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MBXMLUtils::Eval Class Referenceabstract

#include <eval.h>

Inheritance diagram for MBXMLUtils::Eval:
fmatvec::Atom MBXMLUtils::OctEval MBXMLUtils::PyEval MBXMLUtils::XMLFlatEval

Public Types

enum  ValueType {
  ScalarType, VectorType, MatrixType, StringType,
  FunctionType
}
 
typedef std::pair< std::vector
< casadi::SX >, std::vector
< casadi::SX > > 
Function
 Typedef for a shared value.
 
typedef boost::variant
< std::shared_ptr< void >
, Function
Value
 
- Public Types inherited from fmatvec::Atom
enum  MsgType
 

Public Member Functions

 ~Eval ()
 Destructor.
 
 Eval (const Eval &other)=delete
 
 Eval (Eval &&other)=delete
 
Evaloperator= (const Eval &other)=delete
 
Evaloperator= (Eval &&other)=delete
 
virtual std::string getName () const =0
 Get the type of this evaluator.
 
void addParam (const std::string &paramName, const Value &value)
 Add a value to the current parameters.
 
void addParamSet (const xercesc::DOMElement *e)
 
virtual void addImport (const std::string &code, const xercesc::DOMElement *e)=0
 
Value eval (const xercesc::DOMElement *e)
 
Value eval (const xercesc::DOMAttr *a, const xercesc::DOMElement *pe=NULL)
 
template<typename T >
cast (const Value &value, xercesc::DOMDocument *doc) const
 
template<typename T >
cast (const Value &value) const
 see cast(const Value &value, shared_ptr<DOMDocument> &doc)
 
virtual bool valueIsOfType (const Value &value, ValueType type) const =0
 
Value stringToValue (const std::string &str, const xercesc::DOMElement *e=NULL, bool fullEval=true) const
 
template<class T >
Value create (const T &v) const
 create a value of the given type
 
virtual std::map
< boost::filesystem::path,
std::pair
< boost::filesystem::path,
bool > > & 
requiredFiles () const =0
 return a list of all required files of the evaluator (excluding dependent files of libraries)
 
virtual void convertIndex (Value &v, bool evalTo1Based)=0
 
template<>
string cast (const Value &value) const
 
template<>
CodeString cast (const Value &value) const
 
template<>
double cast (const Value &value) const
 
template<>
int cast (const Value &value) const
 
template<>
vector< double > cast (const Value &value) const
 
template<>
SX cast (const Value &value) const
 
template<>
vector< vector< double > > cast (const Value &value) const
 
template<>
DOMElement * cast (const Value &value, xercesc::DOMDocument *doc) const
 
template<>
Eval::Value create (const double &v) const
 
template<>
Eval::Value create (const vector< double > &v) const
 
template<>
Eval::Value create (const vector< vector< double > > &v) const
 
template<>
Eval::Value create (const string &v) const
 
template<>
CodeString cast (const Value &value) const
 
template<>
double cast (const Value &value) const
 
template<>
int cast (const Value &value) const
 
template<>
Eval::Function cast (const Value &value) const
 
template<>
Eval::Value create (const double &v) const
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (const Atom &)
 
void setMessageStreamActive (MsgType type, bool active)
 
void getMessageStream (MsgType type, std::shared_ptr< bool > &a, std::shared_ptr< std::ostream > &s)
 
void adoptMessageStreams (const Atom *src=NULL)
 
std::ostream & msg (MsgType type)
 
bool msgAct (MsgType type)
 

Static Public Member Functions

static std::shared_ptr< EvalcreateEvaluator (const std::string &evalName, std::vector< boost::filesystem::path > *dependencies_=NULL)
 Create a evaluator.
 
template<class E >
static void registerEvaluator ()
 
static void setValue (xercesc::DOMElement *e, const Value &v)
 Set value on DOMElement (is used by Eval::cast)
 
- Static Public Member Functions inherited from fmatvec::Atom
static void setCurrentMessageStream (MsgType type, const std::shared_ptr< bool > &a=std::make_shared< bool >(true), const std::shared_ptr< std::ostream > &s=std::make_shared< std::ostream >(std::cout.rdbuf()))
 
static std::ostream & msgStatic (MsgType type)
 
static bool msgActStatic (MsgType type)
 

Protected Member Functions

 Eval (std::vector< boost::filesystem::path > *dependencies_)
 Constructor.
 
void pushContext ()
 Push the current context to a internal stack.
 
void popContext ()
 Overwrite the current context with the top level context from the internal stack.
 
template<typename T >
Value createSwig () const
 
virtual Value createSwigByTypeName (const std::string &typeName) const =0
 create a SWIG object of name typeName.
 
virtual Value callFunction (const std::string &name, const std::vector< Value > &args) const =0
 
virtual Value fullStringToValue (const std::string &str, const xercesc::DOMElement *e=NULL) const =0
 evaluate the string str using the current parameters and return the result.
 
std::string partialStringToString (const std::string &str, const xercesc::DOMElement *e) const
 evaluate str partially and return result as an std::string
 
virtual void * getSwigThis (const Value &value) const =0
 get the SWIG pointer of this value.
 
virtual std::string getSwigType (const Value &value) const =0
 get the SWIG type (class name) of this value.
 
void addStaticDependencies (const xercesc::DOMElement *e) const
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Static Protected Member Functions

template<class E >
static std::shared_ptr< EvalnewEvaluator (std::vector< boost::filesystem::path > *dependencies_)
 

Protected Attributes

std::vector
< boost::filesystem::path > * 
dependencies
 
std::unordered_map
< std::string, Value > 
currentParam
 
std::stack< std::unordered_map
< std::string, Value > > 
paramStack
 
std::shared_ptr< void > currentImport
 
std::stack< std::shared_ptr
< void > > 
importStack
 
Value casadiValue
 

Private Member Functions

virtual double cast_double (const Value &value) const =0
 
virtual std::vector< double > cast_vector_double (const Value &value) const =0
 
virtual std::vector
< std::vector< double > > 
cast_vector_vector_double (const Value &value) const =0
 
virtual std::string cast_string (const Value &value) const =0
 
CodeString cast_CodeString (const Value &value) const
 
int cast_int (const Value &value) const
 
casadi::SX cast_SX (const Value &value) const
 
xercesc::DOMElement * cast_DOMElement_p (const Value &value, xercesc::DOMDocument *doc) const
 
virtual Value create_double (const double &v) const =0
 
virtual Value create_vector_double (const std::vector< double > &v) const =0
 
virtual Value create_vector_vector_double (const std::vector< std::vector< double > > &v) const =0
 
virtual Value create_string (const std::string &v) const =0
 
Value handleUnit (const xercesc::DOMElement *e, const Value &ret)
 

Static Private Member Functions

static std::map< std::string,
std::function< std::shared_ptr
< Eval >std::vector
< boost::filesystem::path > *)> > & 
getEvaluators ()
 

Static Private Attributes

static std::map< std::string,
std::string > 
units
 

Friends

class NewParamLevel
 

Detailed Description

Expression evaluator and converter.

Member Enumeration Documentation

Known types for a variable See also valueIsOfType.

Member Function Documentation

virtual void MBXMLUtils::Eval::addImport ( const std::string &  code,
const xercesc::DOMElement *  e 
)
pure virtual

Import evaluator statements. This routine highly depends on the evaluator. See the spezialized evaluators documentation for details.

Implemented in MBXMLUtils::OctEval, MBXMLUtils::PyEval, and MBXMLUtils::XMLFlatEval.

void MBXMLUtils::Eval::addParamSet ( const xercesc::DOMElement *  e)

Add all parameters from XML element e. The parameters are added from top to bottom as they appear in the XML element e. Parameters may depend on parameters already added.

virtual Value MBXMLUtils::Eval::callFunction ( const std::string &  name,
const std::vector< Value > &  args 
) const
protectedpure virtual

Return the value of a call to name using the arguments args. The following functions must be implemented by the evaluator:

  • rotateAboutX(alpha): returns a 3x3 rotation matrix about the x-axis by angle alpha which is given in rad.
  • rotateAboutY(beta): returns a 3x3 rotation matrix about the y-axis by angle beta which is given in rad.
  • rotateAboutZ(gamma): returns a 3x3 rotation matrix about the z-axis by angle gamma which is given in rad.
  • cardan(alpha, beta, gamma): returns a 3x3 rotation matrix of a cardan rotation about the angles alpha, beta and gamma which are given in rad.
  • euler(PHI, theta, phi): returns a 3x3 rotation matrix of a euler rotation about the angles PHI, theta and phi which are given in rad.
  • load(filename): returns a NxM matrix of the data stored in the file filename. filename may be a absolute or relative path. A relative path is interprete relative to the location of the XML file with the load statement. (The abstract Eval class guarantees that the current path is at the XML file if load is called)

Implemented in MBXMLUtils::OctEval, MBXMLUtils::PyEval, and MBXMLUtils::XMLFlatEval.

template<typename T >
T MBXMLUtils::Eval::cast ( const Value &  value,
xercesc::DOMDocument *  doc 
) const

Cast the value value to type T. Possible combinations of allowed value types and template types T are listed in the following table. If a combination is not allowed a exception is thrown. If a c-pointer is returned this c-pointer is only guaranteed to be valid for the lifetime of the object value being passed as argument. This pointer is a reference to the value value in the interpreter. If a DOMElement* is returned doc must be given and ownes the memory of the returned DOM tree. For other return types this function must be called with only one argument cast(const Value &value);

value is of Type ...
Template Type T equals ... real scalar real vector real matrix string SWIG casadi::SX Function

SWIG XYZ

int only if its integral number
double X
vector<double> X X
vector<vector<double> > X X X
string X
CodeString returns e.g. 5 returns e.g. [3;7] returns e.g. [1,3;5,4] returns e.g. 'foo'
DOMElement* X
casadi::SX X X X X
casadi::SX* X
Function X
XYZ* *

For arbitary evaluator values of type SWIG wrapper object (see * in table) a instantiation of template<> string SwigType<XYZ*>::name("<swig_type_name_of_XYZ>"); is required.

virtual void MBXMLUtils::Eval::convertIndex ( Value &  v,
bool  evalTo1Based 
)
pure virtual

convert a index (scalar or vector). if evalTo1Based == true: convert from the script language 0/1 base to 1 base. if evalTo1Based == false: convert from 1 base to the script language 0/1 base.

Implemented in MBXMLUtils::OctEval, MBXMLUtils::PyEval, and MBXMLUtils::XMLFlatEval.

Value MBXMLUtils::Eval::eval ( const xercesc::DOMElement *  e)

Evaluate the XML element e using the current parameters returning the resulting value. The type of evaluation depends on the type of e.

Eval::Value MBXMLUtils::Eval::eval ( const xercesc::DOMAttr *  a,
const xercesc::DOMElement *  pe = NULL 
)

Evaluate the XML attribute a using the current parameters returning the resulting value. The type of evaluation depends on the type of a. The result of a "partially" evaluation is returned as a string even so it is not really a string.

Eval::Value MBXMLUtils::Eval::stringToValue ( const std::string &  str,
const xercesc::DOMElement *  e = NULL,
bool  fullEval = true 
) const

evaluate str and return result as an variable, this can be used to evaluate outside of XML. If e is given it is used as location information in case of errors. If fullEval is false the "partially" evaluation is returned as a string even so it is not really a string.

virtual bool MBXMLUtils::Eval::valueIsOfType ( const Value &  value,
ValueType  type 
) const
pure virtual

check whether value is of type type. Note that true is only returned if the value is really of type type. If value can be casted to type type but is not of this type then false is returned. Note that their are evaluators (e.g. octave) which cannot distinguish between e.g. a scalar, a vector of size 1 or a matrix of size 1x1. Hence, these evaluators will return true for ScalarType in all these three cases and analog for VectorType.

Implemented in MBXMLUtils::OctEval, MBXMLUtils::PyEval, and MBXMLUtils::XMLFlatEval.


The documentation for this class was generated from the following files:

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