Go to the documentation of this file.00001 import string
00002 import yaml
00003 import collections
00004 from lxml import etree
00005
00006
00007
00008 from xml.etree.ElementTree import ElementTree
00009
00010
00011 def xml_string(rootXml, addHeader=True):
00012
00013 xmlString = etree.tostring(rootXml, pretty_print=True)
00014 if addHeader:
00015 xmlString = '<?xml version="1.0"?>\n' + xmlString
00016 return xmlString
00017
00018
00019 def dict_sub(obj, keys):
00020 return dict((key, obj[key]) for key in keys)
00021
00022
00023 def node_add(doc, sub):
00024 if sub is None:
00025 return None
00026 if type(sub) == str:
00027 return etree.SubElement(doc, sub)
00028 elif isinstance(sub, etree._Element):
00029 doc.append(sub)
00030 return sub
00031 else:
00032 raise Exception('Invalid sub value')
00033
00034
00035 def pfloat(x):
00036 return str(x).rstrip('.')
00037
00038
00039 def xml_children(node):
00040 children = node.getchildren()
00041
00042 def predicate(node):
00043 return not isinstance(node, etree._Comment)
00044 return list(filter(predicate, children))
00045
00046
00047 def isstring(obj):
00048 try:
00049 return isinstance(obj, basestring)
00050 except NameError:
00051 return isinstance(obj, str)
00052
00053
00054 def to_yaml(obj):
00055 """ Simplify yaml representation for pretty printing """
00056
00057
00058
00059 if obj is None or isstring(obj):
00060 out = str(obj)
00061 elif type(obj) in [int, float, bool]:
00062 return obj
00063 elif hasattr(obj, 'to_yaml'):
00064 out = obj.to_yaml()
00065 elif isinstance(obj, etree._Element):
00066 out = etree.tostring(obj, pretty_print=True)
00067 elif type(obj) == dict:
00068 out = {}
00069 for (var, value) in obj.items():
00070 out[str(var)] = to_yaml(value)
00071 elif hasattr(obj, 'tolist'):
00072
00073 out = to_yaml(obj.tolist())
00074 elif isinstance(obj, collections.Iterable):
00075 out = [to_yaml(item) for item in obj]
00076 else:
00077 out = str(obj)
00078 return out
00079
00080
00081 class SelectiveReflection(object):
00082 def get_refl_vars(self):
00083 return list(vars(self).keys())
00084
00085
00086 class YamlReflection(SelectiveReflection):
00087 def to_yaml(self):
00088 raw = dict((var, getattr(self, var)) for var in self.get_refl_vars())
00089 return to_yaml(raw)
00090
00091 def __str__(self):
00092
00093 return yaml.dump(self.to_yaml()).rstrip()
urdfdom_py
Author(s): Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan
, Jackie Kay
autogenerated on Thu Jun 6 2019 20:07:42