Classes for typekits for describing and handling user data types. More...

Classes
class	BinaryOp

class	BinaryOperator
	An operator which reads a two DataSources and returns a modified result. More...

struct	BoolTypeInfo
	Write boolean as 'true' or 'false'. More...

class	BoostArrayTypeInfo
	Template for data types that are of type boost::array<U,int>. More...

class	carray
	Wraps a C array such that we can return a C array from a DataSource. More...

class	CArrayTypeInfo
	Template for data types that are C-style arrays. More...

class	CompositionFactory
	A factory for composing/decomposing and converting types to a form suitable for persistent storage, such as an XML file. More...

struct	EmptySendHandle
	This is a placeholder for scripting purposes. More...

class	EmptyTypeInfo
	Empty implementation of TypeInfo interface. More...

struct	EnumTypeInfo
	Type information for Enum types for which they are convertible to int. More...

class	GlobalsRepository
	An RTT::ConfigurationInterface for holding global variables. More...

class	MemberFactory

class	OperatorRepository
	This class builds on upon construction all expression operators known to Orocos. More...

class	PrimitiveSequenceTypeInfo
	New-style SequenceTypeInfo which offers type info for sequences which can NOT be sent over flow ports. More...

class	PrimitiveTypeInfo
	This template class allows primitive types, which are not sent over ports, to be added to Orocos. More...

class	RealTimeTypekitPlugin
	This interface defines the types of the realTime package. More...

struct	RTStringTypeInfo
	Standard string specialisation that removes decomposition. More...

struct	sequence_constructor_datasource
	Helper DataSource for constructing sequences with a variable number of parameters. More...

struct	sequence_ctor
	Sequence constructor which takes the number of elements in the sequence. More...

struct	sequence_ctor2
	Constructs a sequence from the number of elements and a prototype element for these elements. More...

struct	sequence_varargs_ctor
	See NArityDataSource which requires a function object like this one. More...

struct	SequenceBuilder
	Constructs an sequence with n elements, which are given upon construction time. More...

class	SequenceTypeInfo
	Old-style SequenceTypeInfo which offers type info for sequences which can be sent over flow ports. More...

class	SequenceTypeInfoBase
	Template for data types that are C++ STL Sequences with operator[], size() and capacity() methods. More...

struct	StdStringTypeInfo
	Standard string specialisation that removes decomposition. More...

struct	StdTypeInfo
	Type information for standard C types or structs of which no introspection is required. More...

struct	StdVectorBuilder

struct	StdVectorTemplateTypeInfo
	Template class for std::vector<T> typekits, providing a alternative demarshalling function for properties and optionally ostream printing. More...

struct	StdVectorTypeInfo
	This class tells Orocos how to handle std::vector<double>. More...

class	StreamFactory

class	StructTypeInfo
	Type Information for data types that are structs, ie all user data types fall in this category. More...

class	TemplateCompositionFactory

class	TemplateConnFactory

struct	TemplateConstructor
	The constructor classes allow to define type constructors or type conversions (convert type B from type A). More...

class	TemplateTypeInfo
	This template class allows user types to be used in all Orocos primitives. More...

class	TemplateValueFactory

class	TransportPlugin
	A class which registers TypeTransporter instances to types. More...

class	type_discovery
	This archive is capable of decomposing objects of serialization level 1 and 2 into part data sources. More...

struct	TypeConstructor
	This interface describes how constructors work. More...

class	TypeInfo
	A class for representing a user type, and which can build instances of that type. More...

class	TypeInfoGenerator
	All generator classes inherit from this object in order to allow them to be added to the TypeInfoRepository. More...

struct	TypeInfoName
	This helper class allows only type names to be added to Orocos. More...

class	TypeInfoRepository
	This class contains all known types to Orocos. More...

class	TypekitPlugin
	This interface defines how additional typekits are loaded into Orocos. More...

class	TypekitRepository
	This class allows the RTT to be extended with additional typekits (TypekitPlugin), such as for kinematics or any library foreign to Orocos. More...

class	TypeMarshaller
	Objects implementing this interface have the capability to convert data sources to and from a binary representation. More...

struct	TypeStreamSelector

struct	TypeStreamSelector< T, false >

struct	TypeStreamSelector< T, true >

class	TypeTransporter
	This interface defines the function a transport protocol must support in order to allow Orocos components to remotely communicate one data type. More...

class	UnaryOp
	UnaryOperator contains information on some unary operator that operates on one arg of a certain type. More...

class	UnaryOperator
	An operator which reads a single internal::DataSource and returns a modified result. More...

class	ValueFactory
	Creates all value objects of a certain type. More...

Typedefs
typedef boost::shared_ptr< CompositionFactory >	CompositionFactoryPtr

typedef boost::shared_ptr< MemberFactory >	MemberFactoryPtr

typedef boost::shared_ptr< StreamFactory >	StreamFactoryPtr

typedef boost::shared_ptr< internal::ConnFactory >	ConnFactoryPtr

typedef boost::shared_ptr< ValueFactory >	ValueFactoryPtr

Functions
void	loadStdTypes (TypeInfoRepository::shared_ptr ti)

void	loadOrocosTypes (TypeInfoRepository::shared_ptr ti)

RTT_API OperatorRepository::shared_ptr	operators ()
	This global function provides the short notation for OperatorRepository::Instance() More...

template<typename function >
UnaryOperator< function > *	newUnaryOperator (const char *op, function f)
	helper function to create a new UnaryOperator More...

template<typename function >
BinaryOperator< function > *	newBinaryOperator (const char *op, function f)
	helper function to create a new BinaryOperator More...

bool RTT_API	composePropertyBag (PropertyBag const &sourcebag, PropertyBag &target)
	Uses the type composition to compose all typed properties from a property bag. More...

bool RTT_API	decomposePropertyBag (PropertyBag const &sourcebag, PropertyBag &target)
	Inverse of RTT::types::composePropertyBag(). More...

bool	propertyDecomposition (base::PropertyBase *source, PropertyBag &targetbag, bool recurse=true)
	Uses the type decomposition to decompose a property into a property bag that refers to all its parts. More...

bool	typeDecomposition (base::DataSourceBase::shared_ptr source, PropertyBag &targetbag, bool recurse=true)
	Identical to RTT::types::propertyDecomposition(), but takes a DataSourceBase as source. More...

bool	get_container_item (std::vector< bool > &cont, int index)
	Specialisation for vector<bool>, we don't return references to bits aka std::_Bit_reference. More...

bool	get_container_item_copy (const std::vector< bool > &cont, int index)

template<class T >
int	get_capacity (T const &cont)
	Returns the capacity of an STL container which has the capacity() member function. More...

template<class T >
int	get_size (T const &cont)
	Returns the size of an STL container which has the size() member function. More...

template<class T >
T::reference	get_container_item (T &cont, int index)
	Returns a reference to one item in an STL container. More...

template<class T >
T::value_type	get_container_item_copy (const T &cont, int index)
	Returns a copy to one item in an STL container. More...

template<class Function >
TypeConstructor *	newConstructor (Function *foo, bool automatic=false)
	Create a new Constructor. More...

template<class Object >
TypeConstructor *	newConstructor (Object obj, bool automatic=false)
	Create a new Constructor. More...

TypeInfoRepository::shared_ptr	Types ()
	Obtain a pointer to the global type system. More...

int	_EatSpace (std::istream &is, int *countp)

bool	Eat (std::istream &is, int delim)

bool	EatEnd (std::istream &is, int delim)

std::ostream &	operator<< (std::ostream &os, const std::vector< double > &v)

std::istream &	operator>> (std::istream &os, std::vector< double > &v)

template<class T >
bool	composeTemplateProperty (const PropertyBag &bag, T &result)

Detailed Description

Classes for typekits for describing and handling user data types.

Typedef Documentation

typedef boost::shared_ptr<CompositionFactory> RTT::types::CompositionFactoryPtr

Definition at line 65 of file CompositionFactory.hpp.

typedef boost::shared_ptr<internal::ConnFactory> RTT::types::ConnFactoryPtr

Definition at line 59 of file TypeInfo.hpp.

typedef boost::shared_ptr<MemberFactory> RTT::types::MemberFactoryPtr

Definition at line 75 of file MemberFactory.hpp.

typedef boost::shared_ptr<StreamFactory> RTT::types::StreamFactoryPtr

Definition at line 55 of file StreamFactory.hpp.

typedef boost::shared_ptr<ValueFactory> RTT::types::ValueFactoryPtr

Definition at line 78 of file ValueFactory.hpp.

Function Documentation

int RTT::types::_EatSpace	(	std::istream &	is,
		int *	countp
	)

Definition at line 47 of file TypeStream-io.cpp.

Referenced by Eat(), and EatEnd().

bool RTT::types::composePropertyBag	(	PropertyBag const &	sourcebag,
		PropertyBag &	target
	)

Uses the type composition to compose all typed properties from a property bag.

For each PropertyBag found with a type not equal to 'PropertyBag', it will use the type's TypeInfo::composeType function and return that in target if it generates a Property.

Parameters

sourcebag	Contains a PropertyBag to be composed into a known type.
target	The target type to compose the source bag into.

Returns: true if all typed PropertyBags in sourcebag could be composed to a user type, false if one or more compositions failed.

Definition at line 10 of file PropertyComposition.cpp.

References RTT::PropertyBag::begin(), RTT::types::TypeInfo::buildProperty(), RTT::types::TypeInfo::composeType(), RTT::Debug, RTT::PropertyBag::empty(), RTT::PropertyBag::end(), RTT::Error, RTT::base::PropertyBase::getDataSource(), RTT::Property< T >::getDataSource(), RTT::base::PropertyBase::getDescription(), RTT::base::PropertyBase::getName(), RTT::base::PropertyBase::getType(), RTT::PropertyBag::ownProperty(), RTT::base::PropertyBase::ready(), Types(), and RTT::Property< T >::value().

Referenced by RTT::types::BoostArrayTypeInfo< T, has_ostream >::composeType(), RTT::types::SequenceTypeInfoBase< std::vector< double > >::composeType(), RTT::types::CArrayTypeInfo< T, has_ostream >::composeType(), RTT::marsh::PropertyLoader::load(), and RTT::marsh::PropertyLoader::store().

template<class T >

bool RTT::types::composeTemplateProperty	(	const PropertyBag &	bag,
		T &	result
	)

Definition at line 49 of file VectorTemplateComposition.hpp.

References RTT::Logger::endl(), RTT::Logger::Error, RTT::Property< T >::get(), RTT::PropertyBag::getItem(), RTT::base::PropertyBase::getName(), RTT::base::PropertyBase::getType(), RTT::PropertyBag::getType(), RTT::internal::DataSourceTypeInfo< T >::getTypeName(), RTT::Logger::log(), RTT::PropertyBag::size(), and Types().

Referenced by RTT::types::StdVectorTemplateTypeInfo< T, has_ostream >::composeType(), and RTT::types::SequenceTypeInfoBase< std::vector< double > >::composeType().

bool RTT::types::decomposePropertyBag	(	PropertyBag const &	sourcebag,
		PropertyBag &	target
	)

Inverse of RTT::types::composePropertyBag().

This function effectively replaces the property introspection mechanism for decomposition.

Parameters

sourcebag	The bag from which to compose the type.
target	Contains a C++ type to be composed into a hierarchy of properties.

Returns: True on success, false otherwise.

See also: RTT::types::propertyComposition

Definition at line 60 of file PropertyComposition.cpp.

References RTT::PropertyBag::begin(), RTT::types::TypeInfo::buildProperty(), RTT::Debug, RTT::PropertyBag::empty(), RTT::PropertyBag::end(), RTT::Error, RTT::base::PropertyBase::getDescription(), RTT::base::PropertyBase::getName(), RTT::base::PropertyBase::getType(), RTT::base::PropertyBase::getTypeInfo(), RTT::internal::DataSource< T >::narrow(), RTT::PropertyBag::ownProperty(), propertyDecomposition(), RTT::base::PropertyBase::ready(), RTT::internal::DataSource< T >::rvalue(), RTT::Property< T >::rvalue(), and RTT::Property< T >::value().

bool RTT::types::Eat	(	std::istream &	is,
		int	delim
	)

Definition at line 64 of file TypeStream-io.cpp.

References _EatSpace().

Referenced by operator>>().

bool RTT::types::EatEnd	(	std::istream &	is,
		int	delim
	)

Definition at line 81 of file TypeStream-io.cpp.

References _EatSpace().

Referenced by operator>>().

template<class T >

int RTT::types::get_capacity ( T const & cont )

Returns the capacity of an STL container which has the capacity() member function.

Parameters

cont	A const ref to an STL container.

Returns: its capacity.

Definition at line 61 of file SequenceTypeInfoBase.hpp.

bool RTT::types::get_container_item	(	std::vector< bool > &	cont,
		int	index
	)

Specialisation for vector<bool>, we don't return references to bits aka std::_Bit_reference.

vector<bool> is an outlier and should not be used. Use vector<int> or vector<char> instead.

Parameters

cont	Is a vector<bool>
index	The item to read.

Returns: A copy of the value at position index. not a reference !

Definition at line 45 of file SequenceTypeInfoBase.cpp.

Referenced by get_container_item_copy().

template<class T >

T::reference RTT::types::get_container_item	(	T &	cont,
		int	index
	)

Returns a reference to one item in an STL container.

Note: vector<bool> is not supported, since it's not an STL container.

Parameters

cont	The container to access
index	The item to reference

Returns: A reference to item index

Definition at line 85 of file SequenceTypeInfoBase.hpp.

References RTT::internal::NA< T >::na().

bool RTT::types::get_container_item_copy	(	const std::vector< bool > &	cont,
		int	index
	)

Definition at line 52 of file SequenceTypeInfoBase.cpp.

Referenced by get_container_item_copy().

template<class T >

T::value_type RTT::types::get_container_item_copy	(	const T &	cont,
		int	index
	)

Returns a copy to one item in an STL container.

Note: vector<bool> is not supported, since it's not an STL container.

Parameters

cont	The container to access
index	The item to extract from the sequence

Returns: A copy of item index

Definition at line 100 of file SequenceTypeInfoBase.hpp.

References get_container_item(), get_container_item_copy(), and RTT::internal::NA< T >::na().

template<class T >

int RTT::types::get_size ( T const & cont )

Returns the size of an STL container which has the size() member function.

Parameters

cont	A const ref to an STL container.

Returns: its size.

Definition at line 72 of file SequenceTypeInfoBase.hpp.

void RTT::types::loadOrocosTypes ( TypeInfoRepository::shared_ptr ti )

Definition at line 69 of file RealTimeTypekitTypes2.cpp.

Referenced by RTT::types::RealTimeTypekitPlugin::loadTypes().

void RTT::types::loadStdTypes ( TypeInfoRepository::shared_ptr ti )

Definition at line 53 of file RealTimeTypekitStdTypes.cpp.

Referenced by RTT::types::RealTimeTypekitPlugin::loadTypes().

template<typename function >

BinaryOperator<function>* RTT::types::newBinaryOperator	(	const char *	op,
		function	f
	)

helper function to create a new BinaryOperator

Definition at line 138 of file OperatorTypes.hpp.

Referenced by RTT::types::RealTimeTypekitPlugin::loadOperators().

template<class Function >

TypeConstructor* RTT::types::newConstructor	(	Function *	foo,
		bool	automatic = `false`
	)

Create a new Constructor.

Parameters

foo	A pointer to the 'C' function which creates an object.
automatic	Set to true to allow automatic conversion (without warning) to this type.

Returns: a Constructor object suitable for the type system.

Definition at line 122 of file TemplateConstructor.hpp.

References RTT::types::TemplateConstructor< S >::automatic.

Referenced by RTT::types::EnumTypeInfo< T >::installTypeInfoObject(), RTT::types::SequenceTypeInfoBase< std::vector< double > >::installTypeInfoObject(), and RTT::types::RealTimeTypekitPlugin::loadConstructors().

template<class Object >

TypeConstructor* RTT::types::newConstructor	(	Object	obj,
		bool	automatic = `false`
	)

Create a new Constructor.

Parameters

obj	A function object which has operator().
automatic	Set to true to allow automatic conversion (without warning) to this type.

Returns: a Constructor object suitable for the type system.

Definition at line 135 of file TemplateConstructor.hpp.

References RTT::types::TemplateConstructor< S >::automatic.

template<typename function >

UnaryOperator<function>* RTT::types::newUnaryOperator	(	const char *	op,
		function	f
	)

helper function to create a new UnaryOperator

Definition at line 128 of file OperatorTypes.hpp.

Referenced by RTT::types::RealTimeTypekitPlugin::loadOperators().

RTT_API std::ostream & RTT::types::operator<<	(	std::ostream &	os,
		const std::vector< double > &	v
	)

Definition at line 46 of file TypeStream.cpp.

RTT_API std::istream & RTT::types::operator>>	(	std::istream &	os,
		std::vector< double > &	v
	)

Definition at line 61 of file TypeStream.cpp.

References Eat(), and EatEnd().

RTT_API OperatorRepository::shared_ptr RTT::types::operators ( )

This global function provides the short notation for OperatorRepository::Instance()

Definition at line 132 of file Operators.cpp.

References RTT::types::OperatorRepository::Instance().

bool RTT_API RTT::types::propertyDecomposition	(	base::PropertyBase *	source,
		PropertyBag &	targetbag,
		bool	recurse = `true`
	)

Uses the type decomposition to decompose a property into a property bag that refers to all its parts.

It will first try to use the user's TypeInfo::decomposeType function and return that in targetbag if it generates a PropertyBag. If it generated something else than a PropertyBag, this function returns false. If decomposeType did not return anything, it will try the TypeInfo::getMember() approach to decompose source into the targetbag. If no members are returned, this function fails.

In case the source type info supports it, each modification of a part in the targetbag will modify source too. This is so for typekits using the boost::serialization functions in combination with TypeInfo::getMember(). In case the type decompositions were written manually using TypeInfo::decomposeType(), this relation can no longer be guaranteed, and a composition step using TypeInfo::composeType() of the same type must be tried to update source with the modifications in targetbag.

For the TypeInfo::getMember() method: This function can only work if every part of the source is known by the RTT type system. Only the parts of source that are assignable will be decomposed. The read-only parts will be silently omitted.

Parameters