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Param.cc
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Param.cc
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/*
* Copyright 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <algorithm>
#include <cctype>
#include <cstdint>
#include <locale>
#include <sstream>
#include <string>
#include <vector>
#include <array>
#include <locale.h>
#include <math.h>
#include "sdf/Assert.hh"
#include "sdf/Param.hh"
#include "sdf/Types.hh"
#include "sdf/Element.hh"
using namespace sdf;
// For some locale, the decimal separator is not a point, but a
// comma. To avoid that the SDF parsing is influenced by the current
// global C or C++ locale, we define a custom std::stringstream variant
// that always uses the std::locale::classic() locale.
// See issues https://github.com/osrf/sdformat/issues/60
// and https://github.com/osrf/sdformat/issues/207 for more details.
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE {
class StringStreamClassicLocale : public std::stringstream
{
public: explicit StringStreamClassicLocale()
{
this->imbue(std::locale::classic());
}
public: explicit StringStreamClassicLocale(const std::string& str)
: std::stringstream(str)
{
this->imbue(std::locale::classic());
}
};
}
}
//////////////////////////////////////////////////
Param::Param(const std::string &_key, const std::string &_typeName,
const std::string &_default, bool _required,
const std::string &_description)
: dataPtr(new ParamPrivate)
{
this->dataPtr->key = _key;
this->dataPtr->required = _required;
this->dataPtr->typeName = _typeName;
this->dataPtr->description = _description;
this->dataPtr->set = false;
this->dataPtr->ignoreParentAttributes = false;
this->dataPtr->defaultStrValue = _default;
SDF_ASSERT(
this->dataPtr->ValueFromStringImpl(
this->dataPtr->typeName,
_default,
this->dataPtr->defaultValue),
"Invalid parameter");
this->dataPtr->value = this->dataPtr->defaultValue;
this->dataPtr->strValue = std::nullopt;
}
//////////////////////////////////////////////////
Param::Param(const std::string &_key, const std::string &_typeName,
const std::string &_default, bool _required,
const std::string &_minValue, const std::string &_maxValue,
const std::string &_description)
: Param(_key, _typeName, _default, _required, _description)
{
if (!_minValue.empty())
{
SDF_ASSERT(
this->dataPtr->ValueFromStringImpl(
this->dataPtr->typeName,
_minValue,
this->dataPtr->minValue.emplace()),
std::string("Invalid [min] parameter in SDFormat description of [") +
_key + "]");
}
if (!_maxValue.empty())
{
SDF_ASSERT(
this->dataPtr->ValueFromStringImpl(
this->dataPtr->typeName,
_maxValue,
this->dataPtr->maxValue.emplace()),
std::string("Invalid [max] parameter in SDFormat description of [") +
_key + "]");
}
}
//////////////////////////////////////////////////
Param::Param(const Param &_param)
: dataPtr(std::make_unique<ParamPrivate>(*_param.dataPtr))
{
// We don't want to copy the updateFunc
this->dataPtr->updateFunc = nullptr;
}
//////////////////////////////////////////////////
Param::~Param()
{
}
/////////////////////////////////////////////////
Param &Param::operator=(const Param &_param)
{
auto updateFuncCopy = this->dataPtr->updateFunc;
*this = Param(_param);
// Restore the update func
this->dataPtr->updateFunc = updateFuncCopy;
return *this;
}
//////////////////////////////////////////////////
bool Param::GetAny(std::any &_anyVal) const
{
if (this->IsType<int>())
{
int ret = 0;
if (!this->Get<int>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<std::uint64_t>())
{
uint64_t ret = 0;
if (!this->Get<std::uint64_t>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<double>())
{
double ret = 0;
if (!this->Get<double>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<float>())
{
float ret = 0;
if (!this->Get<float>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<bool>())
{
bool ret = false;
if (!this->Get<bool>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<std::string>())
{
std::string ret;
if (!this->Get<std::string>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<unsigned int>())
{
unsigned int ret = 0;
if (!this->Get<unsigned int>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<char>())
{
char ret = 0;
if (!this->Get<char>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<sdf::Time>())
{
sdf::Time ret;
if (!this->Get<sdf::Time>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<ignition::math::Color>())
{
ignition::math::Color ret;
if (!this->Get<ignition::math::Color>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<ignition::math::Vector3d>())
{
ignition::math::Vector3d ret;
if (!this->Get<ignition::math::Vector3d>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<ignition::math::Vector2i>())
{
ignition::math::Vector2i ret;
if (!this->Get<ignition::math::Vector2i>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<ignition::math::Vector2d>())
{
ignition::math::Vector2d ret;
if (!this->Get<ignition::math::Vector2d>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<ignition::math::Pose3d>())
{
ignition::math::Pose3d ret;
if (!this->Get<ignition::math::Pose3d>(ret))
{
return false;
}
_anyVal = ret;
}
else if (this->IsType<ignition::math::Quaterniond>())
{
ignition::math::Quaterniond ret;
if (!this->Get<ignition::math::Quaterniond>(ret))
{
return false;
}
_anyVal = ret;
}
else
{
sdferr << "Type of parameter not known: [" << this->GetTypeName() << "]\n";
return false;
}
return true;
}
//////////////////////////////////////////////////
void Param::Update()
{
if (this->dataPtr->updateFunc)
{
try
{
std::any newValue = this->dataPtr->updateFunc();
std::visit([&](auto &&arg)
{
using T = std::decay_t<decltype(arg)>;
arg = std::any_cast<T>(newValue);
}, this->dataPtr->value);
}
catch(...)
{
sdferr << "Unable to set value using Update for key["
<< this->dataPtr->key << "]\n";
}
}
}
//////////////////////////////////////////////////
std::string Param::GetAsString(const PrintConfig &_config) const
{
std::string valueStr;
if (this->GetSet() &&
this->dataPtr->StringFromValueImpl(_config,
this->dataPtr->typeName,
this->dataPtr->value,
valueStr))
{
return valueStr;
}
return this->GetDefaultAsString(_config);
}
//////////////////////////////////////////////////
std::string Param::GetDefaultAsString(const PrintConfig &_config) const
{
std::string defaultStr;
if (this->dataPtr->StringFromValueImpl(
_config,
this->dataPtr->typeName,
this->dataPtr->defaultValue,
defaultStr))
{
return defaultStr;
}
sdferr << "Unable to get string from default value, "
<< "using ParamStreamer instead.\n";
StringStreamClassicLocale ss;
ss << ParamStreamer{ this->dataPtr->defaultValue, _config.OutPrecision() };
return ss.str();
}
//////////////////////////////////////////////////
std::optional<std::string> Param::GetMinValueAsString(
const PrintConfig &_config) const
{
if (this->dataPtr->minValue.has_value())
{
std::string valueStr;
if (!this->dataPtr->StringFromValueImpl(_config,
this->dataPtr->typeName,
this->dataPtr->minValue.value(),
valueStr))
{
sdferr << "Unable to get min value as string.\n";
return std::nullopt;
}
return valueStr;
}
return std::nullopt;
}
//////////////////////////////////////////////////
std::optional<std::string> Param::GetMaxValueAsString(
const PrintConfig &_config) const
{
if (this->dataPtr->maxValue.has_value())
{
std::string valueStr;
if (!this->dataPtr->StringFromValueImpl(_config,
this->dataPtr->typeName,
this->dataPtr->maxValue.value(),
valueStr))
{
sdferr << "Unable to get max value as string.\n";
return std::nullopt;
}
return valueStr;
}
return std::nullopt;
}
//////////////////////////////////////////////////
/// \brief Helper function for Param::ValueFromString
/// \param[in] _input Input string.
/// \param[in] _key Key of the parameter, used for error message.
/// \param[out] _value This will be set with the parsed value.
/// \return True if parsing succeeded.
template <typename T>
bool ParseUsingStringStream(const std::string &_input, const std::string &_key,
ParamPrivate::ParamVariant &_value)
{
StringStreamClassicLocale ss(_input);
T _val;
ss >> _val;
if (ss.fail())
{
sdferr << "Unknown error. Unable to set value [" << _input << " ] for key["
<< _key << "]\n";
return false;
}
_value = _val;
return true;
}
//////////////////////////////////////////////////
/// \brief Helper function for Param::ValueFromString for parsing colors
/// This checks the color components specified in _input are rgb or rgba
/// (expects 3 or 4 values) and each value is between [0,1]. When only 3 values
/// are present (rgb), then alpha is set to 1.
/// \param[in] _input Input string.
/// \param[in] _key Key of the parameter, used for error message.
/// \param[out] _value This will be set with the parsed value.
/// \return True if parsing colors succeeded.
bool ParseColorUsingStringStream(const std::string &_input,
const std::string &_key, ParamPrivate::ParamVariant &_value)
{
StringStreamClassicLocale ss(_input);
std::string token;
std::vector<float> colors;
float c; // r,g,b,a values
bool isValidColor = true;
while (ss >> token)
{
try
{
c = std::stof(token);
colors.push_back(c);
}
// Catch invalid argument exception from std::stof
catch(std::invalid_argument &)
{
sdferr << "Invalid argument. Unable to set value ["<< token
<< "] for key [" << _key << "].\n";
isValidColor = false;
break;
}
// Catch out of range exception from std::stof
catch(std::out_of_range &)
{
sdferr << "Out of range. Unable to set value [" << token
<< "] for key [" << _key << "].\n";
isValidColor = false;
break;
}
if (c < 0.0f || c > 1.0f)
{
isValidColor = false;
break;
}
}
size_t colorSize = colors.size();
if (isValidColor && colorSize == 3u)
colors.push_back(1.0f);
else if (colorSize != 4u)
isValidColor = false;
if (isValidColor)
{
_value = ignition::math::Color(colors[0], colors[1], colors[2], colors[3]);
}
else
{
sdferr << "The value <" << _key <<
">" << _input << "</" << _key << "> is invalid.\n";
}
return isValidColor;
}
//////////////////////////////////////////////////
/// \brief Helper function for Param::ValueFromString for parsing pose. This
/// checks the pose components specified in _input are xyzrpy
/// (expects 6 values) and whether to parse the rotation values as degrees using
/// the parent element attributes.
/// \param[in] _input Input string.
/// \param[in] _key Key of the parameter, used for error message.
/// \param[in] _attributes Attributes associated to this pose.
/// \param[out] _value This will be set with the parsed value.
/// \return True if parsing pose succeeded.
bool ParsePoseUsingStringStream(const std::string &_input,
const std::string &_key, const Param_V &_attributes,
ParamPrivate::ParamVariant &_value)
{
const bool defaultParseAsDegrees = false;
bool parseAsDegrees = defaultParseAsDegrees;
const std::string defaultRotationFormat = "euler_rpy";
std::string rotationFormat = defaultRotationFormat;
const std::size_t defaultDesiredSize = 6u;
std::size_t desiredSize = defaultDesiredSize;
for (const auto &p : _attributes)
{
const std::string key = p->GetKey();
if (key == "degrees")
{
if (!p->Get<bool>(parseAsDegrees))
{
sdferr << "Invalid boolean value found for attribute "
"//pose[@degrees].\n";
return false;
}
}
else if (key == "rotation_format")
{
rotationFormat = p->GetAsString();
if (rotationFormat == "euler_rpy")
{
// Already the default, no modifications needed.
}
else if (rotationFormat == "quat_xyzw")
{
desiredSize = 7u;
}
else
{
sdferr << "Undefined attribute //pose[@rotation_format='"
<< rotationFormat << "'], only 'euler_rpy' and 'quat_xyzw'"
<< " is supported.\n";
return false;
}
}
}
if (rotationFormat == "quat_xyzw" && parseAsDegrees)
{
sdferr << "The attribute //pose[@degrees='true'] does not apply when "
<< "parsing quaternions, //pose[@rotation_format='quat_xyzw'].\n";
return false;
}
if (_input.empty())
{
_value = ignition::math::Pose3d::Zero;
return true;
}
StringStreamClassicLocale ss(_input);
std::string token;
std::array<double, 7> values;
std::size_t valueIndex = 0;
double v;
bool isValidPose = true;
while (ss >> token)
{
try
{
v = std::stod(token);
}
// Catch invalid argument exception from std::stod
catch(std::invalid_argument &)
{
sdferr << "Invalid argument. Unable to set value ["<< _input
<< "] for key [" << _key << "].\n";
isValidPose = false;
break;
}
// Catch out of range exception from std::stod
catch(std::out_of_range &)
{
sdferr << "Out of range. Unable to set value [" << token
<< "] for key [" << _key << "].\n";
isValidPose = false;
break;
}
if (!std::isfinite(v))
{
sdferr << "Pose values must be finite.\n";
isValidPose = false;
break;
}
if (valueIndex >= desiredSize)
{
sdferr << "The value for //pose[@rotation_format='" << rotationFormat
<< "'] must have " << desiredSize
<< " values, but more than that were found in '" << _input << "'.\n";
isValidPose = false;
break;
}
values[valueIndex++] = v;
}
if (!isValidPose)
return false;
if (valueIndex != desiredSize)
{
sdferr << "The value for //pose[@rotation_format='" << rotationFormat
<< "'] must have " << desiredSize << " values, but " << valueIndex
<< " were found instead in '" << _input << "'.\n";
return false;
}
if (rotationFormat == "euler_rpy")
{
if (parseAsDegrees)
{
_value = ignition::math::Pose3d(values[0], values[1], values[2],
IGN_DTOR(values[3]), IGN_DTOR(values[4]), IGN_DTOR(values[5]));
}
else
{
_value = ignition::math::Pose3d(values[0], values[1], values[2],
values[3], values[4], values[5]);
}
}
else
{
_value = ignition::math::Pose3d(values[0], values[1], values[2],
values[6], values[3], values[4], values[5]);
}
return true;
}
//////////////////////////////////////////////////
bool ParamPrivate::ValueFromStringImpl(const std::string &_typeName,
const std::string &_valueStr,
ParamVariant &_valueToSet) const
{
// Under some circumstances, latin locales (es_ES or pt_BR) will return a
// comma for decimal position instead of a dot, making the conversion
// to fail. See bug #60 for more information. Force to use always C
setlocale(LC_NUMERIC, "C");
std::string trimmed = sdf::trim(_valueStr);
std::string tmp(trimmed);
std::string lowerTmp = lowercase(trimmed);
// "true" and "false" doesn't work properly (except for string)
if (_typeName != "string" && _typeName != "std::string")
{
if (lowerTmp == "true")
{
tmp = "1";
}
else if (lowerTmp == "false")
{
tmp = "0";
}
}
bool isHex = lowerTmp.compare(0, 2, "0x") == 0;
try
{
// Try to use stoi and stoul for integers, and
// stof and stod for scalar floating point values.
int numericBase = 10;
if (isHex)
{
numericBase = 16;
}
if (_typeName == "bool")
{
if (lowerTmp == "true" || lowerTmp == "1")
{
_valueToSet = true;
}
else if (lowerTmp == "false" || lowerTmp == "0")
{
_valueToSet = false;
}
else
{
sdferr << "Invalid boolean value\n";
return false;
}
}
else if (_typeName == "char")
{
_valueToSet = tmp[0];
}
else if (_typeName == "std::string" ||
_typeName == "string")
{
_valueToSet = tmp;
}
else if (_typeName == "int")
{
_valueToSet = std::stoi(tmp, nullptr, numericBase);
}
else if (_typeName == "uint64_t")
{
return ParseUsingStringStream<std::uint64_t>(tmp, this->key,
_valueToSet);
}
else if (_typeName == "unsigned int")
{
_valueToSet = static_cast<unsigned int>(
std::stoul(tmp, nullptr, numericBase));
}
else if (_typeName == "double")
{
_valueToSet = std::stod(tmp);
}
else if (_typeName == "float")
{
_valueToSet = std::stof(tmp);
}
else if (_typeName == "sdf::Time" ||
_typeName == "time")
{
return ParseUsingStringStream<sdf::Time>(tmp, this->key,
_valueToSet);
}
else if (_typeName == "ignition::math::Angle" ||
_typeName == "angle")
{
return ParseUsingStringStream<ignition::math::Angle>(
tmp, this->key, _valueToSet);
}
else if (_typeName == "ignition::math::Color" ||
_typeName == "color")
{
return ParseColorUsingStringStream(tmp, this->key, _valueToSet);
}
else if (_typeName == "ignition::math::Vector2i" ||
_typeName == "vector2i")
{
return ParseUsingStringStream<ignition::math::Vector2i>(
tmp, this->key, _valueToSet);
}
else if (_typeName == "ignition::math::Vector2d" ||
_typeName == "vector2d")
{
return ParseUsingStringStream<ignition::math::Vector2d>(
tmp, this->key, _valueToSet);
}
else if (_typeName == "ignition::math::Vector3d" ||
_typeName == "vector3")
{
return ParseUsingStringStream<ignition::math::Vector3d>(
tmp, this->key, _valueToSet);
}
else if (_typeName == "ignition::math::Pose3d" ||
_typeName == "pose" ||
_typeName == "Pose")
{
const ElementPtr p = this->parentElement.lock();
if (!this->ignoreParentAttributes && p)
{
return ParsePoseUsingStringStream(
tmp, this->key, p->GetAttributes(), _valueToSet);
}
return ParsePoseUsingStringStream(
tmp, this->key, {}, _valueToSet);
}
else if (_typeName == "ignition::math::Quaterniond" ||
_typeName == "quaternion")
{
return ParseUsingStringStream<ignition::math::Quaterniond>(
tmp, this->key, _valueToSet);
}
else
{
sdferr << "Unknown parameter type[" << _typeName << "]\n";
return false;
}
}
// Catch invalid argument exception from std::stoi/stoul/stod/stof
catch(std::invalid_argument &)
{
sdferr << "Invalid argument. Unable to set value ["
<< _valueStr << " ] for key["
<< this->key << "].\n";
return false;
}
// Catch out of range exception from std::stoi/stoul/stod/stof
catch(std::out_of_range &)
{
sdferr << "Out of range. Unable to set value ["
<< _valueStr << " ] for key["
<< this->key << "].\n";
return false;
}
return true;
}
//////////////////////////////////////////////////
/// \brief Helper function for StringFromValueImpl for pose.
/// \param[in] _config Printing configuration for the output string.
/// \param[in] _parentAttributes Parent Element Attributes.
/// \param[in] _value The variant value of this pose.
/// \param[out] _valueStr The pose as a string.
/// \return True if the string was successfully retrieved from the pose, false
/// otherwise.
/////////////////////////////////////////////////
bool PoseStringFromValue(const PrintConfig &_config,
const Param_V &_parentAttributes,
const ParamPrivate::ParamVariant &_value,
std::string &_valueStr)
{
StringStreamClassicLocale ss;
if (_config.OutPrecision() == std::numeric_limits<int>::max())
ss << std::setprecision(std::numeric_limits<double>::max_digits10);
else
ss << std::setprecision(_config.OutPrecision());
const ignition::math::Pose3d *pose =
std::get_if<ignition::math::Pose3d>(&_value);
if (!pose)
{
sdferr << "Unable to get pose value from variant.\n";
return false;
}
const bool defaultInDegrees = false;
bool inDegrees = defaultInDegrees;
const std::string defaultRotationFormat = "euler_rpy";
std::string rotationFormat = defaultRotationFormat;
// When @degrees and @rotation_format attributes are not set, a single space
// delimiter is used to prevent breaking behavior and tests.
const std::string defaultPosRotDelimiter = " ";
const std::string threeSpacedDelimiter = " ";
std::string posRotDelimiter = defaultPosRotDelimiter;
const bool defaultSnapDegreesToInterval = false;
bool snapDegreesToInterval = defaultSnapDegreesToInterval;
// Checking parent Element Attributes for desired pose representations.
for (const auto &p : _parentAttributes)
{
const std::string key = p->GetKey();
if (key == "degrees")
{
if (!p->Get<bool>(inDegrees))
{
sdferr << "Unable to get //pose[@degrees] attribute as bool.\n";
return false;
}
if (p->GetSet())
{
posRotDelimiter = threeSpacedDelimiter;
}
}
else if (key == "rotation_format")
{
rotationFormat = p->GetAsString();
if (p->GetSet())
{
posRotDelimiter = threeSpacedDelimiter;
}
}
}
// Checking PrintConfig for desired pose representations. This overrides
// any parent Element Attributes.
if (_config.RotationInDegrees())
{
inDegrees = true;
rotationFormat = "euler_rpy";
posRotDelimiter = threeSpacedDelimiter;
}
if (_config.RotationSnapToDegrees().has_value() &&
_config.RotationSnapTolerance().has_value())
{
inDegrees = true;
rotationFormat = "euler_rpy";
snapDegreesToInterval = true;
posRotDelimiter = threeSpacedDelimiter;
}
// Helper function that sanitizes zero values like '-0'
auto sanitizeZero = [&_config](double _number)
{
StringStreamClassicLocale stream;
if (std::fpclassify(_number) == FP_ZERO)
{
stream << 0;
}
else
{
if (_config.OutPrecision() == std::numeric_limits<int>::max())
stream << std::setprecision(std::numeric_limits<double>::max_digits10);
else
stream << std::setprecision(_config.OutPrecision());
stream << _number;
}
return stream.str();
};
// Returning pose string representations based on desired configurations.
if (rotationFormat == "quat_xyzw" && inDegrees)
{
sdferr << "Invalid pose with //pose[@degrees='true'] and "
<< "//pose[@rotation_format='quat_xyzw'].\n";
return false;
}
else if (rotationFormat == "quat_xyzw")
{
ss << pose->Pos() << posRotDelimiter
<< sanitizeZero(pose->Rot().X()) << " "
<< sanitizeZero(pose->Rot().Y()) << " "
<< sanitizeZero(pose->Rot().Z()) << " "
<< sanitizeZero(pose->Rot().W());
_valueStr = ss.str();
return true;
}
else if (rotationFormat == "euler_rpy" && inDegrees && snapDegreesToInterval)
{
// Helper function that returns a snapped value if it is within the
// tolerance of multiples of interval, otherwise the orginal value is
// returned.
auto snapToInterval =
[](double _val, unsigned int _interval, double _tolerance)
{
double closestQuotient = std::round(_val / _interval);
double distance = std::abs(_val - closestQuotient * _interval);
if (distance < _tolerance)
{
return _interval * closestQuotient;
}
return _val;
};
const unsigned int interval = _config.RotationSnapToDegrees().value();
const double tolerance = _config.RotationSnapTolerance().value();
ss << pose->Pos() << posRotDelimiter
<< sanitizeZero(snapToInterval(
IGN_RTOD(pose->Rot().Roll()), interval, tolerance)) << " "
<< sanitizeZero(snapToInterval(
IGN_RTOD(pose->Rot().Pitch()), interval, tolerance)) << " "
<< sanitizeZero(snapToInterval(
IGN_RTOD(pose->Rot().Yaw()), interval, tolerance));
_valueStr = ss.str();
return true;
}
else if (rotationFormat == "euler_rpy" && inDegrees)
{
ss << pose->Pos() << posRotDelimiter
<< sanitizeZero(IGN_RTOD(pose->Rot().Roll())) << " "
<< sanitizeZero(IGN_RTOD(pose->Rot().Pitch())) << " "
<< sanitizeZero(IGN_RTOD(pose->Rot().Yaw()));
_valueStr = ss.str();
return true;
}
ss << pose->Pos() << posRotDelimiter
<< sanitizeZero(pose->Rot().Roll()) << " "
<< sanitizeZero(pose->Rot().Pitch()) << " "
<< sanitizeZero(pose->Rot().Yaw());
_valueStr = ss.str();
return true;
}
/////////////////////////////////////////////////
bool ParamPrivate::StringFromValueImpl(
const PrintConfig &_config,
const std::string &_typeName,
const ParamVariant &_value,
std::string &_valueStr) const
{
// This will be handled in a type specific manner
if (_typeName == "bool")
{
const bool *val = std::get_if<bool>(&_value);
if (!val)
{
sdferr << "Unable to get bool value from variant.\n";
return false;
}
_valueStr = *val ? "true" : "false";
return true;
}
else if (_typeName == "ignition::math::Pose3d" ||
_typeName == "pose" ||
_typeName == "Pose")
{
const ElementPtr p = this->parentElement.lock();
if (!this->ignoreParentAttributes && p)
{
return PoseStringFromValue(
_config, p->GetAttributes(), _value, _valueStr);
}
return PoseStringFromValue(_config, {}, _value, _valueStr);
}
StringStreamClassicLocale ss;
ss << ParamStreamer{ _value, _config.OutPrecision() };