf::assigned_collision_geometry_map
std::map< std::string, CollisionGeometryInfo > assigned_collision_geometry_map
Definition: Creo2Urdf.h:139
+
Creo2Urdf::assigned_inertias_map
std::map< std::string, std::array< double, 3 > > assigned_inertias_map
Definition: Creo2Urdf.h:138
+
Creo2Urdf::joint_info_map
std::map< std::string, JointInfo > joint_info_map
Definition: Creo2Urdf.h:135
+
Creo2Urdf::OnCommand
void OnCommand() override
Callback function triggered when the button is clicked.
+
Creo2Urdf::readAssignedCollisionGeometryFromConfig
void readAssignedCollisionGeometryFromConfig()
Read assigned collision geometry from the loaded YAML configuration.
+
Creo2Urdf::exported_frame_info_map
std::map< std::string, ExportedFrameInfo > exported_frame_info_map
Definition: Creo2Urdf.h:137
+
Creo2Urdf::warningsAreFatal
bool warningsAreFatal
Definition: Creo2Urdf.h:146
+
Creo2Urdf::readAssignedInertiasFromConfig
void readAssignedInertiasFromConfig()
Read assigned inertias from the loaded YAML configuration.
+
Creo2Urdf::getRenameElementFromConfig
std::string getRenameElementFromConfig(const std::string &elem_name)
Get the renamed element from the configuration.
+
Creo2Urdf::scale
std::array< double, 3 > scale
Definition: Creo2Urdf.h:143
+
Creo2Urdf::originRPY
std::array< double, 3 > originRPY
Definition: Creo2Urdf.h:145
+
Creo2Urdf::link_info_map
std::map< std::string, LinkInfo > link_info_map
Definition: Creo2Urdf.h:136
+
Creo2Urdf::m_output_path
std::string m_output_path
Definition: Creo2Urdf.h:149
+
+
+ + + + diff --git a/doc/doxygen/doc/html/ElementTreeManager_8h.html b/doc/doxygen/doc/html/ElementTreeManager_8h.html new file mode 100644 index 0000000..571f7f1 --- /dev/null +++ b/doc/doxygen/doc/html/ElementTreeManager_8h.html @@ -0,0 +1,170 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/ElementTreeManager.h File Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
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+ + + + + + + +
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+ +
+
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+ +
+ +
+
+ + +
+ +
+ +
+
+Classes | +Variables
+
+
ElementTreeManager.h File Reference
+
+
+ +

Contains declarations for the ElementTreeManager class. +More...

+
#include <creo2urdf/Utils.h>
+#include <wfcFeature.h>
+#include <wfcElemIds.h>
+#include <ProAsmcomp.h>
+
+

Go to the source code of this file.

+ + + + + +

+Classes

class  ElementTreeManager
 The ElementTreeManager class extracts the ElementTree of a part and provides methods to extract information from it. More...
 
+ + + + +

+Variables

static const std::map< ProAsmcompSetType, JointType > proAsmCompSetType_to_JointType
 Mapping from ProAsmcompSetType to JointType. More...
 
+

Detailed Description

+

Contains declarations for the ElementTreeManager class.

+

This file contains the declarations for the ElementTreeManager class, which is used to extract the ElementTree object of an assembly part, to get information about the joints and datums between parts.

+
Bug:
No known bugs.
+
Copyright
(C) 2006-2024 Istituto Italiano di Tecnologia (IIT) All rights reserved. This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.
+ +

Definition in file ElementTreeManager.h.

+

Variable Documentation

+ +

◆ proAsmCompSetType_to_JointType

+ +
+
+ + + + + +
+ + + + +
const std::map<ProAsmcompSetType, JointType> proAsmCompSetType_to_JointType
+ 		+static
+
+Initial value:
{
+
{PRO_ASM_SET_TYPE_PIN, JointType::Revolute},
+
{PRO_ASM_SET_TYPE_SLIDER, JointType::Linear},
+
{PRO_ASM_SET_TYPE_BALL, JointType::Spherical},
+
{PRO_ASM_SET_TYPE_FIXED, JointType::Fixed},
+
{PRO_ASM_SET_TYPE_WELD, JointType::Fixed},
+
{PRO_ASM_SET_USER_DEFINED_TYPE, JointType::Fixed}
+
}
+
JointType::Spherical
@ Spherical
UNAVAILABLE - Spherical joint allows rotation in all directions.
+
JointType::Linear
@ Linear
Linear (or prismatic) joint allows translational motion along a single axis.
+
JointType::Revolute
@ Revolute
Revolute joint allows rotation around a single axis.
+
JointType::Fixed
@ Fixed
Fixed joint restricts all motion, providing no degree of freedom.
+
+

Mapping from ProAsmcompSetType to JointType.

+

This map associates ProAsmcompSetType constants with their corresponding JointType values. Mapping for Pin joint type (1 rotational DOF). Mapping for Slider joint type (1 translational DOF). Mapping for Ball joint type (3 rotational DOFs). Mapping for Fixed joint type (zero DOFs). Mapping for Weld joint type (assumed as Fixed). Mapping for User-Defined joint type (assumed as Fixed).

+ +

Definition at line 29 of file ElementTreeManager.h.

+ +
+
+
+
+ + + + diff --git a/doc/doxygen/doc/html/ElementTreeManager_8h.js b/doc/doxygen/doc/html/ElementTreeManager_8h.js new file mode 100644 index 0000000..a096ac9 --- /dev/null +++ b/doc/doxygen/doc/html/ElementTreeManager_8h.js @@ -0,0 +1,5 @@ +var ElementTreeManager_8h = +[ + [ "ElementTreeManager", "classElementTreeManager.html", "classElementTreeManager" ], + [ "proAsmCompSetType_to_JointType", "ElementTreeManager_8h.html#aef4bd9bfe850d18f21f25adcf3722ab6", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/ElementTreeManager_8h_source.html b/doc/doxygen/doc/html/ElementTreeManager_8h_source.html new file mode 100644 index 0000000..ec0950e --- /dev/null +++ b/doc/doxygen/doc/html/ElementTreeManager_8h_source.html @@ -0,0 +1,176 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/ElementTreeManager.h Source File + + + + + + + + + + + + + +
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Creo2Urdf +
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+
ElementTreeManager.h
+
+
+Go to the documentation of this file.
1 
+
16 #include <creo2urdf/Utils.h>
+
17 
+
18 #include <wfcFeature.h>
+
19 #include <wfcElemIds.h>
+
20 
+
21 #include <ProAsmcomp.h>
+
22 
+
23 
+
29 static const std::map<ProAsmcompSetType, JointType> proAsmCompSetType_to_JointType
+
30 {
+
31  {PRO_ASM_SET_TYPE_PIN, JointType::Revolute},
+
32  {PRO_ASM_SET_TYPE_SLIDER, JointType::Linear},
+
33  {PRO_ASM_SET_TYPE_BALL, JointType::Spherical},
+
34  {PRO_ASM_SET_TYPE_FIXED, JointType::Fixed},
+
35  {PRO_ASM_SET_TYPE_WELD, JointType::Fixed},
+
36  {PRO_ASM_SET_USER_DEFINED_TYPE, JointType::Fixed}
+
37 };
+
38 
+
42 class ElementTreeManager {
+
43 public:
+
47  ElementTreeManager();
+
48 
+
54  ElementTreeManager(pfcFeature_ptr feat, std::map<std::string, JointInfo>& joint_info_map);
+
55 
+
59  ~ElementTreeManager();
+
60 
+
67  bool populateJointInfoFromElementTree(pfcFeature_ptr feat, std::map<std::string, JointInfo>& joint_info_map);
+
68 
+
73  int getConstraintType();
+
74 
+
79  std::string getParentName();
+
80 
+
85  std::string getChildName();
+
86 
+
87 private:
+
88  wfcElementTree_ptr tree = nullptr;
+
89  wfcWFeature_ptr wfeat = nullptr;
+
90  pfcSolid_ptr parent_solid;
+
91  pfcSolid_ptr child_solid;
+
92 
+
93  /*
+
94  * @brief Retrieves the name of a common datum for the given model item type.
+
95  * @param type The model item type.
+
96  * @return The name of the common datum.
+
97  */
+
98  /*std::string retrieveCommonDatumName(pfcModelItemType type);*/
+
99 
+
109  std::string getConstraintDatum(pfcFeature_ptr feat, pfcComponentConstraintType constraint_type, pfcModelItemType datum_type);
+
110 
+
115  bool retrieveSolidReferences();
+
116 
+
121  std::string retrievePartName();
+
122 
+
128  std::pair<double, double> retrieveLimits(pfcFeature_ptr feat);
+
129 };
+
proAsmCompSetType_to_JointType
static const std::map< ProAsmcompSetType, JointType > proAsmCompSetType_to_JointType
Mapping from ProAsmcompSetType to JointType.
Definition: ElementTreeManager.h:30
+
Utils.h
Utility functions amd data shared by classes.
+
JointType::Spherical
@ Spherical
UNAVAILABLE - Spherical joint allows rotation in all directions.
+
JointType::Linear
@ Linear
Linear (or prismatic) joint allows translational motion along a single axis.
+
JointType::Revolute
@ Revolute
Revolute joint allows rotation around a single axis.
+
JointType::Fixed
@ Fixed
Fixed joint restricts all motion, providing no degree of freedom.
+
ElementTreeManager
The ElementTreeManager class extracts the ElementTree of a part and provides methods to extract infor...
Definition: ElementTreeManager.h:42
+
ElementTreeManager::populateJointInfoFromElementTree
bool populateJointInfoFromElementTree(pfcFeature_ptr feat, std::map< std::string, JointInfo > &joint_info_map)
Populates joint information from the given ElementTree.
+
ElementTreeManager::getConstraintType
int getConstraintType()
Gets the constraint type between two assembled parts.
+
ElementTreeManager::parent_solid
pfcSolid_ptr parent_solid
Pointer to the parent solid.
Definition: ElementTreeManager.h:90
+
ElementTreeManager::getChildName
std::string getChildName()
Gets the name of the child of the two assembled parts.
+
ElementTreeManager::ElementTreeManager
ElementTreeManager()
Default constructor for ElementTreeManager.
+
ElementTreeManager::~ElementTreeManager
~ElementTreeManager()
Destructor for ElementTreeManager.
+
ElementTreeManager::ElementTreeManager
ElementTreeManager(pfcFeature_ptr feat, std::map< std::string, JointInfo > &joint_info_map)
Constructor for ElementTreeManager that extracts the element tree from the part and builds the joint ...
+
ElementTreeManager::tree
wfcElementTree_ptr tree
Pointer to the ElementTree of the part as feature.
Definition: ElementTreeManager.h:88
+
ElementTreeManager::retrieveLimits
std::pair< double, double > retrieveLimits(pfcFeature_ptr feat)
Retrieves the min and max limits for the joint created during assembling the parts.
+
ElementTreeManager::retrievePartName
std::string retrievePartName()
Retrieves the name of the part associated with the ElementTree.
+
ElementTreeManager::getConstraintDatum
std::string getConstraintDatum(pfcFeature_ptr feat, pfcComponentConstraintType constraint_type, pfcModelItemType datum_type)
Gets the characterizing constraint datum used for assembling the two parts, depending on the joint....
+
ElementTreeManager::retrieveSolidReferences
bool retrieveSolidReferences()
Retrieves references to the parent and child solids. We assume there are only two parts and they are ...
+
ElementTreeManager::getParentName
std::string getParentName()
Gets the name of the parent element of the two assembled parts.
+
ElementTreeManager::wfeat
wfcWFeature_ptr wfeat
Pointer to the part as feature.
Definition: ElementTreeManager.h:89
+
ElementTreeManager::child_solid
pfcSolid_ptr child_solid
Pointer to the child solid.
Definition: ElementTreeManager.h:91
+
+
+ + + + diff --git a/doc/doxygen/doc/html/Sensorizer_8h.html b/doc/doxygen/doc/html/Sensorizer_8h.html new file mode 100644 index 0000000..3e2783e --- /dev/null +++ b/doc/doxygen/doc/html/Sensorizer_8h.html @@ -0,0 +1,124 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Sensorizer.h File Reference + + + + + + + + + + + + + +
+
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+Classes
+
+
Sensorizer.h File Reference
+
+
+ +

Contains declarations for the Sensorizer class. +More...

+
#include <creo2urdf/Utils.h>
+#include <libxml2/libxml/parser.h>
+#include <libxml2/libxml/tree.h>
+#include <libxml/xmlwriter.h>
+#include <yaml-cpp/yaml.h>
+
+

Go to the source code of this file.

+ + + + + +

+Classes

struct  Sensorizer
 Represents a Sensorizer class, used read sensors information from a YAML node, and create the related XML blobs to feed to iDynTree Model Exporter. More...
 
+

Detailed Description

+

Contains declarations for the Sensorizer class.

+

The Sensorizer class is used to read sensors information from a YAML node, build the related xml trees as strings, and feed them to iDynTree Model Exporter.

+
Bug:
No known bugs.
+
Copyright
(C) 2006-2024 Istituto Italiano di Tecnologia (IIT) All rights reserved. This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.
+ +

Definition in file Sensorizer.h.

+
+
+ + + + diff --git a/doc/doxygen/doc/html/Sensorizer_8h_source.html b/doc/doxygen/doc/html/Sensorizer_8h_source.html new file mode 100644 index 0000000..a9bebf2 --- /dev/null +++ b/doc/doxygen/doc/html/Sensorizer_8h_source.html @@ -0,0 +1,150 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Sensorizer.h Source File + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
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+
+ + +
+ +
+ +
+
+
Sensorizer.h
+
+
+Go to the documentation of this file.
1 
+
15 #ifndef SENSORIZER_H
+
16 #define SENSORIZER_H
+
17 
+
18 #include <creo2urdf/Utils.h>
+
19 
+
20 #include <libxml2/libxml/parser.h>
+
21 #include <libxml2/libxml/tree.h>
+
22 #include <libxml/xmlwriter.h>
+
23 
+
24 #include <yaml-cpp/yaml.h>
+
25 
+
30 struct Sensorizer {
+
31 
+
36  void readFTSensorsFromConfig(const YAML::Node& config);
+
37 
+
42  void readSensorsFromConfig(const YAML::Node& config);
+
43 
+
51  void assignTransformToFTSensor(const std::map<std::string, ExportedFrameInfo>& exported_frame_info_map,
+
52  const std::map<std::string, LinkInfo>& link_info_map,
+
53  const std::map<std::string, JointInfo>& joint_info_map,
+
54  const std::array<double, 3> scale);
+
55 
+
62  void assignTransformToSensors(const std::map<std::string, ExportedFrameInfo>& exported_frame_info_map,
+
63  const std::map<std::string, LinkInfo>& link_info_map,
+
64  const std::array<double, 3> scale);
+
65 
+
73  std::vector<std::string> buildFTXMLBlobs();
+
74 
+
82  std::vector<std::string> buildSensorsXMLBlobs();
+
83 
+
87  std::map<std::string, FTSensorInfo> ft_sensors;
+
88 
+
92  std::vector<SensorInfo> sensors;
+
93 
+
97  YAML::Node m_config;
+
98 
+
99 };
+
100 
+
101 
+
102 #endif // !SENSORIZER_H
+
Utils.h
Utility functions amd data shared by classes.
+
Sensorizer
Represents a Sensorizer class, used read sensors information from a YAML node, and create the related...
Definition: Sensorizer.h:30
+
Sensorizer::ft_sensors
std::map< std::string, FTSensorInfo > ft_sensors
Map containing information about force/torque sensors.
Definition: Sensorizer.h:87
+
Sensorizer::readFTSensorsFromConfig
void readFTSensorsFromConfig(const YAML::Node &config)
Reads force/torque sensors configuration from a YAML node.
+
Sensorizer::m_config
YAML::Node m_config
YAML node containing sensor configuration.
Definition: Sensorizer.h:97
+
Sensorizer::sensors
std::vector< SensorInfo > sensors
Vector containing information about general sensors.
Definition: Sensorizer.h:92
+
Sensorizer::buildSensorsXMLBlobs
std::vector< std::string > buildSensorsXMLBlobs()
Builds a vector of XML trees as strings for general sensors, starting from the information retrieved ...
+
Sensorizer::buildFTXMLBlobs
std::vector< std::string > buildFTXMLBlobs()
Builds a vector of XML trees as strings for force/torque sensors, starting from the information retri...
+
Sensorizer::readSensorsFromConfig
void readSensorsFromConfig(const YAML::Node &config)
Reads general sensors configuration from a YAML node.
+
Sensorizer::assignTransformToFTSensor
void assignTransformToFTSensor(const std::map< std::string, ExportedFrameInfo > &exported_frame_info_map, const std::map< std::string, LinkInfo > &link_info_map, const std::map< std::string, JointInfo > &joint_info_map, const std::array< double, 3 > scale)
Assigns a 3D transform to a force/torque sensor based on provided information.
+
Sensorizer::assignTransformToSensors
void assignTransformToSensors(const std::map< std::string, ExportedFrameInfo > &exported_frame_info_map, const std::map< std::string, LinkInfo > &link_info_map, const std::array< double, 3 > scale)
Assigns a 3D transform to all sensors based on provided information.
+
+
+ + + + diff --git a/doc/doxygen/doc/html/Utils_8h.html b/doc/doxygen/doc/html/Utils_8h.html new file mode 100644 index 0000000..641846b --- /dev/null +++ b/doc/doxygen/doc/html/Utils_8h.html @@ -0,0 +1,1187 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h File Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes | +Enumerations | +Functions | +Variables
+
+
Utils.h File Reference
+
+
+ +

Utility functions amd data shared by classes. +More...

+
#include <cmath>
+#include <string>
+#include <array>
+#include <map>
+#include <unordered_map>
+#include <pfcGlobal.h>
+#include <pfcModel.h>
+#include <pfcSolid.h>
+#include <pfcComponentFeat.h>
+#include <wfcGeometry.h>
+#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model/RevoluteJoint.h>
+#include <iDynTree/Model/FixedJoint.h>
+#include <yaml-cpp/yaml.h>
+
+

Go to the source code of this file.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Classes

struct  SensorInfo
 Struct representing information about a sensor. More...
 
struct  FTSensorInfo
 Information about a Force Torque sensor. Forces are measured in N, torques in N*m. More...
 
struct  ExportedFrameInfo
 Information about an exported frame. More...
 
struct  CollisionGeometryInfo
 Information about collision geometry. Useful to simplify the evaluation of collisions between meshes. More...
 
struct  JointInfo
 Information about a joint, including its type, limits, and dynamic parameters. More...
 
struct  JointInfo::Limits
 Limits for joint movement. More...
 
struct  JointInfo::DynamicParams
 Dynamic parameters for the joint. More...
 
struct  LinkInfo
 Information about a link, including its name, model handle, transformation, and frame name. More...
 
class  iDynRedirectErrors
 Utility class for redirecting to file the errors that iDynTree prints to stderr. More...
 
+ + + + + + + + + + + + +

+Enumerations

enum class  c2uLogLevel { NONE = 0 +, INFO +, WARN +, PROMPT + }
 
enum class  SensorType {
+  None = -1 +, Accelerometer +, Gyroscope +, Camera +,
+  Depth +, Ray +
+ }
 Enum representing types of sensors. More...
 
enum class  ShapeType { Box +, Cylinder +, Sphere +, None + }
 Enum representing simple shapes that can be associated to links. More...
 
enum class  JointType {
+  Revolute +, Fixed +, Linear +, Spherical +,
+  None +
+ }
 Enumeration representing types of joints and their allowed motion. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

template<class T >
T stringToEnum (const std::map< T, std::string > &map, const std::string &s)
 Converts a string to an enum value using a mapping. More...
 
std::array< double, 3 > computeUnitVectorFromAxis (pfcCurveDescriptor_ptr axis_data)
 Computes the unit vector of a Creo Axis. The axis is defined by start and end point, and the magnitude is normalized. More...
 
std::vector< string > getSolidDatumNames (pfcSolid_ptr solid, pfcModelItemType type)
 Get the datums defined in a Solid depending on the selected type. More...
 
iDynTree::Transform fromCreo (pfcTransform3D_ptr creo_trf, const array< double, 3 > &scale={ 1.0, 1.0, 1.0 })
 Converts a 3D Creo transform into iDynTree transform. The position is defined as a 3-elements vector in m, and rotation is represented as a SO(3) matrix for both representations. More...
 
void printToMessageWindow (std::string message, c2uLogLevel log_level=c2uLogLevel::INFO)
 Prints a string to the message window on the bottom part of the Creo Parametric UI. The message can have different log levels, represented by an icon on its left side. The available log levels are defined in text/usascii/creo2urdf.txt. More...
 
void printTransformMatrix (pfcTransform3D_ptr m)
 Prints to the message window a Creo 3D transform in both origin and orientation using the iDynTree representation. More...
 
void printRotationMatrix (pfcMatrix3D_ptr m)
 Prints to the message window a Creo 3D rotation matrix in SO(3) More...
 
void sanitizeSTL (std::string stl)
 Replaces the first 5 bytes of a binary STL file with the string "robot". This is necessary to avoid accidental parsing of the file as ASCII. For details, see https://github.com/icub-tech-iit/creo2urdf/issues/16. More...
 
std::pair< bool, iDynTree::Transform > getTransformFromRootToChild (pfcComponentPath_ptr comp_path, pfcModel_ptr modelhdl, const std::string &link_frame_name, const array< double, 3 > &scale)
 Retrieves the transformation from the root to a specified link frame in the context of a component path. More...
 
std::pair< bool, iDynTree::Transform > getTransformFromPart (pfcModel_ptr modelhdl, const std::string &link_frame_name, const array< double, 3 > &scale)
 Retrieves the transformation matrix representing the coordinate system of a specified link frame in the given part. More...
 
std::pair< bool, iDynTree::Direction > getAxisFromPart (pfcModel_ptr modelhdl, const std::string &axis_name, const std::string &link_frame_name, const array< double, 3 > &scale)
 Gets the desired axis the from the model. The direction is expressed in the coordinate system defined by link_frame_name. More...
 
std::string extractFolderPath (const std::string &filePath)
 Extracts the folder path from a file path. More...
 
void mergeYAMLNodes (YAML::Node &dest, const YAML::Node &src)
 Merge two YAML nodes, recursively. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

constexpr double epsilon = 1e-12
 Small positive value used for numerical precision comparisons. More...
 
constexpr double rad2deg = 180.0 / M_PI
 Conversion factor from radians to degrees. More...
 
constexpr double deg2rad = 1 / rad2deg
 Conversion factor from degrees to radians. More...
 
constexpr double gravity_z = -9.81
 Standard gravitational acceleration in the z-direction. More...
 
const std::unordered_map< std::string, std::string > mesh_types_supported_extension_map
 Map containing the supported mesh types and their corresponding file extensions. More...
 
static const std::map< c2uLogLevel, std::string > log_level_key
 Map associating c2uLogLevel with corresponding string representations. More...
 
static const std::map< SensorType, std::string > sensor_type_map
 Mapping of SensorType to string representations for use within the URDF specification. More...
 
static const std::map< ShapeType, std::string > shape_type_map
 Mapping of ShapeType to string representations for use within the URDF specification. More...
 
static const std::map< SensorType, std::string > gazebo_sensor_type_map
 Mapping of SensorType to string representations for Gazebo URDF format. More...
 
+

Detailed Description

+

Utility functions amd data shared by classes.

+

This file contains utilities shared by classes of the plugin. These utilities are functions, and data such constants, enums, maps.

+
Bug:
No known bugs.
+
Copyright
(C) 2006-2024 Istituto Italiano di Tecnologia (IIT) All rights reserved. This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.
+ +

Definition in file Utils.h.

+

Enumeration Type Documentation

+ +

◆ c2uLogLevel

+ +
+
+ + + + + +
+ + + + +
enum c2uLogLevel
+ 		+strong
+
+ + + + + +
Enumerator
NONE 

Messages that need no specific connotation.

+
INFO 

Informational messages that provide general information about creo2urdf behavior.

+
WARN 

Warning messages indicating potential issues or unexpected conditions.

+
PROMPT 

Prompt messages that request user input.

+
+ +

Definition at line 75 of file Utils.h.

+ +
+
+ +

◆ JointType

+ +
+
+ + + + + +
+ + + + +
enum JointType
+ 		+strong
+
+ +

Enumeration representing types of joints and their allowed motion.

+ + + + + + +
Enumerator
Revolute 

Revolute joint allows rotation around a single axis.

+
Fixed 

Fixed joint restricts all motion, providing no degree of freedom.

+
Linear 

Linear (or prismatic) joint allows translational motion along a single axis.

+
Spherical 

UNAVAILABLE - Spherical joint allows rotation in all directions.

+
None 

No specific joint type, used as a default or invalid option.

+
+ +

Definition at line 221 of file Utils.h.

+ +
+
+ +

◆ SensorType

+ +
+
+ + + + + +
+ + + + +
enum SensorType
+ 		+strong
+
+ +

Enum representing types of sensors.

+

The SensorType enumeration defines different types of sensors that may be used in an application. The None value is provided as a default or invalid option.

+ + + + + + + +
Enumerator
None 

Default or invalid sensor type.

+
Accelerometer 

Accelerometer sensor type.

+
Gyroscope 

Gyroscope sensor type.

+
Camera 

Camera sensor type, usually RGB.

+
Depth 

Depth sensor type, usually associated with a RGBD camera.

+
Ray 

Ray sensor type, such as LIDAR.

+
+ +

Definition at line 103 of file Utils.h.

+ +
+
+ +

◆ ShapeType

+ +
+
+ + + + + +
+ + + + +
enum ShapeType
+ 		+strong
+
+ +

Enum representing simple shapes that can be associated to links.

+

The ShapeType enumeration defines different geometric shapes that may be used as links to simplify collision evaluation. The None value is provided as a default or invalid option.

+ + + + + +
Enumerator
Box 

Box shape type.

+
Cylinder 

Cylinder shape type.

+
Sphere 

Sphere shape type.

+
None 

Default or invalid shape type.

+
+ +

Definition at line 119 of file Utils.h.

+ +
+
+

Function Documentation

+ +

◆ computeUnitVectorFromAxis()

+ +
+
+ + + + + + + + +
std::array<double, 3> computeUnitVectorFromAxis (pfcCurveDescriptor_ptr axis_data)
+
+ +

Computes the unit vector of a Creo Axis. The axis is defined by start and end point, and the magnitude is normalized.

+
Parameters
+ + +
axis_dataThe axis datum as a CurveDescriptor
+
+
+
Returns
std::array<double, 3> The resulting normalized unit vector
+ +
+
+ +

◆ extractFolderPath()

+ +
+
+ + + + + + + + +
std::string extractFolderPath (const std::string & filePath)
+
+ +

Extracts the folder path from a file path.

+
Parameters
+ + +
filePathThe file path from which to extract the folder path.
+
+
+
Returns
std::string The folder path extracted from the input file path.
+ +
+
+ +

◆ fromCreo()

+ +
+
+ + + + + + + + + + + + + + + + + + +
iDynTree::Transform fromCreo (pfcTransform3D_ptr creo_trf,
const array< double, 3 > & scale = { 1.0, 1.0, 1.0 } 
)
+
+ +

Converts a 3D Creo transform into iDynTree transform. The position is defined as a 3-elements vector in m, and rotation is represented as a SO(3) matrix for both representations.

+
Parameters
+ + + +
creo_trfThe 3D transform to convert
scaleThe factor used to scale the position vector (e.g. from m to mm)
+
+
+
Returns
iDynTree::Transform
+ +
+
+ +

◆ getAxisFromPart()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::pair<bool, iDynTree::Direction> getAxisFromPart (pfcModel_ptr modelhdl,
const std::string & axis_name,
const std::string & link_frame_name,
const array< double, 3 > & scale 
)
+
+ +

Gets the desired axis the from the model. The direction is expressed in the coordinate system defined by link_frame_name.

+
Parameters
+ + + + + +
modelhdlThe model handle that contains link_frame_name
axis_nameThe name of the desired axis of which to retrieve the direction
link_frame_nameThe name of the frame belonging to modelhdl
scaleThe scaling factor for the origin of the child frame
+
+
+
Returns
std::pair<bool, iDynTree::Direction> Pair containing a success/failure flag, and the axis direction
+ +
+
+ +

◆ getSolidDatumNames()

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::vector<string> getSolidDatumNames (pfcSolid_ptr solid,
pfcModelItemType type 
)
+
+ +

Get the datums defined in a Solid depending on the selected type.

+
Parameters
+ + + +
solidThe solid in which to query the datums
typeThe type of datums to extract as model items
+
+
+
Returns
std::vector<string> A vector of datum names
+ +
+
+ +

◆ getTransformFromPart()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::pair<bool, iDynTree::Transform> getTransformFromPart (pfcModel_ptr modelhdl,
const std::string & link_frame_name,
const array< double, 3 > & scale 
)
+
+ +

Retrieves the transformation matrix representing the coordinate system of a specified link frame in the given part.

+
Parameters
+ + + + +
modelhdlThe part model.
link_frame_nameThe name of the link frame for which the transformation matrix is requested.
scalescaling factor for expressing the position of the transform.
+
+
+
Returns
A std::pair<bool, iDynTree::Transform> containing the result of the operation:
    +
  • The first element is a boolean indicating success (true) or failure (false).
    • +
  • The second element is an iDynTree::Transform representing the transformation matrix of the specified link frame. If the operation fails, this transformation matrix will be an identity matrix.
    • +
+
+ +
+
+ +

◆ getTransformFromRootToChild()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::pair<bool, iDynTree::Transform> getTransformFromRootToChild (pfcComponentPath_ptr comp_path,
pfcModel_ptr modelhdl,
const std::string & link_frame_name,
const array< double, 3 > & scale 
)
+
+ +

Retrieves the transformation from the root to a specified link frame in the context of a component path.

+
Parameters
+ + + + + +
comp_pathcomponent path that represents the assembly hierarchy.
modelhdlThe part model in which the link frame is defined.
link_frame_nameThe name of the link frame for which the transformation is requested.
scalescaling factor for expressing the position of the transform.
+
+
+
Returns
A std::pair<bool, iDynTree::Transform> containing the result of the operation:
    +
  • The first element is a boolean indicating success (true) or failure (false).
    • +
  • The second element is an iDynTree::Transform representing the transformation from the root to the specified link frame. If the operation fails, this transformation will be an identity transformation.
    • +
+
+ +
+
+ +

◆ mergeYAMLNodes()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void mergeYAMLNodes (YAML::Node & dest,
const YAML::Node & src 
)
+
+ +

Merge two YAML nodes, recursively.

+
Parameters
+ + + +
destThe destination YAML node.
srcThe source YAML node.
+
+
+
Returns
void
+ +
+
+ +

◆ printRotationMatrix()

+ +
+
+ + + + + + + + +
void printRotationMatrix (pfcMatrix3D_ptr m)
+
+ +

Prints to the message window a Creo 3D rotation matrix in SO(3)

+
Parameters
+ + +
mThe Creo 3D transform to print
+
+
+ +
+
+ +

◆ printToMessageWindow()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void printToMessageWindow (std::string message,
c2uLogLevel log_level = c2uLogLevel::INFO 
)
+
+ +

Prints a string to the message window on the bottom part of the Creo Parametric UI. The message can have different log levels, represented by an icon on its left side. The available log levels are defined in text/usascii/creo2urdf.txt.

+
Parameters
+ + + +
messageThe desired message to be printed
log_levelThe desired log level. Can be NONE, INFO, WARN, PROMPT. The PROMPT enum requires user input to proceed. The user input is not processed yet.
+
+
+ +
+
+ +

◆ printTransformMatrix()

+ +
+
+ + + + + + + + +
void printTransformMatrix (pfcTransform3D_ptr m)
+
+ +

Prints to the message window a Creo 3D transform in both origin and orientation using the iDynTree representation.

+
Parameters
+ + +
mThe Creo 3D transform to print
+
+
+ +
+
+ +

◆ sanitizeSTL()

+ +
+
+ + + + + + + + +
void sanitizeSTL (std::string stl)
+
+ +

Replaces the first 5 bytes of a binary STL file with the string "robot". This is necessary to avoid accidental parsing of the file as ASCII. For details, see https://github.com/icub-tech-iit/creo2urdf/issues/16.

+
Parameters
+ + +
stlPath of the STL file to edit
+
+
+ +
+
+ +

◆ stringToEnum()

+ +
+
+
+template<class T >
+ + + + + + + + + + + + + + + + + + +
T stringToEnum (const std::map< T, std::string > & map,
const std::string & s 
)
+
+ +

Converts a string to an enum value using a mapping.

+
Template Parameters
+ + +
TThe type of the enum.
+
+
+
Parameters
+ + + +
mapThe map associating enumeration values with their string representations.
sThe string to be converted to enum value.
+
+
+
Returns
T The enum value corresponding to the input string, or -1 if no match is found.
+ +

Definition at line 331 of file Utils.h.

+ +
+
+

Variable Documentation

+ +

◆ deg2rad

+ +
+
+ + + + + +
+ + + + +
constexpr double deg2rad = 1 / rad2deg
+ 		+constexpr
+
+ +

Conversion factor from degrees to radians.

+ +

Definition at line 50 of file Utils.h.

+ +
+
+ +

◆ epsilon

+ +
+
+ + + + + +
+ + + + +
constexpr double epsilon = 1e-12
+ 		+constexpr
+
+ +

Small positive value used for numerical precision comparisons.

+ +

Definition at line 40 of file Utils.h.

+ +
+
+ +

◆ gazebo_sensor_type_map

+ +
+
+ + + + + +
+ + + + +
const std::map<SensorType, std::string> gazebo_sensor_type_map
+ 		+static
+
+Initial value:
= {
+
{SensorType::Accelerometer, "imu"},
+
{SensorType::Gyroscope, "gyroscope"},
+
{SensorType::Camera, "camera"},
+
{SensorType::Depth, "depth"},
+
{SensorType::Ray, "ray"}
+
}
+
SensorType::Depth
@ Depth
Depth sensor type, usually associated with a RGBD camera.
+
SensorType::Ray
@ Ray
Ray sensor type, such as LIDAR.
+
SensorType::Camera
@ Camera
Camera sensor type, usually RGB.
+
SensorType::Accelerometer
@ Accelerometer
Accelerometer sensor type.
+
SensorType::Gyroscope
@ Gyroscope
Gyroscope sensor type.
+
+

Mapping of SensorType to string representations for Gazebo URDF format.

+

The gazebo_sensor_type_map provides a mapping between SensorType enumeration values and their corresponding string representations specifically tailored for Gazebo URDF format.

+ +

Definition at line 155 of file Utils.h.

+ +
+
+ +

◆ gravity_z

+ +
+
+ + + + + +
+ + + + +
constexpr double gravity_z = -9.81
+ 		+constexpr
+
+ +

Standard gravitational acceleration in the z-direction.

+

The gravity_z constant represents the standard gravitational acceleration in the z-direction. Its value is set to -9.81 m/s^2.

+ +

Definition at line 58 of file Utils.h.

+ +
+
+ +

◆ log_level_key

+ +
+
+ + + + + +
+ + + + +
const std::map<c2uLogLevel, std::string> log_level_key
+ 		+static
+
+Initial value:
= {
+
{c2uLogLevel::NONE, "c2uNONE"},
+
{c2uLogLevel::INFO, "c2uINFO"},
+
{c2uLogLevel::WARN, "c2uWARN"},
+
{c2uLogLevel::PROMPT, "c2uPROMPT"}
+
}
+
c2uLogLevel::WARN
@ WARN
Warning messages indicating potential issues or unexpected conditions.
+
c2uLogLevel::PROMPT
@ PROMPT
Prompt messages that request user input.
+
c2uLogLevel::INFO
@ INFO
Informational messages that provide general information about creo2urdf behavior.
+
c2uLogLevel::NONE
@ NONE
Messages that need no specific connotation.
+
+

Map associating c2uLogLevel with corresponding string representations.

+

This static map is used to associate each c2uLogLevel enumeration value with its corresponding string representation. The string representation matches the keys defined in text/usascii/creo2urdf.txt. The prefixes CI, CW CP define the type of message displayed, using a specific icon.

+ +

Definition at line 90 of file Utils.h.

+ +
+
+ +

◆ mesh_types_supported_extension_map

+ +
+
+ + + + +
const std::unordered_map<std::string, std::string> mesh_types_supported_extension_map
+
+Initial value:
{{"stl_binary", ".stl"},
+
{"stl_ascii", ".stl"},
+
{"step", ".stp"}
+
}
+
+

Map containing the supported mesh types and their corresponding file extensions.

+ +

Definition at line 63 of file Utils.h.

+ +
+
+ +

◆ rad2deg

+ +
+
+ + + + + +
+ + + + +
constexpr double rad2deg = 180.0 / M_PI
+ 		+constexpr
+
+ +

Conversion factor from radians to degrees.

+ +

Definition at line 45 of file Utils.h.

+ +
+
+ +

◆ sensor_type_map

+ +
+
+ + + + + +
+ + + + +
const std::map<SensorType, std::string> sensor_type_map
+ 		+static
+
+Initial value:
= {
+
{SensorType::Accelerometer, "accelerometer"},
+
{SensorType::Gyroscope, "gyroscope"},
+
{SensorType::Camera, "camera"},
+
{SensorType::Depth, "depth"},
+
{SensorType::Ray, "ray"}
+
}
+
+

Mapping of SensorType to string representations for use within the URDF specification.

+ +

Definition at line 129 of file Utils.h.

+ +
+
+ +

◆ shape_type_map

+ +
+
+ + + + + +
+ + + + +
const std::map<ShapeType, std::string> shape_type_map
+ 		+static
+
+Initial value:
= {
+
{ ShapeType::Box, "box" },
+
{ ShapeType::Cylinder, "cylinder" },
+
{ ShapeType::Sphere, "sphere" },
+
{ ShapeType::Cylinder, "cylinder"},
+
{ ShapeType::Sphere, "sphere"},
+
{ ShapeType::None, "empty"}
+
}
+
ShapeType::Cylinder
@ Cylinder
Cylinder shape type.
+
ShapeType::Box
@ Box
Box shape type.
+
ShapeType::None
@ None
Default or invalid shape type.
+
ShapeType::Sphere
@ Sphere
Sphere shape type.
+
+

Mapping of ShapeType to string representations for use within the URDF specification.

+ +

Definition at line 140 of file Utils.h.

+ +
+
+
+
+ + + + diff --git a/doc/doxygen/doc/html/Utils_8h.js b/doc/doxygen/doc/html/Utils_8h.js new file mode 100644 index 0000000..f2259a9 --- /dev/null +++ b/doc/doxygen/doc/html/Utils_8h.js @@ -0,0 +1,61 @@ +var Utils_8h = +[ + [ "SensorInfo", "structSensorInfo.html", "structSensorInfo" ], + [ "FTSensorInfo", "structFTSensorInfo.html", "structFTSensorInfo" ], + [ "ExportedFrameInfo", "structExportedFrameInfo.html", "structExportedFrameInfo" ], + [ "CollisionGeometryInfo", "structCollisionGeometryInfo.html", "structCollisionGeometryInfo" ], + [ "JointInfo", "structJointInfo.html", "structJointInfo" ], + [ "Limits", "structJointInfo_1_1Limits.html", "structJointInfo_1_1Limits" ], + [ "DynamicParams", "structJointInfo_1_1DynamicParams.html", "structJointInfo_1_1DynamicParams" ], + [ "LinkInfo", "structLinkInfo.html", "structLinkInfo" ], + [ "iDynRedirectErrors", "classiDynRedirectErrors.html", "classiDynRedirectErrors" ], + [ "c2uLogLevel", "Utils_8h.html#a7bf14183d7c51d8288183e9000b77f81", [ + [ "NONE", "Utils_8h.html#a7bf14183d7c51d8288183e9000b77f81ab50339a10e1de285ac99d4c3990b8693", null ], + [ "INFO", "Utils_8h.html#a7bf14183d7c51d8288183e9000b77f81a551b723eafd6a31d444fcb2f5920fbd3", null ], + [ "WARN", "Utils_8h.html#a7bf14183d7c51d8288183e9000b77f81a32bd8a1db2275458673903bdb84cb277", null ], + [ "PROMPT", "Utils_8h.html#a7bf14183d7c51d8288183e9000b77f81a37afa53921f04141b089aec3bb26211c", null ] + ] ], + [ "JointType", "Utils_8h.html#af92f943e3dc4a7d1fb537fa481094fa9", [ + [ "Revolute", "Utils_8h.html#af92f943e3dc4a7d1fb537fa481094fa9a358561ac4d41f41d479b7c54b19b639e", null ], + [ "Fixed", "Utils_8h.html#af92f943e3dc4a7d1fb537fa481094fa9a4457d440870ad6d42bab9082d9bf9b61", null ], + [ "Linear", "Utils_8h.html#af92f943e3dc4a7d1fb537fa481094fa9a32a843da6ea40ab3b17a3421ccdf671b", null ], + [ "Spherical", "Utils_8h.html#af92f943e3dc4a7d1fb537fa481094fa9a24e5c24fabd1c081d4c729094df0b947", null ], + [ "None", "Utils_8h.html#af92f943e3dc4a7d1fb537fa481094fa9a6adf97f83acf6453d4a6a4b1070f3754", null ] + ] ], + [ "SensorType", "Utils_8h.html#a213c434cb928c4ca22513e2302632435", [ + [ "None", "Utils_8h.html#a213c434cb928c4ca22513e2302632435a6adf97f83acf6453d4a6a4b1070f3754", null ], + [ "Accelerometer", "Utils_8h.html#a213c434cb928c4ca22513e2302632435ab043bc6d611582087d8bf1790d863d69", null ], + [ "Gyroscope", "Utils_8h.html#a213c434cb928c4ca22513e2302632435abed99e5db57749f375e738c1c0258047", null ], + [ "Camera", "Utils_8h.html#a213c434cb928c4ca22513e2302632435a967d35e40f3f95b1f538bd248640bf3b", null ], + [ "Depth", "Utils_8h.html#a213c434cb928c4ca22513e2302632435a675056ad1441b6375b2c5abd48c27ef1", null ], + [ "Ray", "Utils_8h.html#a213c434cb928c4ca22513e2302632435a9406e3c325bfc9873426e5eda4ba6e18", null ] + ] ], + [ "ShapeType", "Utils_8h.html#a5a4538eeab397888d88a4eefcc5a1345", [ + [ "Box", "Utils_8h.html#a5a4538eeab397888d88a4eefcc5a1345a3cfce651e667ab85486dd42a8185f98a", null ], + [ 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+ [ "printRotationMatrix", "Utils_8h.html#aa69a9b6f402c473c22d001fa408a8a85", null ], + [ "printToMessageWindow", "Utils_8h.html#ac2a366fd51c0d1092941b5fdf660d5d5", null ], + [ "printTransformMatrix", "Utils_8h.html#a762c160412d133791e2900669726136e", null ], + [ "sanitizeSTL", "Utils_8h.html#a4f6853224a2e69b6eff0f999b0725f28", null ], + [ "stringToEnum", "Utils_8h.html#ae056088993a81850c52846516ae51b64", null ], + [ "deg2rad", "Utils_8h.html#ad978946e475396fe485b2cf4e1ea28d0", null ], + [ "epsilon", "Utils_8h.html#aa9387612e1b1ad9451eaddc21ceae7fc", null ], + [ "gazebo_sensor_type_map", "Utils_8h.html#a999d85f67c420af1c6465093dd837f0e", null ], + [ "gravity_z", "Utils_8h.html#a34b4b49e8ac794066708c8b9cfb78864", null ], + [ "log_level_key", "Utils_8h.html#a4d377c2f2be88c97c980c9e482122609", null ], + [ "mesh_types_supported_extension_map", "Utils_8h.html#a10bb6cddb3ac13cd066331df64046e67", null ], + [ "rad2deg", "Utils_8h.html#a63d5966df8fefe79916c55278f79c528", null ], + [ "sensor_type_map", "Utils_8h.html#a6dd0528a656eae02e27453d768eb31d9", null ], + [ "shape_type_map", "Utils_8h.html#af4004152e16561897c7433f6d064545d", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/Utils_8h_source.html b/doc/doxygen/doc/html/Utils_8h_source.html new file mode 100644 index 0000000..f46e0f5 --- /dev/null +++ b/doc/doxygen/doc/html/Utils_8h_source.html @@ -0,0 +1,435 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h Source File + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Utils.h
+
+
+Go to the documentation of this file.
1 
+
16 #ifndef UTILS_H
+
17 #define UTILS_H
+
18 
+
19 #include <cmath>
+
20 #include <string>
+
21 #include <array>
+
22 #include <map>
+
23 #include <unordered_map>
+
24 
+
25 #include <pfcGlobal.h>
+
26 #include <pfcModel.h>
+
27 #include <pfcSolid.h>
+
28 #include <pfcComponentFeat.h>
+
29 
+
30 #include <wfcGeometry.h>
+
31 
+
32 #include <iDynTree/Model/Model.h>
+
33 #include <iDynTree/Model/RevoluteJoint.h>
+
34 #include <iDynTree/Model/FixedJoint.h>
+
35 #include <yaml-cpp/yaml.h>
+
36 
+
40 constexpr double epsilon = 1e-12;
+
41 
+
45 constexpr double rad2deg = 180.0 / M_PI;
+
46 
+
50 constexpr double deg2rad = 1 / rad2deg;
+
51 
+
58 constexpr double gravity_z = -9.81;
+
59 
+
63 const std::unordered_map<std::string, std::string> mesh_types_supported_extension_map{{"stl_binary", ".stl"},
+
64  {"stl_ascii", ".stl"},
+
65  {"step", ".stp"}
+
66 };
+
67 
+
68 /*
+
69  * @brief Enum representing the log levels of creo2urdf.
+
70  *
+
71  * This enumeration defines different log levels that can be used to categorize log messages.
+
72  * The levels range from the least severe (NONE) to the most severe (WARN).
+
73  * The log levels need to match the ones defined in text/usascii/creo2urdf.txt.
+
74  */
+
75 enum class c2uLogLevel
+
76 {
+
77  NONE = 0,
+
78  INFO,
+
79  WARN,
+
80  PROMPT
+
81 };
+
82 
+
90 static const std::map<c2uLogLevel, std::string> log_level_key = {
+
91  {c2uLogLevel::NONE, "c2uNONE"},
+
92  {c2uLogLevel::INFO, "c2uINFO"},
+
93  {c2uLogLevel::WARN, "c2uWARN"},
+
94  {c2uLogLevel::PROMPT, "c2uPROMPT"}
+
95 };
+
96 
+
103 enum class SensorType {
+
104  None = -1,
+
105  Accelerometer,
+
106  Gyroscope,
+
107  Camera,
+
108  Depth,
+
109  Ray
+
110 };
+
111 
+
119 enum class ShapeType {
+
120  Box,
+
121  Cylinder,
+
122  Sphere,
+
123  None
+
124 };
+
125 
+
129 static const std::map<SensorType, std::string> sensor_type_map = {
+
130  {SensorType::Accelerometer, "accelerometer"},
+
131  {SensorType::Gyroscope, "gyroscope"},
+
132  {SensorType::Camera, "camera"},
+
133  {SensorType::Depth, "depth"},
+
134  {SensorType::Ray, "ray"}
+
135 };
+
136 
+
140 static const std::map<ShapeType, std::string> shape_type_map = {
+
141  { ShapeType::Box, "box" },
+
142  { ShapeType::Cylinder, "cylinder" },
+
143  { ShapeType::Sphere, "sphere" },
+
144  { ShapeType::Cylinder, "cylinder"},
+
145  { ShapeType::Sphere, "sphere"},
+
146  { ShapeType::None, "empty"}
+
147 };
+
148 
+
155 static const std::map<SensorType, std::string> gazebo_sensor_type_map = {
+
156  {SensorType::Accelerometer, "imu"},
+
157  {SensorType::Gyroscope, "gyroscope"},
+
158  {SensorType::Camera, "camera"},
+
159  {SensorType::Depth, "depth"},
+
160  {SensorType::Ray, "ray"}
+
161 };
+
162 
+
169 struct SensorInfo {
+
170  std::string sensorName{ "" };
+
171  std::string frameName{ "" };
+
172  std::string linkName{ "" };
+
173  std::string exportedFrameName{ "" };
+
174  iDynTree::Transform transform{ iDynTree::Transform::Identity() };
+
175  bool exportFrameInURDF{ false };
+
176  SensorType type{ SensorType::None };
+
177  double updateRate{ 100 };
+
178  std::vector<std::string> xmlBlobs;
+
179 };
+
180 
+
184 struct FTSensorInfo {
+
185  bool directionChildToParent{true};
+
186  std::string frame{"sensor"};
+
187  std::string sensorName{""};
+
188  std::string frameName{""};
+
189  std::string linkName{" "};
+
190  std::string exportedFrameName{""};
+
191  iDynTree::Transform parent_link_H_sensor{iDynTree::Transform::Identity()};
+
192  iDynTree::Transform child_link_H_sensor{iDynTree::Transform::Identity()};
+
193  bool exportFrameInURDF{false};
+
194  std::vector<std::string> xmlBlobs;
+
195 };
+
196 
+
200 struct ExportedFrameInfo {
+
201  std::string frameReferenceLink{""};
+
202  std::string exportedFrameName{""};
+
203  iDynTree::Transform linkFrame_H_additionalFrame{iDynTree::Transform::Identity()};
+
204  iDynTree::Transform additionalTransformation{iDynTree::Transform::Identity()};
+
205 };
+
206 
+
210 struct CollisionGeometryInfo {
+
211  ShapeType shape{ShapeType::None};
+
212  std::array<double, 3> size{1.0, 1.0, 1.0};
+
213  double radius{1.0};
+
214  double length{1.0};
+
215  iDynTree::Transform link_H_geometry{iDynTree::Transform::Identity()};
+
216 };
+
217 
+
221 enum class JointType {
+
222  Revolute,
+
223  Fixed,
+
224  Linear,
+
225  Spherical,
+
226  None
+
227 };
+
228 
+
232 struct JointInfo {
+
233  std::string datum_name{""};
+
234  std::string parent_link_name{""};
+
235  std::string child_link_name{""};
+
236  JointType type{JointType::Revolute};
+
237 
+
241  struct Limits {
+
242  double min = 0.0;
+
243  double max = 360.0;
+
244  } limits;
+
245 
+
249  struct DynamicParams {
+
250  double damping = 1.0;
+
251  double friction = 0.0;
+
252  } dynamics;
+
253 };
+
254 
+
258 struct LinkInfo {
+
259  std::string name{""};
+
260  pfcModel_ptr modelhdl{nullptr};
+
261  iDynTree::Transform root_H_link{iDynTree::Transform::Identity()};
+
262  std::string link_frame_name{""};
+
263 };
+
264 
+
270 class iDynRedirectErrors {
+
271 public:
+
275  iDynRedirectErrors() {
+
276  old_buf = nullptr;
+
277  }
+
278 
+
284  ~iDynRedirectErrors() {
+
285  restoreBuffer();
+
286  }
+
287 
+
294  void redirectBuffer(std::streambuf* old_buffer, const std::string& filename)
+
295  {
+
296  old_buf = old_buffer;
+
297  idyn_out = std::ofstream(filename);
+
298  std::cerr.rdbuf(idyn_out.rdbuf());
+
299  }
+
300 
+
307  void restoreBuffer() {
+
308  if (old_buf != nullptr) {
+
309  std::cerr.rdbuf(old_buf);
+
310  }
+
311 
+
312  if (idyn_out.is_open()) {
+
313  idyn_out.close();
+
314  }
+
315  }
+
316 
+
317 private:
+
318  std::streambuf* old_buf;
+
319  std::ofstream idyn_out;
+
320 };
+
321 
+
330 template <class T>
+
331 T stringToEnum(const std::map<T, std::string> & map, const std::string & s)
+
332 {
+
333  for (auto& t : map)
+
334  if (t.second == s) return t.first;
+
335 
+
336  return static_cast<T>(-1);
+
337 }
+
338 
+
346 std::array<double, 3> computeUnitVectorFromAxis(pfcCurveDescriptor_ptr axis_data);
+
347 
+
355 std::vector<string> getSolidDatumNames(pfcSolid_ptr solid, pfcModelItemType type);
+
356 
+
365 iDynTree::Transform fromCreo(pfcTransform3D_ptr creo_trf, const array<double, 3>& scale = { 1.0,1.0,1.0 });
+
366 
+
376 void printToMessageWindow(std::string message, c2uLogLevel log_level = c2uLogLevel::INFO);
+
377 
+
384 void printTransformMatrix(pfcTransform3D_ptr m);
+
385 
+
391 void printRotationMatrix(pfcMatrix3D_ptr m);
+
392 
+
400 void sanitizeSTL(std::string stl);
+
401 
+
415 std::pair<bool, iDynTree::Transform> getTransformFromRootToChild(pfcComponentPath_ptr comp_path, pfcModel_ptr modelhdl, const std::string& link_frame_name, const array<double, 3>& scale);
+
416 
+
429 std::pair<bool, iDynTree::Transform> getTransformFromPart(pfcModel_ptr modelhdl, const std::string& link_frame_name, const array<double, 3>& scale);
+
430 
+
441 std::pair<bool, iDynTree::Direction> getAxisFromPart(pfcModel_ptr modelhdl, const std::string& axis_name, const std::string& link_frame_name, const array<double, 3>& scale);
+
442 
+
449 std::string extractFolderPath(const std::string& filePath);
+
450 
+
459 void mergeYAMLNodes(YAML::Node& dest, const YAML::Node& src);
+
460 
+
461 #endif // !UTILS_H
+
computeUnitVectorFromAxis
std::array< double, 3 > computeUnitVectorFromAxis(pfcCurveDescriptor_ptr axis_data)
Computes the unit vector of a Creo Axis. The axis is defined by start and end point,...
+
mesh_types_supported_extension_map
const std::unordered_map< std::string, std::string > mesh_types_supported_extension_map
Map containing the supported mesh types and their corresponding file extensions.
Definition: Utils.h:63
+
getTransformFromPart
std::pair< bool, iDynTree::Transform > getTransformFromPart(pfcModel_ptr modelhdl, const std::string &link_frame_name, const array< double, 3 > &scale)
Retrieves the transformation matrix representing the coordinate system of a specified link frame in t...
+
SensorType
SensorType
Enum representing types of sensors.
Definition: Utils.h:103
+
SensorType::Depth
@ Depth
Depth sensor type, usually associated with a RGBD camera.
+
SensorType::None
@ None
Default or invalid sensor type.
+
SensorType::Ray
@ Ray
Ray sensor type, such as LIDAR.
+
SensorType::Camera
@ Camera
Camera sensor type, usually RGB.
+
SensorType::Accelerometer
@ Accelerometer
Accelerometer sensor type.
+
SensorType::Gyroscope
@ Gyroscope
Gyroscope sensor type.
+
getAxisFromPart
std::pair< bool, iDynTree::Direction > getAxisFromPart(pfcModel_ptr modelhdl, const std::string &axis_name, const std::string &link_frame_name, const array< double, 3 > &scale)
Gets the desired axis the from the model. The direction is expressed in the coordinate system defined...
+
gravity_z
constexpr double gravity_z
Standard gravitational acceleration in the z-direction.
Definition: Utils.h:58
+
log_level_key
static const std::map< c2uLogLevel, std::string > log_level_key
Map associating c2uLogLevel with corresponding string representations.
Definition: Utils.h:90
+
sanitizeSTL
void sanitizeSTL(std::string stl)
Replaces the first 5 bytes of a binary STL file with the string "robot". This is necessary to avoid a...
+
ShapeType
ShapeType
Enum representing simple shapes that can be associated to links.
Definition: Utils.h:119
+
ShapeType::Cylinder
@ Cylinder
Cylinder shape type.
+
ShapeType::Box
@ Box
Box shape type.
+
ShapeType::None
@ None
Default or invalid shape type.
+
ShapeType::Sphere
@ Sphere
Sphere shape type.
+
mergeYAMLNodes
void mergeYAMLNodes(YAML::Node &dest, const YAML::Node &src)
Merge two YAML nodes, recursively.
+
getTransformFromRootToChild
std::pair< bool, iDynTree::Transform > getTransformFromRootToChild(pfcComponentPath_ptr comp_path, pfcModel_ptr modelhdl, const std::string &link_frame_name, const array< double, 3 > &scale)
Retrieves the transformation from the root to a specified link frame in the context of a component pa...
+
rad2deg
constexpr double rad2deg
Conversion factor from radians to degrees.
Definition: Utils.h:45
+
sensor_type_map
static const std::map< SensorType, std::string > sensor_type_map
Mapping of SensorType to string representations for use within the URDF specification.
Definition: Utils.h:129
+
printTransformMatrix
void printTransformMatrix(pfcTransform3D_ptr m)
Prints to the message window a Creo 3D transform in both origin and orientation using the iDynTree re...
+
c2uLogLevel
c2uLogLevel
Definition: Utils.h:76
+
c2uLogLevel::WARN
@ WARN
Warning messages indicating potential issues or unexpected conditions.
+
c2uLogLevel::PROMPT
@ PROMPT
Prompt messages that request user input.
+
c2uLogLevel::INFO
@ INFO
Informational messages that provide general information about creo2urdf behavior.
+
c2uLogLevel::NONE
@ NONE
Messages that need no specific connotation.
+
fromCreo
iDynTree::Transform fromCreo(pfcTransform3D_ptr creo_trf, const array< double, 3 > &scale={ 1.0, 1.0, 1.0 })
Converts a 3D Creo transform into iDynTree transform. The position is defined as a 3-elements vector ...
+
gazebo_sensor_type_map
static const std::map< SensorType, std::string > gazebo_sensor_type_map
Mapping of SensorType to string representations for Gazebo URDF format.
Definition: Utils.h:155
+
printRotationMatrix
void printRotationMatrix(pfcMatrix3D_ptr m)
Prints to the message window a Creo 3D rotation matrix in SO(3)
+
epsilon
constexpr double epsilon
Small positive value used for numerical precision comparisons.
Definition: Utils.h:40
+
getSolidDatumNames
std::vector< string > getSolidDatumNames(pfcSolid_ptr solid, pfcModelItemType type)
Get the datums defined in a Solid depending on the selected type.
+
printToMessageWindow
void printToMessageWindow(std::string message, c2uLogLevel log_level=c2uLogLevel::INFO)
Prints a string to the message window on the bottom part of the Creo Parametric UI....
+
deg2rad
constexpr double deg2rad
Conversion factor from degrees to radians.
Definition: Utils.h:50
+
stringToEnum
T stringToEnum(const std::map< T, std::string > &map, const std::string &s)
Converts a string to an enum value using a mapping.
Definition: Utils.h:331
+
extractFolderPath
std::string extractFolderPath(const std::string &filePath)
Extracts the folder path from a file path.
+
shape_type_map
static const std::map< ShapeType, std::string > shape_type_map
Mapping of ShapeType to string representations for use within the URDF specification.
Definition: Utils.h:140
+
JointType
JointType
Enumeration representing types of joints and their allowed motion.
Definition: Utils.h:221
+
JointType::Spherical
@ Spherical
UNAVAILABLE - Spherical joint allows rotation in all directions.
+
JointType::Linear
@ Linear
Linear (or prismatic) joint allows translational motion along a single axis.
+
JointType::Revolute
@ Revolute
Revolute joint allows rotation around a single axis.
+
JointType::Fixed
@ Fixed
Fixed joint restricts all motion, providing no degree of freedom.
+
iDynRedirectErrors
Utility class for redirecting to file the errors that iDynTree prints to stderr.
Definition: Utils.h:270
+
iDynRedirectErrors::~iDynRedirectErrors
~iDynRedirectErrors()
Destructor for iDynRedirectErrors.
Definition: Utils.h:284
+
iDynRedirectErrors::old_buf
std::streambuf * old_buf
Pointer to the original stream buffer.
Definition: Utils.h:318
+
iDynRedirectErrors::iDynRedirectErrors
iDynRedirectErrors()
Default constructor for iDynRedirectErrors.
Definition: Utils.h:275
+
iDynRedirectErrors::redirectBuffer
void redirectBuffer(std::streambuf *old_buffer, const std::string &filename)
Redirects standard error stream to a specified file.
Definition: Utils.h:294
+
iDynRedirectErrors::idyn_out
std::ofstream idyn_out
File stream for redirecting stderr to a file.
Definition: Utils.h:319
+
iDynRedirectErrors::restoreBuffer
void restoreBuffer()
Restores the standard error stream to its original state.
Definition: Utils.h:307
+
CollisionGeometryInfo
Information about collision geometry. Useful to simplify the evaluation of collisions between meshes.
Definition: Utils.h:210
+
CollisionGeometryInfo::size
std::array< double, 3 > size
Size of the collision geometry.
Definition: Utils.h:212
+
CollisionGeometryInfo::link_H_geometry
iDynTree::Transform link_H_geometry
3D transform from link reference frame to simplified geometry.
Definition: Utils.h:215
+
CollisionGeometryInfo::radius
double radius
Radius of the collision geometry (if applicable).
Definition: Utils.h:213
+
CollisionGeometryInfo::shape
ShapeType shape
Type of the collision shape.
Definition: Utils.h:211
+
CollisionGeometryInfo::length
double length
Length of the collision geometry (if applicable).
Definition: Utils.h:214
+
ExportedFrameInfo
Information about an exported frame.
Definition: Utils.h:200
+
ExportedFrameInfo::frameReferenceLink
std::string frameReferenceLink
Link that the frame belongs to.
Definition: Utils.h:201
+
ExportedFrameInfo::exportedFrameName
std::string exportedFrameName
Name of the exported frame.
Definition: Utils.h:202
+
ExportedFrameInfo::linkFrame_H_additionalFrame
iDynTree::Transform linkFrame_H_additionalFrame
3D transform from link frame to additional frame.
Definition: Utils.h:203
+
ExportedFrameInfo::additionalTransformation
iDynTree::Transform additionalTransformation
Additional 3D transform.
Definition: Utils.h:204
+
FTSensorInfo
Information about a Force Torque sensor. Forces are measured in N, torques in N*m.
Definition: Utils.h:184
+
FTSensorInfo::exportFrameInURDF
bool exportFrameInURDF
Flag indicating whether to export the frame in URDF.
Definition: Utils.h:193
+
FTSensorInfo::parent_link_H_sensor
iDynTree::Transform parent_link_H_sensor
3D transform from parent link to sensor.
Definition: Utils.h:191
+
FTSensorInfo::frame
std::string frame
Frame associated with the FT sensor.
Definition: Utils.h:186
+
FTSensorInfo::child_link_H_sensor
iDynTree::Transform child_link_H_sensor
3D transform from child link to sensor.
Definition: Utils.h:192
+
FTSensorInfo::linkName
std::string linkName
Name of the associated link.
Definition: Utils.h:189
+
FTSensorInfo::sensorName
std::string sensorName
Name of the FT sensor.
Definition: Utils.h:187
+
FTSensorInfo::exportedFrameName
std::string exportedFrameName
Name of the exported frame.
Definition: Utils.h:190
+
FTSensorInfo::frameName
std::string frameName
Name of the frame.
Definition: Utils.h:188
+
FTSensorInfo::xmlBlobs
std::vector< std::string > xmlBlobs
Vector of XML blobs that can be appended to the XML tree.
Definition: Utils.h:194
+
FTSensorInfo::directionChildToParent
bool directionChildToParent
Flag indicating the direction from child to parent.
Definition: Utils.h:185
+
JointInfo::DynamicParams
Dynamic parameters for the joint.
Definition: Utils.h:249
+
JointInfo::DynamicParams::damping
double damping
Damping coefficient for the joint.
Definition: Utils.h:250
+
JointInfo::DynamicParams::friction
double friction
Friction coefficient for the joint.
Definition: Utils.h:251
+
JointInfo::Limits
Limits for joint movement.
Definition: Utils.h:241
+
JointInfo::Limits::min
double min
Minimum allowed value for joint movement.
Definition: Utils.h:242
+
JointInfo::Limits::max
double max
Maximum allowed value for joint movement.
Definition: Utils.h:243
+
JointInfo
Information about a joint, including its type, limits, and dynamic parameters.
Definition: Utils.h:232
+
JointInfo::type
JointType type
Type of the joint (default is revolute).
Definition: Utils.h:236
+
JointInfo::datum_name
std::string datum_name
Name of the joint's associated datum (axis for revolute, csys for fixed).
Definition: Utils.h:233
+
JointInfo::dynamics
struct JointInfo::DynamicParams dynamics
+
JointInfo::child_link_name
std::string child_link_name
Name of the child link connected to the joint.
Definition: Utils.h:235
+
JointInfo::limits
struct JointInfo::Limits limits
+
JointInfo::parent_link_name
std::string parent_link_name
Name of the parent link connected to the joint.
Definition: Utils.h:234
+
LinkInfo
Information about a link, including its name, model handle, transformation, and frame name.
Definition: Utils.h:258
+
LinkInfo::root_H_link
iDynTree::Transform root_H_link
3D Transform from the root to the link's reference frame.
Definition: Utils.h:261
+
LinkInfo::modelhdl
pfcModel_ptr modelhdl
Pointer to the Creo model associated with the link.
Definition: Utils.h:260
+
LinkInfo::name
std::string name
Name of the link.
Definition: Utils.h:259
+
LinkInfo::link_frame_name
std::string link_frame_name
Name of the link frame.
Definition: Utils.h:262
+
SensorInfo
Struct representing information about a sensor.
Definition: Utils.h:169
+
SensorInfo::exportedFrameName
std::string exportedFrameName
Name of the exported frame.
Definition: Utils.h:173
+
SensorInfo::xmlBlobs
std::vector< std::string > xmlBlobs
Additional XML blobs that can be appended to the XML tree.
Definition: Utils.h:178
+
SensorInfo::sensorName
std::string sensorName
Name of the sensor.
Definition: Utils.h:170
+
SensorInfo::frameName
std::string frameName
Name of the associated frame.
Definition: Utils.h:171
+
SensorInfo::updateRate
double updateRate
Update rate of the sensor.
Definition: Utils.h:177
+
SensorInfo::exportFrameInURDF
bool exportFrameInURDF
Flag indicating whether to export the frame in URDF.
Definition: Utils.h:175
+
SensorInfo::type
SensorType type
Type of the sensor.
Definition: Utils.h:176
+
SensorInfo::linkName
std::string linkName
Name of the link it is attached to.
Definition: Utils.h:172
+
SensorInfo::transform
iDynTree::Transform transform
3D transform associated with the sensor.
Definition: Utils.h:174
+
+
+ + + + diff --git a/doc/doxygen/doc/html/Validator_8h.html b/doc/doxygen/doc/html/Validator_8h.html new file mode 100644 index 0000000..f7d94cc --- /dev/null +++ b/doc/doxygen/doc/html/Validator_8h.html @@ -0,0 +1,114 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Validator.h File Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes
+
+
Validator.h File Reference
+
+
+
#include <pfcGlobal.h>
+#include <creo2urdf/Utils.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/KinDynComputations.h>
+
+

Go to the source code of this file.

+ + + + + + +

+Classes

class  Validator
 
class  ValidatorAccess
 
+
+
+ + + + diff --git a/doc/doxygen/doc/html/Validator_8h_source.html b/doc/doxygen/doc/html/Validator_8h_source.html new file mode 100644 index 0000000..3a46ac9 --- /dev/null +++ b/doc/doxygen/doc/html/Validator_8h_source.html @@ -0,0 +1,151 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Validator.h Source File + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Validator.h
+
+
+Go to the documentation of this file.
1 /*
+
2  * Copyright (C) 2006-2023 Istituto Italiano di Tecnologia (IIT)
+
3  * All rights reserved.
+
4  *
+
5  * This software may be modified and distributed under the terms of the
+
6  * BSD-3-Clause license. See the accompanying LICENSE file for details.
+
7  */
+
8 
+
9 #ifndef VALIDATOR_H
+
10 #define VALIDATOR_H
+
11 
+
12 #include <pfcGlobal.h>
+
13 #include <creo2urdf/Utils.h>
+
14 
+
15 #include <iDynTree/ModelIO/ModelLoader.h>
+
16 #include <iDynTree/KinDynComputations.h>
+
17 
+
18 class Validator : public pfcUICommandActionListener {
+
19 public:
+
20  void OnCommand() override;
+
21 
+
22 private:
+
23 
+
24  iDynTree::Model idyn_model;
+
25  pfcSession_ptr creo_session_ptr;
+
26  pfcModel_ptr creo_model_ptr;
+
27  std::map<std::string, iDynTree::Transform> link_name_to_creo_computed_trf_map;
+
28  iDynTree::KinDynComputations computer;
+
29 
+
30  bool loadUrdfFromFile(const std::string& filename);
+
31  bool assignCreoTransformToLink();
+
32  bool validatePositions(iDynTree::VectorDynSize positions);
+
33 };
+
34 
+
35 class ValidatorAccess : public pfcUICommandAccessListener {
+
36 public:
+
37  pfcCommandAccess OnCommandAccess(xbool AllowErrorMessages) override;
+
38 };
+
39 
+
40 #endif // VALIDATOR_H
+
Utils.h
Utility functions amd data shared by classes.
+ +
ValidatorAccess::OnCommandAccess
pfcCommandAccess OnCommandAccess(xbool AllowErrorMessages) override
+ +
Validator::loadUrdfFromFile
bool loadUrdfFromFile(const std::string &filename)
+
Validator::creo_model_ptr
pfcModel_ptr creo_model_ptr
Definition: Validator.h:26
+
Validator::assignCreoTransformToLink
bool assignCreoTransformToLink()
+
Validator::link_name_to_creo_computed_trf_map
std::map< std::string, iDynTree::Transform > link_name_to_creo_computed_trf_map
Definition: Validator.h:27
+
Validator::validatePositions
bool validatePositions(iDynTree::VectorDynSize positions)
+
Validator::creo_session_ptr
pfcSession_ptr creo_session_ptr
Definition: Validator.h:25
+
Validator::OnCommand
void OnCommand() override
+
Validator::computer
iDynTree::KinDynComputations computer
Definition: Validator.h:28
+
Validator::idyn_model
iDynTree::Model idyn_model
Definition: Validator.h:24
+
+
+ + + + diff --git a/doc/doxygen/doc/html/annotated.html b/doc/doxygen/doc/html/annotated.html new file mode 100644 index 0000000..873e92c --- /dev/null +++ b/doc/doxygen/doc/html/annotated.html @@ -0,0 +1,116 @@ + + + + + + + +Creo2Urdf: Class List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Class List
+
+
+
Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 12]
+ + + + + + + + + + + + + + + +
 CCollisionGeometryInfoInformation about collision geometry. Useful to simplify the evaluation of collisions between meshes
 CCreo2UrdfA class that exports a Creo mechanism assembly to URDF
 CCreo2UrdfAccess
 CElementTreeManagerExtracts the ElementTree of a part and provides methods to extract information from it
 CExportedFrameInfoInformation about an exported frame
 CFTSensorInfoInformation about a Force Torque sensor. Forces are measured in N, torques in N*m
 CiDynRedirectErrorsUtility class for redirecting to file the errors that iDynTree prints to stderr
 ▼CJointInfoInformation about a joint, including its type, limits, and dynamic parameters
 CDynamicParamsDynamic parameters for the joint
 CLimitsLimits for joint movement
 CLinkInfoInformation about a link, including its name, model handle, transformation, and frame name
 CSensorInfoStruct representing information about a sensor
 CSensorizerRepresents a Sensorizer class, used read sensors information from a YAML node, and create the related XML blobs to feed to iDynTree Model Exporter
 CValidator
 CValidatorAccess
+
+
+
+ + + + diff --git a/doc/doxygen/doc/html/annotated_dup.js b/doc/doxygen/doc/html/annotated_dup.js new file mode 100644 index 0000000..c39158c --- /dev/null +++ b/doc/doxygen/doc/html/annotated_dup.js @@ -0,0 +1,16 @@ +var annotated_dup = +[ + [ "CollisionGeometryInfo", "structCollisionGeometryInfo.html", "structCollisionGeometryInfo" ], + [ "Creo2Urdf", "classCreo2Urdf.html", "classCreo2Urdf" ], + [ "Creo2UrdfAccess", "classCreo2UrdfAccess.html", "classCreo2UrdfAccess" ], + [ "ElementTreeManager", "classElementTreeManager.html", "classElementTreeManager" ], + [ "ExportedFrameInfo", "structExportedFrameInfo.html", "structExportedFrameInfo" ], + [ "FTSensorInfo", "structFTSensorInfo.html", "structFTSensorInfo" ], + [ "iDynRedirectErrors", "classiDynRedirectErrors.html", "classiDynRedirectErrors" ], + [ "JointInfo", "structJointInfo.html", "structJointInfo" ], + [ "LinkInfo", "structLinkInfo.html", "structLinkInfo" ], + [ "SensorInfo", "structSensorInfo.html", "structSensorInfo" ], + [ "Sensorizer", "structSensorizer.html", "structSensorizer" ], + [ "Validator", "classValidator.html", "classValidator" ], + [ "ValidatorAccess", "classValidatorAccess.html", "classValidatorAccess" ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/bc_s.png b/doc/doxygen/doc/html/bc_s.png new file mode 100644 index 0000000..893b7dd Binary files /dev/null and b/doc/doxygen/doc/html/bc_s.png differ diff --git a/doc/doxygen/doc/html/bdwn.png b/doc/doxygen/doc/html/bdwn.png new file mode 100644 index 0000000..842893f Binary files /dev/null and b/doc/doxygen/doc/html/bdwn.png differ diff --git a/doc/doxygen/doc/html/bug.html b/doc/doxygen/doc/html/bug.html new file mode 100644 index 0000000..bf14480 --- /dev/null +++ b/doc/doxygen/doc/html/bug.html @@ -0,0 +1,108 @@ + + + + + + + +Creo2Urdf: Bug List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Bug List
+
+
+
+
File Creo2Urdf.h
+
No known bugs.
+
File ElementTreeManager.h
+
No known bugs.
+
File Sensorizer.h
+
No known bugs.
+
File Utils.h
+
No known bugs.
+
+
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classCreo2Urdf-members.html b/doc/doxygen/doc/html/classCreo2Urdf-members.html new file mode 100644 index 0000000..4953085 --- /dev/null +++ b/doc/doxygen/doc/html/classCreo2Urdf-members.html @@ -0,0 +1,129 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Creo2Urdf Member List
+
+
+ +

This is the complete list of members for Creo2Urdf, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
addMeshAndExport(pfcModel_ptr component_handle, const std::string &mesh_transform)Creo2Urdfprivate
assigned_collision_geometry_mapCreo2Urdfprivate
assigned_inertias_mapCreo2Urdfprivate
computeSpatialInertiafromCreo(pfcMassProperty_ptr mass_prop, iDynTree::Transform H, const std::string &link_name)Creo2Urdfprivate
configCreo2Urdfprivate
Creo2Urdf()=defaultCreo2Urdf
Creo2Urdf(const std::string &yaml_path, const std::string &csv_path, const std::string &output_path, pfcModel_ptr asm_model_ptr)Creo2Urdfinline
exportAllUseraddedCreo2Urdfprivate
exported_frame_info_mapCreo2Urdfprivate
exportModelToUrdf(iDynTree::Model mdl, iDynTree::ModelExporterOptions options)Creo2Urdfprivate
getRenameElementFromConfig(const std::string &elem_name)Creo2Urdfprivate
idyn_modelCreo2Urdfprivate
joint_info_mapCreo2Urdfprivate
link_info_mapCreo2Urdfprivate
loadYamlConfig(const std::string &filename)Creo2Urdfprivate
m_asm_model_ptrCreo2Urdfprivate
m_csv_pathCreo2Urdfprivate
m_output_pathCreo2Urdfprivate
m_yaml_pathCreo2Urdfprivate
OnCommand() overrideCreo2Urdf
originRPYCreo2Urdfprivate
originXYZCreo2Urdfprivate
populateExportedFrameInfoMap(pfcModel_ptr modelhdl)Creo2Urdfprivate
readAssignedCollisionGeometryFromConfig()Creo2Urdfprivate
readAssignedInertiasFromConfig()Creo2Urdfprivate
readExportedFramesFromConfig()Creo2Urdfprivate
scaleCreo2Urdfprivate
warningsAreFatalCreo2Urdfprivate
~Creo2Urdf()=defaultCreo2Urdf
+
+ + + + diff --git a/doc/doxygen/doc/html/classCreo2Urdf.html b/doc/doxygen/doc/html/classCreo2Urdf.html new file mode 100644 index 0000000..80b857b --- /dev/null +++ b/doc/doxygen/doc/html/classCreo2Urdf.html @@ -0,0 +1,1075 @@ + + + + + + + +Creo2Urdf: Creo2Urdf Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Private Member Functions | +Private Attributes | +List of all members
+
+
Creo2Urdf Class Reference
+
+
+ +

A class that exports a Creo mechanism assembly to URDF. + More...

+ +

#include <Creo2Urdf.h>

+ + + + + + + + + + + +

+Public Member Functions

void OnCommand () override
 Callback function triggered when the button is clicked. More...
 
 Creo2Urdf ()=default
 
 ~Creo2Urdf ()=default
 
 Creo2Urdf (const std::string &yaml_path, const std::string &csv_path, const std::string &output_path, pfcModel_ptr asm_model_ptr)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Private Member Functions

bool exportModelToUrdf (iDynTree::Model mdl, iDynTree::ModelExporterOptions options)
 Export the iDynTree model to URDF format if it is valid. More...
 
iDynTree::SpatialInertia computeSpatialInertiafromCreo (pfcMassProperty_ptr mass_prop, iDynTree::Transform H, const std::string &link_name)
 Compute spatial inertia from Creo mass properties. The mass properties are overridden by the YAML configuration if present in the file. More...
 
void populateExportedFrameInfoMap (pfcModel_ptr modelhdl)
 Populate the exported frame information map from the Creo model handle. More...
 
void readAssignedInertiasFromConfig ()
 Read assigned inertias from the loaded YAML configuration. More...
 
void readAssignedCollisionGeometryFromConfig ()
 Read assigned collision geometry from the loaded YAML configuration. More...
 
void readExportedFramesFromConfig ()
 Read exported frames from the loaded YAML configuration. More...
 
bool addMeshAndExport (pfcModel_ptr component_handle, const std::string &mesh_transform)
 Creates a mesh file from the Creo model in the form defined in the configuration file. More...
 
bool loadYamlConfig (const std::string &filename)
 Load YAML configuration from a file. More...
 
std::string getRenameElementFromConfig (const std::string &elem_name)
 Get the renamed element from the configuration. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Private Attributes

iDynTree::Model idyn_model
 
std::map< std::string, JointInfo > joint_info_map
 
std::map< std::string, LinkInfo > link_info_map
 
std::map< std::string, ExportedFrameInfo > exported_frame_info_map
 
std::map< std::string, std::array< double, 3 > > assigned_inertias_map
 
std::map< std::string, CollisionGeometryInfo > assigned_collision_geometry_map
 
YAML::Node config
 
bool exportAllUseradded { false }
 
std::array< double, 3 > scale { 1.0, 1.0, 1.0 }
 
std::array< double, 3 > originXYZ {0.0, 0.0, 0.0}
 
std::array< double, 3 > originRPY {0.0, 0.0, 0.0}
 
bool warningsAreFatal { true }
 
std::string m_yaml_path { "" }
 
std::string m_csv_path { "" }
 
std::string m_output_path { "" }
 
pfcModel_ptr m_asm_model_ptr { nullptr }
 
+

Detailed Description

+

A class that exports a Creo mechanism assembly to URDF.

+

This class inherits from pfcUICommandActionListener and provides functionality to export a Creo model to URDF format, incorporating options and configurations.

+ +

Definition at line 37 of file Creo2Urdf.h.

+

Constructor & Destructor Documentation

+ +

◆ Creo2Urdf() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
Creo2Urdf::Creo2Urdf ()
+ 		+default
+
+ +
+
+ +

◆ ~Creo2Urdf()

+ +
+
+ + + + + +
+ + + + + + + +
Creo2Urdf::~Creo2Urdf ()
+ 		+default
+
+ +
+
+ +

◆ Creo2Urdf() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Creo2Urdf::Creo2Urdf (const std::string & yaml_path,
const std::string & csv_path,
const std::string & output_path,
pfcModel_ptr asm_model_ptr 
)
+ 		+inline
+
+ +

Definition at line 66 of file Creo2Urdf.h.

+ +
+
+

Member Function Documentation

+ +

◆ addMeshAndExport()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool Creo2Urdf::addMeshAndExport (pfcModel_ptr component_handle,
const std::string & mesh_transform 
)
+ 		+private
+
+ +

Creates a mesh file from the Creo model in the form defined in the configuration file.

+
Parameters
+ + + +
component_handleThe part as a Creo model.
mesh_transformThe 3D transform associated to the mesh.
+
+
+
Returns
True if successful, false otherwise.
+ +
+
+ +

◆ computeSpatialInertiafromCreo()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
iDynTree::SpatialInertia Creo2Urdf::computeSpatialInertiafromCreo (pfcMassProperty_ptr mass_prop,
iDynTree::Transform H,
const std::string & link_name 
)
+ 		+private
+
+ +

Compute spatial inertia from Creo mass properties. The mass properties are overridden by the YAML configuration if present in the file.

+
Parameters
+ + + + +
mass_propThe Creo mass properties.
HThe 3D transform matrix to express the center of mass in the link frame.
link_nameThe name of the link.
+
+
+
Returns
The computed spatial inertia.
+ +
+
+ +

◆ exportModelToUrdf()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool Creo2Urdf::exportModelToUrdf (iDynTree::Model mdl,
iDynTree::ModelExporterOptions options 
)
+ 		+private
+
+ +

Export the iDynTree model to URDF format if it is valid.

+
Parameters
+ + + +
mdlThe iDynTree model to be exported.
optionsThe exporter options for configuring the export process.
+
+
+
Returns
True if the export is successful, false otherwise.
+ +
+
+ +

◆ getRenameElementFromConfig()

+ +
+
+ + + + + +
+ + + + + + + + +
std::string Creo2Urdf::getRenameElementFromConfig (const std::string & elem_name)
+ 		+private
+
+ +

Get the renamed element from the configuration.

+
Parameters
+ + +
elem_nameThe original element name.
+
+
+
Returns
The renamed element name.
+ +
+
+ +

◆ loadYamlConfig()

+ +
+
+ + + + + +
+ + + + + + + + +
bool Creo2Urdf::loadYamlConfig (const std::string & filename)
+ 		+private
+
+ +

Load YAML configuration from a file.

+
Parameters
+ + +
filenameThe name of the YAML configuration file.
+
+
+
Returns
True if successful, false otherwise.
+ +
+
+ +

◆ OnCommand()

+ +
+
+ + + + + +
+ + + + + + + +
void Creo2Urdf::OnCommand ()
+ 		+override
+
+ +

Callback function triggered when the button is clicked.

+

This function is ran when the user clicks on the Creo2Urdf button, and contains the main loop of the plugin. By reading the kinematic and dynamic information of the assembly, it creates an iDynTree model. The ModelExporter class of iDynTree is then used to create the URDF file.
+ The order of operations is the following:

    +
  • Prompt the user to select a .yaml file containing the export config
    • +
  • Prompt the user to select a .csv file containing joint info
    • +
  • Populates the data members of creo2urdf from the config
    • +
  • For each element in the assembly
      +
    1. Create the elementTree and store the joint info between part and parent
      2. +
    2. Get the mass properties of the current part
      3. +
    3. Instantiate an iDynTree link from the current part
      4. +
    4. Add mesh to the link
      5. +
    +
    • +
  • For each element in the joint info map
      +
    1. Create a iDynTree joint between parts
      2. +
    +
    • +
  • Add the sensors to the iDynTree Model
    • +
  • Add the exported frames to the links
    • +
  • Add the export options to the iDynTree model exporter
    • +
  • Export the iDynTree model to urdf file
    • +
+ +
+
+ +

◆ populateExportedFrameInfoMap()

+ +
+
+ + + + + +
+ + + + + + + + +
void Creo2Urdf::populateExportedFrameInfoMap (pfcModel_ptr modelhdl)
+ 		+private
+
+ +

Populate the exported frame information map from the Creo model handle.

+
Parameters
+ + +
modelhdlThe Creo model handle.
+
+
+ +
+
+ +

◆ readAssignedCollisionGeometryFromConfig()

+ +
+
+ + + + + +
+ + + + + + + +
void Creo2Urdf::readAssignedCollisionGeometryFromConfig ()
+ 		+private
+
+ +

Read assigned collision geometry from the loaded YAML configuration.

+ +
+
+ +

◆ readAssignedInertiasFromConfig()

+ +
+
+ + + + + +
+ + + + + + + +
void Creo2Urdf::readAssignedInertiasFromConfig ()
+ 		+private
+
+ +

Read assigned inertias from the loaded YAML configuration.

+ +
+
+ +

◆ readExportedFramesFromConfig()

+ +
+
+ + + + + +
+ + + + + + + +
void Creo2Urdf::readExportedFramesFromConfig ()
+ 		+private
+
+ +

Read exported frames from the loaded YAML configuration.

+ +
+
+

Member Data Documentation

+ +

◆ assigned_collision_geometry_map

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, CollisionGeometryInfo> Creo2Urdf::assigned_collision_geometry_map
+ 		+private
+
+

Map storing assigned collision geometries.

+ +

Definition at line 139 of file Creo2Urdf.h.

+ +
+
+ +

◆ assigned_inertias_map

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, std::array<double,3> > Creo2Urdf::assigned_inertias_map
+ 		+private
+
+

Map storing assigned inertias. 0 -> xx, 1 -> yy, 2 -> zz.

+ +

Definition at line 138 of file Creo2Urdf.h.

+ +
+
+ +

◆ config

+ +
+
+ + + + + +
+ + + + +
YAML::Node Creo2Urdf::config
+ 		+private
+
+

YAML configuration node, storing the content of the configuration file.

+ +

Definition at line 140 of file Creo2Urdf.h.

+ +
+
+ +

◆ exportAllUseradded

+ +
+
+ + + + + +
+ + + + +
bool Creo2Urdf::exportAllUseradded { false }
+ 		+private
+
+

Flag indicating whether to export all user-added frames.

+ +

Definition at line 141 of file Creo2Urdf.h.

+ +
+
+ +

◆ exported_frame_info_map

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, ExportedFrameInfo> Creo2Urdf::exported_frame_info_map
+ 		+private
+
+

Map storing information about exported frames.

+ +

Definition at line 137 of file Creo2Urdf.h.

+ +
+
+ +

◆ idyn_model

+ +
+
+ + + + + +
+ + + + +
iDynTree::Model Creo2Urdf::idyn_model
+ 		+private
+
+

The iDynTree model representing the mechanism tree.

+ +

Definition at line 134 of file Creo2Urdf.h.

+ +
+
+ +

◆ joint_info_map

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, JointInfo> Creo2Urdf::joint_info_map
+ 		+private
+
+

Map storing information about joints.

+ +

Definition at line 135 of file Creo2Urdf.h.

+ +
+
+ +

◆ link_info_map

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, LinkInfo> Creo2Urdf::link_info_map
+ 		+private
+
+

Map storing information about links.

+ +

Definition at line 136 of file Creo2Urdf.h.

+ +
+
+ +

◆ m_asm_model_ptr

+ +
+
+ + + + + +
+ + + + +
pfcModel_ptr Creo2Urdf::m_asm_model_ptr { nullptr }
+ 		+private
+
+

Handle to the Creo model.

+ +

Definition at line 150 of file Creo2Urdf.h.

+ +
+
+ +

◆ m_csv_path

+ +
+
+ + + + + +
+ + + + +
std::string Creo2Urdf::m_csv_path { "" }
+ 		+private
+
+

Path to the CSV file containing joint information.

+ +

Definition at line 148 of file Creo2Urdf.h.

+ +
+
+ +

◆ m_output_path

+ +
+
+ + + + + +
+ + + + +
std::string Creo2Urdf::m_output_path { "" }
+ 		+private
+
+

Output path for the exported URDF file.

+ +

Definition at line 149 of file Creo2Urdf.h.

+ +
+
+ +

◆ m_yaml_path

+ +
+
+ + + + + +
+ + + + +
std::string Creo2Urdf::m_yaml_path { "" }
+ 		+private
+
+

Path to the YAML configuration file.

+ +

Definition at line 147 of file Creo2Urdf.h.

+ +
+
+ +

◆ originRPY

+ +
+
+ + + + + +
+ + + + +
std::array<double, 3> Creo2Urdf::originRPY {0.0, 0.0, 0.0}
+ 		+private
+
+

Orientation of the root link in Roll-Pitch-Yaw wrt the world frame.

+ +

Definition at line 145 of file Creo2Urdf.h.

+ +
+
+ +

◆ originXYZ

+ +
+
+ + + + + +
+ + + + +
std::array<double, 3> Creo2Urdf::originXYZ {0.0, 0.0, 0.0}
+ 		+private
+
+

Offset of the root link in XYZ (meters) wrt the world frame.

+ +

Definition at line 144 of file Creo2Urdf.h.

+ +
+
+ +

◆ scale

+ +
+
+ + + + + +
+ + + + +
std::array<double, 3> Creo2Urdf::scale { 1.0, 1.0, 1.0 }
+ 		+private
+
+

Scale factor for the exported model. Useful for converting between m and mm and viceversa.

+ +

Definition at line 143 of file Creo2Urdf.h.

+ +
+
+ +

◆ warningsAreFatal

+ +
+
+ + + + + +
+ + + + +
bool Creo2Urdf::warningsAreFatal { true }
+ 		+private
+
+

Flag indicating whether warnings are treated as fatal errors.

+ +

Definition at line 146 of file Creo2Urdf.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Creo2Urdf.h
    • +
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classCreo2Urdf.js b/doc/doxygen/doc/html/classCreo2Urdf.js new file mode 100644 index 0000000..0f26718 --- /dev/null +++ b/doc/doxygen/doc/html/classCreo2Urdf.js @@ -0,0 +1,32 @@ +var classCreo2Urdf = +[ + [ "Creo2Urdf", "classCreo2Urdf.html#a03c89bca38753e8bc91d39b65892652b", null ], + [ "~Creo2Urdf", "classCreo2Urdf.html#a920ec2c69107b7e3fd2df35005740d55", null ], + [ "Creo2Urdf", "classCreo2Urdf.html#a450ab52174a2c35918b5a517fbe10fa0", null ], + [ "addMeshAndExport", "classCreo2Urdf.html#a25a54136afd26751a9f607880ddcc023", null ], + [ "computeSpatialInertiafromCreo", "classCreo2Urdf.html#a10053637910af5715714fcfc8b3613e3", null ], + [ "exportModelToUrdf", "classCreo2Urdf.html#a482c0e4a12048b7aa35879c8426eb992", null ], + [ "getRenameElementFromConfig", "classCreo2Urdf.html#ae3b75ddc188e05e4967328cdecefffba", null ], + [ "loadYamlConfig", "classCreo2Urdf.html#a1f27c07f82c19d23ad6afb81a33efd8f", null ], + [ "OnCommand", "classCreo2Urdf.html#ac6f0bdf5c7d08fa464f27749ef66517f", null ], + [ "populateExportedFrameInfoMap", "classCreo2Urdf.html#a918faa677a08e905b9e21c85756987bb", null ], + [ "readAssignedCollisionGeometryFromConfig", "classCreo2Urdf.html#ad7959ecd3c2ef76d42cff49e424a4a74", null ], + [ "readAssignedInertiasFromConfig", "classCreo2Urdf.html#adee8887e2a1947461f6cd94f165addca", null ], + [ "readExportedFramesFromConfig", "classCreo2Urdf.html#a97cca115655f6a3446e8128bc016a5ff", null ], + [ "assigned_collision_geometry_map", "classCreo2Urdf.html#a9ba7401ca7ee70d6a221ed86946e8b99", null ], + [ "assigned_inertias_map", "classCreo2Urdf.html#aab5b1698fd57e48b345dfd5ce31f17f0", null ], + [ "config", "classCreo2Urdf.html#a67c7007c597e9489a4daaff875e85079", null ], + [ "exportAllUseradded", "classCreo2Urdf.html#a812cb851a5dc9251a8f39026cb0e5867", null ], + [ "exported_frame_info_map", "classCreo2Urdf.html#adb477b0c89c18c6f83c2f6710ea69ffb", null ], + [ "idyn_model", "classCreo2Urdf.html#a2cea7adc5af0fd1906aff035fbdd7a87", null ], + [ "joint_info_map", "classCreo2Urdf.html#ab7a825330b30e5ff7bf827be2ce90d3b", null ], + [ "link_info_map", "classCreo2Urdf.html#af7f7a9854e3a431477e79965afb69470", null ], + [ "m_asm_model_ptr", "classCreo2Urdf.html#a4255bc78e830aa889a2f27558b791fdf", null ], + [ "m_csv_path", "classCreo2Urdf.html#a2f4be228b2480d22c10ff4ae885c3704", null ], + [ "m_output_path", "classCreo2Urdf.html#affe849debde8d9639471e6344789010c", null ], + [ "m_yaml_path", "classCreo2Urdf.html#a98911bd261b132aec05f2e3913fbeffb", null ], + [ "originRPY", "classCreo2Urdf.html#af16ae4e233e599d3914b410365d4bff5", null ], + [ "originXYZ", "classCreo2Urdf.html#a51fa92a151656344a274b2ec62061a95", null ], + [ "scale", "classCreo2Urdf.html#aea9e3c0da9a173b9c3293bdcafafbc7d", null ], + [ "warningsAreFatal", "classCreo2Urdf.html#ade17c4854127aad76439d04cccd0e045", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/classCreo2UrdfAccess-members.html b/doc/doxygen/doc/html/classCreo2UrdfAccess-members.html new file mode 100644 index 0000000..196b78e --- /dev/null +++ b/doc/doxygen/doc/html/classCreo2UrdfAccess-members.html @@ -0,0 +1,101 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Creo2UrdfAccess Member List
+
+
+ +

This is the complete list of members for Creo2UrdfAccess, including all inherited members.

+ + +
OnCommandAccess(xbool AllowErrorMessages) overrideCreo2UrdfAccess
+
+ + + + diff --git a/doc/doxygen/doc/html/classCreo2UrdfAccess.html b/doc/doxygen/doc/html/classCreo2UrdfAccess.html new file mode 100644 index 0000000..3f6d4de --- /dev/null +++ b/doc/doxygen/doc/html/classCreo2UrdfAccess.html @@ -0,0 +1,142 @@ + + + + + + + +Creo2Urdf: Creo2UrdfAccess Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +List of all members
+
+
Creo2UrdfAccess Class Reference
+
+
+ +

#include <Creo2Urdf.h>

+ + + + +

+Public Member Functions

pfcCommandAccess OnCommandAccess (xbool AllowErrorMessages) override
 
+

Detailed Description

+
+

Definition at line 153 of file Creo2Urdf.h.

+

Member Function Documentation

+ +

◆ OnCommandAccess()

+ +
+
+ + + + + +
+ + + + + + + + +
pfcCommandAccess Creo2UrdfAccess::OnCommandAccess (xbool AllowErrorMessages)
+ 		+override
+
+ +
+
+
The documentation for this class was generated from the following file:
    +
  • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Creo2Urdf.h
    • +
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classCreo2UrdfAccess.js b/doc/doxygen/doc/html/classCreo2UrdfAccess.js new file mode 100644 index 0000000..a83f055 --- /dev/null +++ b/doc/doxygen/doc/html/classCreo2UrdfAccess.js @@ -0,0 +1,4 @@ +var classCreo2UrdfAccess = +[ + [ "OnCommandAccess", "classCreo2UrdfAccess.html#afb6fce3d2cbcb334931580c5f01e9202", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/classElementTreeManager-members.html b/doc/doxygen/doc/html/classElementTreeManager-members.html new file mode 100644 index 0000000..921817d --- /dev/null +++ b/doc/doxygen/doc/html/classElementTreeManager-members.html @@ -0,0 +1,115 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
ElementTreeManager Member List
+
+
+ +

This is the complete list of members for ElementTreeManager, including all inherited members.

+ + + + + + + + + + + + + + + + +
child_solidElementTreeManagerprivate
ElementTreeManager()ElementTreeManager
ElementTreeManager(pfcFeature_ptr feat, std::map< std::string, JointInfo > &joint_info_map)ElementTreeManager
getChildName()ElementTreeManager
getConstraintDatum(pfcFeature_ptr feat, pfcComponentConstraintType constraint_type, pfcModelItemType datum_type)ElementTreeManagerprivate
getConstraintType()ElementTreeManager
getParentName()ElementTreeManager
parent_solidElementTreeManagerprivate
populateJointInfoFromElementTree(pfcFeature_ptr feat, std::map< std::string, JointInfo > &joint_info_map)ElementTreeManager
retrieveLimits(pfcFeature_ptr feat)ElementTreeManagerprivate
retrievePartName()ElementTreeManagerprivate
retrieveSolidReferences()ElementTreeManagerprivate
treeElementTreeManagerprivate
wfeatElementTreeManagerprivate
~ElementTreeManager()ElementTreeManager
+
+ + + + diff --git a/doc/doxygen/doc/html/classElementTreeManager.html b/doc/doxygen/doc/html/classElementTreeManager.html new file mode 100644 index 0000000..324b1dc --- /dev/null +++ b/doc/doxygen/doc/html/classElementTreeManager.html @@ -0,0 +1,594 @@ + + + + + + + +Creo2Urdf: ElementTreeManager Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Private Member Functions | +Private Attributes | +List of all members
+
+
ElementTreeManager Class Reference
+
+
+ +

The ElementTreeManager class extracts the ElementTree of a part and provides methods to extract information from it. + More...

+ +

#include <ElementTreeManager.h>

+ + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 ElementTreeManager ()
 Default constructor for ElementTreeManager. More...
 
 ElementTreeManager (pfcFeature_ptr feat, std::map< std::string, JointInfo > &joint_info_map)
 Constructor for ElementTreeManager that extracts the element tree from the part and builds the joint info map. More...
 
 ~ElementTreeManager ()
 Destructor for ElementTreeManager. More...
 
bool populateJointInfoFromElementTree (pfcFeature_ptr feat, std::map< std::string, JointInfo > &joint_info_map)
 Populates joint information from the given ElementTree. More...
 
int getConstraintType ()
 Gets the constraint type between two assembled parts. More...
 
std::string getParentName ()
 Gets the name of the parent element of the two assembled parts. More...
 
std::string getChildName ()
 Gets the name of the child of the two assembled parts. More...
 
+ + + + + + + + + + + + + +

+Private Member Functions

std::string getConstraintDatum (pfcFeature_ptr feat, pfcComponentConstraintType constraint_type, pfcModelItemType datum_type)
 Gets the characterizing constraint datum used for assembling the two parts, depending on the joint. For a revolute joint, the datum is Axis, for a fixed joint the datum is CSys. More...
 
bool retrieveSolidReferences ()
 Retrieves references to the parent and child solids. We assume there are only two parts and they are named differently. More...
 
std::string retrievePartName ()
 Retrieves the name of the part associated with the ElementTree. More...
 
std::pair< double, double > retrieveLimits (pfcFeature_ptr feat)
 Retrieves the min and max limits for the joint created during assembling the parts. More...
 
+ + + + + + + + + + + + + +

+Private Attributes

wfcElementTree_ptr tree = nullptr
 Pointer to the ElementTree of the part as feature. More...
 
wfcWFeature_ptr wfeat = nullptr
 Pointer to the part as feature. More...
 
pfcSolid_ptr parent_solid
 Pointer to the parent solid. More...
 
pfcSolid_ptr child_solid
 Pointer to the child solid. More...
 
+

Detailed Description

+

The ElementTreeManager class extracts the ElementTree of a part and provides methods to extract information from it.

+ +

Definition at line 42 of file ElementTreeManager.h.

+

Constructor & Destructor Documentation

+ +

◆ ElementTreeManager() [1/2]

+ +
+
+ + + + + + + +
ElementTreeManager::ElementTreeManager ()
+
+ +

Default constructor for ElementTreeManager.

+ +
+
+ +

◆ ElementTreeManager() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
ElementTreeManager::ElementTreeManager (pfcFeature_ptr feat,
std::map< std::string, JointInfo > & joint_info_map 
)
+
+ +

Constructor for ElementTreeManager that extracts the element tree from the part and builds the joint info map.

+
Parameters
+ + + +
[in]featA pointer to a part casted as feature.
[out]joint_info_mapA map containing joint information.
+
+
+ +
+
+ +

◆ ~ElementTreeManager()

+ +
+
+ + + + + + + +
ElementTreeManager::~ElementTreeManager ()
+
+ +

Destructor for ElementTreeManager.

+ +
+
+

Member Function Documentation

+ +

◆ getChildName()

+ +
+
+ + + + + + + +
std::string ElementTreeManager::getChildName ()
+
+ +

Gets the name of the child of the two assembled parts.

+
Returns
The name of the child element.
+ +
+
+ +

◆ getConstraintDatum()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::string ElementTreeManager::getConstraintDatum (pfcFeature_ptr feat,
pfcComponentConstraintType constraint_type,
pfcModelItemType datum_type 
)
+ 		+private
+
+ +

Gets the characterizing constraint datum used for assembling the two parts, depending on the joint. For a revolute joint, the datum is Axis, for a fixed joint the datum is CSys.

+
Parameters
+ + + + +
featA pointer to a part casted as feature.
constraint_typeThe constraint type.
datum_typeThe datum type.
+
+
+
Returns
The constraint datum.
+ +
+
+ +

◆ getConstraintType()

+ +
+
+ + + + + + + +
int ElementTreeManager::getConstraintType ()
+
+ +

Gets the constraint type between two assembled parts.

+
Returns
The constraint type.
+ +
+
+ +

◆ getParentName()

+ +
+
+ + + + + + + +
std::string ElementTreeManager::getParentName ()
+
+ +

Gets the name of the parent element of the two assembled parts.

+
Returns
The name of the parent element.
+ +
+
+ +

◆ populateJointInfoFromElementTree()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool ElementTreeManager::populateJointInfoFromElementTree (pfcFeature_ptr feat,
std::map< std::string, JointInfo > & joint_info_map 
)
+
+ +

Populates joint information from the given ElementTree.

+
Parameters
+ + + +
[in]featA pointer to a part casted as feature.
[out]joint_info_mapA map containing joint information.
+
+
+
Returns
True if successful, false otherwise.
+ +
+
+ +

◆ retrieveLimits()

+ +
+
+ + + + + +
+ + + + + + + + +
std::pair<double, double> ElementTreeManager::retrieveLimits (pfcFeature_ptr feat)
+ 		+private
+
+ +

Retrieves the min and max limits for the joint created during assembling the parts.

+
Parameters
+ + +
featA pointer to a part casted as feature.
+
+
+
Returns
A pair representing the limits (min, max).
+ +
+
+ +

◆ retrievePartName()

+ +
+
+ + + + + +
+ + + + + + + +
std::string ElementTreeManager::retrievePartName ()
+ 		+private
+
+ +

Retrieves the name of the part associated with the ElementTree.

+
Returns
The name of the part.
+ +
+
+ +

◆ retrieveSolidReferences()

+ +
+
+ + + + + +
+ + + + + + + +
bool ElementTreeManager::retrieveSolidReferences ()
+ 		+private
+
+ +

Retrieves references to the parent and child solids. We assume there are only two parts and they are named differently.

+
Returns
True if successful, false otherwise.
+ +
+
+

Member Data Documentation

+ +

◆ child_solid

+ +
+
+ + + + + +
+ + + + +
pfcSolid_ptr ElementTreeManager::child_solid
+ 		+private
+
+ +

Pointer to the child solid.

+ +

Definition at line 91 of file ElementTreeManager.h.

+ +
+
+ +

◆ parent_solid

+ +
+
+ + + + + +
+ + + + +
pfcSolid_ptr ElementTreeManager::parent_solid
+ 		+private
+
+ +

Pointer to the parent solid.

+ +

Definition at line 90 of file ElementTreeManager.h.

+ +
+
+ +

◆ tree

+ +
+
+ + + + + +
+ + + + +
wfcElementTree_ptr ElementTreeManager::tree = nullptr
+ 		+private
+
+ +

Pointer to the ElementTree of the part as feature.

+ +

Definition at line 88 of file ElementTreeManager.h.

+ +
+
+ +

◆ wfeat

+ +
+
+ + + + + +
+ + + + +
wfcWFeature_ptr ElementTreeManager::wfeat = nullptr
+ 		+private
+
+ +

Pointer to the part as feature.

+ +

Definition at line 89 of file ElementTreeManager.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/doc/doxygen/doc/html/classElementTreeManager.js b/doc/doxygen/doc/html/classElementTreeManager.js new file mode 100644 index 0000000..1e0ae33 --- /dev/null +++ b/doc/doxygen/doc/html/classElementTreeManager.js @@ -0,0 +1,18 @@ +var classElementTreeManager = +[ + [ "ElementTreeManager", "classElementTreeManager.html#a58374215c6786b6ebd0b6518fed35d6d", null ], + [ "ElementTreeManager", "classElementTreeManager.html#a6bcecac256a3bd32a2cc9c222243dd57", null ], + [ "~ElementTreeManager", "classElementTreeManager.html#a5c7abb3c09850f9f27250c44a6d84f71", null ], + [ "getChildName", "classElementTreeManager.html#a416f16354511f732c6cd4262253b994d", null ], + [ "getConstraintDatum", "classElementTreeManager.html#aa396de509e0dcd36f3efb23743590b8f", null ], + [ "getConstraintType", "classElementTreeManager.html#a3cce81d1b592c74f90ea4b576b8e71dc", null ], + [ "getParentName", "classElementTreeManager.html#ae2150262621979e983cb45bbc466e168", null ], + [ "populateJointInfoFromElementTree", "classElementTreeManager.html#a33f8d6fda5f5b6f7aa3c6e0cb30bd1df", null ], + [ "retrieveLimits", "classElementTreeManager.html#a8642091b33ab6ee6c3855aad52326131", null ], + [ "retrievePartName", "classElementTreeManager.html#aa33016af2a16b7b0265c024ecfe4295a", null ], + [ "retrieveSolidReferences", "classElementTreeManager.html#aa70704ba1721e38d318c914ed3a166ee", null ], + [ "child_solid", "classElementTreeManager.html#af97220daf2c8c37504aa9acfbdd6f20f", null ], + [ "parent_solid", "classElementTreeManager.html#a3fe5a12ae4c893f886d3b808dd08ec95", null ], + [ "tree", "classElementTreeManager.html#a7458e0335823d4bee47533c294dfa2b8", null ], + [ "wfeat", "classElementTreeManager.html#af3d70cbd69ffbc367188d4f76b3f99e5", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/classValidator-members.html b/doc/doxygen/doc/html/classValidator-members.html new file mode 100644 index 0000000..f460886 --- /dev/null +++ b/doc/doxygen/doc/html/classValidator-members.html @@ -0,0 +1,109 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Validator Member List
+
+
+ +

This is the complete list of members for Validator, including all inherited members.

+ + + + + + + + + + +
assignCreoTransformToLink()Validatorprivate
computerValidatorprivate
creo_model_ptrValidatorprivate
creo_session_ptrValidatorprivate
idyn_modelValidatorprivate
link_name_to_creo_computed_trf_mapValidatorprivate
loadUrdfFromFile(const std::string &filename)Validatorprivate
OnCommand() overrideValidator
validatePositions(iDynTree::VectorDynSize positions)Validatorprivate
+
+ + + + diff --git a/doc/doxygen/doc/html/classValidator.html b/doc/doxygen/doc/html/classValidator.html new file mode 100644 index 0000000..5caf056 --- /dev/null +++ b/doc/doxygen/doc/html/classValidator.html @@ -0,0 +1,363 @@ + + + + + + + +Creo2Urdf: Validator Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Private Member Functions | +Private Attributes | +List of all members
+
+
Validator Class Reference
+
+
+ +

#include <Validator.h>

+ + + + +

+Public Member Functions

void OnCommand () override
 
+ + + + + + + +

+Private Member Functions

bool loadUrdfFromFile (const std::string &filename)
 
bool assignCreoTransformToLink ()
 
bool validatePositions (iDynTree::VectorDynSize positions)
 
+ + + + + + + + + + + +

+Private Attributes

iDynTree::Model idyn_model
 
pfcSession_ptr creo_session_ptr
 
pfcModel_ptr creo_model_ptr
 
std::map< std::string, iDynTree::Transform > link_name_to_creo_computed_trf_map
 
iDynTree::KinDynComputations computer
 
+

Detailed Description

+
+

Definition at line 18 of file Validator.h.

+

Member Function Documentation

+ +

◆ assignCreoTransformToLink()

+ +
+
+ + + + + +
+ + + + + + + +
bool Validator::assignCreoTransformToLink ()
+ 		+private
+
+ +
+
+ +

◆ loadUrdfFromFile()

+ +
+
+ + + + + +
+ + + + + + + + +
bool Validator::loadUrdfFromFile (const std::string & filename)
+ 		+private
+
+ +
+
+ +

◆ OnCommand()

+ +
+
+ + + + + +
+ + + + + + + +
void Validator::OnCommand ()
+ 		+override
+
+ +
+
+ +

◆ validatePositions()

+ +
+
+ + + + + +
+ + + + + + + + +
bool Validator::validatePositions (iDynTree::VectorDynSize positions)
+ 		+private
+
+ +
+
+

Member Data Documentation

+ +

◆ computer

+ +
+
+ + + + + +
+ + + + +
iDynTree::KinDynComputations Validator::computer
+ 		+private
+
+ +

Definition at line 28 of file Validator.h.

+ +
+
+ +

◆ creo_model_ptr

+ +
+
+ + + + + +
+ + + + +
pfcModel_ptr Validator::creo_model_ptr
+ 		+private
+
+ +

Definition at line 26 of file Validator.h.

+ +
+
+ +

◆ creo_session_ptr

+ +
+
+ + + + + +
+ + + + +
pfcSession_ptr Validator::creo_session_ptr
+ 		+private
+
+ +

Definition at line 25 of file Validator.h.

+ +
+
+ +

◆ idyn_model

+ +
+
+ + + + + +
+ + + + +
iDynTree::Model Validator::idyn_model
+ 		+private
+
+ +

Definition at line 24 of file Validator.h.

+ +
+
+ +

◆ link_name_to_creo_computed_trf_map

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, iDynTree::Transform> Validator::link_name_to_creo_computed_trf_map
+ 		+private
+
+ +

Definition at line 27 of file Validator.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Validator.h
    • +
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classValidator.js b/doc/doxygen/doc/html/classValidator.js new file mode 100644 index 0000000..47d74a2 --- /dev/null +++ b/doc/doxygen/doc/html/classValidator.js @@ -0,0 +1,12 @@ +var classValidator = +[ + [ "assignCreoTransformToLink", "classValidator.html#a7b8065c8f4c0f4b77735f98a338786de", null ], + [ "loadUrdfFromFile", "classValidator.html#a1d8241fc11466b061ec2ddcebf5eeaf1", null ], + [ "OnCommand", "classValidator.html#ac1b7aec030ae369f1f2d43d380edbf3f", null ], + [ "validatePositions", "classValidator.html#ab902a20599b2893051337bd1ed302a10", null ], + [ "computer", "classValidator.html#ad786c1414eb36e51746a525d7189752f", null ], + [ "creo_model_ptr", "classValidator.html#a5ee5200710d44ee276e13a5a0a81a94c", null ], + [ "creo_session_ptr", "classValidator.html#ac00cd6b70e40b637bab5ddc8d7b6f0a9", null ], + [ "idyn_model", "classValidator.html#adcb07cfb13778efeb4eb2e1471749cc5", null ], + [ "link_name_to_creo_computed_trf_map", "classValidator.html#aa3ce0ca9c20b2e888a42512436b0297e", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/classValidatorAccess-members.html b/doc/doxygen/doc/html/classValidatorAccess-members.html new file mode 100644 index 0000000..038b6b0 --- /dev/null +++ b/doc/doxygen/doc/html/classValidatorAccess-members.html @@ -0,0 +1,101 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
ValidatorAccess Member List
+
+
+ +

This is the complete list of members for ValidatorAccess, including all inherited members.

+ + +
OnCommandAccess(xbool AllowErrorMessages) overrideValidatorAccess
+
+ + + + diff --git a/doc/doxygen/doc/html/classValidatorAccess.html b/doc/doxygen/doc/html/classValidatorAccess.html new file mode 100644 index 0000000..1cf6acd --- /dev/null +++ b/doc/doxygen/doc/html/classValidatorAccess.html @@ -0,0 +1,142 @@ + + + + + + + +Creo2Urdf: ValidatorAccess Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +List of all members
+
+
ValidatorAccess Class Reference
+
+
+ +

#include <Validator.h>

+ + + + +

+Public Member Functions

pfcCommandAccess OnCommandAccess (xbool AllowErrorMessages) override
 
+

Detailed Description

+
+

Definition at line 35 of file Validator.h.

+

Member Function Documentation

+ +

◆ OnCommandAccess()

+ +
+
+ + + + + +
+ + + + + + + + +
pfcCommandAccess ValidatorAccess::OnCommandAccess (xbool AllowErrorMessages)
+ 		+override
+
+ +
+
+
The documentation for this class was generated from the following file:
    +
  • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Validator.h
    • +
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classValidatorAccess.js b/doc/doxygen/doc/html/classValidatorAccess.js new file mode 100644 index 0000000..287a13e --- /dev/null +++ b/doc/doxygen/doc/html/classValidatorAccess.js @@ -0,0 +1,4 @@ +var classValidatorAccess = +[ + [ "OnCommandAccess", "classValidatorAccess.html#ac731845cad615c661c69e86e4ba51736", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/classes.html b/doc/doxygen/doc/html/classes.html new file mode 100644 index 0000000..b2c15b8 --- /dev/null +++ b/doc/doxygen/doc/html/classes.html @@ -0,0 +1,127 @@ + + + + + + + +Creo2Urdf: Class Index + + + + + + + + + + + + + +
+
+ + + + + + +
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Creo2Urdf +
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+
Class Index
+
+
+
C | D | E | F | I | J | L | S | V
+
+
+
C
+
CollisionGeometryInfo
Creo2Urdf
Creo2UrdfAccess
+
+
D
+
JointInfo::DynamicParams
+
+
E
+
ElementTreeManager
ExportedFrameInfo
+
+
F
+
FTSensorInfo
+
+
I
+
iDynRedirectErrors
+
+
J
+
JointInfo
+
+
L
+
JointInfo::Limits
LinkInfo
+
+
S
+
SensorInfo
Sensorizer
+
+
V
+
Validator
ValidatorAccess
+
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classiDynRedirectErrors-members.html b/doc/doxygen/doc/html/classiDynRedirectErrors-members.html new file mode 100644 index 0000000..41340f5 --- /dev/null +++ b/doc/doxygen/doc/html/classiDynRedirectErrors-members.html @@ -0,0 +1,106 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
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Creo2Urdf +
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+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
iDynRedirectErrors Member List
+
+
+ +

This is the complete list of members for iDynRedirectErrors, including all inherited members.

+ + + + + + + +
idyn_outiDynRedirectErrorsprivate
iDynRedirectErrors()iDynRedirectErrorsinline
old_bufiDynRedirectErrorsprivate
redirectBuffer(std::streambuf *old_buffer, const std::string &filename)iDynRedirectErrorsinline
restoreBuffer()iDynRedirectErrorsinline
~iDynRedirectErrors()iDynRedirectErrorsinline
+
+ + + + diff --git a/doc/doxygen/doc/html/classiDynRedirectErrors.html b/doc/doxygen/doc/html/classiDynRedirectErrors.html new file mode 100644 index 0000000..bd47fb7 --- /dev/null +++ b/doc/doxygen/doc/html/classiDynRedirectErrors.html @@ -0,0 +1,331 @@ + + + + + + + +Creo2Urdf: iDynRedirectErrors Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
+
+
+ + + + + + + +
+
+ +
+
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+ +
+ +
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+ + +
+ +
+ +
+
+Public Member Functions | +Private Attributes | +List of all members
+
+
iDynRedirectErrors Class Reference
+
+
+ +

Utility class for redirecting to file the errors that iDynTree prints to stderr. + More...

+ +

#include <Utils.h>

+ + + + + + + + + + + + + + +

+Public Member Functions

 iDynRedirectErrors ()
 Default constructor for iDynRedirectErrors. More...
 
 ~iDynRedirectErrors ()
 Destructor for iDynRedirectErrors. More...
 
void redirectBuffer (std::streambuf *old_buffer, const std::string &filename)
 Redirects standard error stream to a specified file. More...
 
void restoreBuffer ()
 Restores the standard error stream to its original state. More...
 
+ + + + + + + +

+Private Attributes

std::streambuf * old_buf
 Pointer to the original stream buffer. More...
 
std::ofstream idyn_out
 File stream for redirecting stderr to a file. More...
 
+

Detailed Description

+

Utility class for redirecting to file the errors that iDynTree prints to stderr.

+

Restore of stderr to the original buffer is done on destruction.

+ +

Definition at line 270 of file Utils.h.

+

Constructor & Destructor Documentation

+ +

◆ iDynRedirectErrors()

+ +
+
+ + + + + +
+ + + + + + + +
iDynRedirectErrors::iDynRedirectErrors ()
+ 		+inline
+
+ +

Default constructor for iDynRedirectErrors.

+ +

Definition at line 275 of file Utils.h.

+ +
+
+ +

◆ ~iDynRedirectErrors()

+ +
+
+ + + + + +
+ + + + + + + +
iDynRedirectErrors::~iDynRedirectErrors ()
+ 		+inline
+
+ +

Destructor for iDynRedirectErrors.

+

Restores the standard error stream to its original buffer before the object is destroyed.

+ +

Definition at line 284 of file Utils.h.

+ +
+
+

Member Function Documentation

+ +

◆ redirectBuffer()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void iDynRedirectErrors::redirectBuffer (std::streambuf * old_buffer,
const std::string & filename 
)
+ 		+inline
+
+ +

Redirects standard error stream to a specified file.

+
Parameters
+ + + +
old_bufferPointer to the original stream buffer, which will be saved for restoration.
filenameThe name of the file to which the stderr stream will be redirected.
+
+
+ +

Definition at line 294 of file Utils.h.

+ +
+
+ +

◆ restoreBuffer()

+ +
+
+ + + + + +
+ + + + + + + +
void iDynRedirectErrors::restoreBuffer ()
+ 		+inline
+
+ +

Restores the standard error stream to its original state.

+

If the standard error stream was redirected, this function restores it to its original buffer. It also closes the file stream associated with the redirected stderr if it was open.

+ +

Definition at line 307 of file Utils.h.

+ +
+
+

Member Data Documentation

+ +

◆ idyn_out

+ +
+
+ + + + + +
+ + + + +
std::ofstream iDynRedirectErrors::idyn_out
+ 		+private
+
+ +

File stream for redirecting stderr to a file.

+ +

Definition at line 319 of file Utils.h.

+ +
+
+ +

◆ old_buf

+ +
+
+ + + + + +
+ + + + +
std::streambuf* iDynRedirectErrors::old_buf
+ 		+private
+
+ +

Pointer to the original stream buffer.

+ +

Definition at line 318 of file Utils.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
    • +
+
+
+ + + + diff --git a/doc/doxygen/doc/html/classiDynRedirectErrors.js b/doc/doxygen/doc/html/classiDynRedirectErrors.js new file mode 100644 index 0000000..99132a9 --- /dev/null +++ b/doc/doxygen/doc/html/classiDynRedirectErrors.js @@ -0,0 +1,9 @@ +var classiDynRedirectErrors = +[ + [ "iDynRedirectErrors", "classiDynRedirectErrors.html#a6f95db92f1fdd2ca2c4ddd0f1b7c5775", null ], + [ "~iDynRedirectErrors", "classiDynRedirectErrors.html#a2ede53de936f455396ca373e4b5afb2d", null ], + [ "redirectBuffer", "classiDynRedirectErrors.html#a9ce992e5e7cc31c2f1cf300ef9c79227", null ], + [ "restoreBuffer", "classiDynRedirectErrors.html#abf62f892fd893b362737a5d884612b74", null ], + [ "idyn_out", "classiDynRedirectErrors.html#aa0e449bc5d89b8807db81fc3c35bba09", null ], + [ "old_buf", "classiDynRedirectErrors.html#a31a069a2e1e42ddb73b191a161b8f44e", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/closed.png b/doc/doxygen/doc/html/closed.png new file mode 100644 index 0000000..2128cc0 Binary files /dev/null and b/doc/doxygen/doc/html/closed.png differ diff --git a/doc/doxygen/doc/html/dir_0fa3b095bc8f400d5bc0afb1e8648077.html b/doc/doxygen/doc/html/dir_0fa3b095bc8f400d5bc0afb1e8648077.html new file mode 100644 index 0000000..d1d5693 --- /dev/null +++ b/doc/doxygen/doc/html/dir_0fa3b095bc8f400d5bc0afb1e8648077.html @@ -0,0 +1,104 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf Directory Reference + + + + + + + + + + + + + +
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Creo2Urdf +
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creo2urdf Directory Reference
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+ + + + +

+Directories

directory  include
 
+
+
+ + + + diff --git a/doc/doxygen/doc/html/dir_0fa3b095bc8f400d5bc0afb1e8648077.js b/doc/doxygen/doc/html/dir_0fa3b095bc8f400d5bc0afb1e8648077.js new file mode 100644 index 0000000..8ba1add --- /dev/null +++ b/doc/doxygen/doc/html/dir_0fa3b095bc8f400d5bc0afb1e8648077.js @@ -0,0 +1,4 @@ +var dir_0fa3b095bc8f400d5bc0afb1e8648077 = +[ + [ "include", "dir_121ed828b8d71e19839ebcb1814c53b1.html", "dir_121ed828b8d71e19839ebcb1814c53b1" ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/dir_121ed828b8d71e19839ebcb1814c53b1.html b/doc/doxygen/doc/html/dir_121ed828b8d71e19839ebcb1814c53b1.html new file mode 100644 index 0000000..8a86db8 --- /dev/null +++ b/doc/doxygen/doc/html/dir_121ed828b8d71e19839ebcb1814c53b1.html @@ -0,0 +1,104 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include Directory Reference + + + + + + + + + + + + + +
+
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+
Creo2Urdf +
+
+
+ + + + + + + +
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+ +
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+ +
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+ + +
+ +
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include Directory Reference
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+Directories

directory  creo2urdf
 
+
+
+ + + + diff --git a/doc/doxygen/doc/html/dir_121ed828b8d71e19839ebcb1814c53b1.js b/doc/doxygen/doc/html/dir_121ed828b8d71e19839ebcb1814c53b1.js new file mode 100644 index 0000000..dc4f63d --- /dev/null +++ b/doc/doxygen/doc/html/dir_121ed828b8d71e19839ebcb1814c53b1.js @@ -0,0 +1,4 @@ +var dir_121ed828b8d71e19839ebcb1814c53b1 = +[ + [ "creo2urdf", "dir_c4cf6748bb3e37887e918309dcb8750c.html", "dir_c4cf6748bb3e37887e918309dcb8750c" ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/doc/doxygen/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html new file mode 100644 index 0000000..509fa5c --- /dev/null +++ b/doc/doxygen/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -0,0 +1,104 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src Directory Reference + + + + + + + + + + + + + +
+
+ + + + + + +
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Creo2Urdf +
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+
+ + + + + + + +
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+ +
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+ +
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+ +
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src Directory Reference
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+ + + + +

+Directories

directory  creo2urdf
 
+
+
+ + + + diff --git a/doc/doxygen/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.js b/doc/doxygen/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.js new file mode 100644 index 0000000..3553f7c --- /dev/null +++ b/doc/doxygen/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.js @@ -0,0 +1,4 @@ +var dir_68267d1309a1af8e8297ef4c3efbcdba = +[ + [ "creo2urdf", "dir_0fa3b095bc8f400d5bc0afb1e8648077.html", "dir_0fa3b095bc8f400d5bc0afb1e8648077" ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/dir_c4cf6748bb3e37887e918309dcb8750c.html b/doc/doxygen/doc/html/dir_c4cf6748bb3e37887e918309dcb8750c.html new file mode 100644 index 0000000..b2dc4f4 --- /dev/null +++ b/doc/doxygen/doc/html/dir_c4cf6748bb3e37887e918309dcb8750c.html @@ -0,0 +1,116 @@ + + + + + + + +Creo2Urdf: /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf Directory Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
Creo2Urdf +
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+ +
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+ +
+ +
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+
creo2urdf Directory Reference
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+
+ + + + + + + + + + + + + + + + +

+Files

file  Creo2Urdf.h [code]
 Contains declarations for the Creo2Urdf class, the main component of the plugin.
 
file  ElementTreeManager.h [code]
 Contains declarations for the ElementTreeManager class.
 
file  Sensorizer.h [code]
 Contains declarations for the Sensorizer class.
 
file  Utils.h [code]
 Utility functions amd data shared by classes.
 
file  Validator.h [code]
 
+
+
+ + + + diff --git a/doc/doxygen/doc/html/dir_c4cf6748bb3e37887e918309dcb8750c.js b/doc/doxygen/doc/html/dir_c4cf6748bb3e37887e918309dcb8750c.js new file mode 100644 index 0000000..a216fe5 --- /dev/null +++ b/doc/doxygen/doc/html/dir_c4cf6748bb3e37887e918309dcb8750c.js @@ -0,0 +1,16 @@ +var dir_c4cf6748bb3e37887e918309dcb8750c = +[ + [ "Creo2Urdf.h", "Creo2Urdf_8h.html", [ + [ "Creo2Urdf", "classCreo2Urdf.html", "classCreo2Urdf" ], + [ "Creo2UrdfAccess", "classCreo2UrdfAccess.html", "classCreo2UrdfAccess" ] + ] ], + [ "ElementTreeManager.h", "ElementTreeManager_8h.html", "ElementTreeManager_8h" ], + [ "Sensorizer.h", "Sensorizer_8h.html", [ + [ "Sensorizer", "structSensorizer.html", "structSensorizer" ] + ] ], + [ "Utils.h", "Utils_8h.html", "Utils_8h" ], + [ "Validator.h", "Validator_8h.html", [ + [ "Validator", "classValidator.html", "classValidator" ], + [ "ValidatorAccess", "classValidatorAccess.html", "classValidatorAccess" ] + ] ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/doc.png b/doc/doxygen/doc/html/doc.png new file mode 100644 index 0000000..0edfa25 Binary files /dev/null and b/doc/doxygen/doc/html/doc.png differ diff --git a/doc/doxygen/doc/html/doxygen.css b/doc/doxygen/doc/html/doxygen.css new file mode 100644 index 0000000..3c137ca --- /dev/null +++ b/doc/doxygen/doc/html/doxygen.css @@ -0,0 +1,1793 @@ +/* The standard CSS for doxygen 1.9.1 */ + +body, table, div, p, dl { + font: 400 14px/22px Roboto,sans-serif; +} + +p.reference, p.definition { + font: 400 14px/22px Roboto,sans-serif; +} + +/* @group Heading Levels */ + +h1.groupheader { + font-size: 150%; +} + +.title { + font: 400 14px/28px Roboto,sans-serif; + font-size: 150%; + font-weight: bold; + margin: 10px 2px; +} + +h2.groupheader { + border-bottom: 1px solid #7293B5; + color: #2B3E52; + font-size: 150%; + font-weight: normal; + margin-top: 1.75em; + padding-top: 8px; + padding-bottom: 4px; + width: 100%; +} + +h3.groupheader { + font-size: 100%; +} + +h1, h2, h3, h4, h5, h6 { + -webkit-transition: text-shadow 0.5s linear; + -moz-transition: text-shadow 0.5s linear; + -ms-transition: text-shadow 0.5s linear; + -o-transition: text-shadow 0.5s linear; + transition: text-shadow 0.5s linear; + margin-right: 15px; +} + +h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { + text-shadow: 0 0 15px cyan; +} + +dt { + font-weight: bold; +} + +ul.multicol { + -moz-column-gap: 1em; + -webkit-column-gap: 1em; + column-gap: 1em; + -moz-column-count: 3; + -webkit-column-count: 3; + column-count: 3; +} + +p.startli, p.startdd { + margin-top: 2px; +} + +th p.starttd, th p.intertd, th p.endtd { + font-size: 100%; + font-weight: 700; +} + +p.starttd { + margin-top: 0px; +} + +p.endli { + margin-bottom: 0px; +} + +p.enddd { + margin-bottom: 4px; +} + +p.endtd { + margin-bottom: 2px; +} + +p.interli { +} + +p.interdd { +} + +p.intertd { +} + +/* @end */ + +caption { + font-weight: bold; +} + +span.legend { + font-size: 70%; + text-align: center; +} + +h3.version { + font-size: 90%; + text-align: center; +} + +div.navtab { + border-right: 1px solid #92ABC6; + padding-right: 15px; + text-align: right; + line-height: 110%; +} + +div.navtab table { + border-spacing: 0; +} + +td.navtab { + padding-right: 6px; + padding-left: 6px; +} +td.navtabHL { + background-image: url('tab_a.png'); + background-repeat:repeat-x; + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL a, td.navtabHL a:visited { + color: #fff; + text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +} + +a.navtab { + font-weight: bold; +} + +div.qindex{ + text-align: center; + width: 100%; + line-height: 140%; + font-size: 130%; + color: #A0A0A0; +} + +dt.alphachar{ + font-size: 180%; + font-weight: bold; +} + +.alphachar a{ + color: black; +} + +.alphachar a:hover, .alphachar a:visited{ + text-decoration: none; +} + +.classindex dl { + padding: 25px; + column-count:1 +} + +.classindex dd { + display:inline-block; + margin-left: 50px; + width: 90%; + line-height: 1.15em; +} + +.classindex dl.odd { + background-color: #F6F8FA; +} + +@media(min-width: 1120px) { + .classindex dl { + column-count:2 + } +} + +@media(min-width: 1320px) { + .classindex dl { + column-count:3 + } +} + + +/* @group Link Styling */ + +a { + color: #334962; + font-weight: normal; + text-decoration: none; +} + +.contents a:visited { + color: #3E5976; +} + +a:hover { + text-decoration: underline; +} + +.contents a.qindexHL:visited { + color: #FFFFFF; +} + +a.el { + font-weight: bold; +} + +a.elRef { +} + +a.code, a.code:visited, a.line, a.line:visited { + color: #3E5976; +} + +a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { + color: #3E5976; +} + +/* @end */ + +dl.el { + margin-left: -1cm; +} + +ul { + overflow: hidden; /*Fixed: list item bullets overlap floating elements*/ +} + +#side-nav ul { + overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ +} + +#main-nav ul { + overflow: visible; /* reset ul rule for the navigation bar drop down lists */ +} + +.fragment { + text-align: left; + direction: ltr; + overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ + overflow-y: hidden; +} + +pre.fragment { + border: 1px solid #B8C8DA; + background-color: #FAFBFC; + padding: 4px 6px; + margin: 4px 8px 4px 2px; + overflow: auto; + word-wrap: break-word; + font-size: 9pt; + line-height: 125%; + font-family: monospace, fixed; + font-size: 105%; +} + +div.fragment { + padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ + margin: 4px 8px 4px 2px; + background-color: #FAFBFC; + border: 1px solid #B8C8DA; +} + +div.line { + font-family: monospace, fixed; + font-size: 13px; + min-height: 13px; + line-height: 1.0; + text-wrap: unrestricted; + white-space: -moz-pre-wrap; /* Moz */ + white-space: -pre-wrap; /* Opera 4-6 */ + white-space: -o-pre-wrap; /* Opera 7 */ + white-space: pre-wrap; /* CSS3 */ + word-wrap: break-word; /* IE 5.5+ */ + text-indent: -53px; + padding-left: 53px; + padding-bottom: 0px; + margin: 0px; + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +div.line:after { + content:"\000A"; + white-space: pre; +} + +div.line.glow { + background-color: cyan; + box-shadow: 0 0 10px cyan; 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+} + +div.classindex ul { + list-style: none; + padding-left: 0; +} + +div.classindex span.ai { + display: inline-block; +} + +div.groupHeader { + margin-left: 16px; + margin-top: 12px; + font-weight: bold; +} + +div.groupText { + margin-left: 16px; + font-style: italic; +} + +body { + background-color: white; + color: black; + margin: 0; +} + +div.contents { + margin-top: 10px; + margin-left: 12px; + margin-right: 8px; +} + +td.indexkey { + background-color: #E7ECF2; + font-weight: bold; + border: 1px solid #B8C8DA; + margin: 2px 0px 2px 0; + padding: 2px 10px; + white-space: nowrap; + vertical-align: top; +} + +td.indexvalue { + background-color: #E7ECF2; + border: 1px solid #B8C8DA; + padding: 2px 10px; + margin: 2px 0px; +} + +tr.memlist { + background-color: #EAEEF4; +} + +p.formulaDsp { + text-align: center; +} + +img.formulaDsp { + +} + +img.formulaInl, img.inline { + vertical-align: middle; +} + +div.center { + text-align: center; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; +} + +div.center img { + border: 0px; +} + +address.footer { + text-align: right; + padding-right: 12px; +} + +img.footer { + border: 0px; + vertical-align: middle; +} + +/* @group Code Colorization */ + +span.keyword { + color: #008000 +} + +span.keywordtype { + color: #604020 +} + +span.keywordflow { + color: #e08000 +} + +span.comment { + color: #800000 +} + +span.preprocessor { + color: #806020 +} + +span.stringliteral { + color: #002080 +} + +span.charliteral { + color: #008080 +} + +span.vhdldigit { + color: #ff00ff +} + +span.vhdlchar { + color: #000000 +} + +span.vhdlkeyword { + color: #700070 +} + +span.vhdllogic { + color: #ff0000 +} + +blockquote { + background-color: #F5F7F9; + border-left: 2px solid #89A4C1; + margin: 0 24px 0 4px; + padding: 0 12px 0 16px; +} + +blockquote.DocNodeRTL { + border-left: 0; + border-right: 2px solid #89A4C1; + margin: 0 4px 0 24px; + padding: 0 16px 0 12px; +} + +/* @end */ + +/* +.search { + color: #003399; + font-weight: bold; +} + +form.search { + margin-bottom: 0px; + margin-top: 0px; +} + +input.search { + font-size: 75%; + color: #000080; + font-weight: normal; + background-color: #e8eef2; +} +*/ + +td.tiny { + font-size: 75%; +} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid #92ABC6; +} + +th.dirtab { + background: #E7ECF2; + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid #425F7E; +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: cyan; + box-shadow: 0 0 15px cyan; +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: #F8F9FB; + border: none; + margin: 4px; + padding: 1px 0 0 8px; +} + +.mdescLeft, .mdescRight { + padding: 0px 8px 4px 8px; + color: #555; +} + +.memSeparator { + border-bottom: 1px solid #D6E0E9; + line-height: 1px; + margin: 0px; + padding: 0px; +} + +.memItemLeft, .memTemplItemLeft { + white-space: nowrap; +} + +.memItemRight, .memTemplItemRight { + width: 100%; +} + +.memTemplParams { + color: #3E5976; + white-space: nowrap; + font-size: 80%; +} + +/* @end */ + +/* @group Member Details */ + +/* Styles for detailed member documentation */ + +.memtitle { + padding: 8px; + border-top: 1px solid #97AFC8; + border-left: 1px solid #97AFC8; + border-right: 1px solid #97AFC8; + border-top-right-radius: 4px; + border-top-left-radius: 4px; + margin-bottom: -1px; + background-image: url('nav_f.png'); + background-repeat: repeat-x; + background-color: #DCE4EC; + line-height: 1.25; + font-weight: 300; + float:left; +} + +.permalink +{ + font-size: 65%; + display: inline-block; + vertical-align: middle; +} + +.memtemplate { + font-size: 80%; + color: #3E5976; + font-weight: normal; + margin-left: 9px; +} + +.memnav { + background-color: #E7ECF2; + border: 1px solid #92ABC6; + text-align: center; + margin: 2px; + margin-right: 15px; + padding: 2px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px cyan; +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid #97AFC8; + border-left: 1px solid #97AFC8; + border-right: 1px solid #97AFC8; + padding: 6px 0px 6px 0px; + color: #1A2632; + font-weight: bold; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + background-color: #D8E1EA; + /* opera specific markup */ + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; + /* firefox specific markup */ + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + -moz-border-radius-topright: 4px; + /* webkit specific markup */ + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + -webkit-border-top-right-radius: 4px; + +} + +.overload { + font-family: "courier new",courier,monospace; + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid #97AFC8; + border-left: 1px solid #97AFC8; + border-right: 1px solid #97AFC8; + padding: 6px 10px 2px 10px; + background-color: #FAFBFC; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: #FFFFFF; + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: #602020; + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: "courier new",courier,monospace; + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: #5C81A9; + border-top:1px solid #49698C; + border-left:1px solid #49698C; + border-right:1px solid #B8C8DA; + border-bottom:1px solid #B8C8DA; + text-shadow: none; + color: white; + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid #89A4C1; + border-bottom: 1px solid #89A4C1; + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.even { + padding-left: 6px; + background-color: #F5F7F9; +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: #334962; +} + +.arrow { + color: #89A4C1; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: Arial, Helvetica; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: #5C81A9; + color: white; + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderopen.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderclosed.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('doc.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +table.directory { + font: 400 14px Roboto,sans-serif; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: #1F2D3C; +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid #223141; + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: #2D4156; + color: #FFFFFF; + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + /*width: 100%;*/ + margin-bottom: 10px; + border: 1px solid #97AFC8; + border-spacing: 0px; + -moz-border-radius: 4px; + -webkit-border-radius: 4px; + border-radius: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px; + -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid #97AFC8; + border-bottom: 1px solid #97AFC8; + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fielddoc { + border-bottom: 1px solid #97AFC8; + /*width: 100%;*/ +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image:url('nav_f.png'); + background-repeat:repeat-x; + background-color: #DCE4EC; + font-size: 90%; + color: #1A2632; + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + -moz-border-radius-topleft: 4px; + -moz-border-radius-topright: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid #97AFC8; +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: url('tab_b.png'); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image:url('tab_b.png'); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:#7595B7; + border:solid 1px #B5C6D8; + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:url('bc_s.png'); + background-repeat:no-repeat; + background-position:right; + color:#2B3F53; +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: #1D2A39; + font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color:#5479A1; +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color:#2B3F53; + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image:url('nav_h.png'); + background-repeat:repeat-x; + background-color: #F8F9FB; + margin: 0px; + border-bottom: 1px solid #B8C8DA; +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.section.DocNodeRTL { + margin-right: 0px; + padding-right: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.note.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.warning.DocNodeRTL, dl.attention.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.deprecated.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.todo.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.test.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.bug.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #C08050; +} + +dl.section dd { + margin-bottom: 6px; +} + + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; +} + +#projectname +{ + font: 300% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font: 120% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font: 50% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; + border-bottom: 1px solid #49698C; +} + +.image +{ + text-align: center; +} + +.dotgraph +{ + text-align: center; +} + +.mscgraph +{ + text-align: center; +} + +.plantumlgraph +{ + text-align: center; +} + +.diagraph +{ + text-align: center; +} + +.caption +{ + font-weight: bold; +} + +div.zoom +{ + border: 1px solid #7C9ABA; +} + +dl.citelist { + margin-bottom:50px; +} + +dl.citelist dt { + color:#283A4D; + float:left; + font-weight:bold; + margin-right:10px; + padding:5px; + text-align:right; + width:52px; +} + +dl.citelist dd { + margin:2px 0 2px 72px; + padding:5px 0; +} + +div.toc { + padding: 14px 25px; + background-color: #F2F5F8; + border: 1px solid #CFDAE6; + border-radius: 7px 7px 7px 7px; + float: right; + height: auto; + margin: 0 8px 10px 10px; + width: 200px; +} + +.PageDocRTL-title div.toc { + float: left !important; + text-align: right; +} + +div.toc li { + background: url("bdwn.png") no-repeat scroll 0 5px transparent; + font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif; + margin-top: 5px; + padding-left: 10px; + padding-top: 2px; +} + +.PageDocRTL-title div.toc li { + background-position-x: right !important; + padding-left: 0 !important; + padding-right: 10px; +} + +div.toc h3 { + font: bold 12px/1.2 Arial,FreeSans,sans-serif; + color: #3E5976; + border-bottom: 0 none; + margin: 0; +} + +div.toc ul { + list-style: none outside none; + border: medium none; + padding: 0px; +} + +div.toc li.level1 { + margin-left: 0px; +} + +div.toc li.level2 { + margin-left: 15px; +} + +div.toc li.level3 { + margin-left: 30px; +} + +div.toc li.level4 { + margin-left: 45px; +} + +span.emoji { + /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html + * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; + */ +} + +.PageDocRTL-title div.toc li.level1 { + margin-left: 0 !important; + margin-right: 0; +} + +.PageDocRTL-title div.toc li.level2 { + margin-left: 0 !important; + margin-right: 15px; +} + +.PageDocRTL-title div.toc li.level3 { + margin-left: 0 !important; + margin-right: 30px; +} + +.PageDocRTL-title div.toc li.level4 { + margin-left: 0 !important; + margin-right: 45px; +} + +.inherit_header { + font-weight: bold; + color: gray; + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +.inherit_header td { + padding: 6px 0px 2px 5px; +} + +.inherit { + display: none; +} + +tr.heading h2 { + margin-top: 12px; + margin-bottom: 4px; +} + +/* tooltip related style info */ + +.ttc { + position: absolute; + display: none; +} + +#powerTip { + cursor: default; + white-space: nowrap; + background-color: white; + border: 1px solid gray; + border-radius: 4px 4px 4px 4px; + box-shadow: 1px 1px 7px gray; + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: grey; + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: #006318; +} + +#powerTip div { + margin: 0px; + padding: 0px; + font: 12px/16px Roboto,sans-serif; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; + content: " "; + height: 0; + width: 0; + position: absolute; +} + +#powerTip.n:after, #powerTip.s:after, +#powerTip.w:after, #powerTip.e:after, +#powerTip.nw:after, #powerTip.ne:after, +#powerTip.sw:after, #powerTip.se:after { + border-color: rgba(255, 255, 255, 0); +} + +#powerTip.n:before, #powerTip.s:before, +#powerTip.w:before, #powerTip.e:before, +#powerTip.nw:before, #powerTip.ne:before, +#powerTip.sw:before, #powerTip.se:before { + border-color: rgba(128, 128, 128, 0); +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.nw:after, #powerTip.nw:before { + top: 100%; +} + +#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after { + border-top-color: #FFFFFF; + border-width: 10px; + margin: 0px -10px; +} +#powerTip.n:before { + border-top-color: #808080; + border-width: 11px; + margin: 0px -11px; +} +#powerTip.n:after, #powerTip.n:before { + left: 50%; +} + +#powerTip.nw:after, #powerTip.nw:before { + right: 14px; +} + +#powerTip.ne:after, #powerTip.ne:before { + left: 14px; +} + +#powerTip.s:after, #powerTip.s:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.sw:after, #powerTip.sw:before { + bottom: 100%; +} + +#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after { + border-bottom-color: #FFFFFF; + border-width: 10px; + margin: 0px -10px; +} + +#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before { + border-bottom-color: #808080; + border-width: 11px; + margin: 0px -11px; +} + +#powerTip.s:after, #powerTip.s:before { + left: 50%; +} + +#powerTip.sw:after, #powerTip.sw:before { + right: 14px; +} + +#powerTip.se:after, #powerTip.se:before { + left: 14px; +} + +#powerTip.e:after, #powerTip.e:before { + left: 100%; +} +#powerTip.e:after { + border-left-color: #FFFFFF; + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.e:before { + border-left-color: #808080; + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +#powerTip.w:after, #powerTip.w:before { + right: 100%; +} +#powerTip.w:after { + border-right-color: #FFFFFF; + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.w:before { + border-right-color: #808080; + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +@media print +{ + #top { display: none; } + #side-nav { display: none; } + #nav-path { display: none; } + body { overflow:visible; } + h1, h2, h3, h4, h5, h6 { page-break-after: avoid; } + .summary { display: none; } + .memitem { page-break-inside: avoid; } + #doc-content + { + margin-left:0 !important; + height:auto !important; + width:auto !important; + overflow:inherit; + display:inline; + } +} + +/* @group Markdown */ + +table.markdownTable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.markdownTable td, table.markdownTable th { + border: 1px solid #223141; + padding: 3px 7px 2px; +} + +table.markdownTable tr { +} + +th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone { + background-color: #2D4156; + color: #FFFFFF; + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +th.markdownTableHeadLeft, td.markdownTableBodyLeft { + text-align: left +} + +th.markdownTableHeadRight, td.markdownTableBodyRight { + text-align: right +} + +th.markdownTableHeadCenter, td.markdownTableBodyCenter { + text-align: center +} + +.DocNodeRTL { + text-align: right; + direction: rtl; +} + +.DocNodeLTR { + text-align: left; + direction: ltr; +} + +table.DocNodeRTL { + width: auto; + margin-right: 0; + margin-left: auto; +} + +table.DocNodeLTR { + width: auto; + margin-right: auto; + margin-left: 0; +} + +tt, code, kbd, samp +{ + display: inline-block; + direction:ltr; +} +/* @end */ + +u { + text-decoration: underline; +} + diff --git a/doc/doxygen/doc/html/doxygen.svg b/doc/doxygen/doc/html/doxygen.svg new file mode 100644 index 0000000..0af9656 --- /dev/null +++ b/doc/doxygen/doc/html/doxygen.svg @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/doc/doxygen/doc/html/dynsections.js b/doc/doxygen/doc/html/dynsections.js new file mode 100644 index 0000000..88f2c27 --- /dev/null +++ b/doc/doxygen/doc/html/dynsections.js @@ -0,0 +1,128 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function toggleVisibility(linkObj) +{ + var base = $(linkObj).attr('id'); + var summary = $('#'+base+'-summary'); + var content = $('#'+base+'-content'); + var trigger = $('#'+base+'-trigger'); + var src=$(trigger).attr('src'); + if (content.is(':visible')===true) { + content.hide(); + summary.show(); + $(linkObj).addClass('closed').removeClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); + } else { + content.show(); + summary.hide(); + $(linkObj).removeClass('closed').addClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); + } + return false; +} + +function updateStripes() +{ + $('table.directory tr'). + removeClass('even').filter(':visible:even').addClass('even'); +} + +function toggleLevel(level) +{ + $('table.directory tr').each(function() { + var l = this.id.split('_').length-1; + var i = $('#img'+this.id.substring(3)); + var a = $('#arr'+this.id.substring(3)); + if (l + + + + + + +Creo2Urdf: File List + + + + + + + + + + + + + +
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+ + + + + + +
+
Creo2Urdf +
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File List
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+
Here is a list of all files with brief descriptions:
+
[detail level 12345]
+ + + + + + + + + +
 ▼ src
 ▼ creo2urdf
 ▼ include
 ▼ creo2urdf
 Creo2Urdf.hContains declarations for the Creo2Urdf class, the main component of the plugin
 ElementTreeManager.hContains declarations for the ElementTreeManager class
 Sensorizer.hContains declarations for the Sensorizer class
 Utils.hUtility functions amd data shared by classes
 Validator.h
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+ + + + diff --git a/doc/doxygen/doc/html/files_dup.js b/doc/doxygen/doc/html/files_dup.js new file mode 100644 index 0000000..c3b39c4 --- /dev/null +++ b/doc/doxygen/doc/html/files_dup.js @@ -0,0 +1,4 @@ +var files_dup = +[ + [ "src", "dir_68267d1309a1af8e8297ef4c3efbcdba.html", "dir_68267d1309a1af8e8297ef4c3efbcdba" ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/folderclosed.png b/doc/doxygen/doc/html/folderclosed.png new file mode 100644 index 0000000..8a73b9d Binary files /dev/null and b/doc/doxygen/doc/html/folderclosed.png differ diff --git a/doc/doxygen/doc/html/folderopen.png b/doc/doxygen/doc/html/folderopen.png new file mode 100644 index 0000000..81e00be Binary files /dev/null and b/doc/doxygen/doc/html/folderopen.png differ diff --git a/doc/doxygen/doc/html/functions.html b/doc/doxygen/doc/html/functions.html new file mode 100644 index 0000000..387bc71 --- /dev/null +++ b/doc/doxygen/doc/html/functions.html @@ -0,0 +1,489 @@ + + + + + + + +Creo2Urdf: Class Members + + + + + + + + + + + + + +
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Creo2Urdf +
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Here is a list of all file members with links to the files they belong to:
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+ + + + diff --git a/doc/doxygen/doc/html/globals_enum.html b/doc/doxygen/doc/html/globals_enum.html new file mode 100644 index 0000000..3df1836 --- /dev/null +++ b/doc/doxygen/doc/html/globals_enum.html @@ -0,0 +1,107 @@ + + + + + + + +Creo2Urdf: File Members + + + + + + + + + + + + + +
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+ + + + diff --git a/doc/doxygen/doc/html/hierarchy.html b/doc/doxygen/doc/html/hierarchy.html new file mode 100644 index 0000000..f2e22fe --- /dev/null +++ b/doc/doxygen/doc/html/hierarchy.html @@ -0,0 +1,118 @@ + + + + + + + +Creo2Urdf: Class Hierarchy + + + + + + + + + + + + + +
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Class Hierarchy
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This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 12]
+ + + + + + + + + + + + + + + + + +
 CCollisionGeometryInfoInformation about collision geometry. Useful to simplify the evaluation of collisions between meshes
 CJointInfo::DynamicParamsDynamic parameters for the joint
 CElementTreeManagerExtracts the ElementTree of a part and provides methods to extract information from it
 CExportedFrameInfoInformation about an exported frame
 CFTSensorInfoInformation about a Force Torque sensor. Forces are measured in N, torques in N*m
 CiDynRedirectErrorsUtility class for redirecting to file the errors that iDynTree prints to stderr
 CJointInfoInformation about a joint, including its type, limits, and dynamic parameters
 CJointInfo::LimitsLimits for joint movement
 CLinkInfoInformation about a link, including its name, model handle, transformation, and frame name
 ▼CpfcUICommandAccessListener
 CCreo2UrdfAccess
 CValidatorAccess
 ▼CpfcUICommandActionListener
 CCreo2UrdfA class that exports a Creo mechanism assembly to URDF
 CValidator
 CSensorInfoStruct representing information about a sensor
 CSensorizerRepresents a Sensorizer class, used read sensors information from a YAML node, and create the related XML blobs to feed to iDynTree Model Exporter
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+ + + + diff --git a/doc/doxygen/doc/html/hierarchy.js b/doc/doxygen/doc/html/hierarchy.js new file mode 100644 index 0000000..dbd32eb --- /dev/null +++ b/doc/doxygen/doc/html/hierarchy.js @@ -0,0 +1,22 @@ +var hierarchy = +[ + [ "CollisionGeometryInfo", "structCollisionGeometryInfo.html", null ], + [ "JointInfo::DynamicParams", "structJointInfo_1_1DynamicParams.html", null ], + [ "ElementTreeManager", "classElementTreeManager.html", null ], + [ "ExportedFrameInfo", "structExportedFrameInfo.html", null ], + [ "FTSensorInfo", "structFTSensorInfo.html", null ], + [ "iDynRedirectErrors", "classiDynRedirectErrors.html", null ], + [ "JointInfo", "structJointInfo.html", null ], + [ "JointInfo::Limits", "structJointInfo_1_1Limits.html", null ], + [ "LinkInfo", "structLinkInfo.html", null ], + [ "pfcUICommandAccessListener", null, [ + [ "Creo2UrdfAccess", "classCreo2UrdfAccess.html", null ], + [ "ValidatorAccess", "classValidatorAccess.html", null ] + ] ], + [ "pfcUICommandActionListener", null, [ + [ "Creo2Urdf", "classCreo2Urdf.html", null ], + [ "Validator", "classValidator.html", null ] + ] ], + [ "SensorInfo", "structSensorInfo.html", null ], + [ "Sensorizer", "structSensorizer.html", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/index.html b/doc/doxygen/doc/html/index.html new file mode 100644 index 0000000..d292c31 --- /dev/null +++ b/doc/doxygen/doc/html/index.html @@ -0,0 +1,97 @@ + + + + + + + +Creo2Urdf: Main Page + + + + + + + + + + + + + +
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Creo2Urdf +
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+
Creo2Urdf Documentation
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+ + + + diff --git a/doc/doxygen/doc/html/jquery.js b/doc/doxygen/doc/html/jquery.js new file mode 100644 index 0000000..103c32d --- /dev/null +++ b/doc/doxygen/doc/html/jquery.js @@ -0,0 +1,35 @@ +/*! jQuery v3.4.1 | (c) JS Foundation and other contributors | jquery.org/license */ +!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],E=C.document,r=Object.getPrototypeOf,s=t.slice,g=t.concat,u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType},x=function(e){return null!=e&&e===e.window},c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in 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orientationchange":$.proxy(this.winResize,this)},i)),this.opts.subIndicators&&(this.$subArrow=$("").addClass("sub-arrow"),this.opts.subIndicatorsText&&this.$subArrow.html(this.opts.subIndicatorsText)),initMouseDetection()}if(this.$firstSub=this.$root.find("ul").each(function(){e.menuInit($(this))}).eq(0),this.$firstLink=this.$root.find("a").eq(0),this.opts.markCurrentItem){var s=/(index|default)\.[^#\?\/]*/i,o=/#.*/,a=window.location.href.replace(s,""),n=a.replace(o,"");this.$root.find("a").each(function(){var t=this.href.replace(s,""),i=$(this);(t==a||t==n)&&(i.addClass("current"),e.opts.markCurrentTree&&i.parentsUntil("[data-smartmenus-id]","ul").each(function(){$(this).dataSM("parent-a").addClass("current")}))})}this.wasCollapsible=this.isCollapsible()},destroy:function(t){if(!t){var e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('
').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ ++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('')[0],$('')[0]]).on({mouseenter:function(){t.dataSM("scroll").up=$(this).hasClass("scroll-up"),x.menuScroll(t)},mouseleave:function(e){x.menuScrollStop(t),x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(t){t.preventDefault()}}).insertAfter(t));var A=".smartmenus_scroll";if(t.dataSM("scroll",{y:this.cssTransforms3d?0:i-m,step:1,itemH:m,subH:h,arrowDownH:this.getHeight(t.dataSM("scroll-arrows").eq(1))}).on(getEventsNS({mouseover:function(e){x.menuScrollOver(t,e)},mouseout:function(e){x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(e){x.menuScrollMousewheel(t,e)}},A)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:e+(parseInt(t.css("border-left-width"))||0),width:r-(parseInt(t.css("border-left-width"))||0)-(parseInt(t.css("border-right-width"))||0),zIndex:t.css("z-index")}).eq(g&&this.opts.bottomToTopSubMenus?0:1).show(),this.isFixed()){var C={};C[touchEvents?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp"]=function(e){x.menuScrollTouch(t,e)},t.css({"touch-action":"none","-ms-touch-action":"none"}).on(getEventsNS(C,A))}}}t.css({top:"auto",left:"0",marginLeft:e,marginTop:i-m})},menuScroll:function(t,e,i){var s,o=t.dataSM("scroll"),a=t.dataSM("scroll-arrows"),n=o.up?o.upEnd:o.downEnd;if(!e&&o.momentum){if(o.momentum*=.92,s=o.momentum,.5>s)return this.menuScrollStop(t),void 0}else s=i||(e||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(o.step));var r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$}); \ No newline at end of file diff --git a/doc/doxygen/doc/html/menu.js b/doc/doxygen/doc/html/menu.js new file mode 100644 index 0000000..2fe2214 --- /dev/null +++ b/doc/doxygen/doc/html/menu.js @@ -0,0 +1,51 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { + function makeTree(data,relPath) { + var result=''; + if ('children' in data) { + result+=''; + } + return result; + } + + $('#main-nav').append(makeTree(menudata,relPath)); + $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); + if (searchEnabled) { + if (serverSide) { + $('#main-menu').append('
    • '); + } else { + $('#main-menu').append('
    • '); + } + } + $('#main-menu').smartmenus(); +} +/* @license-end */ diff --git a/doc/doxygen/doc/html/menudata.js b/doc/doxygen/doc/html/menudata.js new file mode 100644 index 0000000..f0db787 --- /dev/null +++ b/doc/doxygen/doc/html/menudata.js @@ -0,0 +1,94 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file +*/ +var menudata={children:[ +{text:"Main Page",url:"index.html"}, +{text:"Related Pages",url:"pages.html"}, +{text:"Classes",url:"annotated.html",children:[ +{text:"Class List",url:"annotated.html"}, +{text:"Class Index",url:"classes.html"}, +{text:"Class Hierarchy",url:"hierarchy.html"}, +{text:"Class Members",url:"functions.html",children:[ +{text:"All",url:"functions.html",children:[ +{text:"a",url:"functions.html#index_a"}, +{text:"b",url:"functions.html#index_b"}, +{text:"c",url:"functions.html#index_c"}, +{text:"d",url:"functions.html#index_d"}, +{text:"e",url:"functions.html#index_e"}, +{text:"f",url:"functions.html#index_f"}, +{text:"g",url:"functions.html#index_g"}, +{text:"i",url:"functions.html#index_i"}, +{text:"j",url:"functions.html#index_j"}, +{text:"l",url:"functions.html#index_l"}, +{text:"m",url:"functions.html#index_m"}, +{text:"n",url:"functions.html#index_n"}, +{text:"o",url:"functions.html#index_o"}, +{text:"p",url:"functions.html#index_p"}, +{text:"r",url:"functions.html#index_r"}, +{text:"s",url:"functions.html#index_s"}, +{text:"t",url:"functions.html#index_t"}, +{text:"u",url:"functions.html#index_u"}, +{text:"v",url:"functions.html#index_v"}, +{text:"w",url:"functions.html#index_w"}, +{text:"x",url:"functions.html#index_x"}, +{text:"~",url:"functions.html#index__7E"}]}, +{text:"Functions",url:"functions_func.html",children:[ +{text:"a",url:"functions_func.html#index_a"}, +{text:"b",url:"functions_func.html#index_b"}, +{text:"c",url:"functions_func.html#index_c"}, +{text:"e",url:"functions_func.html#index_e"}, +{text:"g",url:"functions_func.html#index_g"}, +{text:"i",url:"functions_func.html#index_i"}, +{text:"l",url:"functions_func.html#index_l"}, +{text:"o",url:"functions_func.html#index_o"}, +{text:"p",url:"functions_func.html#index_p"}, +{text:"r",url:"functions_func.html#index_r"}, +{text:"v",url:"functions_func.html#index_v"}, +{text:"~",url:"functions_func.html#index__7E"}]}, +{text:"Variables",url:"functions_vars.html",children:[ +{text:"a",url:"functions_vars.html#index_a"}, +{text:"c",url:"functions_vars.html#index_c"}, +{text:"d",url:"functions_vars.html#index_d"}, +{text:"e",url:"functions_vars.html#index_e"}, +{text:"f",url:"functions_vars.html#index_f"}, +{text:"i",url:"functions_vars.html#index_i"}, +{text:"j",url:"functions_vars.html#index_j"}, +{text:"l",url:"functions_vars.html#index_l"}, +{text:"m",url:"functions_vars.html#index_m"}, +{text:"n",url:"functions_vars.html#index_n"}, +{text:"o",url:"functions_vars.html#index_o"}, +{text:"p",url:"functions_vars.html#index_p"}, +{text:"r",url:"functions_vars.html#index_r"}, +{text:"s",url:"functions_vars.html#index_s"}, +{text:"t",url:"functions_vars.html#index_t"}, +{text:"u",url:"functions_vars.html#index_u"}, +{text:"w",url:"functions_vars.html#index_w"}, +{text:"x",url:"functions_vars.html#index_x"}]}]}]}, +{text:"Files",url:"files.html",children:[ +{text:"File List",url:"files.html"}, +{text:"File Members",url:"globals.html",children:[ +{text:"All",url:"globals.html"}, +{text:"Functions",url:"globals_func.html"}, +{text:"Variables",url:"globals_vars.html"}, +{text:"Enumerations",url:"globals_enum.html"}]}]}]} diff --git a/doc/doxygen/doc/html/nav_f.png b/doc/doxygen/doc/html/nav_f.png new file mode 100644 index 0000000..c28b631 Binary files /dev/null and b/doc/doxygen/doc/html/nav_f.png differ diff --git a/doc/doxygen/doc/html/nav_g.png b/doc/doxygen/doc/html/nav_g.png new file mode 100644 index 0000000..2093a23 Binary files /dev/null and b/doc/doxygen/doc/html/nav_g.png differ diff --git a/doc/doxygen/doc/html/nav_h.png b/doc/doxygen/doc/html/nav_h.png new file mode 100644 index 0000000..7dc9d6b Binary files /dev/null and b/doc/doxygen/doc/html/nav_h.png differ diff --git a/doc/doxygen/doc/html/navtree.css b/doc/doxygen/doc/html/navtree.css new file mode 100644 index 0000000..5de3980 --- /dev/null +++ b/doc/doxygen/doc/html/navtree.css @@ -0,0 +1,146 @@ +#nav-tree .children_ul { + margin:0; + padding:4px; +} + +#nav-tree ul { + list-style:none outside none; + margin:0px; + padding:0px; +} + +#nav-tree li { + white-space:nowrap; + margin:0px; + padding:0px; +} + +#nav-tree .plus { + margin:0px; +} + +#nav-tree .selected { + background-image: url('tab_a.png'); + background-repeat:repeat-x; + color: #fff; + text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +} + +#nav-tree img { + margin:0px; + padding:0px; + border:0px; + vertical-align: middle; +} + +#nav-tree a { + text-decoration:none; + padding:0px; + margin:0px; + outline:none; +} + +#nav-tree .label { + margin:0px; + padding:0px; + font: 12px 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; +} + +#nav-tree .label a { + padding:2px; +} + +#nav-tree .selected a { + text-decoration:none; + color:#fff; +} + +#nav-tree .children_ul { + margin:0px; + padding:0px; +} + +#nav-tree .item { + margin:0px; + padding:0px; +} + +#nav-tree { + padding: 0px 0px; + background-color: #FAFAFF; + font-size:14px; + overflow:auto; +} + +#doc-content { + overflow:auto; + display:block; + padding:0px; + margin:0px; + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#side-nav { + padding:0 6px 0 0; + margin: 0px; + display:block; + position: absolute; + left: 0px; + width: 250px; +} + +.ui-resizable .ui-resizable-handle { + display:block; +} + +.ui-resizable-e { + background-image:url("splitbar.png"); + background-size:100%; + background-repeat:repeat-y; + background-attachment: scroll; + cursor:ew-resize; + height:100%; + right:0; + top:0; + width:6px; +} + +.ui-resizable-handle { + display:none; + font-size:0.1px; + position:absolute; + z-index:1; +} + +#nav-tree-contents { + margin: 6px 0px 0px 0px; +} + +#nav-tree { + background-image:url('nav_h.png'); + background-repeat:repeat-x; + background-color: #F8F9FB; + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#nav-sync { + position:absolute; + top:5px; + right:24px; + z-index:0; +} + +#nav-sync img { + opacity:0.3; +} + +#nav-sync img:hover { + opacity:0.9; +} + +@media print +{ + #nav-tree { display: none; } + div.ui-resizable-handle { display: none; position: relative; } +} + diff --git a/doc/doxygen/doc/html/navtree.js b/doc/doxygen/doc/html/navtree.js new file mode 100644 index 0000000..1e272d3 --- /dev/null +++ b/doc/doxygen/doc/html/navtree.js @@ -0,0 +1,546 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +var navTreeSubIndices = new Array(); +var arrowDown = '▼'; +var arrowRight = '►'; + +function getData(varName) +{ + var i = varName.lastIndexOf('/'); + var n = i>=0 ? varName.substring(i+1) : varName; + return eval(n.replace(/\-/g,'_')); +} + +function stripPath(uri) +{ + return uri.substring(uri.lastIndexOf('/')+1); +} + +function stripPath2(uri) +{ + var i = uri.lastIndexOf('/'); + var s = uri.substring(i+1); + var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/); + return m ? uri.substring(i-6) : s; +} + +function hashValue() +{ + return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,''); +} + +function hashUrl() +{ + return '#'+hashValue(); +} + +function pathName() +{ + return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, ''); +} + +function localStorageSupported() +{ + try { + return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem; + } + catch(e) { + return false; + } +} + +function storeLink(link) +{ + if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) { + window.localStorage.setItem('navpath',link); + } +} + +function deleteLink() +{ + if (localStorageSupported()) { + window.localStorage.setItem('navpath',''); + } +} + +function cachedLink() +{ + if (localStorageSupported()) { + return window.localStorage.getItem('navpath'); + } else { + return ''; + } +} + +function getScript(scriptName,func,show) +{ + var head = document.getElementsByTagName("head")[0]; + var script = document.createElement('script'); + script.id = scriptName; + script.type = 'text/javascript'; + script.onload = func; + script.src = scriptName+'.js'; + head.appendChild(script); +} + +function createIndent(o,domNode,node,level) +{ + var level=-1; + var n = node; + while (n.parentNode) { level++; n=n.parentNode; } + if (node.childrenData) { + var imgNode = document.createElement("span"); + imgNode.className = 'arrow'; + imgNode.style.paddingLeft=(16*level).toString()+'px'; + imgNode.innerHTML=arrowRight; + node.plus_img = imgNode; + node.expandToggle = document.createElement("a"); + node.expandToggle.href = "javascript:void(0)"; + node.expandToggle.onclick = function() { + if (node.expanded) { + $(node.getChildrenUL()).slideUp("fast"); + node.plus_img.innerHTML=arrowRight; + node.expanded = false; + } else { + expandNode(o, node, false, false); + } + } + node.expandToggle.appendChild(imgNode); + domNode.appendChild(node.expandToggle); + } else { + var span = document.createElement("span"); + span.className = 'arrow'; + span.style.width = 16*(level+1)+'px'; + span.innerHTML = ' '; + domNode.appendChild(span); + } +} + +var animationInProgress = false; + +function gotoAnchor(anchor,aname,updateLocation) +{ + var pos, docContent = $('#doc-content'); + var ancParent = $(anchor.parent()); + if (ancParent.hasClass('memItemLeft') || + ancParent.hasClass('memtitle') || + ancParent.hasClass('fieldname') || + ancParent.hasClass('fieldtype') || + ancParent.is(':header')) + { + pos = ancParent.position().top; + } else if (anchor.position()) { + pos = anchor.position().top; + } + if (pos) { + var dist = Math.abs(Math.min( + pos-docContent.offset().top, + docContent[0].scrollHeight- + docContent.height()-docContent.scrollTop())); + animationInProgress=true; + docContent.animate({ + scrollTop: pos + docContent.scrollTop() - docContent.offset().top + },Math.max(50,Math.min(500,dist)),function(){ + if (updateLocation) window.location.href=aname; + animationInProgress=false; + }); + } +} + +function newNode(o, po, text, link, childrenData, lastNode) +{ + var node = new Object(); + node.children = Array(); + node.childrenData = childrenData; + node.depth = po.depth + 1; + node.relpath = po.relpath; + node.isLast = lastNode; + + node.li = document.createElement("li"); + po.getChildrenUL().appendChild(node.li); + node.parentNode = po; + + node.itemDiv = document.createElement("div"); + node.itemDiv.className = "item"; + + node.labelSpan = document.createElement("span"); + node.labelSpan.className = "label"; + + createIndent(o,node.itemDiv,node,0); + node.itemDiv.appendChild(node.labelSpan); + node.li.appendChild(node.itemDiv); + + var a = document.createElement("a"); + node.labelSpan.appendChild(a); + node.label = document.createTextNode(text); + node.expanded = false; + a.appendChild(node.label); + if (link) { + var url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + link = url; + } else { + url = node.relpath+link; + } + a.className = stripPath(link.replace('#',':')); + if (link.indexOf('#')!=-1) { + var aname = '#'+link.split('#')[1]; + var srcPage = stripPath(pathName()); + var targetPage = stripPath(link.split('#')[0]); + a.href = srcPage!=targetPage ? url : "javascript:void(0)"; + a.onclick = function(){ + storeLink(link); + if (!$(a).parent().parent().hasClass('selected')) + { + $('.item').removeClass('selected'); + $('.item').removeAttr('id'); + $(a).parent().parent().addClass('selected'); + $(a).parent().parent().attr('id','selected'); + } + var anchor = $(aname); + gotoAnchor(anchor,aname,true); + }; + } else { + a.href = url; + a.onclick = function() { storeLink(link); } + } + } else { + if (childrenData != null) + { + a.className = "nolink"; + a.href = "javascript:void(0)"; + a.onclick = node.expandToggle.onclick; + } + } + + node.childrenUL = null; + node.getChildrenUL = function() { + if (!node.childrenUL) { + node.childrenUL = document.createElement("ul"); + node.childrenUL.className = "children_ul"; + node.childrenUL.style.display = "none"; + node.li.appendChild(node.childrenUL); + } + return node.childrenUL; + }; + + return node; +} + +function showRoot() +{ + var headerHeight = $("#top").height(); + var footerHeight = $("#nav-path").height(); + var windowHeight = $(window).height() - headerHeight - footerHeight; + (function (){ // retry until we can scroll to the selected item + try { + var navtree=$('#nav-tree'); + navtree.scrollTo('#selected',100,{offset:-windowHeight/2}); + } catch (err) { + setTimeout(arguments.callee, 0); + } + })(); +} + +function expandNode(o, node, imm, showRoot) +{ + if (node.childrenData && !node.expanded) { + if (typeof(node.childrenData)==='string') { + var varName = node.childrenData; + getScript(node.relpath+varName,function(){ + node.childrenData = getData(varName); + expandNode(o, node, imm, showRoot); + }, showRoot); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).slideDown("fast"); + node.plus_img.innerHTML = arrowDown; + node.expanded = true; + } + } +} + +function glowEffect(n,duration) +{ + n.addClass('glow').delay(duration).queue(function(next){ + $(this).removeClass('glow');next(); + }); +} + +function highlightAnchor() +{ + var aname = hashUrl(); + var anchor = $(aname); + if (anchor.parent().attr('class')=='memItemLeft'){ + var rows = $('.memberdecls tr[class$="'+hashValue()+'"]'); + glowEffect(rows.children(),300); // member without details + } else if (anchor.parent().attr('class')=='fieldname'){ + glowEffect(anchor.parent().parent(),1000); // enum value + } else if (anchor.parent().attr('class')=='fieldtype'){ + glowEffect(anchor.parent().parent(),1000); // struct field + } else if (anchor.parent().is(":header")) { + glowEffect(anchor.parent(),1000); // section header + } else { + glowEffect(anchor.next(),1000); // normal member + } +} + +function selectAndHighlight(hash,n) +{ + var a; + if (hash) { + var link=stripPath(pathName())+':'+hash.substring(1); + a=$('.item a[class$="'+link+'"]'); + } + if (a && a.length) { + a.parent().parent().addClass('selected'); + a.parent().parent().attr('id','selected'); + highlightAnchor(); + } else if (n) { + $(n.itemDiv).addClass('selected'); + $(n.itemDiv).attr('id','selected'); + } + if ($('#nav-tree-contents .item:first').hasClass('selected')) { + $('#nav-sync').css('top','30px'); + } else { + $('#nav-sync').css('top','5px'); + } + showRoot(); +} + +function showNode(o, node, index, hash) +{ + if (node && node.childrenData) { + if (typeof(node.childrenData)==='string') { + var varName = node.childrenData; + getScript(node.relpath+varName,function(){ + node.childrenData = getData(varName); + showNode(o,node,index,hash); + },true); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).css({'display':'block'}); + node.plus_img.innerHTML = arrowDown; + node.expanded = true; + var n = node.children[o.breadcrumbs[index]]; + if (index+11) hash = '#'+parts[1].replace(/[^\w\-]/g,''); + else hash=''; + } + if (hash.match(/^#l\d+$/)) { + var anchor=$('a[name='+hash.substring(1)+']'); + glowEffect(anchor.parent(),1000); // line number + hash=''; // strip line number anchors + } + var url=root+hash; + var i=-1; + while (NAVTREEINDEX[i+1]<=url) i++; + if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath) + } else { + getScript(relpath+'navtreeindex'+i,function(){ + navTreeSubIndices[i] = eval('NAVTREEINDEX'+i); + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath); + } + },true); + } +} + +function showSyncOff(n,relpath) +{ + n.html(''); +} + +function showSyncOn(n,relpath) +{ + n.html(''); +} + +function toggleSyncButton(relpath) +{ + var navSync = $('#nav-sync'); + if (navSync.hasClass('sync')) { + navSync.removeClass('sync'); + showSyncOff(navSync,relpath); + storeLink(stripPath2(pathName())+hashUrl()); + } else { + navSync.addClass('sync'); + showSyncOn(navSync,relpath); + deleteLink(); + } +} + +var loadTriggered = false; +var readyTriggered = false; +var loadObject,loadToRoot,loadUrl,loadRelPath; + +$(window).on('load',function(){ + if (readyTriggered) { // ready first + navTo(loadObject,loadToRoot,loadUrl,loadRelPath); + showRoot(); + } + loadTriggered=true; +}); + +function initNavTree(toroot,relpath) +{ + var o = new Object(); + o.toroot = toroot; + o.node = new Object(); + o.node.li = document.getElementById("nav-tree-contents"); + o.node.childrenData = NAVTREE; + o.node.children = new Array(); + o.node.childrenUL = document.createElement("ul"); + o.node.getChildrenUL = function() { return o.node.childrenUL; }; + o.node.li.appendChild(o.node.childrenUL); + o.node.depth = 0; + o.node.relpath = relpath; + o.node.expanded = false; + o.node.isLast = true; + o.node.plus_img = document.createElement("span"); + o.node.plus_img.className = 'arrow'; + o.node.plus_img.innerHTML = arrowRight; + + if (localStorageSupported()) { + var navSync = $('#nav-sync'); + if (cachedLink()) { + showSyncOff(navSync,relpath); + navSync.removeClass('sync'); + } else { + showSyncOn(navSync,relpath); + } + navSync.click(function(){ toggleSyncButton(relpath); }); + } + + if (loadTriggered) { // load before ready + navTo(o,toroot,hashUrl(),relpath); + showRoot(); + } else { // ready before load + loadObject = o; + loadToRoot = toroot; + loadUrl = hashUrl(); + loadRelPath = relpath; + readyTriggered=true; + } + + $(window).bind('hashchange', function(){ + if (window.location.hash && window.location.hash.length>1){ + var a; + if ($(location).attr('hash')){ + var clslink=stripPath(pathName())+':'+hashValue(); + a=$('.item a[class$="'+clslink.replace(/ + + + + + + +Creo2Urdf: Related Pages + + + + + + + + + + + + + +
    +
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    Creo2Urdf +
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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function convertToId(search) +{ + var result = ''; + for (i=0;i do a search + { + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var resultsPage; + var resultsPageWithSearch; + var hasResultsPage; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + this.extension; + resultsPageWithSearch = resultsPage+'?'+escape(searchValue); + hasResultsPage = true; + } + else // nothing available for this search term + { + resultsPage = this.resultsPath + '/nomatches' + this.extension; + resultsPageWithSearch = resultsPage; + hasResultsPage = false; + } + + window.frames.MSearchResults.location = resultsPageWithSearch; + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + + if (domPopupSearchResultsWindow.style.display!='block') + { + var domSearchBox = this.DOMSearchBox(); + this.DOMSearchClose().style.display = 'inline-block'; + if (this.insideFrame) + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + domPopupSearchResultsWindow.style.position = 'relative'; + domPopupSearchResultsWindow.style.display = 'block'; + var width = document.body.clientWidth - 8; // the -8 is for IE :-( + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResults.style.width = width + 'px'; + } + else + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth; + var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + } + } + + this.lastSearchValue = searchValue; + this.lastResultsPage = resultsPage; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + + var searchField = this.DOMSearchField(); + + if (searchField.value == this.searchLabel) // clear "Search" term upon entry + { + searchField.value = ''; + this.searchActive = true; + } + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.DOMSearchField().value = this.searchLabel; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) + { + if (!search) // get search word from URL + { + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + var resultRows = document.getElementsByTagName("div"); + var matches = 0; + + var i = 0; + while (i < resultRows.length) + { + var row = resultRows.item(i); + if (row.className == "SRResult") + { + var rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) + { + row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + parent.document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults() +{ + var results = document.getElementById("SRResults"); + for (var e=0; e + + + + + + + + + +
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    +
    + +

    Information about collision geometry. Useful to simplify the evaluation of collisions between meshes. + More...

    + +

    #include <Utils.h>

    + + + + + + + + + + + + + + + + + +

    +Public Attributes

    ShapeType shape {ShapeType::None}
     Type of the collision shape. More...
     
    std::array< double, 3 > size {1.0, 1.0, 1.0}
     Size of the collision geometry. More...
     
    double radius {1.0}
     Radius of the collision geometry (if applicable). More...
     
    double length {1.0}
     Length of the collision geometry (if applicable). More...
     
    iDynTree::Transform link_H_geometry {iDynTree::Transform::Identity()}
     3D transform from link reference frame to simplified geometry. More...
     
    +

    Detailed Description

    +

    Information about collision geometry. Useful to simplify the evaluation of collisions between meshes.

    + +

    Definition at line 210 of file Utils.h.

    +

    Member Data Documentation

    + +

    ◆ length

    + +
    +
    + + + + +
    double CollisionGeometryInfo::length {1.0}
    +
    + +

    Length of the collision geometry (if applicable).

    + +

    Definition at line 214 of file Utils.h.

    + +
    +
    + +

    ◆ link_H_geometry

    + +
    +
    + + + + +
    iDynTree::Transform CollisionGeometryInfo::link_H_geometry {iDynTree::Transform::Identity()}
    +
    + +

    3D transform from link reference frame to simplified geometry.

    + +

    Definition at line 215 of file Utils.h.

    + +
    +
    + +

    ◆ radius

    + +
    +
    + + + + +
    double CollisionGeometryInfo::radius {1.0}
    +
    + +

    Radius of the collision geometry (if applicable).

    + +

    Definition at line 213 of file Utils.h.

    + +
    +
    + +

    ◆ shape

    + +
    +
    + + + + +
    ShapeType CollisionGeometryInfo::shape {ShapeType::None}
    +
    + +

    Type of the collision shape.

    + +

    Definition at line 211 of file Utils.h.

    + +
    +
    + +

    ◆ size

    + +
    +
    + + + + +
    std::array<double, 3> CollisionGeometryInfo::size {1.0, 1.0, 1.0}
    +
    + +

    Size of the collision geometry.

    + +

    Definition at line 212 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
      • +
    +
    +
    + + + + diff --git a/doc/doxygen/doc/html/structCollisionGeometryInfo.js b/doc/doxygen/doc/html/structCollisionGeometryInfo.js new file mode 100644 index 0000000..ff8c4ed --- /dev/null +++ b/doc/doxygen/doc/html/structCollisionGeometryInfo.js @@ -0,0 +1,8 @@ +var structCollisionGeometryInfo = +[ + [ "length", "structCollisionGeometryInfo.html#ae795b4928db20d7b38eabbc491e913f3", null ], + [ "link_H_geometry", "structCollisionGeometryInfo.html#a4fabbbcc29b122d66f8dd84bcd9f574d", null ], + [ "radius", "structCollisionGeometryInfo.html#ac33e57ec06d22fe228546016bce88214", null ], + [ "shape", "structCollisionGeometryInfo.html#ac3e38f72c5934901053c167490dc7038", null ], + [ "size", "structCollisionGeometryInfo.html#a4cbd67cd2823b16bd5d6662dc19cb01b", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/structExportedFrameInfo-members.html b/doc/doxygen/doc/html/structExportedFrameInfo-members.html new file mode 100644 index 0000000..1f7d3eb --- /dev/null +++ b/doc/doxygen/doc/html/structExportedFrameInfo-members.html @@ -0,0 +1,104 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
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    Creo2Urdf +
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    ExportedFrameInfo Member List
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    +
    + +

    This is the complete list of members for ExportedFrameInfo, including all inherited members.

    + + + + + +
    additionalTransformationExportedFrameInfo
    exportedFrameNameExportedFrameInfo
    frameReferenceLinkExportedFrameInfo
    linkFrame_H_additionalFrameExportedFrameInfo
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    Creo2Urdf +
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    +
    +Public Attributes | +List of all members
    +
    +
    ExportedFrameInfo Struct Reference
    +
    +
    + +

    Information about an exported frame. + More...

    + +

    #include <Utils.h>

    + + + + + + + + + + + + + + +

    +Public Attributes

    std::string frameReferenceLink {""}
     Link that the frame belongs to. More...
     
    std::string exportedFrameName {""}
     Name of the exported frame. More...
     
    iDynTree::Transform linkFrame_H_additionalFrame {iDynTree::Transform::Identity()}
     3D transform from link frame to additional frame. More...
     
    iDynTree::Transform additionalTransformation {iDynTree::Transform::Identity()}
     Additional 3D transform. More...
     
    +

    Detailed Description

    +

    Information about an exported frame.

    + +

    Definition at line 200 of file Utils.h.

    +

    Member Data Documentation

    + +

    ◆ additionalTransformation

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    +
    + + + + +
    iDynTree::Transform ExportedFrameInfo::additionalTransformation {iDynTree::Transform::Identity()}
    +
    + +

    Additional 3D transform.

    + +

    Definition at line 204 of file Utils.h.

    + +
    +
    + +

    ◆ exportedFrameName

    + +
    +
    + + + + +
    std::string ExportedFrameInfo::exportedFrameName {""}
    +
    + +

    Name of the exported frame.

    + +

    Definition at line 202 of file Utils.h.

    + +
    +
    + +

    ◆ frameReferenceLink

    + +
    +
    + + + + +
    std::string ExportedFrameInfo::frameReferenceLink {""}
    +
    + +

    Link that the frame belongs to.

    + +

    Definition at line 201 of file Utils.h.

    + +
    +
    + +

    ◆ linkFrame_H_additionalFrame

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    +
    + + + + +
    iDynTree::Transform ExportedFrameInfo::linkFrame_H_additionalFrame {iDynTree::Transform::Identity()}
    +
    + +

    3D transform from link frame to additional frame.

    + +

    Definition at line 203 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
      • +
    +
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    + + + + diff --git a/doc/doxygen/doc/html/structExportedFrameInfo.js b/doc/doxygen/doc/html/structExportedFrameInfo.js new file mode 100644 index 0000000..802f13a --- /dev/null +++ b/doc/doxygen/doc/html/structExportedFrameInfo.js @@ -0,0 +1,7 @@ +var structExportedFrameInfo = +[ + [ "additionalTransformation", "structExportedFrameInfo.html#ac9e416d650dbe7512e60bb04b9ca7e8b", null ], + [ "exportedFrameName", "structExportedFrameInfo.html#a7b534996eac8f27e68f8cf92026c85c3", null ], + [ "frameReferenceLink", "structExportedFrameInfo.html#a5dfa3784dca3c9585af0e16e8d62a7dd", null ], + [ "linkFrame_H_additionalFrame", "structExportedFrameInfo.html#aa787f1e89b54455d4a158084c99feb3c", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/structFTSensorInfo-members.html b/doc/doxygen/doc/html/structFTSensorInfo-members.html new file mode 100644 index 0000000..4e3f923 --- /dev/null +++ b/doc/doxygen/doc/html/structFTSensorInfo-members.html @@ -0,0 +1,110 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
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    Creo2Urdf +
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    FTSensorInfo Member List
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    This is the complete list of members for FTSensorInfo, including all inherited members.

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    child_link_H_sensorFTSensorInfo
    directionChildToParentFTSensorInfo
    exportedFrameNameFTSensorInfo
    exportFrameInURDFFTSensorInfo
    frameFTSensorInfo
    frameNameFTSensorInfo
    linkNameFTSensorInfo
    parent_link_H_sensorFTSensorInfo
    sensorNameFTSensorInfo
    xmlBlobsFTSensorInfo
    +
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    Creo2Urdf +
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    + + +
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    +Public Attributes | +List of all members
    +
    +
    FTSensorInfo Struct Reference
    +
    +
    + +

    Information about a Force Torque sensor. Forces are measured in N, torques in N*m. + More...

    + +

    #include <Utils.h>

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Public Attributes

    bool directionChildToParent {true}
     Flag indicating the direction from child to parent. More...
     
    std::string frame {"sensor"}
     Frame associated with the FT sensor. More...
     
    std::string sensorName {""}
     Name of the FT sensor. More...
     
    std::string frameName {""}
     Name of the frame. More...
     
    std::string linkName {" "}
     Name of the associated link. More...
     
    std::string exportedFrameName {""}
     Name of the exported frame. More...
     
    iDynTree::Transform parent_link_H_sensor {iDynTree::Transform::Identity()}
     3D transform from parent link to sensor. More...
     
    iDynTree::Transform child_link_H_sensor {iDynTree::Transform::Identity()}
     3D transform from child link to sensor. More...
     
    bool exportFrameInURDF {false}
     Flag indicating whether to export the frame in URDF. More...
     
    std::vector< std::string > xmlBlobs
     Vector of XML blobs that can be appended to the XML tree. More...
     
    +

    Detailed Description

    +

    Information about a Force Torque sensor. Forces are measured in N, torques in N*m.

    + +

    Definition at line 184 of file Utils.h.

    +

    Member Data Documentation

    + +

    ◆ child_link_H_sensor

    + +
    +
    + + + + +
    iDynTree::Transform FTSensorInfo::child_link_H_sensor {iDynTree::Transform::Identity()}
    +
    + +

    3D transform from child link to sensor.

    + +

    Definition at line 192 of file Utils.h.

    + +
    +
    + +

    ◆ directionChildToParent

    + +
    +
    + + + + +
    bool FTSensorInfo::directionChildToParent {true}
    +
    + +

    Flag indicating the direction from child to parent.

    + +

    Definition at line 185 of file Utils.h.

    + +
    +
    + +

    ◆ exportedFrameName

    + +
    +
    + + + + +
    std::string FTSensorInfo::exportedFrameName {""}
    +
    + +

    Name of the exported frame.

    + +

    Definition at line 190 of file Utils.h.

    + +
    +
    + +

    ◆ exportFrameInURDF

    + +
    +
    + + + + +
    bool FTSensorInfo::exportFrameInURDF {false}
    +
    + +

    Flag indicating whether to export the frame in URDF.

    + +

    Definition at line 193 of file Utils.h.

    + +
    +
    + +

    ◆ frame

    + +
    +
    + + + + +
    std::string FTSensorInfo::frame {"sensor"}
    +
    + +

    Frame associated with the FT sensor.

    + +

    Definition at line 186 of file Utils.h.

    + +
    +
    + +

    ◆ frameName

    + +
    +
    + + + + +
    std::string FTSensorInfo::frameName {""}
    +
    + +

    Name of the frame.

    + +

    Definition at line 188 of file Utils.h.

    + +
    +
    + +

    ◆ linkName

    + +
    +
    + + + + +
    std::string FTSensorInfo::linkName {" "}
    +
    + +

    Name of the associated link.

    + +

    Definition at line 189 of file Utils.h.

    + +
    +
    + +

    ◆ parent_link_H_sensor

    + +
    +
    + + + + +
    iDynTree::Transform FTSensorInfo::parent_link_H_sensor {iDynTree::Transform::Identity()}
    +
    + +

    3D transform from parent link to sensor.

    + +

    Definition at line 191 of file Utils.h.

    + +
    +
    + +

    ◆ sensorName

    + +
    +
    + + + + +
    std::string FTSensorInfo::sensorName {""}
    +
    + +

    Name of the FT sensor.

    + +

    Definition at line 187 of file Utils.h.

    + +
    +
    + +

    ◆ xmlBlobs

    + +
    +
    + + + + +
    std::vector<std::string> FTSensorInfo::xmlBlobs
    +
    + +

    Vector of XML blobs that can be appended to the XML tree.

    + +

    Definition at line 194 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
      • +
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    + + + + diff --git a/doc/doxygen/doc/html/structFTSensorInfo.js b/doc/doxygen/doc/html/structFTSensorInfo.js new file mode 100644 index 0000000..6972e6f --- /dev/null +++ b/doc/doxygen/doc/html/structFTSensorInfo.js @@ -0,0 +1,13 @@ +var structFTSensorInfo = +[ + [ "child_link_H_sensor", "structFTSensorInfo.html#a90ef1c2234d887ee51e5f58dec5f1bc8", null ], + [ "directionChildToParent", "structFTSensorInfo.html#af138ca68f9ecef1a35c00d5678217b76", null ], + [ "exportedFrameName", "structFTSensorInfo.html#acf944dd9d19415e4215f14fb27fe79c6", null ], + [ "exportFrameInURDF", "structFTSensorInfo.html#a0af5b8729b84b1edbc4fb22c5536bdd4", null ], + [ "frame", "structFTSensorInfo.html#a185e6c43cdf21f95839509fc664cc99e", null ], + [ "frameName", "structFTSensorInfo.html#ad95f4f8dcbfd4a67f8d791166a5b1ead", null ], + [ "linkName", "structFTSensorInfo.html#a95a21bae97461299c0f556fd6344e252", null ], + [ "parent_link_H_sensor", "structFTSensorInfo.html#a0b4a74a712c6c8681b1bf1f73576d770", null ], + [ "sensorName", "structFTSensorInfo.html#ac4697a7a38232762aa28758bcd82b5dd", null ], + [ "xmlBlobs", "structFTSensorInfo.html#ae1043cee331e5fb539d86830edf0c331", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/structJointInfo-members.html b/doc/doxygen/doc/html/structJointInfo-members.html new file mode 100644 index 0000000..f98584f --- /dev/null +++ b/doc/doxygen/doc/html/structJointInfo-members.html @@ -0,0 +1,106 @@ + + + + + + + +Creo2Urdf: Member List + + + + + + + + + + + + + +
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    Creo2Urdf +
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    JointInfo Member List
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    This is the complete list of members for JointInfo, including all inherited members.

    + + + + + + + +
    child_link_nameJointInfo
    datum_nameJointInfo
    dynamicsJointInfo
    limitsJointInfo
    parent_link_nameJointInfo
    typeJointInfo
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    +Classes | +Public Attributes | +List of all members
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    +
    JointInfo Struct Reference
    +
    +
    + +

    Information about a joint, including its type, limits, and dynamic parameters. + More...

    + +

    #include <Utils.h>

    + + + + + + + + +

    +Classes

    struct  DynamicParams
     Dynamic parameters for the joint. More...
     
    struct  Limits
     Limits for joint movement. More...
     
    + + + + + + + + + + + + + + + + + +

    +Public Attributes

    std::string datum_name {""}
     Name of the joint's associated datum (axis for revolute, csys for fixed). More...
     
    std::string parent_link_name {""}
     Name of the parent link connected to the joint. More...
     
    std::string child_link_name {""}
     Name of the child link connected to the joint. More...
     
    JointType type {JointType::Revolute}
     Type of the joint (default is revolute). More...
     
    struct JointInfo::Limits limits
     
    struct JointInfo::DynamicParams dynamics
     
    +

    Detailed Description

    +

    Information about a joint, including its type, limits, and dynamic parameters.

    + +

    Definition at line 232 of file Utils.h.

    +

    Member Data Documentation

    + +

    ◆ child_link_name

    + +
    +
    + + + + +
    std::string JointInfo::child_link_name {""}
    +
    + +

    Name of the child link connected to the joint.

    + +

    Definition at line 235 of file Utils.h.

    + +
    +
    + +

    ◆ datum_name

    + +
    +
    + + + + +
    std::string JointInfo::datum_name {""}
    +
    + +

    Name of the joint's associated datum (axis for revolute, csys for fixed).

    + +

    Definition at line 233 of file Utils.h.

    + +
    +
    + +

    ◆ dynamics

    + +
    +
    + + + + +
    struct JointInfo::DynamicParams JointInfo::dynamics
    +
    + +
    +
    + +

    ◆ limits

    + +
    +
    + + + + +
    struct JointInfo::Limits JointInfo::limits
    +
    + +
    +
    + +

    ◆ parent_link_name

    + +
    +
    + + + + +
    std::string JointInfo::parent_link_name {""}
    +
    + +

    Name of the parent link connected to the joint.

    + +

    Definition at line 234 of file Utils.h.

    + +
    +
    + +

    ◆ type

    + +
    +
    + + + + +
    JointType JointInfo::type {JointType::Revolute}
    +
    + +

    Type of the joint (default is revolute).

    + +

    Definition at line 236 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
      • +
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    JointInfo::DynamicParams Member List
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    +
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    This is the complete list of members for JointInfo::DynamicParams, including all inherited members.

    + + + +
    dampingJointInfo::DynamicParams
    frictionJointInfo::DynamicParams
    +
    + + + + diff --git a/doc/doxygen/doc/html/structJointInfo_1_1DynamicParams.html b/doc/doxygen/doc/html/structJointInfo_1_1DynamicParams.html new file mode 100644 index 0000000..24740de --- /dev/null +++ b/doc/doxygen/doc/html/structJointInfo_1_1DynamicParams.html @@ -0,0 +1,160 @@ + + + + + + + +Creo2Urdf: JointInfo::DynamicParams Struct Reference + + + + + + + + + + + + + +
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    +Public Attributes | +List of all members
    +
    +
    JointInfo::DynamicParams Struct Reference
    +
    +
    + +

    Dynamic parameters for the joint. + More...

    + +

    #include <Utils.h>

    + + + + + + + + +

    +Public Attributes

    double damping = 1.0
     Damping coefficient for the joint. More...
     
    double friction = 0.0
     Friction coefficient for the joint. More...
     
    +

    Detailed Description

    +

    Dynamic parameters for the joint.

    + +

    Definition at line 249 of file Utils.h.

    +

    Member Data Documentation

    + +

    ◆ damping

    + +
    +
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    double JointInfo::DynamicParams::damping = 1.0
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    Damping coefficient for the joint.

    + +

    Definition at line 250 of file Utils.h.

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    ◆ friction

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    double JointInfo::DynamicParams::friction = 0.0
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    Friction coefficient for the joint.

    + +

    Definition at line 251 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
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    Creo2Urdf +
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    JointInfo::Limits Member List
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    This is the complete list of members for JointInfo::Limits, including all inherited members.

    + + + +
    maxJointInfo::Limits
    minJointInfo::Limits
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    +Public Attributes | +List of all members
    +
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    JointInfo::Limits Struct Reference
    +
    +
    + +

    Limits for joint movement. + More...

    + +

    #include <Utils.h>

    + + + + + + + + +

    +Public Attributes

    double min = 0.0
     Minimum allowed value for joint movement. More...
     
    double max = 360.0
     Maximum allowed value for joint movement. More...
     
    +

    Detailed Description

    +

    Limits for joint movement.

    + +

    Definition at line 241 of file Utils.h.

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    Member Data Documentation

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    ◆ max

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    double JointInfo::Limits::max = 360.0
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    Maximum allowed value for joint movement.

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    Definition at line 243 of file Utils.h.

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    ◆ min

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    double JointInfo::Limits::min = 0.0
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    Minimum allowed value for joint movement.

    + +

    Definition at line 242 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
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    LinkInfo Member List
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    This is the complete list of members for LinkInfo, including all inherited members.

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    link_frame_nameLinkInfo
    modelhdlLinkInfo
    nameLinkInfo
    root_H_linkLinkInfo
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    +Public Attributes | +List of all members
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    LinkInfo Struct Reference
    +
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    + +

    Information about a link, including its name, model handle, transformation, and frame name. + More...

    + +

    #include <Utils.h>

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    +Public Attributes

    std::string name {""}
     Name of the link. More...
     
    pfcModel_ptr modelhdl {nullptr}
     Pointer to the Creo model associated with the link. More...
     
    iDynTree::Transform root_H_link {iDynTree::Transform::Identity()}
     3D Transform from the root to the link's reference frame. More...
     
    std::string link_frame_name {""}
     Name of the link frame. More...
     
    +

    Detailed Description

    +

    Information about a link, including its name, model handle, transformation, and frame name.

    + +

    Definition at line 258 of file Utils.h.

    +

    Member Data Documentation

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    ◆ link_frame_name

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    std::string LinkInfo::link_frame_name {""}
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    Name of the link frame.

    + +

    Definition at line 262 of file Utils.h.

    + +
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    + +

    ◆ modelhdl

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    pfcModel_ptr LinkInfo::modelhdl {nullptr}
    +
    + +

    Pointer to the Creo model associated with the link.

    + +

    Definition at line 260 of file Utils.h.

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    ◆ name

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    std::string LinkInfo::name {""}
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    Name of the link.

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    Definition at line 259 of file Utils.h.

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    ◆ root_H_link

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    iDynTree::Transform LinkInfo::root_H_link {iDynTree::Transform::Identity()}
    +
    + +

    3D Transform from the root to the link's reference frame.

    + +

    Definition at line 261 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
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    SensorInfo Member List
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    This is the complete list of members for SensorInfo, including all inherited members.

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    exportedFrameNameSensorInfo
    exportFrameInURDFSensorInfo
    frameNameSensorInfo
    linkNameSensorInfo
    sensorNameSensorInfo
    transformSensorInfo
    typeSensorInfo
    updateRateSensorInfo
    xmlBlobsSensorInfo
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    +Public Attributes | +List of all members
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    SensorInfo Struct Reference
    +
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    Struct representing information about a sensor. + More...

    + +

    #include <Utils.h>

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    +Public Attributes

    std::string sensorName { "" }
     Name of the sensor. More...
     
    std::string frameName { "" }
     Name of the associated frame. More...
     
    std::string linkName { "" }
     Name of the link it is attached to. More...
     
    std::string exportedFrameName { "" }
     Name of the exported frame. More...
     
    iDynTree::Transform transform { iDynTree::Transform::Identity() }
     3D transform associated with the sensor. More...
     
    bool exportFrameInURDF { false }
     Flag indicating whether to export the frame in URDF. More...
     
    SensorType type { SensorType::None }
     Type of the sensor. More...
     
    double updateRate { 100 }
     Update rate of the sensor. More...
     
    std::vector< std::string > xmlBlobs
     Additional XML blobs that can be appended to the XML tree. More...
     
    +

    Detailed Description

    +

    Struct representing information about a sensor.

    +

    The SensorInfo struct encapsulates all the sensor information needed to work when loading it from a URDF file.

    + +

    Definition at line 169 of file Utils.h.

    +

    Member Data Documentation

    + +

    ◆ exportedFrameName

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    +
    + + + + +
    std::string SensorInfo::exportedFrameName { "" }
    +
    + +

    Name of the exported frame.

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    Definition at line 173 of file Utils.h.

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    ◆ exportFrameInURDF

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    bool SensorInfo::exportFrameInURDF { false }
    +
    + +

    Flag indicating whether to export the frame in URDF.

    + +

    Definition at line 175 of file Utils.h.

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    + +

    ◆ frameName

    + +
    +
    + + + + +
    std::string SensorInfo::frameName { "" }
    +
    + +

    Name of the associated frame.

    + +

    Definition at line 171 of file Utils.h.

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    ◆ linkName

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    std::string SensorInfo::linkName { "" }
    +
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    Name of the link it is attached to.

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    Definition at line 172 of file Utils.h.

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    ◆ sensorName

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    std::string SensorInfo::sensorName { "" }
    +
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    Name of the sensor.

    + +

    Definition at line 170 of file Utils.h.

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    + +

    ◆ transform

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    + + + + +
    iDynTree::Transform SensorInfo::transform { iDynTree::Transform::Identity() }
    +
    + +

    3D transform associated with the sensor.

    + +

    Definition at line 174 of file Utils.h.

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    +
    + +

    ◆ type

    + +
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    + + + + +
    SensorType SensorInfo::type { SensorType::None }
    +
    + +

    Type of the sensor.

    + +

    Definition at line 176 of file Utils.h.

    + +
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    + +

    ◆ updateRate

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    +
    + + + + +
    double SensorInfo::updateRate { 100 }
    +
    + +

    Update rate of the sensor.

    + +

    Definition at line 177 of file Utils.h.

    + +
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    + +

    ◆ xmlBlobs

    + +
    +
    + + + + +
    std::vector<std::string> SensorInfo::xmlBlobs
    +
    + +

    Additional XML blobs that can be appended to the XML tree.

    + +

    Definition at line 178 of file Utils.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Utils.h
      • +
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    Sensorizer Member List
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    This is the complete list of members for Sensorizer, including all inherited members.

    + + + + + + + + + + +
    assignTransformToFTSensor(const std::map< std::string, ExportedFrameInfo > &exported_frame_info_map, const std::map< std::string, LinkInfo > &link_info_map, const std::map< std::string, JointInfo > &joint_info_map, const std::array< double, 3 > scale)Sensorizer
    assignTransformToSensors(const std::map< std::string, ExportedFrameInfo > &exported_frame_info_map, const std::map< std::string, LinkInfo > &link_info_map, const std::array< double, 3 > scale)Sensorizer
    buildFTXMLBlobs()Sensorizer
    buildSensorsXMLBlobs()Sensorizer
    ft_sensorsSensorizer
    m_configSensorizer
    readFTSensorsFromConfig(const YAML::Node &config)Sensorizer
    readSensorsFromConfig(const YAML::Node &config)Sensorizer
    sensorsSensorizer
    +
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    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    Sensorizer Struct Reference
    +
    +
    + +

    Represents a Sensorizer class, used read sensors information from a YAML node, and create the related XML blobs to feed to iDynTree Model Exporter. + More...

    + +

    #include <Sensorizer.h>

    + + + + + + + + + + + + + + + + + + + + +

    +Public Member Functions

    void readFTSensorsFromConfig (const YAML::Node &config)
     Reads force/torque sensors configuration from a YAML node. More...
     
    void readSensorsFromConfig (const YAML::Node &config)
     Reads general sensors configuration from a YAML node. More...
     
    void assignTransformToFTSensor (const std::map< std::string, ExportedFrameInfo > &exported_frame_info_map, const std::map< std::string, LinkInfo > &link_info_map, const std::map< std::string, JointInfo > &joint_info_map, const std::array< double, 3 > scale)
     Assigns a 3D transform to a force/torque sensor based on provided information. More...
     
    void assignTransformToSensors (const std::map< std::string, ExportedFrameInfo > &exported_frame_info_map, const std::map< std::string, LinkInfo > &link_info_map, const std::array< double, 3 > scale)
     Assigns a 3D transform to all sensors based on provided information. More...
     
    std::vector< std::string > buildFTXMLBlobs ()
     Builds a vector of XML trees as strings for force/torque sensors, starting from the information retrieved in the YAML. The XML trees are returned in this way so that they can be added as blobs using iDynTree. More...
     
    std::vector< std::string > buildSensorsXMLBlobs ()
     Builds a vector of XML trees as strings for general sensors, starting from the information retrieved in the YAML. The XML trees are returned in this way so that they can be added as blobs using iDynTree. More...
     
    + + + + + + + + + + +

    +Public Attributes

    std::map< std::string, FTSensorInfo > ft_sensors
     Map containing information about force/torque sensors. More...
     
    std::vector< SensorInfo > sensors
     Vector containing information about general sensors. More...
     
    YAML::Node m_config
     YAML node containing sensor configuration. More...
     
    +

    Detailed Description

    +

    Represents a Sensorizer class, used read sensors information from a YAML node, and create the related XML blobs to feed to iDynTree Model Exporter.

    + +

    Definition at line 30 of file Sensorizer.h.

    +

    Member Function Documentation

    + +

    ◆ assignTransformToFTSensor()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void Sensorizer::assignTransformToFTSensor (const std::map< std::string, ExportedFrameInfo > & exported_frame_info_map,
    const std::map< std::string, LinkInfo > & link_info_map,
    const std::map< std::string, JointInfo > & joint_info_map,
    const std::array< double, 3 > scale 
    )
    +
    + +

    Assigns a 3D transform to a force/torque sensor based on provided information.

    +
    Parameters
    + + + + + +
    exported_frame_info_mapA map of exported frame information.
    link_info_mapA map of link information.
    joint_info_mapA map of joint information.
    scaleThe scale for the position part of the 3D transform.
    +
    +
    + +
    +
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    ◆ assignTransformToSensors()

    + +
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    + + + + + + + + + + + + + + + + + + + + + + + + +
    void Sensorizer::assignTransformToSensors (const std::map< std::string, ExportedFrameInfo > & exported_frame_info_map,
    const std::map< std::string, LinkInfo > & link_info_map,
    const std::array< double, 3 > scale 
    )
    +
    + +

    Assigns a 3D transform to all sensors based on provided information.

    +
    Parameters
    + + + + +
    exported_frame_info_mapA map of exported frame information.
    link_info_mapA map of link information.
    scaleThe scale for the position part of the 3D transform.
    +
    +
    + +
    +
    + +

    ◆ buildFTXMLBlobs()

    + +
    +
    + + + + + + + +
    std::vector<std::string> Sensorizer::buildFTXMLBlobs ()
    +
    + +

    Builds a vector of XML trees as strings for force/torque sensors, starting from the information retrieved in the YAML. The XML trees are returned in this way so that they can be added as blobs using iDynTree.

    +
    Returns
    A vector of strings representing the XML blobs.
    + +
    +
    + +

    ◆ buildSensorsXMLBlobs()

    + +
    +
    + + + + + + + +
    std::vector<std::string> Sensorizer::buildSensorsXMLBlobs ()
    +
    + +

    Builds a vector of XML trees as strings for general sensors, starting from the information retrieved in the YAML. The XML trees are returned in this way so that they can be added as blobs using iDynTree.

    +
    Returns
    A vector of strings representing the XML blobs.
    + +
    +
    + +

    ◆ readFTSensorsFromConfig()

    + +
    +
    + + + + + + + + +
    void Sensorizer::readFTSensorsFromConfig (const YAML::Node & config)
    +
    + +

    Reads force/torque sensors configuration from a YAML node.

    +
    Parameters
    + + +
    configThe YAML node containing sensor configuration.
    +
    +
    + +
    +
    + +

    ◆ readSensorsFromConfig()

    + +
    +
    + + + + + + + + +
    void Sensorizer::readSensorsFromConfig (const YAML::Node & config)
    +
    + +

    Reads general sensors configuration from a YAML node.

    +
    Parameters
    + + +
    configThe YAML node containing sensor configuration.
    +
    +
    + +
    +
    +

    Member Data Documentation

    + +

    ◆ ft_sensors

    + +
    +
    + + + + +
    std::map<std::string, FTSensorInfo> Sensorizer::ft_sensors
    +
    + +

    Map containing information about force/torque sensors.

    + +

    Definition at line 87 of file Sensorizer.h.

    + +
    +
    + +

    ◆ m_config

    + +
    +
    + + + + +
    YAML::Node Sensorizer::m_config
    +
    + +

    YAML node containing sensor configuration.

    + +

    Definition at line 97 of file Sensorizer.h.

    + +
    +
    + +

    ◆ sensors

    + +
    +
    + + + + +
    std::vector<SensorInfo> Sensorizer::sensors
    +
    + +

    Vector containing information about general sensors.

    + +

    Definition at line 92 of file Sensorizer.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • /home/runner/work/creo2urdf/creo2urdf/src/creo2urdf/include/creo2urdf/Sensorizer.h
      • +
    +
    +
    + + + + diff --git a/doc/doxygen/doc/html/structSensorizer.js b/doc/doxygen/doc/html/structSensorizer.js new file mode 100644 index 0000000..906aa06 --- /dev/null +++ b/doc/doxygen/doc/html/structSensorizer.js @@ -0,0 +1,12 @@ +var structSensorizer = +[ + [ "assignTransformToFTSensor", "structSensorizer.html#ada5109ff8a62c730daf2f97d55c76915", null ], + [ "assignTransformToSensors", "structSensorizer.html#ae2bb7839959ed5379f6306f4fd023d8b", null ], + [ "buildFTXMLBlobs", "structSensorizer.html#abe77b47e2fb37ecf42054632c0273d7b", null ], + [ "buildSensorsXMLBlobs", "structSensorizer.html#aa416b18da6c1d71b0ffcdd6fdcee5b9a", null ], + [ "readFTSensorsFromConfig", "structSensorizer.html#a55fb616b5ddd535472d40a39c9bcd43b", null ], + [ "readSensorsFromConfig", "structSensorizer.html#acd340b263dd14f5b6e11c91159edfc64", null ], + [ "ft_sensors", "structSensorizer.html#a3fbff95386fea87e5509caf0bb1c6750", null ], + [ "m_config", "structSensorizer.html#a8328d6e82d31debc74664f43e48a02bd", null ], + [ "sensors", "structSensorizer.html#a985431f478ea15d20b730bafda04033c", null ] +]; \ No newline at end of file diff --git a/doc/doxygen/doc/html/sync_off.png b/doc/doxygen/doc/html/sync_off.png new file mode 100644 index 0000000..9042415 Binary files /dev/null and b/doc/doxygen/doc/html/sync_off.png differ diff --git a/doc/doxygen/doc/html/sync_on.png b/doc/doxygen/doc/html/sync_on.png new file mode 100644 index 0000000..7009718 Binary files /dev/null and b/doc/doxygen/doc/html/sync_on.png differ diff --git a/doc/doxygen/doc/html/tab_a.png b/doc/doxygen/doc/html/tab_a.png new file mode 100644 index 0000000..cafe32e Binary files /dev/null and b/doc/doxygen/doc/html/tab_a.png differ diff --git a/doc/doxygen/doc/html/tab_b.png b/doc/doxygen/doc/html/tab_b.png new file mode 100644 index 0000000..15163e4 Binary files /dev/null and b/doc/doxygen/doc/html/tab_b.png differ diff --git a/doc/doxygen/doc/html/tab_h.png b/doc/doxygen/doc/html/tab_h.png new file mode 100644 index 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file mode 100755 index 0000000..e23702b --- /dev/null +++ b/doc/mkdocs/site-compile.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +cd ../../ +mkdocs build -c -v --site-dir doc/mkdocs/site \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..2e12a59 --- /dev/null +++ b/index.html @@ -0,0 +1,1842 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + Creo2Urdf + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    + +
    + + + + + + +
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    + +
    + + + + +
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    + + + +
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    +
    + + + + + + + +
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    +
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    +
    + + + +
    +
    +
    + + + +
    +
    + + + + + + + + + + + + + + + + + + + + +

    creo2urdf

    +

    Generate URDF model from CREO Parametric mechanisms.

    +

    Since it is under development, we cannot guarantee that the user interface of creo2urdf will not implement breaking changes. Be aware of this if you start using the code contained in this repository

    +

    CREO Parametric versions supported and tested

    +
      +
    • 9.0.2
      • +
    +

    Assumptions & limitations

    +
      +
    • In order to export the urdf of the robot, the relative CREO mechanism has to conform to these guidelines.
      • +
    • The joints are in position 0.
      • +
    • Right now it can handle only REVOLUTE, PRISMATIC and FIXED joints.
      • +
    +

    Installation from binaries

    +
    +

    [!warning] +Users are encountering issues using the dll, see icub-tech-iit/creo2urdf#84

    +

    [!NOTE]
    +The dll provided has not been unlocked, this means that for using the Toolkit licence is required +

    +
    +

    Download creo2urdf.zip from the assets of the latest release, and extract it in the folder you like.
    +Follow the Usage section instructions for completing the installation.
    +This archive contains the dll of the plugin and the text folder for running it.

    +

    Installation from sources

    +

    Dependencies

    +

    Right now the creo2urdf plugin needs its dependencies to be compiled and linked statically:

    +
      +
    • Download vcpkg: git clone https://github.com/microsoft/vcpkg
      • +
    • Bootstrap vcpkg: .\vcpkg\bootstrap-vcpkg.bat
      • +
    • Run [path to vcpkg]/vcpkg install --triplet x64-windows-static-md eigen3 yaml-cpp rapidcsv libxml2 assimp idyntree
      • +
    +

    Build creo2urdf

    +
      +
    • Export CREO9_INSTALL_PATH pointing to the Creo9 installation folder, e.g. C:\Program Files\PTC\Creo 9.0.2.0\Common Files
      • +
    • Pass -DCMAKE_TOOLCHAIN_FILE=[path to vcpkg]/scripts/buildsystems/vcpkg.cmake -DVCPKG_TARGET_TRIPLET=x64-windows-static-md to the creo2urdf compilation.
      • +
    +

    For those who use the CMake integration in Visual Studio, the -DCMAKE_TOOLCHAIN_FILE option should not be passed to CMake command arguments. Instead, the vcpkg.cmake file path must be passed in CMake toolchain file.

    +

    Usage

    +
      +
    • Put in your CREO working directory the protk.dat that is automatically generated by CMake in ${PROJECT_BINARY_DIR} (e.g. C:\Users\ngenesio\icub-tech-iit\creo2urdf\build\x64-Release). +Or create it by hand as follow:
      • +
    +

    name creo2urdf
+Startup dll
+Allow_stop True
+Delay_start False
+exec_file /path/to/creo2urdf.dll
+text_dir /path/to/creo2urdf/src/creo2urdf/text
+END
+
    +- Open CREO Parametric and the first time you will need to accecpt to register the plugin +- Load the mechanism of which you want to export the urdf +- Press the button + +
      +
    • Select a yaml and csv configuration files with a format explained in the following sections, and the folder where the urdf and the meshes will be saved.
      • +
    +

    Test your installation

    +

    The folder examples contains a simple assembly with two links, called 2BARS.asm. +You can open the assembly in Creo and then test the installation by clicking on the Creo2Urdf button. +The plugin will ask you to select the related .yaml and .csv files, which are provided in the folder.

    +

    If the export process was successful, you should see three files": "bar.stl", "barlonger.stl" and "model.urdf".

    +

    YAML Parameter File

    +

    The YAML format is used to pass parameters to the plugin to customized the conversion process. +The parameters accepted by the plugin are documented in the following.

    +
    Include Parameters
    +

    The YAML can eventually include other YAML files using the includes parameter, if so, the included files are merged with the main file. +All internal groups are merged if they are maps, they are overwritten only if an element is not a map, taking precedence over the main file in case of conflicts.

    +
    +

    [!NOTE] +The includes parameter is not mandatory, but if it is present, it must be a list of strings, containing relative path respect the directory of the main YAML file.

    +
    + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    includesList of strings""List of paths relative to the main YAML directory
    +
    Severity Parameters
    + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    warningsAreFatalBooleantrueUsed for throwing fatal errors in case some steps in the exportation of the urdf are failing.
    +
    Naming Parameters
    + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    robotNameStringmodel name set in the file PhysicalModelingXMLFileUsed for setting the model name, i.e. the parameter <robot name="..."> in the URDF model file.
    renameMap{} (Empty Map)Structure mapping the SimMechanics XML names to the desired URDF names.
    +
    Root Parameters
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    rootStringFirst body in the fileChanges the root body of the tree
    originXYZListemptyChanges the position of the root body
    originRPYListemptyChanges the orientation of the root body
    +
    Algorithm Parameters
    + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    epsilonFloat4*(Machine eps)Set a custom value for testing whether a number is close to zero
    +
    Frame Parameters
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    linkFramesArrayemptyStructure mapping the link names to the displayName of their desired frame. Unfortunatly in URDF the link frame origin placement is not free, but it is constrained to be placed on the parent joint axis, hence this option is for now reserved to the root link and to links connected to their parent by a fixed joint
    exportAllUseraddedBooleanFalseIf true, export all frames starting w/ SCSYS in the output URDF as fake links i.e. fake link with zero mass connected to a link with a fixed joint.
    exportedFramesArrayemptyArray of displayName of UserAdded frames to export. This are exported as fixed URDF frames, i.e. fake link with zero mass connected to a link with a fixed joint.
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    linkNameStringMandatoryname of the link for which we want to set the frame
    frameNameStringMandatorydisplayName of the frame that we want to use as link frame. This frame should be attached to the frameReferenceLink link. The default value for frameReferenceLink is linkName
    frameReferenceLinkStringemptyframeReferenceLink at which the frame is attached. If frameReferenceLink is empty, it will default to linkName
    +
    Exported Frame Parameters (keys of elements of exportedFrames)
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    frameNameStringMandatorydisplayName of the frame in which the sensor measure is expressed. The selected frame should be attached to the referenceLink link, but referenceLink can be be omitted if the frameName is unique in the model.
    frameReferenceLinkStringemptyframeReferenceLink at which the frame is attached. If referenceLink is empty, it will be selected the first USERADDED frame with the specified frameName
    exportedFrameNameStringsensorNameName of the URDF link exported by the exportedFrames option
    additionalTransformationListEmptyAdditional transformation applied to the exported frame, it is expressed as [x, y, z, r, p, y] according to the semantics and units of the SDF convention for expressing poses. If the unmodified transformation of the additionalFrame is indicated as linkFrame_H_additionalFrameOld, this parameter specifies the additionalFrameOld_H_additionalFrame transform, and the final transform exported in the URDF is computed as linkFrame_H_additionalFrame = linkFrame_H_additionalFrameOld*additionalFrameOld_H_additionalFrame . If not specified it is assume to be the [0, 0, 0, 0, 0, 0] element and the specified frame is exported in the URDF unmodified.
    +
    Mesh Parameters
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    filenameformatString%sUsed for translating the filenames in the exported XML to the URDF filenames, using a formatting string. Example: "package://my_package//folder/%sb" - resolves to the package name and adds a "b" at the end to indicate a binary stl.
    forcelowercaseBooleanFalseUsed for translating the filenames. Ff True, it forces all filenames to be lower case.
    scaleStringNoneIf this parameter is defined, the scale attribute of the mesh in the URDF will be set to its value. Example: "0.01 0.01 0.01" - if your meshes were saved using centimeters as units instead of meters.
    stringToRemoveFromMeshFileNameStringNoneThis parameter allows to specify a string that will be removed from the mesh file names. Example: "_prt"
    assignedCollisionGeometryArrayNoneStructure for redefining the collision geometry for a given link.
    assignedColorsMap{} (Empty Map)If a link is in this map, the color found in the SimMechanics file is substituted with the one passed through this map. The color is represented by a 4 element vector of containing numbers from 0 to 1 representing the red, green, blue and alpha component.
    meshFormatStringstl_binaryFormat of the meshes exported. Allowed values: stl_binary, stl_ascii, step
    +
    Assigned collision geometries (keys of elements of assignedCollisionGeometry)
    + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    linkNameStringMandatoryName of the link for which the collision geometry is specified.
    geometricShapeDictionaryMandatoryThis dictionary contains the parameters used to define the type and the position of the geometric shape. In particular we have:
    • shape: geometric shape type. Supported "box", "cylinder", "sphere".
    • type dependent geometric shape parameters. Refer to SDF Geometry.
    • origin: String defining the pose of the geometric shape with respect to the linkFrame.
    +
    assignedCollisionGeometry:
+  - linkName: r_foot
+    geometricShape:
+      shape: cylinder
+      radius: 0.16
+      length: 0.06
+      origin: "0.0 0.03 0.0 1.57079632679 0.0 0.0"
+  - linkName: l_foot
+    geometricShape:
+      shape: box
+      size: 0.4 0.2 0.1
+      origin: "0.0 0.0 0.0 0.0 0.0 0.0"
+
    +
    Inertia parameters
    +

    Parameters related to the inertia parameters of a link

    + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    assignedMassesMap{} (Empty Map)If a link is in this map, the mass found in the SimMechanics file is substituted with the one passed through this map. Furthermore, the inertia matrix present in the SimMechanics file is scaled accounting for the new mass (i.e. multiplied by new_mass/old_mass). The mass is expressed in Kg.
    assignedInertiasArrayemptyStructure for redefining the inertia tensor (at the COM) for a given link.
    +
    Assigned Inertias parameters (elements of assignedInertias parameters)
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    linkNameStringMandatoryname of the link for which we want to set the frame
    xxStringemptyIf defined, change the Ixx value of the inertia matrix of the link. Unit of measure: Kg*m^2 .
    yyStringemptyIf defined, change the Iyy value of the inertia matrix of the link. Unit of measure: Kg*m^2 .
    zzStringemptyIf defined, change the Izz value of the inertia matrix of the link. Unit of measure: Kg*m^2 .
    +
    assignedMasses:
+  link1: 1
+  link2: 3
+
+assignedInertias:
+  - linkName: link1
+    xx: 0.0001
+  - linkName: link1
+    xx: 0.0003
+    yy: 0.0003
+    zz: 0.0003
+
    +
    Sensors Parameters
    +

    Sensor information can be expressed using arrays of sensor options. +Note that given that the URDF still does not support an official format for expressing sensor information, +this script will output two different elements for each sensor: +* a <gazebo> element, necessary to simulate the sensor in Gazebo when loading the URDF, as documented in http://gazebosim.org/tutorials?tut=ros_gzplugins . +* a more URDF-like <sensor> element, in particular the variant supported by the iDynTree library, as documented in https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .

    + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    forceTorqueSensorsArrayemptyArray of option for exporting 6-Axis ForceTorque sensors
    sensorsArrayemptyArray of option for exporting generic sensors (e.g. camera, depth, imu, ray..)
    +
    ForceTorque Sensors Parameters (keys of elements of forceTorqueSensors)
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    jointNameStringemptyName of the Joint for which this sensor measure the ForceTorque.
    directionChildToParentBoolTrueTrue if the sensor measures the force excerted by the child on the parent, false otherwise
    sensorNameStringjointNameName of the sensor, to be used in the output URDF file
    exportFrameInURDFBoolFalseIf true, export a fake URDF link whose frame is coincident with the sensor frame (as if the sensor frame was added to the exportedFrames array).
    exportedFrameNameStringsensorName if defined jointName otherwiseName of the URDF link exported by the exportFrameInURDF option
    frameNameStringemptyName of the frame in which the sensor measure is expressed. Mandatory if exportFrameInURDF is set to yes.
    linkNameStringemptyName of the parent link at which the sensor is rigidly attached. Mandatory if exportFrameInURDF is set to yes.
    frameReferenceLinkStringlinkNamelink at which the sensor frame is attached (to make sense, this link should be rigidly attached to the linkName. By default referenceLink is assumed to be linkName.
    frameStringemptyThe value of this element may be one of: child, parent, or sensor. It is the frame in which the forces and torques should be expressed. The values parent and child refer to the parent or child links of the joint. The value sensor means the measurement is rotated by the rotation component of the <pose> of this sensor. The translation component of the pose has no effect on the measurement.
    sensorBlobsStringemptyArray of strings (possibly on multiple lines) represeting complex XML blobs that will be included as child of the <sensor> element of type "force_torque"
    +

    Note that for now the FT sensors sensor frame is required to be coincident with child link frame, due +to URDF limitations.

    +
    Generic Sensors Parameters (keys of elements of sensors)
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    linkNameStringMandatoryName of the Link at which the sensor is rigidly attached.
    frameNameStringemptydisplayName of the frame in which the sensor measure is expressed. The selected frame must be attached to the referenceLink link. If empty the frame used for the sensor is coincident with the link frame.
    frameReferenceLinkStringlinkNamelink at which the sensor frame is attached (to make sense, this link should be rigidly attached to the linkName. By default referenceLink is assumed to be linkName.
    sensorNameStringLinkName_FrameNameName of the sensor, to be used in the output URDF file
    exportFrameInURDFBoolFalseIf true, export a fake URDF link whose frame is coincident with the sensor frame (as if the sensor frame was added to the exportedFrames array)
    exportedFrameNameStringsensorNameName of the URDF link exported by the exportFrameInURDF option
    sensorTypeStringMandatoryType of sensor. Supported: "altimeter", "camera", "contact", "depth", "gps", "gpu_ray", "imu", "logical_camera", "magnetometer", "multicamera", "ray", "rfid", "rfidtag", "sonar", "wireless_receiver", "wireless_transmitter"
    updateRateStringMandatoryNumber representing the update rate of the sensor. Expressed in [Hz].
    sensorBlobsStringemptyArray of strings (possibly on multiple lines) represeting complex XML blobs that will be included as child of the <sensor> element
    +
    XML Blobs options
    +

    If you use extensions of URDF, we frequently want to add non-standard tags as child of the <robot> root element. +Using the XMLBlobs option, you can pass an array of strings (event on multiple lines) represeting complex XML blobs that you +want to include in the converted URDF file. This will be included without modifications in the converted URDF file. +Note that every blob must have only one root element.

    + + + + + + + + + + + + + + + + + +
    Attribute nameTypeDefault ValueDescription
    XMLBlobsArray of String[] (empty array)List of XML Blobs to include in the URDF file as children of <robot>
    +

    CSV Parameter File

    +

    By using the a .csv file it is possible to load some joint-related information from a csv file. +The rationale for using CSV over YAML for some information related to the model (for example joint limits) is to use a format that it is easier to modify using common spreadsheet tools like Excel/LibreOffice Calc, that can be easily used also by people without a background in computer science.

    +
    Format
    +

    The CSV file is loaded and parsed using the d99kris/rapidcsv library. Please refer to its documentation for supported dialects of the format.

    +

    The CSV file is formed by a header line followed by several content lines, +as in this example: +

    joint_name,lower_limit,upper_limit
+torso_yaw,-20.0,20.0
+torso_roll,-20.0,20.0
+
    +

    The order of the elements in header line is arbitrary, but the supported attributes +are listed in the following:

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Attribute nameRequiredUnit of MeasureDescription
    joint_nameYes-Name of the joint to which the content line is referring
    lower_limitNoDegreeslower attribute of the limit child element of the URDF joint. Please note that we specify this limit here in Degrees, but in the urdf it is expressed in Radians, the plugin will take care of internally converting this parameter.
    upper_limitNoDegreesupper attribute of the limit child element of the URDF joint. Please note that we specify this limit here in Degrees, but in the urdf it is expressed in Radians, the plugin will take care of internally converting this parameter.
    velocity_limitNoRadians/secondvelocity attribute of the limit child element of the URDF joint.
    effort_limitNoNewton meterseffort attribute of the limit child element of the URDF joint.
    dampingNoNewton meter seconds / radiansdamping of the dynamics child element of the URDF joint.
    frictionNoNewton metersfriction of the dynamics child element of the URDF joint.
    +

    Maintainers

    +

    This repository is maintained by:

    + + + + + + + + + + + + + + + + + +
    @Nicogene
    @mfussi66
    + + + + + + + + + + + + + +
    +
    + + + +
    + + + +
    + + + +
    +
    +
    +
    + + + + + + + + + + \ No newline at end of file diff --git a/sitemap.xml b/sitemap.xml new file mode 100644 index 0000000..8656e16 --- /dev/null +++ b/sitemap.xml @@ -0,0 +1,13 @@ + + + + https://icub-tech-iit.github.io/creo2urdf/ + 2024-04-18 + daily + + + https://icub-tech-iit.github.io/creo2urdf/CHANGELOG/ + 2024-04-18 + daily + + \ No newline at end of file diff --git a/sitemap.xml.gz b/sitemap.xml.gz new file mode 100644 index 0000000..39db752 Binary files /dev/null and b/sitemap.xml.gz differ
    • +
    +Classes
    +
    +
    Creo2Urdf.h File Reference
    +