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Drake
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Drake
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A delimited string name for a multibody element, e.g., "robot1::torso".
The name is composed of two semantically separate pieces – the element name is the local name for the element (e.g., a joint, body, frame, etc.) and the namespace name is the location of that element within the tree. For "robot1::torso" the namespace name is "robot1" and the element name is "torso".
The namespace name typically refers to the model instance name that contains the element. Some temporary scoped names do not use a namespace (e.g., temporary values created during input file parsing), in which case the namespace name can be empty. The namespace name will never start or end with "::".
The element name is never empty, unless the ScopedName was default-constructed or moved-from. The element name will never contain the delimiter string "::".
When there is no namespace, the scoped name does not contain a leading "::", e.g., for the element name "box" without any namespace, the scoped name is "box" not "::box".
The namespace name may contain the "::" delimiter in the middle of the name (possibly multiple times), e.g., for "robot1::left::arm::end_frame" the namespace name is "robot1::left::arm" and the element is name "end_frame".
This class does not treat a single colon (":") specially. Those can appear in either namespace names or element names.
#include <drake/multibody/tree/scoped_name.h>
Public Member Functions | |
| ScopedName ()=default | |
| Creates an empty name. More... | |
| ScopedName (std::string_view namespace_name, std::string_view element_name) | |
Creates a ScopedName for the given namespace_name and element_name. More... | |
| std::string_view | get_namespace () const |
| Returns the namespace portion of this scoped name, e.g., "robot1". More... | |
| std::string_view | get_element () const |
| Returns the element portion of this scoped name, e.g., "torso". More... | |
| std::string_view | get_full () const |
| Returns the full ScopedName as a string, e.g., "robot1::torso". More... | |
| std::string | to_string () const |
| Returns get_full() as a string value instead of a string_view. More... | |
| void | set_namespace (std::string_view namespace_name) |
| Replaces the namespace name of this object, leaving the element name unchanged. More... | |
| void | set_element (std::string_view element_name) |
| Replaces the element name of this object, leaving the namespace name unchanged. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| ScopedName (const ScopedName &)=default | |
| ScopedName & | operator= (const ScopedName &)=default |
| ScopedName (ScopedName &&)=default | |
| ScopedName & | operator= (ScopedName &&)=default |
Static Public Member Functions | |
| static std::optional< ScopedName > | Make (std::string_view namespace_name, std::string_view element_name) |
Creates a ScopedName for the given namespace_name and element_name. More... | |
| static ScopedName | Join (std::string_view name1, std::string_view name2) |
Creates a ScopedName for the given name1::name2. More... | |
| static ScopedName | Parse (std::string scoped_name) |
Parses the given scoped_name string. More... | |
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default |
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default |
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default |
Creates an empty name.
| ScopedName | ( | std::string_view | namespace_name, |
| std::string_view | element_name | ||
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Creates a ScopedName for the given namespace_name and element_name.
| std::exception | if namespace_name starts or ends with "::". |
| std::exception | if element_name contains "::" or is empty. |
| std::string_view get_element | ( | ) | const |
Returns the element portion of this scoped name, e.g., "torso".
This is the local name of the joint, body, etc. within the model instance. It is never empty unless this ScopedName was default-constructed or moved-from.
| std::string_view get_full | ( | ) | const |
Returns the full ScopedName as a string, e.g., "robot1::torso".
It is never empty unless this ScopedName was default-constructed or moved-from.
| std::string_view get_namespace | ( | ) | const |
Returns the namespace portion of this scoped name, e.g., "robot1".
This is typically the model instance name. This is typically the model instance name but can be empty (see class overview for details).
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static |
Creates a ScopedName for the given name1::name2.
Unlike the constructor or ScopedName::Make(), this function allows "::" in either name. Any leading or trailing "::" on the names are removed before joining. After joining, the final word after all "::"s is the element name, and everything prior is the namespace name.
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static |
Creates a ScopedName for the given namespace_name and element_name.
Returns nullopt if namespace_name starts or ends with "::", or if element_name contains "::" or is empty.
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default |
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default |
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static |
Parses the given scoped_name string.
Any leading or trailing "::"s on the name are removed (even multiple copies like "::::" are removed).
| void set_element | ( | std::string_view | element_name | ) |
Replaces the element name of this object, leaving the namespace name unchanged.
| std::exception | if element_name contains "::" or is empty. |
| void set_namespace | ( | std::string_view | namespace_name | ) |
Replaces the namespace name of this object, leaving the element name unchanged.
The namespace name is allowed to be empty.
| std::exception | if namespace_name starts or ends with "::". |
| std::string to_string | ( | ) | const |
Returns get_full() as a string value instead of a string_view.