1.3.0 - Performance of SDF File Structure - Redundancy in Reloading Description Files For Every SDF Read?
I recently checked out the source code of Gazebo 1.3.0 (02a2ec16375a+ (gazebo_1.3) gazebo_1.3.0
) and was looking into how the XML and SDF system works. I noticed that for each SDF file is loaded (from gazebo/Server.cc:
, Server::LoadFile()
, then from gazebo/sdf/interface/parser.cc:616
, readXml()
), it makes multiple calls to sdf::init()
. When debugging, it would load the same SDF description files (in gazebo/sdf/1.3
) several times.
This seems like it might be redundant and inefficient. Are there plans to cache these loaded XML documents, or are there reasons why they are reloaded every time?