utils.hpp

//
// Copyright (c) 2015 - 2016 CNRS
//
 
#ifndef __pinocchio_parsers_utils_hpp__
#define __pinocchio_parsers_utils_hpp__
 
#include <limits>
#include <sstream>
// #include <stdexcept>
 
#include <boost/filesystem/fstream.hpp>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
 
#include "pinocchio/utils/file-explorer.hpp"
#include <boost/filesystem.hpp>
 
#include <exception>
 
namespace pinocchio
{
  enum ModelFileExtensionType
  {
    UNKNOWN = 0,
    URDF
  };
 
  inline ModelFileExtensionType checkModelFileExtension(const std::string & filename)
  {
    const std::string extension = filename.substr(filename.find_last_of(".") + 1);
 
    if (extension == "urdf")
      return URDF;
 
    return UNKNOWN;
  }
 
  inline std::string
  retrieveResourcePath(const std::string & string, const std::vector<std::string> & package_dirs)
  {
 
    namespace bf = boost::filesystem;
    std::string result_path;
 
    const std::string separator("://");
    const std::size_t pos_separator = string.find(separator);
    bf::path string_path(string);
 
    if (pos_separator != std::string::npos)
    {
      std::string scheme = string.substr(0, pos_separator);
      std::string path = string.substr(pos_separator + 3, std::string::npos);
 
      if (scheme == "package" || scheme == "model")
      {
        // if exists p1/string, path = p1/string,
        // else if exists p2/string, path = p2/string
        // else return an empty string that may provoke an error in loadPolyhedronFromResource()
 
        // concatenate package_path with filename
        for (std::size_t i = 0; i < package_dirs.size(); ++i)
        {
          if (bf::exists(bf::path(package_dirs[i] + "/" + path)))
          {
            result_path = std::string(package_dirs[i] + "/" + path);
            break;
          }
        }
      }
      else if (scheme == "file")
      {
        result_path = path;
      }
      else
      {
        const std::string exception_message("Schemes of form" + scheme + "are not handled");
        throw std::invalid_argument(exception_message);
      }
    }
    else if (string_path.is_relative())
    {
      // handle the case where a relative mesh path is specified without using //package
      for (std::size_t i = 0; i < package_dirs.size(); ++i)
      {
        if (bf::exists(bf::path(package_dirs[i] + "/" + string)))
        {
          result_path = std::string(package_dirs[i] + "/" + string);
          break;
        }
      }
    }
    else // return the entry string
    {
      result_path = string;
    }
 
    return result_path;
  }
 
} // namespace pinocchio
 
#endif // __pinocchio_parsers_utils_hpp__