schema_registration.h File Reference

This is a schema registration class. More...

#include <string>
#include <functional>

Macros
#define	TESSERACT_SCHEMA_REG_PASTE(a, b)   a##b
#define	TESSERACT_SCHEMA_REG_MAKE_NAME(a, b)   TESSERACT_SCHEMA_REG_PASTE(a, b)
#define	TESSERACT_SCHEMA_REGISTER(KEY, SCHEMA_SOURCE)
	Macro to register either a file‐based schema or a function‐built schema.
#define	TESSERACT_SCHEMA_REGISTER_DERIVED_TYPE(BASE_TYPE, DERIVED_TYPE)
	Macro to register that a derived type can be used where a base type is expected.

Functions
void	tesseract::common::registerSchema (const std::string &key, const std::string &path)
	Register a schema from a file path.
void	tesseract::common::registerSchema (const std::string &key, const std::function< PropertyTree()> &fn)
	Register a schema from a function.
void	tesseract::common::registerSchemaDerivedType (const std::string &base_type, const std::string &derived_type)
	Register that a derived type schema can be used where a base type is expected.

Detailed Description

This is a schema registration class.

Author

Levi Armstrong

Date

March 1, 2026

Copyright

Copyright (c) 2026, Levi Armstrong

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Macro Definition Documentation

TESSERACT_SCHEMA_REGISTER

#define TESSERACT_SCHEMA_REGISTER	(		KEY,
			SCHEMA_SOURCE
	)

Value:

  namespace                                                                                                            \
  {                                                                                                                    \
  static const int TESSERACT_SCHEMA_REG_MAKE_NAME(schema_reg_, __COUNTER__) = []() -> int {                            \
    using namespace tesseract::common;                                                                                 \
    registerSchema(#KEY, SCHEMA_SOURCE);                                                                               \
    return 0;                                                                                                          \
  }();                                                                                                                 \
  }

Macro to register either a file‐based schema or a function‐built schema.

TESSERACT_SCHEMA_REGISTER_DERIVED_TYPE

#define TESSERACT_SCHEMA_REGISTER_DERIVED_TYPE	(		BASE_TYPE,
			DERIVED_TYPE
	)

Value:

  namespace                                                                                                            \
  {                                                                                                                    \
  static const int TESSERACT_SCHEMA_REG_MAKE_NAME(derived_type_reg_, __COUNTER__) = []() -> int {                      \
    using namespace tesseract::common;                                                                                 \
    registerSchemaDerivedType(#BASE_TYPE, #DERIVED_TYPE);                                                              \
    return 0;                                                                                                          \
  }();                                                                                                                 \
  }

Macro to register that a derived type can be used where a base type is expected.

Parameters

BASE_TYPE	The base type name
DERIVED_TYPE	The derived type name

Example usage:

TESSERACT_SCHEMA_REGISTER_DERIVED_TYPE(tesseract::planning::BaseConstraint,
                                        tesseract::planning::JointPositionConstraint)

Function Documentation

registerSchema() [1/2]

void tesseract::common::registerSchema	(	const std::string &	key,
		const std::string &	path
	)

Register a schema from a file path.

Parameters

key	Unique identifier for this schema.
path	Path to a .yaml schema file.

registerSchema() [2/2]

void tesseract::common::registerSchema	(	const std::string &	key,
		const std::function< PropertyTree()> &	fn
	)

Register a schema from a function.

Parameters

key	Unique identifier for this schema.
fn	Function that returns a PropertyTree schema.

registerSchemaDerivedType()

void tesseract::common::registerSchemaDerivedType	(	const std::string &	base_type,
		const std::string &	derived_type
	)

Register that a derived type schema can be used where a base type is expected.

Parameters

base_type	The base type name
derived_type	The derived type name