add the .yaml file to read target point

class_model/CMakeLists.txt

@@ -120,7 +120,7 @@ include_directories(
 include
   ${catkin_INCLUDE_DIRS}
 )
-link_directories(/home/dodo/ardupilot_ws/src/class_model/include/json_transport)
+# link_directories(/home/dodo/ardupilot_ws/src/class_model/include/json_transport)
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
 #   src/${PROJECT_NAME}/class_model.cpp
@@ -294,3 +294,8 @@ add_dependencies(json class_model_generate_messages_cpp)
 add_executable(json1 src/json1.cpp)
 target_link_libraries(json1 ${catkin_LIBRARIES} )
 add_dependencies(json1 class_model_generate_messages_cpp)
+
+##################test library
+add_executable(test_lib src/test_lib.cpp)
+target_link_libraries(test_lib ${catkin_LIBRARIES} /home/dodo/ardupilot_ws/src/class_model/libs/libyaml-cpp.a)
+add_dependencies(test_lib class_model_generate_messages_cpp)

class_model/include/yaml-cpp/anchor.h

@@ -0,0 +1,17 @@
+#ifndef ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <cstddef>
+
+namespace YAML {
+using anchor_t = std::size_t;
+const anchor_t NullAnchor = 0;
+}
+
+#endif  // ANCHOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/binary.h

@@ -0,0 +1,71 @@
+#ifndef BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <string>
+#include <vector>
+
+#include "yaml-cpp/dll.h"
+
+namespace YAML {
+YAML_CPP_API std::string EncodeBase64(const unsigned char *data,
+                                      std::size_t size);
+YAML_CPP_API std::vector<unsigned char> DecodeBase64(const std::string &input);
+
+class YAML_CPP_API Binary {
+ public:
+  Binary(const unsigned char *data_, std::size_t size_)
+      : m_data{}, m_unownedData(data_), m_unownedSize(size_) {}
+  Binary() : Binary(nullptr, 0) {}
+  Binary(const Binary &) = default;
+  Binary(Binary &&) = default;
+  Binary &operator=(const Binary &) = default;
+  Binary &operator=(Binary &&) = default;
+
+  bool owned() const { return !m_unownedData; }
+  std::size_t size() const { return owned() ? m_data.size() : m_unownedSize; }
+  const unsigned char *data() const {
+    return owned() ? &m_data[0] : m_unownedData;
+  }
+
+  void swap(std::vector<unsigned char> &rhs) {
+    if (m_unownedData) {
+      m_data.swap(rhs);
+      rhs.clear();
+      rhs.resize(m_unownedSize);
+      std::copy(m_unownedData, m_unownedData + m_unownedSize, rhs.begin());
+      m_unownedData = nullptr;
+      m_unownedSize = 0;
+    } else {
+      m_data.swap(rhs);
+    }
+  }
+
+  bool operator==(const Binary &rhs) const {
+    const std::size_t s = size();
+    if (s != rhs.size())
+      return false;
+    const unsigned char *d1 = data();
+    const unsigned char *d2 = rhs.data();
+    for (std::size_t i = 0; i < s; i++) {
+      if (*d1++ != *d2++)
+        return false;
+    }
+    return true;
+  }
+
+  bool operator!=(const Binary &rhs) const { return !(*this == rhs); }
+
+ private:
+  std::vector<unsigned char> m_data;
+  const unsigned char *m_unownedData;
+  std::size_t m_unownedSize;
+};
+}  // namespace YAML
+
+#endif  // BASE64_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/contrib/anchordict.h

@@ -0,0 +1,40 @@
+#ifndef ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <vector>
+
+#include "../anchor.h"
+
+namespace YAML {
+/**
+ * An object that stores and retrieves values correlating to {@link anchor_t}
+ * values.
+ *
+ * <p>Efficient implementation that can make assumptions about how
+ * {@code anchor_t} values are assigned by the {@link Parser} class.
+ */
+template <class T>
+class AnchorDict {
+ public:
+  AnchorDict() : m_data{} {}
+  void Register(anchor_t anchor, T value) {
+    if (anchor > m_data.size()) {
+      m_data.resize(anchor);
+    }
+    m_data[anchor - 1] = value;
+  }
+
+  T Get(anchor_t anchor) const { return m_data[anchor - 1]; }
+
+ private:
+  std::vector<T> m_data;
+};
+}  // namespace YAML
+
+#endif  // ANCHORDICT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/contrib/graphbuilder.h

@@ -0,0 +1,149 @@
+#ifndef GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/mark.h"
+#include <string>
+
+namespace YAML {
+class Parser;
+
+// GraphBuilderInterface
+// . Abstraction of node creation
+// . pParentNode is always nullptr or the return value of one of the NewXXX()
+//   functions.
+class GraphBuilderInterface {
+ public:
+  virtual ~GraphBuilderInterface() = 0;
+
+  // Create and return a new node with a null value.
+  virtual void *NewNull(const Mark &mark, void *pParentNode) = 0;
+
+  // Create and return a new node with the given tag and value.
+  virtual void *NewScalar(const Mark &mark, const std::string &tag,
+                          void *pParentNode, const std::string &value) = 0;
+
+  // Create and return a new sequence node
+  virtual void *NewSequence(const Mark &mark, const std::string &tag,
+                            void *pParentNode) = 0;
+
+  // Add pNode to pSequence.  pNode was created with one of the NewXxx()
+  // functions and pSequence with NewSequence().
+  virtual void AppendToSequence(void *pSequence, void *pNode) = 0;
+
+  // Note that no moew entries will be added to pSequence
+  virtual void SequenceComplete(void *pSequence) { (void)pSequence; }
+
+  // Create and return a new map node
+  virtual void *NewMap(const Mark &mark, const std::string &tag,
+                       void *pParentNode) = 0;
+
+  // Add the pKeyNode => pValueNode mapping to pMap.  pKeyNode and pValueNode
+  // were created with one of the NewXxx() methods and pMap with NewMap().
+  virtual void AssignInMap(void *pMap, void *pKeyNode, void *pValueNode) = 0;
+
+  // Note that no more assignments will be made in pMap
+  virtual void MapComplete(void *pMap) { (void)pMap; }
+
+  // Return the node that should be used in place of an alias referencing
+  // pNode (pNode by default)
+  virtual void *AnchorReference(const Mark &mark, void *pNode) {
+    (void)mark;
+    return pNode;
+  }
+};
+
+// Typesafe wrapper for GraphBuilderInterface.  Assumes that Impl defines
+// Node, Sequence, and Map types.  Sequence and Map must derive from Node
+// (unless Node is defined as void).  Impl must also implement function with
+// all of the same names as the virtual functions in GraphBuilderInterface
+// -- including the ones with default implementations -- but with the
+// prototypes changed to accept an explicit Node*, Sequence*, or Map* where
+// appropriate.
+template <class Impl>
+class GraphBuilder : public GraphBuilderInterface {
+ public:
+  typedef typename Impl::Node Node;
+  typedef typename Impl::Sequence Sequence;
+  typedef typename Impl::Map Map;
+
+  GraphBuilder(Impl &impl) : m_impl(impl) {
+    Map *pMap = nullptr;
+    Sequence *pSeq = nullptr;
+    Node *pNode = nullptr;
+
+    // Type consistency checks
+    pNode = pMap;
+    pNode = pSeq;
+  }
+
+  GraphBuilderInterface &AsBuilderInterface() { return *this; }
+
+  virtual void *NewNull(const Mark &mark, void *pParentNode) {
+    return CheckType<Node>(m_impl.NewNull(mark, AsNode(pParentNode)));
+  }
+
+  virtual void *NewScalar(const Mark &mark, const std::string &tag,
+                          void *pParentNode, const std::string &value) {
+    return CheckType<Node>(
+        m_impl.NewScalar(mark, tag, AsNode(pParentNode), value));
+  }
+
+  virtual void *NewSequence(const Mark &mark, const std::string &tag,
+                            void *pParentNode) {
+    return CheckType<Sequence>(
+        m_impl.NewSequence(mark, tag, AsNode(pParentNode)));
+  }
+  virtual void AppendToSequence(void *pSequence, void *pNode) {
+    m_impl.AppendToSequence(AsSequence(pSequence), AsNode(pNode));
+  }
+  virtual void SequenceComplete(void *pSequence) {
+    m_impl.SequenceComplete(AsSequence(pSequence));
+  }
+
+  virtual void *NewMap(const Mark &mark, const std::string &tag,
+                       void *pParentNode) {
+    return CheckType<Map>(m_impl.NewMap(mark, tag, AsNode(pParentNode)));
+  }
+  virtual void AssignInMap(void *pMap, void *pKeyNode, void *pValueNode) {
+    m_impl.AssignInMap(AsMap(pMap), AsNode(pKeyNode), AsNode(pValueNode));
+  }
+  virtual void MapComplete(void *pMap) { m_impl.MapComplete(AsMap(pMap)); }
+
+  virtual void *AnchorReference(const Mark &mark, void *pNode) {
+    return CheckType<Node>(m_impl.AnchorReference(mark, AsNode(pNode)));
+  }
+
+ private:
+  Impl &m_impl;
+
+  // Static check for pointer to T
+  template <class T, class U>
+  static T *CheckType(U *p) {
+    return p;
+  }
+
+  static Node *AsNode(void *pNode) { return static_cast<Node *>(pNode); }
+  static Sequence *AsSequence(void *pSeq) {
+    return static_cast<Sequence *>(pSeq);
+  }
+  static Map *AsMap(void *pMap) { return static_cast<Map *>(pMap); }
+};
+
+void *BuildGraphOfNextDocument(Parser &parser,
+                               GraphBuilderInterface &graphBuilder);
+
+template <class Impl>
+typename Impl::Node *BuildGraphOfNextDocument(Parser &parser, Impl &impl) {
+  GraphBuilder<Impl> graphBuilder(impl);
+  return static_cast<typename Impl::Node *>(
+      BuildGraphOfNextDocument(parser, graphBuilder));
+}
+}
+
+#endif  // GRAPHBUILDER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/depthguard.h

@@ -0,0 +1,77 @@
+#ifndef DEPTH_GUARD_H_00000000000000000000000000000000000000000000000000000000
+#define DEPTH_GUARD_H_00000000000000000000000000000000000000000000000000000000
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "exceptions.h"
+
+namespace YAML {
+
+/**
+ * @brief The DeepRecursion class
+ *  An exception class which is thrown by DepthGuard. Ideally it should be
+ * a member of DepthGuard. However, DepthGuard is a templated class which means
+ * that any catch points would then need to know the template parameters. It is
+ * simpler for clients to not have to know at the catch point what was the
+ * maximum depth.
+ */
+class DeepRecursion : public ParserException {
+public:
+  virtual ~DeepRecursion() = default;
+
+  DeepRecursion(int depth, const Mark& mark_, const std::string& msg_);
+
+  // Returns the recursion depth when the exception was thrown
+  int depth() const {
+    return m_depth;
+  }
+
+private:
+  int m_depth = 0;
+};
+
+/**
+ * @brief The DepthGuard class
+ *  DepthGuard takes a reference to an integer. It increments the integer upon
+ * construction of DepthGuard and decrements the integer upon destruction.
+ *
+ * If the integer would be incremented past max_depth, then an exception is
+ * thrown. This is ideally geared toward guarding against deep recursion.
+ *
+ * @param max_depth
+ *  compile-time configurable maximum depth.
+ */
+template <int max_depth = 2000>
+class DepthGuard final {
+public:
+  DepthGuard(int & depth_, const Mark& mark_, const std::string& msg_) : m_depth(depth_) {
+    ++m_depth;
+    if ( max_depth <= m_depth ) {
+        throw DeepRecursion{m_depth, mark_, msg_};
+    }
+  }
+
+  DepthGuard(const DepthGuard & copy_ctor) = delete;
+  DepthGuard(DepthGuard && move_ctor) = delete;
+  DepthGuard & operator=(const DepthGuard & copy_assign) = delete;
+  DepthGuard & operator=(DepthGuard && move_assign) = delete;
+
+  ~DepthGuard() {
+    --m_depth;
+  }
+
+  int current_depth() const {
+    return m_depth;
+  }
+
+private:
+    int & m_depth;
+};
+
+} // namespace YAML
+
+#endif // DEPTH_GUARD_H_00000000000000000000000000000000000000000000000000000000

class_model/include/yaml-cpp/dll.h

@@ -0,0 +1,61 @@
+#ifndef DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+// Definition YAML_CPP_STATIC_DEFINE using to building YAML-CPP as static
+// library (definition created by CMake or defined manually)
+
+// Definition yaml_cpp_EXPORTS using to building YAML-CPP as dll/so library
+// (definition created by CMake or defined manually)
+
+#ifdef YAML_CPP_STATIC_DEFINE
+#  define YAML_CPP_API
+#  define YAML_CPP_NO_EXPORT
+#else
+#  if defined(_MSC_VER) || defined(__MINGW32__) || defined(__MINGW64__)
+#    ifndef YAML_CPP_API
+#      ifdef yaml_cpp_EXPORTS
+         /* We are building this library */
+#        pragma message( "Defining YAML_CPP_API for DLL export" )
+#        define YAML_CPP_API __declspec(dllexport)
+#      else
+         /* We are using this library */
+#        pragma message( "Defining YAML_CPP_API for DLL import" )
+#        define YAML_CPP_API __declspec(dllimport)
+#      endif
+#    endif
+#    ifndef YAML_CPP_NO_EXPORT
+#      define YAML_CPP_NO_EXPORT
+#    endif
+#  else /* No _MSC_VER */
+#    ifndef YAML_CPP_API
+#      ifdef yaml_cpp_EXPORTS
+         /* We are building this library */
+#        define YAML_CPP_API __attribute__((visibility("default")))
+#      else
+         /* We are using this library */
+#        define YAML_CPP_API __attribute__((visibility("default")))
+#      endif
+#    endif
+#    ifndef YAML_CPP_NO_EXPORT
+#      define YAML_CPP_NO_EXPORT __attribute__((visibility("hidden")))
+#    endif
+#  endif /* _MSC_VER */
+#endif   /* YAML_CPP_STATIC_DEFINE */
+
+#ifndef YAML_CPP_DEPRECATED
+#  ifdef _MSC_VER
+#    define YAML_CPP_DEPRECATED __declspec(deprecated)
+#  else
+#    define YAML_CPP_DEPRECATED __attribute__ ((__deprecated__))
+#  endif
+#endif
+
+#ifndef YAML_CPP_DEPRECATED_EXPORT
+#  define YAML_CPP_DEPRECATED_EXPORT YAML_CPP_API YAML_CPP_DEPRECATED
+#endif
+
+#ifndef YAML_CPP_DEPRECATED_NO_EXPORT
+#  define YAML_CPP_DEPRECATED_NO_EXPORT YAML_CPP_NO_EXPORT YAML_CPP_DEPRECATED
+#endif
+
+#endif /* DLL_H_62B23520_7C8E_11DE_8A39_0800200C9A66 */

class_model/include/yaml-cpp/emitfromevents.h

@@ -0,0 +1,57 @@
+#ifndef EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <stack>
+
+#include "yaml-cpp/anchor.h"
+#include "yaml-cpp/emitterstyle.h"
+#include "yaml-cpp/eventhandler.h"
+
+namespace YAML {
+struct Mark;
+}  // namespace YAML
+
+namespace YAML {
+class Emitter;
+
+class EmitFromEvents : public EventHandler {
+ public:
+  EmitFromEvents(Emitter& emitter);
+
+  void OnDocumentStart(const Mark& mark) override;
+  void OnDocumentEnd() override;
+
+  void OnNull(const Mark& mark, anchor_t anchor) override;
+  void OnAlias(const Mark& mark, anchor_t anchor) override;
+  void OnScalar(const Mark& mark, const std::string& tag,
+                        anchor_t anchor, const std::string& value) override;
+
+  void OnSequenceStart(const Mark& mark, const std::string& tag,
+                               anchor_t anchor, EmitterStyle::value style) override;
+  void OnSequenceEnd() override;
+
+  void OnMapStart(const Mark& mark, const std::string& tag,
+                          anchor_t anchor, EmitterStyle::value style) override;
+  void OnMapEnd() override;
+
+ private:
+  void BeginNode();
+  void EmitProps(const std::string& tag, anchor_t anchor);
+
+ private:
+  Emitter& m_emitter;
+
+  struct State {
+    enum value { WaitingForSequenceEntry, WaitingForKey, WaitingForValue };
+  };
+  std::stack<State::value> m_stateStack;
+};
+}
+
+#endif  // EMITFROMEVENTS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/emitter.h

@@ -0,0 +1,281 @@
+#ifndef EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <type_traits>
+
+#include "yaml-cpp/binary.h"
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/emitterdef.h"
+#include "yaml-cpp/emittermanip.h"
+#include "yaml-cpp/null.h"
+#include "yaml-cpp/ostream_wrapper.h"
+
+namespace YAML {
+class Binary;
+struct _Null;
+}  // namespace YAML
+
+namespace YAML {
+class EmitterState;
+
+class YAML_CPP_API Emitter {
+ public:
+  Emitter();
+  explicit Emitter(std::ostream& stream);
+  Emitter(const Emitter&) = delete;
+  Emitter& operator=(const Emitter&) = delete;
+  ~Emitter();
+
+  // output
+  const char* c_str() const;
+  std::size_t size() const;
+
+  // state checking
+  bool good() const;
+  const std::string GetLastError() const;
+
+  // global setters
+  bool SetOutputCharset(EMITTER_MANIP value);
+  bool SetStringFormat(EMITTER_MANIP value);
+  bool SetBoolFormat(EMITTER_MANIP value);
+  bool SetNullFormat(EMITTER_MANIP value);
+  bool SetIntBase(EMITTER_MANIP value);
+  bool SetSeqFormat(EMITTER_MANIP value);
+  bool SetMapFormat(EMITTER_MANIP value);
+  bool SetIndent(std::size_t n);
+  bool SetPreCommentIndent(std::size_t n);
+  bool SetPostCommentIndent(std::size_t n);
+  bool SetFloatPrecision(std::size_t n);
+  bool SetDoublePrecision(std::size_t n);
+  void RestoreGlobalModifiedSettings();
+
+  // local setters
+  Emitter& SetLocalValue(EMITTER_MANIP value);
+  Emitter& SetLocalIndent(const _Indent& indent);
+  Emitter& SetLocalPrecision(const _Precision& precision);
+
+  // overloads of write
+  Emitter& Write(const std::string& str);
+  Emitter& Write(bool b);
+  Emitter& Write(char ch);
+  Emitter& Write(const _Alias& alias);
+  Emitter& Write(const _Anchor& anchor);
+  Emitter& Write(const _Tag& tag);
+  Emitter& Write(const _Comment& comment);
+  Emitter& Write(const _Null& n);
+  Emitter& Write(const Binary& binary);
+
+  template <typename T>
+  Emitter& WriteIntegralType(T value);
+
+  template <typename T>
+  Emitter& WriteStreamable(T value);
+
+ private:
+  template <typename T>
+  void SetStreamablePrecision(std::stringstream&) {}
+  std::size_t GetFloatPrecision() const;
+  std::size_t GetDoublePrecision() const;
+
+  void PrepareIntegralStream(std::stringstream& stream) const;
+  void StartedScalar();
+
+ private:
+  void EmitBeginDoc();
+  void EmitEndDoc();
+  void EmitBeginSeq();
+  void EmitEndSeq();
+  void EmitBeginMap();
+  void EmitEndMap();
+  void EmitNewline();
+  void EmitKindTag();
+  void EmitTag(bool verbatim, const _Tag& tag);
+
+  void PrepareNode(EmitterNodeType::value child);
+  void PrepareTopNode(EmitterNodeType::value child);
+  void FlowSeqPrepareNode(EmitterNodeType::value child);
+  void BlockSeqPrepareNode(EmitterNodeType::value child);
+
+  void FlowMapPrepareNode(EmitterNodeType::value child);
+
+  void FlowMapPrepareLongKey(EmitterNodeType::value child);
+  void FlowMapPrepareLongKeyValue(EmitterNodeType::value child);
+  void FlowMapPrepareSimpleKey(EmitterNodeType::value child);
+  void FlowMapPrepareSimpleKeyValue(EmitterNodeType::value child);
+
+  void BlockMapPrepareNode(EmitterNodeType::value child);
+
+  void BlockMapPrepareLongKey(EmitterNodeType::value child);
+  void BlockMapPrepareLongKeyValue(EmitterNodeType::value child);
+  void BlockMapPrepareSimpleKey(EmitterNodeType::value child);
+  void BlockMapPrepareSimpleKeyValue(EmitterNodeType::value child);
+
+  void SpaceOrIndentTo(bool requireSpace, std::size_t indent);
+
+  const char* ComputeFullBoolName(bool b) const;
+  const char* ComputeNullName() const;
+  bool CanEmitNewline() const;
+
+ private:
+  std::unique_ptr<EmitterState> m_pState;
+  ostream_wrapper m_stream;
+};
+
+template <typename T>
+inline Emitter& Emitter::WriteIntegralType(T value) {
+  if (!good())
+    return *this;
+
+  PrepareNode(EmitterNodeType::Scalar);
+
+  std::stringstream stream;
+  PrepareIntegralStream(stream);
+  stream << value;
+  m_stream << stream.str();
+
+  StartedScalar();
+
+  return *this;
+}
+
+template <typename T>
+inline Emitter& Emitter::WriteStreamable(T value) {
+  if (!good())
+    return *this;
+
+  PrepareNode(EmitterNodeType::Scalar);
+
+  std::stringstream stream;
+  SetStreamablePrecision<T>(stream);
+
+  bool special = false;
+  if (std::is_floating_point<T>::value) {
+    if ((std::numeric_limits<T>::has_quiet_NaN ||
+         std::numeric_limits<T>::has_signaling_NaN) &&
+        std::isnan(value)) {
+      special = true;
+      stream << ".nan";
+    } else if (std::numeric_limits<T>::has_infinity && std::isinf(value)) {
+      special = true;
+      if (std::signbit(value)) {
+        stream << "-.inf";
+      } else {
+        stream << ".inf";
+      }
+    }
+  }
+
+  if (!special) {
+    stream << value;
+  }
+  m_stream << stream.str();
+
+  StartedScalar();
+
+  return *this;
+}
+
+template <>
+inline void Emitter::SetStreamablePrecision<float>(std::stringstream& stream) {
+  stream.precision(static_cast<std::streamsize>(GetFloatPrecision()));
+}
+
+template <>
+inline void Emitter::SetStreamablePrecision<double>(std::stringstream& stream) {
+  stream.precision(static_cast<std::streamsize>(GetDoublePrecision()));
+}
+
+// overloads of insertion
+inline Emitter& operator<<(Emitter& emitter, const std::string& v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, bool v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, char v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, unsigned char v) {
+  return emitter.Write(static_cast<char>(v));
+}
+inline Emitter& operator<<(Emitter& emitter, const _Alias& v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, const _Anchor& v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, const _Tag& v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, const _Comment& v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, const _Null& v) {
+  return emitter.Write(v);
+}
+inline Emitter& operator<<(Emitter& emitter, const Binary& b) {
+  return emitter.Write(b);
+}
+
+inline Emitter& operator<<(Emitter& emitter, const char* v) {
+  return emitter.Write(std::string(v));
+}
+
+inline Emitter& operator<<(Emitter& emitter, int v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, unsigned int v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, short v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, unsigned short v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, long v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, unsigned long v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, long long v) {
+  return emitter.WriteIntegralType(v);
+}
+inline Emitter& operator<<(Emitter& emitter, unsigned long long v) {
+  return emitter.WriteIntegralType(v);
+}
+
+inline Emitter& operator<<(Emitter& emitter, float v) {
+  return emitter.WriteStreamable(v);
+}
+inline Emitter& operator<<(Emitter& emitter, double v) {
+  return emitter.WriteStreamable(v);
+}
+
+inline Emitter& operator<<(Emitter& emitter, EMITTER_MANIP value) {
+  return emitter.SetLocalValue(value);
+}
+
+inline Emitter& operator<<(Emitter& emitter, _Indent indent) {
+  return emitter.SetLocalIndent(indent);
+}
+
+inline Emitter& operator<<(Emitter& emitter, _Precision precision) {
+  return emitter.SetLocalPrecision(precision);
+}
+}  // namespace YAML
+
+#endif  // EMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/emitterdef.h

@@ -0,0 +1,16 @@
+#ifndef EMITTERDEF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERDEF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+namespace YAML {
+struct EmitterNodeType {
+  enum value { NoType, Property, Scalar, FlowSeq, BlockSeq, FlowMap, BlockMap };
+};
+}
+
+#endif  // EMITTERDEF_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/emittermanip.h

@@ -0,0 +1,144 @@
+#ifndef EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <string>
+
+namespace YAML {
+enum EMITTER_MANIP {
+  // general manipulators
+  Auto,
+  TagByKind,
+  Newline,
+
+  // output character set
+  EmitNonAscii,
+  EscapeNonAscii,
+  EscapeAsJson,
+
+  // string manipulators
+  // Auto, // duplicate
+  SingleQuoted,
+  DoubleQuoted,
+  Literal,
+
+  // null manipulators
+  LowerNull,
+  UpperNull,
+  CamelNull,
+  TildeNull,
+
+  // bool manipulators
+  YesNoBool,      // yes, no
+  TrueFalseBool,  // true, false
+  OnOffBool,      // on, off
+  UpperCase,      // TRUE, N
+  LowerCase,      // f, yes
+  CamelCase,      // No, Off
+  LongBool,       // yes, On
+  ShortBool,      // y, t
+
+  // int manipulators
+  Dec,
+  Hex,
+  Oct,
+
+  // document manipulators
+  BeginDoc,
+  EndDoc,
+
+  // sequence manipulators
+  BeginSeq,
+  EndSeq,
+  Flow,
+  Block,
+
+  // map manipulators
+  BeginMap,
+  EndMap,
+  Key,
+  Value,
+  // Flow, // duplicate
+  // Block, // duplicate
+  // Auto, // duplicate
+  LongKey
+};
+
+struct _Indent {
+  _Indent(int value_) : value(value_) {}
+  int value;
+};
+
+inline _Indent Indent(int value) { return _Indent(value); }
+
+struct _Alias {
+  _Alias(const std::string& content_) : content(content_) {}
+  std::string content;
+};
+
+inline _Alias Alias(const std::string& content) { return _Alias(content); }
+
+struct _Anchor {
+  _Anchor(const std::string& content_) : content(content_) {}
+  std::string content;
+};
+
+inline _Anchor Anchor(const std::string& content) { return _Anchor(content); }
+
+struct _Tag {
+  struct Type {
+    enum value { Verbatim, PrimaryHandle, NamedHandle };
+  };
+
+  explicit _Tag(const std::string& prefix_, const std::string& content_,
+                Type::value type_)
+      : prefix(prefix_), content(content_), type(type_) {}
+  std::string prefix;
+  std::string content;
+  Type::value type;
+};
+
+inline _Tag VerbatimTag(const std::string& content) {
+  return _Tag("", content, _Tag::Type::Verbatim);
+}
+
+inline _Tag LocalTag(const std::string& content) {
+  return _Tag("", content, _Tag::Type::PrimaryHandle);
+}
+
+inline _Tag LocalTag(const std::string& prefix, const std::string content) {
+  return _Tag(prefix, content, _Tag::Type::NamedHandle);
+}
+
+inline _Tag SecondaryTag(const std::string& content) {
+  return _Tag("", content, _Tag::Type::NamedHandle);
+}
+
+struct _Comment {
+  _Comment(const std::string& content_) : content(content_) {}
+  std::string content;
+};
+
+inline _Comment Comment(const std::string& content) { return _Comment(content); }
+
+struct _Precision {
+  _Precision(int floatPrecision_, int doublePrecision_)
+      : floatPrecision(floatPrecision_), doublePrecision(doublePrecision_) {}
+
+  int floatPrecision;
+  int doublePrecision;
+};
+
+inline _Precision FloatPrecision(int n) { return _Precision(n, -1); }
+
+inline _Precision DoublePrecision(int n) { return _Precision(-1, n); }
+
+inline _Precision Precision(int n) { return _Precision(n, n); }
+}
+
+#endif  // EMITTERMANIP_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/emitterstyle.h

@@ -0,0 +1,16 @@
+#ifndef EMITTERSTYLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EMITTERSTYLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+namespace YAML {
+struct EmitterStyle {
+  enum value { Default, Block, Flow };
+};
+}
+
+#endif  // EMITTERSTYLE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/eventhandler.h

@@ -0,0 +1,45 @@
+#ifndef EVENTHANDLER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EVENTHANDLER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <string>
+
+#include "yaml-cpp/anchor.h"
+#include "yaml-cpp/emitterstyle.h"
+
+namespace YAML {
+struct Mark;
+
+class EventHandler {
+ public:
+  virtual ~EventHandler() = default;
+
+  virtual void OnDocumentStart(const Mark& mark) = 0;
+  virtual void OnDocumentEnd() = 0;
+
+  virtual void OnNull(const Mark& mark, anchor_t anchor) = 0;
+  virtual void OnAlias(const Mark& mark, anchor_t anchor) = 0;
+  virtual void OnScalar(const Mark& mark, const std::string& tag,
+                        anchor_t anchor, const std::string& value) = 0;
+
+  virtual void OnSequenceStart(const Mark& mark, const std::string& tag,
+                               anchor_t anchor, EmitterStyle::value style) = 0;
+  virtual void OnSequenceEnd() = 0;
+
+  virtual void OnMapStart(const Mark& mark, const std::string& tag,
+                          anchor_t anchor, EmitterStyle::value style) = 0;
+  virtual void OnMapEnd() = 0;
+
+  virtual void OnAnchor(const Mark& /*mark*/,
+                        const std::string& /*anchor_name*/) {
+    // empty default implementation for compatibility
+  }
+};
+}  // namespace YAML
+
+#endif  // EVENTHANDLER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/exceptions.h

@@ -0,0 +1,303 @@
+#ifndef EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/mark.h"
+#include "yaml-cpp/noexcept.h"
+#include "yaml-cpp/traits.h"
+#include <sstream>
+#include <stdexcept>
+#include <string>
+
+namespace YAML {
+// error messages
+namespace ErrorMsg {
+const char* const YAML_DIRECTIVE_ARGS =
+    "YAML directives must have exactly one argument";
+const char* const YAML_VERSION = "bad YAML version: ";
+const char* const YAML_MAJOR_VERSION = "YAML major version too large";
+const char* const REPEATED_YAML_DIRECTIVE = "repeated YAML directive";
+const char* const TAG_DIRECTIVE_ARGS =
+    "TAG directives must have exactly two arguments";
+const char* const REPEATED_TAG_DIRECTIVE = "repeated TAG directive";
+const char* const CHAR_IN_TAG_HANDLE =
+    "illegal character found while scanning tag handle";
+const char* const TAG_WITH_NO_SUFFIX = "tag handle with no suffix";
+const char* const END_OF_VERBATIM_TAG = "end of verbatim tag not found";
+const char* const END_OF_MAP = "end of map not found";
+const char* const END_OF_MAP_FLOW = "end of map flow not found";
+const char* const END_OF_SEQ = "end of sequence not found";
+const char* const END_OF_SEQ_FLOW = "end of sequence flow not found";
+const char* const MULTIPLE_TAGS =
+    "cannot assign multiple tags to the same node";
+const char* const MULTIPLE_ANCHORS =
+    "cannot assign multiple anchors to the same node";
+const char* const MULTIPLE_ALIASES =
+    "cannot assign multiple aliases to the same node";
+const char* const ALIAS_CONTENT =
+    "aliases can't have any content, *including* tags";
+const char* const INVALID_HEX = "bad character found while scanning hex number";
+const char* const INVALID_UNICODE = "invalid unicode: ";
+const char* const INVALID_ESCAPE = "unknown escape character: ";
+const char* const UNKNOWN_TOKEN = "unknown token";
+const char* const DOC_IN_SCALAR = "illegal document indicator in scalar";
+const char* const EOF_IN_SCALAR = "illegal EOF in scalar";
+const char* const CHAR_IN_SCALAR = "illegal character in scalar";
+const char* const TAB_IN_INDENTATION =
+    "illegal tab when looking for indentation";
+const char* const FLOW_END = "illegal flow end";
+const char* const BLOCK_ENTRY = "illegal block entry";
+const char* const MAP_KEY = "illegal map key";
+const char* const MAP_VALUE = "illegal map value";
+const char* const ALIAS_NOT_FOUND = "alias not found after *";
+const char* const ANCHOR_NOT_FOUND = "anchor not found after &";
+const char* const CHAR_IN_ALIAS =
+    "illegal character found while scanning alias";
+const char* const CHAR_IN_ANCHOR =
+    "illegal character found while scanning anchor";
+const char* const ZERO_INDENT_IN_BLOCK =
+    "cannot set zero indentation for a block scalar";
+const char* const CHAR_IN_BLOCK = "unexpected character in block scalar";
+const char* const AMBIGUOUS_ANCHOR =
+    "cannot assign the same alias to multiple nodes";
+const char* const UNKNOWN_ANCHOR = "the referenced anchor is not defined: ";
+
+const char* const INVALID_NODE =
+    "invalid node; this may result from using a map iterator as a sequence "
+    "iterator, or vice-versa";
+const char* const INVALID_SCALAR = "invalid scalar";
+const char* const KEY_NOT_FOUND = "key not found";
+const char* const BAD_CONVERSION = "bad conversion";
+const char* const BAD_DEREFERENCE = "bad dereference";
+const char* const BAD_SUBSCRIPT = "operator[] call on a scalar";
+const char* const BAD_PUSHBACK = "appending to a non-sequence";
+const char* const BAD_INSERT = "inserting in a non-convertible-to-map";
+
+const char* const UNMATCHED_GROUP_TAG = "unmatched group tag";
+const char* const UNEXPECTED_END_SEQ = "unexpected end sequence token";
+const char* const UNEXPECTED_END_MAP = "unexpected end map token";
+const char* const SINGLE_QUOTED_CHAR =
+    "invalid character in single-quoted string";
+const char* const INVALID_ANCHOR = "invalid anchor";
+const char* const INVALID_ALIAS = "invalid alias";
+const char* const INVALID_TAG = "invalid tag";
+const char* const BAD_FILE = "bad file";
+
+template <typename T>
+inline const std::string KEY_NOT_FOUND_WITH_KEY(
+    const T&, typename disable_if<is_numeric<T>>::type* = 0) {
+  return KEY_NOT_FOUND;
+}
+
+inline const std::string KEY_NOT_FOUND_WITH_KEY(const std::string& key) {
+  std::stringstream stream;
+  stream << KEY_NOT_FOUND << ": " << key;
+  return stream.str();
+}
+
+inline const std::string KEY_NOT_FOUND_WITH_KEY(const char* key) {
+  std::stringstream stream;
+  stream << KEY_NOT_FOUND << ": " << key;
+  return stream.str();
+}
+
+template <typename T>
+inline const std::string KEY_NOT_FOUND_WITH_KEY(
+    const T& key, typename enable_if<is_numeric<T>>::type* = 0) {
+  std::stringstream stream;
+  stream << KEY_NOT_FOUND << ": " << key;
+  return stream.str();
+}
+
+template <typename T>
+inline const std::string BAD_SUBSCRIPT_WITH_KEY(
+    const T&, typename disable_if<is_numeric<T>>::type* = nullptr) {
+  return BAD_SUBSCRIPT;
+}
+
+inline const std::string BAD_SUBSCRIPT_WITH_KEY(const std::string& key) {
+  std::stringstream stream;
+  stream << BAD_SUBSCRIPT << " (key: \"" << key << "\")";
+  return stream.str();
+}
+
+inline const std::string BAD_SUBSCRIPT_WITH_KEY(const char* key) {
+  std::stringstream stream;
+  stream << BAD_SUBSCRIPT << " (key: \"" << key << "\")";
+  return stream.str();
+}
+
+template <typename T>
+inline const std::string BAD_SUBSCRIPT_WITH_KEY(
+    const T& key, typename enable_if<is_numeric<T>>::type* = nullptr) {
+  std::stringstream stream;
+  stream << BAD_SUBSCRIPT << " (key: \"" << key << "\")";
+  return stream.str();
+}
+
+inline const std::string INVALID_NODE_WITH_KEY(const std::string& key) {
+  std::stringstream stream;
+  if (key.empty()) {
+    return INVALID_NODE;
+  }
+  stream << "invalid node; first invalid key: \"" << key << "\"";
+  return stream.str();
+}
+}  // namespace ErrorMsg
+
+class YAML_CPP_API Exception : public std::runtime_error {
+ public:
+  Exception(const Mark& mark_, const std::string& msg_)
+      : std::runtime_error(build_what(mark_, msg_)), mark(mark_), msg(msg_) {}
+  ~Exception() YAML_CPP_NOEXCEPT override;
+
+  Exception(const Exception&) = default;
+
+  Mark mark;
+  std::string msg;
+
+ private:
+  static const std::string build_what(const Mark& mark,
+                                      const std::string& msg) {
+    if (mark.is_null()) {
+      return msg;
+    }
+
+    std::stringstream output;
+    output << "yaml-cpp: error at line " << mark.line + 1 << ", column "
+           << mark.column + 1 << ": " << msg;
+    return output.str();
+  }
+};
+
+class YAML_CPP_API ParserException : public Exception {
+ public:
+  ParserException(const Mark& mark_, const std::string& msg_)
+      : Exception(mark_, msg_) {}
+  ParserException(const ParserException&) = default;
+  ~ParserException() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API RepresentationException : public Exception {
+ public:
+  RepresentationException(const Mark& mark_, const std::string& msg_)
+      : Exception(mark_, msg_) {}
+  RepresentationException(const RepresentationException&) = default;
+  ~RepresentationException() YAML_CPP_NOEXCEPT override;
+};
+
+// representation exceptions
+class YAML_CPP_API InvalidScalar : public RepresentationException {
+ public:
+  InvalidScalar(const Mark& mark_)
+      : RepresentationException(mark_, ErrorMsg::INVALID_SCALAR) {}
+  InvalidScalar(const InvalidScalar&) = default;
+  ~InvalidScalar() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API KeyNotFound : public RepresentationException {
+ public:
+  template <typename T>
+  KeyNotFound(const Mark& mark_, const T& key_)
+      : RepresentationException(mark_, ErrorMsg::KEY_NOT_FOUND_WITH_KEY(key_)) {
+  }
+  KeyNotFound(const KeyNotFound&) = default;
+  ~KeyNotFound() YAML_CPP_NOEXCEPT override;
+};
+
+template <typename T>
+class YAML_CPP_API TypedKeyNotFound : public KeyNotFound {
+ public:
+  TypedKeyNotFound(const Mark& mark_, const T& key_)
+      : KeyNotFound(mark_, key_), key(key_) {}
+  ~TypedKeyNotFound() YAML_CPP_NOEXCEPT override = default;
+
+  T key;
+};
+
+template <typename T>
+inline TypedKeyNotFound<T> MakeTypedKeyNotFound(const Mark& mark,
+                                                const T& key) {
+  return TypedKeyNotFound<T>(mark, key);
+}
+
+class YAML_CPP_API InvalidNode : public RepresentationException {
+ public:
+  InvalidNode(const std::string& key)
+      : RepresentationException(Mark::null_mark(),
+                                ErrorMsg::INVALID_NODE_WITH_KEY(key)) {}
+  InvalidNode(const InvalidNode&) = default;
+  ~InvalidNode() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API BadConversion : public RepresentationException {
+ public:
+  explicit BadConversion(const Mark& mark_)
+      : RepresentationException(mark_, ErrorMsg::BAD_CONVERSION) {}
+  BadConversion(const BadConversion&) = default;
+  ~BadConversion() YAML_CPP_NOEXCEPT override;
+};
+
+template <typename T>
+class TypedBadConversion : public BadConversion {
+ public:
+  explicit TypedBadConversion(const Mark& mark_) : BadConversion(mark_) {}
+};
+
+class YAML_CPP_API BadDereference : public RepresentationException {
+ public:
+  BadDereference()
+      : RepresentationException(Mark::null_mark(), ErrorMsg::BAD_DEREFERENCE) {}
+  BadDereference(const BadDereference&) = default;
+  ~BadDereference() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API BadSubscript : public RepresentationException {
+ public:
+  template <typename Key>
+  BadSubscript(const Mark& mark_, const Key& key)
+      : RepresentationException(mark_, ErrorMsg::BAD_SUBSCRIPT_WITH_KEY(key)) {}
+  BadSubscript(const BadSubscript&) = default;
+  ~BadSubscript() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API BadPushback : public RepresentationException {
+ public:
+  BadPushback()
+      : RepresentationException(Mark::null_mark(), ErrorMsg::BAD_PUSHBACK) {}
+  BadPushback(const BadPushback&) = default;
+  ~BadPushback() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API BadInsert : public RepresentationException {
+ public:
+  BadInsert()
+      : RepresentationException(Mark::null_mark(), ErrorMsg::BAD_INSERT) {}
+  BadInsert(const BadInsert&) = default;
+  ~BadInsert() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API EmitterException : public Exception {
+ public:
+  EmitterException(const std::string& msg_)
+      : Exception(Mark::null_mark(), msg_) {}
+  EmitterException(const EmitterException&) = default;
+  ~EmitterException() YAML_CPP_NOEXCEPT override;
+};
+
+class YAML_CPP_API BadFile : public Exception {
+ public:
+  explicit BadFile(const std::string& filename)
+      : Exception(Mark::null_mark(),
+                  std::string(ErrorMsg::BAD_FILE) + ": " + filename) {}
+  BadFile(const BadFile&) = default;
+  ~BadFile() YAML_CPP_NOEXCEPT override;
+};
+}  // namespace YAML
+
+#endif  // EXCEPTIONS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/mark.h

@@ -0,0 +1,29 @@
+#ifndef MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+
+namespace YAML {
+struct YAML_CPP_API Mark {
+  Mark() : pos(0), line(0), column(0) {}
+
+  static const Mark null_mark() { return Mark(-1, -1, -1); }
+
+  bool is_null() const { return pos == -1 && line == -1 && column == -1; }
+
+  int pos;
+  int line, column;
+
+ private:
+  Mark(int pos_, int line_, int column_)
+      : pos(pos_), line(line_), column(column_) {}
+};
+}
+
+#endif  // MARK_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/convert.h

@@ -0,0 +1,451 @@
+#ifndef NODE_CONVERT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_CONVERT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <array>
+#include <cmath>
+#include <limits>
+#include <list>
+#include <map>
+#include <unordered_map>
+#include <sstream>
+#include <type_traits>
+#include <valarray>
+#include <vector>
+
+#include "yaml-cpp/binary.h"
+#include "yaml-cpp/node/impl.h"
+#include "yaml-cpp/node/iterator.h"
+#include "yaml-cpp/node/node.h"
+#include "yaml-cpp/node/type.h"
+#include "yaml-cpp/null.h"
+
+
+namespace YAML {
+class Binary;
+struct _Null;
+template <typename T>
+struct convert;
+}  // namespace YAML
+
+namespace YAML {
+namespace conversion {
+inline bool IsInfinity(const std::string& input) {
+  return input == ".inf" || input == ".Inf" || input == ".INF" ||
+         input == "+.inf" || input == "+.Inf" || input == "+.INF";
+}
+
+inline bool IsNegativeInfinity(const std::string& input) {
+  return input == "-.inf" || input == "-.Inf" || input == "-.INF";
+}
+
+inline bool IsNaN(const std::string& input) {
+  return input == ".nan" || input == ".NaN" || input == ".NAN";
+}
+}
+
+// Node
+template <>
+struct convert<Node> {
+  static Node encode(const Node& rhs) { return rhs; }
+
+  static bool decode(const Node& node, Node& rhs) {
+    rhs.reset(node);
+    return true;
+  }
+};
+
+// std::string
+template <>
+struct convert<std::string> {
+  static Node encode(const std::string& rhs) { return Node(rhs); }
+
+  static bool decode(const Node& node, std::string& rhs) {
+    if (!node.IsScalar())
+      return false;
+    rhs = node.Scalar();
+    return true;
+  }
+};
+
+// C-strings can only be encoded
+template <>
+struct convert<const char*> {
+  static Node encode(const char* rhs) { return Node(rhs); }
+};
+
+template <>
+struct convert<char*> {
+  static Node encode(const char* rhs) { return Node(rhs); }
+};
+
+template <std::size_t N>
+struct convert<char[N]> {
+  static Node encode(const char* rhs) { return Node(rhs); }
+};
+
+template <>
+struct convert<_Null> {
+  static Node encode(const _Null& /* rhs */) { return Node(); }
+
+  static bool decode(const Node& node, _Null& /* rhs */) {
+    return node.IsNull();
+  }
+};
+
+namespace conversion {
+template <typename T>
+typename std::enable_if< std::is_floating_point<T>::value, void>::type
+inner_encode(const T& rhs, std::stringstream& stream){
+  if (std::isnan(rhs)) {
+    stream << ".nan";
+  } else if (std::isinf(rhs)) {
+    if (std::signbit(rhs)) {
+      stream << "-.inf";
+    } else {
+      stream << ".inf";
+    }
+  } else {
+    stream << rhs;
+  }
+}
+
+template <typename T>
+typename std::enable_if<!std::is_floating_point<T>::value, void>::type
+inner_encode(const T& rhs, std::stringstream& stream){
+  stream << rhs;
+}
+
+template <typename T>
+typename std::enable_if<(std::is_same<T, unsigned char>::value ||
+                         std::is_same<T, signed char>::value), bool>::type
+ConvertStreamTo(std::stringstream& stream, T& rhs) {
+  int num;
+  if ((stream >> std::noskipws >> num) && (stream >> std::ws).eof()) {
+    if (num >= (std::numeric_limits<T>::min)() &&
+        num <= (std::numeric_limits<T>::max)()) {
+      rhs = static_cast<T>(num);
+      return true;
+    }
+  }
+  return false;
+}
+
+template <typename T>
+typename std::enable_if<!(std::is_same<T, unsigned char>::value ||
+                          std::is_same<T, signed char>::value), bool>::type
+ConvertStreamTo(std::stringstream& stream, T& rhs) {
+  if ((stream >> std::noskipws >> rhs) && (stream >> std::ws).eof()) {
+    return true;
+  }
+  return false;
+}
+}
+
+#define YAML_DEFINE_CONVERT_STREAMABLE(type, negative_op)                  \
+  template <>                                                              \
+  struct convert<type> {                                                   \
+                                                                           \
+    static Node encode(const type& rhs) {                                  \
+      std::stringstream stream;                                            \
+      stream.precision(std::numeric_limits<type>::max_digits10);           \
+      conversion::inner_encode(rhs, stream);                               \
+      return Node(stream.str());                                           \
+    }                                                                      \
+                                                                           \
+    static bool decode(const Node& node, type& rhs) {                      \
+      if (node.Type() != NodeType::Scalar) {                               \
+        return false;                                                      \
+      }                                                                    \
+      const std::string& input = node.Scalar();                            \
+      std::stringstream stream(input);                                     \
+      stream.unsetf(std::ios::dec);                                        \
+      if ((stream.peek() == '-') && std::is_unsigned<type>::value) {       \
+        return false;                                                      \
+      }                                                                    \
+      if (conversion::ConvertStreamTo(stream, rhs)) {                      \
+        return true;                                                       \
+      }                                                                    \
+      if (std::numeric_limits<type>::has_infinity) {                       \
+        if (conversion::IsInfinity(input)) {                               \
+          rhs = std::numeric_limits<type>::infinity();                     \
+          return true;                                                     \
+        } else if (conversion::IsNegativeInfinity(input)) {                \
+          rhs = negative_op std::numeric_limits<type>::infinity();         \
+          return true;                                                     \
+        }                                                                  \
+      }                                                                    \
+                                                                           \
+      if (std::numeric_limits<type>::has_quiet_NaN) {                      \
+        if (conversion::IsNaN(input)) {                                    \
+          rhs = std::numeric_limits<type>::quiet_NaN();                    \
+          return true;                                                     \
+        }                                                                  \
+      }                                                                    \
+                                                                           \
+      return false;                                                        \
+    }                                                                      \
+  }
+
+#define YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(type) \
+  YAML_DEFINE_CONVERT_STREAMABLE(type, -)
+
+#define YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(type) \
+  YAML_DEFINE_CONVERT_STREAMABLE(type, +)
+
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(int);
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(short);
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(long);
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(long long);
+YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned);
+YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned short);
+YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned long);
+YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned long long);
+
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(char);
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(signed char);
+YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED(unsigned char);
+
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(float);
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(double);
+YAML_DEFINE_CONVERT_STREAMABLE_SIGNED(long double);
+
+#undef YAML_DEFINE_CONVERT_STREAMABLE_SIGNED
+#undef YAML_DEFINE_CONVERT_STREAMABLE_UNSIGNED
+#undef YAML_DEFINE_CONVERT_STREAMABLE
+
+// bool
+template <>
+struct convert<bool> {
+  static Node encode(bool rhs) { return rhs ? Node("true") : Node("false"); }
+
+  YAML_CPP_API static bool decode(const Node& node, bool& rhs);
+};
+
+// std::map
+template <typename K, typename V, typename C, typename A>
+struct convert<std::map<K, V, C, A>> {
+  static Node encode(const std::map<K, V, C, A>& rhs) {
+    Node node(NodeType::Map);
+    for (const auto& element : rhs)
+      node.force_insert(element.first, element.second);
+    return node;
+  }
+
+  static bool decode(const Node& node, std::map<K, V, C, A>& rhs) {
+    if (!node.IsMap())
+      return false;
+
+    rhs.clear();
+    for (const auto& element : node)
+#if defined(__GNUC__) && __GNUC__ < 4
+      // workaround for GCC 3:
+      rhs[element.first.template as<K>()] = element.second.template as<V>();
+#else
+      rhs[element.first.as<K>()] = element.second.as<V>();
+#endif
+    return true;
+  }
+};
+
+// std::unordered_map
+template <typename K, typename V, typename H, typename P, typename A>
+struct convert<std::unordered_map<K, V, H, P, A>> {
+  static Node encode(const std::unordered_map<K, V, H, P, A>& rhs) {
+    Node node(NodeType::Map);
+    for (const auto& element : rhs)
+      node.force_insert(element.first, element.second);
+    return node;
+  }
+
+  static bool decode(const Node& node, std::unordered_map<K, V, H, P, A>& rhs) {
+    if (!node.IsMap())
+      return false;
+
+    rhs.clear();
+    for (const auto& element : node)
+#if defined(__GNUC__) && __GNUC__ < 4
+      // workaround for GCC 3:
+      rhs[element.first.template as<K>()] = element.second.template as<V>();
+#else
+      rhs[element.first.as<K>()] = element.second.as<V>();
+#endif
+    return true;
+  }
+};
+
+// std::vector
+template <typename T, typename A>
+struct convert<std::vector<T, A>> {
+  static Node encode(const std::vector<T, A>& rhs) {
+    Node node(NodeType::Sequence);
+    for (const auto& element : rhs)
+      node.push_back(element);
+    return node;
+  }
+
+  static bool decode(const Node& node, std::vector<T, A>& rhs) {
+    if (!node.IsSequence())
+      return false;
+
+    rhs.clear();
+    for (const auto& element : node)
+#if defined(__GNUC__) && __GNUC__ < 4
+      // workaround for GCC 3:
+      rhs.push_back(element.template as<T>());
+#else
+      rhs.push_back(element.as<T>());
+#endif
+    return true;
+  }
+};
+
+// std::list
+template <typename T, typename A>
+struct convert<std::list<T,A>> {
+  static Node encode(const std::list<T,A>& rhs) {
+    Node node(NodeType::Sequence);
+    for (const auto& element : rhs)
+      node.push_back(element);
+    return node;
+  }
+
+  static bool decode(const Node& node, std::list<T,A>& rhs) {
+    if (!node.IsSequence())
+      return false;
+
+    rhs.clear();
+    for (const auto& element : node)
+#if defined(__GNUC__) && __GNUC__ < 4
+      // workaround for GCC 3:
+      rhs.push_back(element.template as<T>());
+#else
+      rhs.push_back(element.as<T>());
+#endif
+    return true;
+  }
+};
+
+// std::array
+template <typename T, std::size_t N>
+struct convert<std::array<T, N>> {
+  static Node encode(const std::array<T, N>& rhs) {
+    Node node(NodeType::Sequence);
+    for (const auto& element : rhs) {
+      node.push_back(element);
+    }
+    return node;
+  }
+
+  static bool decode(const Node& node, std::array<T, N>& rhs) {
+    if (!isNodeValid(node)) {
+      return false;
+    }
+
+    for (auto i = 0u; i < node.size(); ++i) {
+#if defined(__GNUC__) && __GNUC__ < 4
+      // workaround for GCC 3:
+      rhs[i] = node[i].template as<T>();
+#else
+      rhs[i] = node[i].as<T>();
+#endif
+    }
+    return true;
+  }
+
+ private:
+  static bool isNodeValid(const Node& node) {
+    return node.IsSequence() && node.size() == N;
+  }
+};
+
+
+// std::valarray
+template <typename T>
+struct convert<std::valarray<T>> {
+  static Node encode(const std::valarray<T>& rhs) {
+    Node node(NodeType::Sequence);
+    for (const auto& element : rhs) {
+      node.push_back(element);
+    }
+    return node;
+  }
+
+  static bool decode(const Node& node, std::valarray<T>& rhs) {
+    if (!node.IsSequence()) {
+      return false;
+    }
+
+    rhs.resize(node.size());
+    for (auto i = 0u; i < node.size(); ++i) {
+#if defined(__GNUC__) && __GNUC__ < 4
+      // workaround for GCC 3:
+      rhs[i] = node[i].template as<T>();
+#else
+      rhs[i] = node[i].as<T>();
+#endif
+    }
+    return true;
+  }
+};
+
+
+// std::pair
+template <typename T, typename U>
+struct convert<std::pair<T, U>> {
+  static Node encode(const std::pair<T, U>& rhs) {
+    Node node(NodeType::Sequence);
+    node.push_back(rhs.first);
+    node.push_back(rhs.second);
+    return node;
+  }
+
+  static bool decode(const Node& node, std::pair<T, U>& rhs) {
+    if (!node.IsSequence())
+      return false;
+    if (node.size() != 2)
+      return false;
+
+#if defined(__GNUC__) && __GNUC__ < 4
+    // workaround for GCC 3:
+    rhs.first = node[0].template as<T>();
+#else
+    rhs.first = node[0].as<T>();
+#endif
+#if defined(__GNUC__) && __GNUC__ < 4
+    // workaround for GCC 3:
+    rhs.second = node[1].template as<U>();
+#else
+    rhs.second = node[1].as<U>();
+#endif
+    return true;
+  }
+};
+
+// binary
+template <>
+struct convert<Binary> {
+  static Node encode(const Binary& rhs) {
+    return Node(EncodeBase64(rhs.data(), rhs.size()));
+  }
+
+  static bool decode(const Node& node, Binary& rhs) {
+    if (!node.IsScalar())
+      return false;
+
+    std::vector<unsigned char> data = DecodeBase64(node.Scalar());
+    if (data.empty() && !node.Scalar().empty())
+      return false;
+
+    rhs.swap(data);
+    return true;
+  }
+};
+}
+
+#endif  // NODE_CONVERT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/impl.h

@@ -0,0 +1,235 @@
+#ifndef NODE_DETAIL_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_DETAIL_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/node/detail/node.h"
+#include "yaml-cpp/node/detail/node_data.h"
+
+#include <algorithm>
+#include <type_traits>
+
+namespace YAML {
+namespace detail {
+template <typename Key, typename Enable = void>
+struct get_idx {
+  static node* get(const std::vector<node*>& /* sequence */,
+                   const Key& /* key */, shared_memory_holder /* pMemory */) {
+    return nullptr;
+  }
+};
+
+template <typename Key>
+struct get_idx<Key,
+               typename std::enable_if<std::is_unsigned<Key>::value &&
+                                       !std::is_same<Key, bool>::value>::type> {
+  static node* get(const std::vector<node*>& sequence, const Key& key,
+                   shared_memory_holder /* pMemory */) {
+    return key < sequence.size() ? sequence[key] : nullptr;
+  }
+
+  static node* get(std::vector<node*>& sequence, const Key& key,
+                   shared_memory_holder pMemory) {
+    if (key > sequence.size() || (key > 0 && !sequence[key - 1]->is_defined()))
+      return nullptr;
+    if (key == sequence.size())
+      sequence.push_back(&pMemory->create_node());
+    return sequence[key];
+  }
+};
+
+template <typename Key>
+struct get_idx<Key, typename std::enable_if<std::is_signed<Key>::value>::type> {
+  static node* get(const std::vector<node*>& sequence, const Key& key,
+                   shared_memory_holder pMemory) {
+    return key >= 0 ? get_idx<std::size_t>::get(
+                          sequence, static_cast<std::size_t>(key), pMemory)
+                    : nullptr;
+  }
+  static node* get(std::vector<node*>& sequence, const Key& key,
+                   shared_memory_holder pMemory) {
+    return key >= 0 ? get_idx<std::size_t>::get(
+                          sequence, static_cast<std::size_t>(key), pMemory)
+                    : nullptr;
+  }
+};
+
+template <typename Key, typename Enable = void>
+struct remove_idx {
+  static bool remove(std::vector<node*>&, const Key&, std::size_t&) {
+    return false;
+  }
+};
+
+template <typename Key>
+struct remove_idx<
+    Key, typename std::enable_if<std::is_unsigned<Key>::value &&
+                                 !std::is_same<Key, bool>::value>::type> {
+
+  static bool remove(std::vector<node*>& sequence, const Key& key,
+                     std::size_t& seqSize) {
+    if (key >= sequence.size()) {
+      return false;
+    } else {
+      sequence.erase(sequence.begin() + key);
+      if (seqSize > key) {
+          --seqSize;
+      }
+      return true;
+    }
+  }
+};
+
+template <typename Key>
+struct remove_idx<Key,
+                  typename std::enable_if<std::is_signed<Key>::value>::type> {
+
+  static bool remove(std::vector<node*>& sequence, const Key& key,
+                     std::size_t& seqSize) {
+    return key >= 0 ? remove_idx<std::size_t>::remove(
+                          sequence, static_cast<std::size_t>(key), seqSize)
+                    : false;
+  }
+};
+
+template <typename T>
+inline bool node::equals(const T& rhs, shared_memory_holder pMemory) {
+  T lhs;
+  if (convert<T>::decode(Node(*this, pMemory), lhs)) {
+    return lhs == rhs;
+  }
+  return false;
+}
+
+inline bool node::equals(const char* rhs, shared_memory_holder pMemory) {
+  std::string lhs;
+  if (convert<std::string>::decode(Node(*this, std::move(pMemory)), lhs)) {
+    return lhs == rhs;
+  }
+  return false;
+}
+
+// indexing
+template <typename Key>
+inline node* node_data::get(const Key& key,
+                            shared_memory_holder pMemory) const {
+  switch (m_type) {
+    case NodeType::Map:
+      break;
+    case NodeType::Undefined:
+    case NodeType::Null:
+      return nullptr;
+    case NodeType::Sequence:
+      if (node* pNode = get_idx<Key>::get(m_sequence, key, pMemory))
+        return pNode;
+      return nullptr;
+    case NodeType::Scalar:
+      throw BadSubscript(m_mark, key);
+  }
+
+  auto it = std::find_if(m_map.begin(), m_map.end(), [&](const kv_pair m) {
+    return m.first->equals(key, pMemory);
+  });
+
+  return it != m_map.end() ? it->second : nullptr;
+}
+
+template <typename Key>
+inline node& node_data::get(const Key& key, shared_memory_holder pMemory) {
+  switch (m_type) {
+    case NodeType::Map:
+      break;
+    case NodeType::Undefined:
+    case NodeType::Null:
+    case NodeType::Sequence:
+      if (node* pNode = get_idx<Key>::get(m_sequence, key, pMemory)) {
+        m_type = NodeType::Sequence;
+        return *pNode;
+      }
+
+      convert_to_map(pMemory);
+      break;
+    case NodeType::Scalar:
+      throw BadSubscript(m_mark, key);
+  }
+
+  auto it = std::find_if(m_map.begin(), m_map.end(), [&](const kv_pair m) {
+    return m.first->equals(key, pMemory);
+  });
+
+  if (it != m_map.end()) {
+    return *it->second;
+  }
+
+  node& k = convert_to_node(key, pMemory);
+  node& v = pMemory->create_node();
+  insert_map_pair(k, v);
+  return v;
+}
+
+template <typename Key>
+inline bool node_data::remove(const Key& key, shared_memory_holder pMemory) {
+  if (m_type == NodeType::Sequence) {
+    return remove_idx<Key>::remove(m_sequence, key, m_seqSize);
+  }
+
+  if (m_type == NodeType::Map) {
+    kv_pairs::iterator it = m_undefinedPairs.begin();
+    while (it != m_undefinedPairs.end()) {
+      kv_pairs::iterator jt = std::next(it);
+      if (it->first->equals(key, pMemory)) {
+        m_undefinedPairs.erase(it);
+      }
+      it = jt;
+    }
+
+    auto iter = std::find_if(m_map.begin(), m_map.end(), [&](const kv_pair m) {
+      return m.first->equals(key, pMemory);
+    });
+
+    if (iter != m_map.end()) {
+      m_map.erase(iter);
+      return true;
+    }
+  }
+
+  return false;
+}
+
+// map
+template <typename Key, typename Value>
+inline void node_data::force_insert(const Key& key, const Value& value,
+                                    shared_memory_holder pMemory) {
+  switch (m_type) {
+    case NodeType::Map:
+      break;
+    case NodeType::Undefined:
+    case NodeType::Null:
+    case NodeType::Sequence:
+      convert_to_map(pMemory);
+      break;
+    case NodeType::Scalar:
+      throw BadInsert();
+  }
+
+  node& k = convert_to_node(key, pMemory);
+  node& v = convert_to_node(value, pMemory);
+  insert_map_pair(k, v);
+}
+
+template <typename T>
+inline node& node_data::convert_to_node(const T& rhs,
+                                        shared_memory_holder pMemory) {
+  Node value = convert<T>::encode(rhs);
+  value.EnsureNodeExists();
+  pMemory->merge(*value.m_pMemory);
+  return *value.m_pNode;
+}
+}
+}
+
+#endif  // NODE_DETAIL_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/iterator.h

@@ -0,0 +1,96 @@
+#ifndef VALUE_DETAIL_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_DETAIL_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/node/detail/node_iterator.h"
+#include "yaml-cpp/node/node.h"
+#include "yaml-cpp/node/ptr.h"
+#include <cstddef>
+#include <iterator>
+
+
+namespace YAML {
+namespace detail {
+struct iterator_value;
+
+template <typename V>
+class iterator_base {
+
+ private:
+  template <typename>
+  friend class iterator_base;
+  struct enabler {};
+  using base_type = node_iterator;
+
+  struct proxy {
+    explicit proxy(const V& x) : m_ref(x) {}
+    V* operator->() { return std::addressof(m_ref); }
+    operator V*() { return std::addressof(m_ref); }
+
+    V m_ref;
+  };
+
+ public:
+  using iterator_category = std::forward_iterator_tag;
+  using value_type = V;
+  using difference_type = std::ptrdiff_t;
+  using pointer = V*;
+  using reference = V;
+
+ public:
+  iterator_base() : m_iterator(), m_pMemory() {}
+  explicit iterator_base(base_type rhs, shared_memory_holder pMemory)
+      : m_iterator(rhs), m_pMemory(pMemory) {}
+
+  template <class W>
+  iterator_base(const iterator_base<W>& rhs,
+                typename std::enable_if<std::is_convertible<W*, V*>::value,
+                                        enabler>::type = enabler())
+      : m_iterator(rhs.m_iterator), m_pMemory(rhs.m_pMemory) {}
+
+  iterator_base<V>& operator++() {
+    ++m_iterator;
+    return *this;
+  }
+
+  iterator_base<V> operator++(int) {
+    iterator_base<V> iterator_pre(*this);
+    ++(*this);
+    return iterator_pre;
+  }
+
+  template <typename W>
+  bool operator==(const iterator_base<W>& rhs) const {
+    return m_iterator == rhs.m_iterator;
+  }
+
+  template <typename W>
+  bool operator!=(const iterator_base<W>& rhs) const {
+    return m_iterator != rhs.m_iterator;
+  }
+
+  value_type operator*() const {
+    const typename base_type::value_type& v = *m_iterator;
+    if (v.pNode)
+      return value_type(Node(*v, m_pMemory));
+    if (v.first && v.second)
+      return value_type(Node(*v.first, m_pMemory), Node(*v.second, m_pMemory));
+    return value_type();
+  }
+
+  proxy operator->() const { return proxy(**this); }
+
+ private:
+  base_type m_iterator;
+  shared_memory_holder m_pMemory;
+};
+}  // namespace detail
+}  // namespace YAML
+
+#endif  // VALUE_DETAIL_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/iterator_fwd.h

@@ -0,0 +1,27 @@
+#ifndef VALUE_DETAIL_ITERATOR_FWD_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_DETAIL_ITERATOR_FWD_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include <list>
+#include <utility>
+#include <vector>
+
+namespace YAML {
+
+namespace detail {
+struct iterator_value;
+template <typename V>
+class iterator_base;
+}
+
+using iterator = detail::iterator_base<detail::iterator_value>;
+using const_iterator = detail::iterator_base<const detail::iterator_value>;
+}
+
+#endif  // VALUE_DETAIL_ITERATOR_FWD_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/memory.h

@@ -0,0 +1,47 @@
+#ifndef VALUE_DETAIL_MEMORY_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_DETAIL_MEMORY_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <set>
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/node/ptr.h"
+
+namespace YAML {
+namespace detail {
+class node;
+}  // namespace detail
+}  // namespace YAML
+
+namespace YAML {
+namespace detail {
+class YAML_CPP_API memory {
+ public:
+  memory() : m_nodes{} {}
+  node& create_node();
+  void merge(const memory& rhs);
+
+ private:
+  using Nodes = std::set<shared_node>;
+  Nodes m_nodes;
+};
+
+class YAML_CPP_API memory_holder {
+ public:
+  memory_holder() : m_pMemory(new memory) {}
+
+  node& create_node() { return m_pMemory->create_node(); }
+  void merge(memory_holder& rhs);
+
+ private:
+  shared_memory m_pMemory;
+};
+}  // namespace detail
+}  // namespace YAML
+
+#endif  // VALUE_DETAIL_MEMORY_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/node.h

@@ -0,0 +1,177 @@
+#ifndef NODE_DETAIL_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_DETAIL_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/emitterstyle.h"
+#include "yaml-cpp/node/detail/node_ref.h"
+#include "yaml-cpp/node/ptr.h"
+#include "yaml-cpp/node/type.h"
+#include <set>
+#include <atomic>
+
+namespace YAML {
+namespace detail {
+class node {
+ private:
+  struct less {
+    bool operator ()(const node* l, const node* r) const {return l->m_index < r->m_index;}
+  };
+
+ public:
+  node() : m_pRef(new node_ref), m_dependencies{}, m_index{} {}
+  node(const node&) = delete;
+  node& operator=(const node&) = delete;
+
+  bool is(const node& rhs) const { return m_pRef == rhs.m_pRef; }
+  const node_ref* ref() const { return m_pRef.get(); }
+
+  bool is_defined() const { return m_pRef->is_defined(); }
+  const Mark& mark() const { return m_pRef->mark(); }
+  NodeType::value type() const { return m_pRef->type(); }
+
+  const std::string& scalar() const { return m_pRef->scalar(); }
+  const std::string& tag() const { return m_pRef->tag(); }
+  EmitterStyle::value style() const { return m_pRef->style(); }
+
+  template <typename T>
+  bool equals(const T& rhs, shared_memory_holder pMemory);
+  bool equals(const char* rhs, shared_memory_holder pMemory);
+
+  void mark_defined() {
+    if (is_defined())
+      return;
+
+    m_pRef->mark_defined();
+    for (node* dependency : m_dependencies)
+      dependency->mark_defined();
+    m_dependencies.clear();
+  }
+
+  void add_dependency(node& rhs) {
+    if (is_defined())
+      rhs.mark_defined();
+    else
+      m_dependencies.insert(&rhs);
+  }
+
+  void set_ref(const node& rhs) {
+    if (rhs.is_defined())
+      mark_defined();
+    m_pRef = rhs.m_pRef;
+  }
+  void set_data(const node& rhs) {
+    if (rhs.is_defined())
+      mark_defined();
+    m_pRef->set_data(*rhs.m_pRef);
+  }
+
+  void set_mark(const Mark& mark) { m_pRef->set_mark(mark); }
+
+  void set_type(NodeType::value type) {
+    if (type != NodeType::Undefined)
+      mark_defined();
+    m_pRef->set_type(type);
+  }
+  void set_null() {
+    mark_defined();
+    m_pRef->set_null();
+  }
+  void set_scalar(const std::string& scalar) {
+    mark_defined();
+    m_pRef->set_scalar(scalar);
+  }
+  void set_tag(const std::string& tag) {
+    mark_defined();
+    m_pRef->set_tag(tag);
+  }
+
+  // style
+  void set_style(EmitterStyle::value style) {
+    mark_defined();
+    m_pRef->set_style(style);
+  }
+
+  // size/iterator
+  std::size_t size() const { return m_pRef->size(); }
+
+  const_node_iterator begin() const {
+    return static_cast<const node_ref&>(*m_pRef).begin();
+  }
+  node_iterator begin() { return m_pRef->begin(); }
+
+  const_node_iterator end() const {
+    return static_cast<const node_ref&>(*m_pRef).end();
+  }
+  node_iterator end() { return m_pRef->end(); }
+
+  // sequence
+  void push_back(node& input, shared_memory_holder pMemory) {
+    m_pRef->push_back(input, pMemory);
+    input.add_dependency(*this);
+    m_index = m_amount.fetch_add(1);
+  }
+  void insert(node& key, node& value, shared_memory_holder pMemory) {
+    m_pRef->insert(key, value, pMemory);
+    key.add_dependency(*this);
+    value.add_dependency(*this);
+  }
+
+  // indexing
+  template <typename Key>
+  node* get(const Key& key, shared_memory_holder pMemory) const {
+    // NOTE: this returns a non-const node so that the top-level Node can wrap
+    // it, and returns a pointer so that it can be nullptr (if there is no such
+    // key).
+    return static_cast<const node_ref&>(*m_pRef).get(key, pMemory);
+  }
+  template <typename Key>
+  node& get(const Key& key, shared_memory_holder pMemory) {
+    node& value = m_pRef->get(key, pMemory);
+    value.add_dependency(*this);
+    return value;
+  }
+  template <typename Key>
+  bool remove(const Key& key, shared_memory_holder pMemory) {
+    return m_pRef->remove(key, pMemory);
+  }
+
+  node* get(node& key, shared_memory_holder pMemory) const {
+    // NOTE: this returns a non-const node so that the top-level Node can wrap
+    // it, and returns a pointer so that it can be nullptr (if there is no such
+    // key).
+    return static_cast<const node_ref&>(*m_pRef).get(key, pMemory);
+  }
+  node& get(node& key, shared_memory_holder pMemory) {
+    node& value = m_pRef->get(key, pMemory);
+    key.add_dependency(*this);
+    value.add_dependency(*this);
+    return value;
+  }
+  bool remove(node& key, shared_memory_holder pMemory) {
+    return m_pRef->remove(key, pMemory);
+  }
+
+  // map
+  template <typename Key, typename Value>
+  void force_insert(const Key& key, const Value& value,
+                    shared_memory_holder pMemory) {
+    m_pRef->force_insert(key, value, pMemory);
+  }
+
+ private:
+  shared_node_ref m_pRef;
+  using nodes = std::set<node*, less>;
+  nodes m_dependencies;
+  size_t m_index;
+  static YAML_CPP_API std::atomic<size_t> m_amount;
+};
+}  // namespace detail
+}  // namespace YAML
+
+#endif  // NODE_DETAIL_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/node_data.h

@@ -0,0 +1,127 @@
+#ifndef VALUE_DETAIL_NODE_DATA_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_DETAIL_NODE_DATA_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <list>
+#include <map>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/node/detail/node_iterator.h"
+#include "yaml-cpp/node/iterator.h"
+#include "yaml-cpp/node/ptr.h"
+#include "yaml-cpp/node/type.h"
+
+namespace YAML {
+namespace detail {
+class node;
+}  // namespace detail
+}  // namespace YAML
+
+namespace YAML {
+namespace detail {
+class YAML_CPP_API node_data {
+ public:
+  node_data();
+  node_data(const node_data&) = delete;
+  node_data& operator=(const node_data&) = delete;
+
+  void mark_defined();
+  void set_mark(const Mark& mark);
+  void set_type(NodeType::value type);
+  void set_tag(const std::string& tag);
+  void set_null();
+  void set_scalar(const std::string& scalar);
+  void set_style(EmitterStyle::value style);
+
+  bool is_defined() const { return m_isDefined; }
+  const Mark& mark() const { return m_mark; }
+  NodeType::value type() const {
+    return m_isDefined ? m_type : NodeType::Undefined;
+  }
+  const std::string& scalar() const { return m_scalar; }
+  const std::string& tag() const { return m_tag; }
+  EmitterStyle::value style() const { return m_style; }
+
+  // size/iterator
+  std::size_t size() const;
+
+  const_node_iterator begin() const;
+  node_iterator begin();
+
+  const_node_iterator end() const;
+  node_iterator end();
+
+  // sequence
+  void push_back(node& node, const shared_memory_holder& pMemory);
+  void insert(node& key, node& value, const shared_memory_holder& pMemory);
+
+  // indexing
+  template <typename Key>
+  node* get(const Key& key, shared_memory_holder pMemory) const;
+  template <typename Key>
+  node& get(const Key& key, shared_memory_holder pMemory);
+  template <typename Key>
+  bool remove(const Key& key, shared_memory_holder pMemory);
+
+  node* get(node& key, const shared_memory_holder& pMemory) const;
+  node& get(node& key, const shared_memory_holder& pMemory);
+  bool remove(node& key, const shared_memory_holder& pMemory);
+
+  // map
+  template <typename Key, typename Value>
+  void force_insert(const Key& key, const Value& value,
+                    shared_memory_holder pMemory);
+
+ public:
+  static const std::string& empty_scalar();
+
+ private:
+  void compute_seq_size() const;
+  void compute_map_size() const;
+
+  void reset_sequence();
+  void reset_map();
+
+  void insert_map_pair(node& key, node& value);
+  void convert_to_map(const shared_memory_holder& pMemory);
+  void convert_sequence_to_map(const shared_memory_holder& pMemory);
+
+  template <typename T>
+  static node& convert_to_node(const T& rhs, shared_memory_holder pMemory);
+
+ private:
+  bool m_isDefined;
+  Mark m_mark;
+  NodeType::value m_type;
+  std::string m_tag;
+  EmitterStyle::value m_style;
+
+  // scalar
+  std::string m_scalar;
+
+  // sequence
+  using node_seq = std::vector<node *>;
+  node_seq m_sequence;
+
+  mutable std::size_t m_seqSize;
+
+  // map
+  using node_map = std::vector<std::pair<node*, node*>>;
+  node_map m_map;
+
+  using kv_pair = std::pair<node*, node*>;
+  using kv_pairs = std::list<kv_pair>;
+  mutable kv_pairs m_undefinedPairs;
+};
+}
+}
+
+#endif  // VALUE_DETAIL_NODE_DATA_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/node_iterator.h

@@ -0,0 +1,181 @@
+#ifndef VALUE_DETAIL_NODE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_DETAIL_NODE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/node/ptr.h"
+#include <cstddef>
+#include <iterator>
+#include <memory>
+#include <map>
+#include <utility>
+#include <vector>
+
+namespace YAML {
+namespace detail {
+struct iterator_type {
+  enum value { NoneType, Sequence, Map };
+};
+
+template <typename V>
+struct node_iterator_value : public std::pair<V*, V*> {
+  using kv = std::pair<V*, V*>;
+
+  node_iterator_value() : kv(), pNode(nullptr) {}
+  explicit node_iterator_value(V& rhs) : kv(), pNode(&rhs) {}
+  explicit node_iterator_value(V& key, V& value) : kv(&key, &value), pNode(nullptr) {}
+
+  V& operator*() const { return *pNode; }
+  V& operator->() const { return *pNode; }
+
+  V* pNode;
+};
+
+using node_seq = std::vector<node *>;
+using node_map = std::vector<std::pair<node*, node*>>;
+
+template <typename V>
+struct node_iterator_type {
+  using seq = node_seq::iterator;
+  using map = node_map::iterator;
+};
+
+template <typename V>
+struct node_iterator_type<const V> {
+  using seq = node_seq::const_iterator;
+  using map = node_map::const_iterator;
+};
+
+template <typename V>
+class node_iterator_base {
+ private:
+  struct enabler {};
+
+  struct proxy {
+    explicit proxy(const node_iterator_value<V>& x) : m_ref(x) {}
+    node_iterator_value<V>* operator->() { return std::addressof(m_ref); }
+    operator node_iterator_value<V>*() { return std::addressof(m_ref); }
+
+    node_iterator_value<V> m_ref;
+  };
+
+ public:
+  using iterator_category = std::forward_iterator_tag;
+  using value_type = node_iterator_value<V>;
+  using difference_type = std::ptrdiff_t;
+  using pointer = node_iterator_value<V>*;
+  using reference = node_iterator_value<V>;
+  using SeqIter = typename node_iterator_type<V>::seq;
+  using MapIter = typename node_iterator_type<V>::map;
+
+  node_iterator_base()
+      : m_type(iterator_type::NoneType), m_seqIt(), m_mapIt(), m_mapEnd() {}
+  explicit node_iterator_base(SeqIter seqIt)
+      : m_type(iterator_type::Sequence),
+        m_seqIt(seqIt),
+        m_mapIt(),
+        m_mapEnd() {}
+  explicit node_iterator_base(MapIter mapIt, MapIter mapEnd)
+      : m_type(iterator_type::Map),
+        m_seqIt(),
+        m_mapIt(mapIt),
+        m_mapEnd(mapEnd) {
+    m_mapIt = increment_until_defined(m_mapIt);
+  }
+
+  template <typename W>
+  node_iterator_base(const node_iterator_base<W>& rhs,
+                     typename std::enable_if<std::is_convertible<W*, V*>::value,
+                                             enabler>::type = enabler())
+      : m_type(rhs.m_type),
+        m_seqIt(rhs.m_seqIt),
+        m_mapIt(rhs.m_mapIt),
+        m_mapEnd(rhs.m_mapEnd) {}
+
+  template <typename>
+  friend class node_iterator_base;
+
+  template <typename W>
+  bool operator==(const node_iterator_base<W>& rhs) const {
+    if (m_type != rhs.m_type)
+      return false;
+
+    switch (m_type) {
+      case iterator_type::NoneType:
+        return true;
+      case iterator_type::Sequence:
+        return m_seqIt == rhs.m_seqIt;
+      case iterator_type::Map:
+        return m_mapIt == rhs.m_mapIt;
+    }
+    return true;
+  }
+
+  template <typename W>
+  bool operator!=(const node_iterator_base<W>& rhs) const {
+    return !(*this == rhs);
+  }
+
+  node_iterator_base<V>& operator++() {
+    switch (m_type) {
+      case iterator_type::NoneType:
+        break;
+      case iterator_type::Sequence:
+        ++m_seqIt;
+        break;
+      case iterator_type::Map:
+        ++m_mapIt;
+        m_mapIt = increment_until_defined(m_mapIt);
+        break;
+    }
+    return *this;
+  }
+
+  node_iterator_base<V> operator++(int) {
+    node_iterator_base<V> iterator_pre(*this);
+    ++(*this);
+    return iterator_pre;
+  }
+
+  value_type operator*() const {
+    switch (m_type) {
+      case iterator_type::NoneType:
+        return value_type();
+      case iterator_type::Sequence:
+        return value_type(**m_seqIt);
+      case iterator_type::Map:
+        return value_type(*m_mapIt->first, *m_mapIt->second);
+    }
+    return value_type();
+  }
+
+  proxy operator->() const { return proxy(**this); }
+
+  MapIter increment_until_defined(MapIter it) {
+    while (it != m_mapEnd && !is_defined(it))
+      ++it;
+    return it;
+  }
+
+  bool is_defined(MapIter it) const {
+    return it->first->is_defined() && it->second->is_defined();
+  }
+
+ private:
+  typename iterator_type::value m_type;
+
+  SeqIter m_seqIt;
+  MapIter m_mapIt, m_mapEnd;
+};
+
+using node_iterator = node_iterator_base<node>;
+using const_node_iterator = node_iterator_base<const node>;
+}
+}
+
+#endif  // VALUE_DETAIL_NODE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/detail/node_ref.h

@@ -0,0 +1,98 @@
+#ifndef VALUE_DETAIL_NODE_REF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_DETAIL_NODE_REF_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/node/type.h"
+#include "yaml-cpp/node/ptr.h"
+#include "yaml-cpp/node/detail/node_data.h"
+
+namespace YAML {
+namespace detail {
+class node_ref {
+ public:
+  node_ref() : m_pData(new node_data) {}
+  node_ref(const node_ref&) = delete;
+  node_ref& operator=(const node_ref&) = delete;
+
+  bool is_defined() const { return m_pData->is_defined(); }
+  const Mark& mark() const { return m_pData->mark(); }
+  NodeType::value type() const { return m_pData->type(); }
+  const std::string& scalar() const { return m_pData->scalar(); }
+  const std::string& tag() const { return m_pData->tag(); }
+  EmitterStyle::value style() const { return m_pData->style(); }
+
+  void mark_defined() { m_pData->mark_defined(); }
+  void set_data(const node_ref& rhs) { m_pData = rhs.m_pData; }
+
+  void set_mark(const Mark& mark) { m_pData->set_mark(mark); }
+  void set_type(NodeType::value type) { m_pData->set_type(type); }
+  void set_tag(const std::string& tag) { m_pData->set_tag(tag); }
+  void set_null() { m_pData->set_null(); }
+  void set_scalar(const std::string& scalar) { m_pData->set_scalar(scalar); }
+  void set_style(EmitterStyle::value style) { m_pData->set_style(style); }
+
+  // size/iterator
+  std::size_t size() const { return m_pData->size(); }
+
+  const_node_iterator begin() const {
+    return static_cast<const node_data&>(*m_pData).begin();
+  }
+  node_iterator begin() { return m_pData->begin(); }
+
+  const_node_iterator end() const {
+    return static_cast<const node_data&>(*m_pData).end();
+  }
+  node_iterator end() { return m_pData->end(); }
+
+  // sequence
+  void push_back(node& node, shared_memory_holder pMemory) {
+    m_pData->push_back(node, pMemory);
+  }
+  void insert(node& key, node& value, shared_memory_holder pMemory) {
+    m_pData->insert(key, value, pMemory);
+  }
+
+  // indexing
+  template <typename Key>
+  node* get(const Key& key, shared_memory_holder pMemory) const {
+    return static_cast<const node_data&>(*m_pData).get(key, pMemory);
+  }
+  template <typename Key>
+  node& get(const Key& key, shared_memory_holder pMemory) {
+    return m_pData->get(key, pMemory);
+  }
+  template <typename Key>
+  bool remove(const Key& key, shared_memory_holder pMemory) {
+    return m_pData->remove(key, pMemory);
+  }
+
+  node* get(node& key, shared_memory_holder pMemory) const {
+    return static_cast<const node_data&>(*m_pData).get(key, pMemory);
+  }
+  node& get(node& key, shared_memory_holder pMemory) {
+    return m_pData->get(key, pMemory);
+  }
+  bool remove(node& key, shared_memory_holder pMemory) {
+    return m_pData->remove(key, pMemory);
+  }
+
+  // map
+  template <typename Key, typename Value>
+  void force_insert(const Key& key, const Value& value,
+                    shared_memory_holder pMemory) {
+    m_pData->force_insert(key, value, pMemory);
+  }
+
+ private:
+  shared_node_data m_pData;
+};
+}
+}
+
+#endif  // VALUE_DETAIL_NODE_REF_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/emit.h

@@ -0,0 +1,32 @@
+#ifndef NODE_EMIT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_EMIT_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <string>
+#include <iosfwd>
+
+#include "yaml-cpp/dll.h"
+
+namespace YAML {
+class Emitter;
+class Node;
+
+/**
+ * Emits the node to the given {@link Emitter}. If there is an error in writing,
+ * {@link Emitter#good} will return false.
+ */
+YAML_CPP_API Emitter& operator<<(Emitter& out, const Node& node);
+
+/** Emits the node to the given output stream. */
+YAML_CPP_API std::ostream& operator<<(std::ostream& out, const Node& node);
+
+/** Converts the node to a YAML string. */
+YAML_CPP_API std::string Dump(const Node& node);
+}  // namespace YAML
+
+#endif  // NODE_EMIT_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/impl.h

@@ -0,0 +1,385 @@
+#ifndef NODE_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/exceptions.h"
+#include "yaml-cpp/node/detail/memory.h"
+#include "yaml-cpp/node/detail/node.h"
+#include "yaml-cpp/node/iterator.h"
+#include "yaml-cpp/node/node.h"
+#include <sstream>
+#include <string>
+
+namespace YAML {
+inline Node::Node()
+    : m_isValid(true), m_invalidKey{}, m_pMemory(nullptr), m_pNode(nullptr) {}
+
+inline Node::Node(NodeType::value type)
+    : m_isValid(true),
+      m_invalidKey{},
+      m_pMemory(new detail::memory_holder),
+      m_pNode(&m_pMemory->create_node()) {
+  m_pNode->set_type(type);
+}
+
+template <typename T>
+inline Node::Node(const T& rhs)
+    : m_isValid(true),
+      m_invalidKey{},
+      m_pMemory(new detail::memory_holder),
+      m_pNode(&m_pMemory->create_node()) {
+  Assign(rhs);
+}
+
+inline Node::Node(const detail::iterator_value& rhs)
+    : m_isValid(rhs.m_isValid),
+      m_invalidKey(rhs.m_invalidKey),
+      m_pMemory(rhs.m_pMemory),
+      m_pNode(rhs.m_pNode) {}
+
+inline Node::Node(const Node&) = default;
+
+inline Node::Node(Zombie)
+    : m_isValid(false), m_invalidKey{}, m_pMemory{}, m_pNode(nullptr) {}
+
+inline Node::Node(Zombie, const std::string& key)
+    : m_isValid(false), m_invalidKey(key), m_pMemory{}, m_pNode(nullptr) {}
+
+inline Node::Node(detail::node& node, detail::shared_memory_holder pMemory)
+    : m_isValid(true), m_invalidKey{}, m_pMemory(pMemory), m_pNode(&node) {}
+
+inline Node::~Node() = default;
+
+inline void Node::EnsureNodeExists() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  if (!m_pNode) {
+    m_pMemory.reset(new detail::memory_holder);
+    m_pNode = &m_pMemory->create_node();
+    m_pNode->set_null();
+  }
+}
+
+inline bool Node::IsDefined() const {
+  if (!m_isValid) {
+    return false;
+  }
+  return m_pNode ? m_pNode->is_defined() : true;
+}
+
+inline Mark Node::Mark() const {
+  if (!m_isValid) {
+    throw InvalidNode(m_invalidKey);
+  }
+  return m_pNode ? m_pNode->mark() : Mark::null_mark();
+}
+
+inline NodeType::value Node::Type() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  return m_pNode ? m_pNode->type() : NodeType::Null;
+}
+
+// access
+
+// template helpers
+template <typename T, typename S>
+struct as_if {
+  explicit as_if(const Node& node_) : node(node_) {}
+  const Node& node;
+
+  T operator()(const S& fallback) const {
+    if (!node.m_pNode)
+      return fallback;
+
+    T t;
+    if (convert<T>::decode(node, t))
+      return t;
+    return fallback;
+  }
+};
+
+template <typename S>
+struct as_if<std::string, S> {
+  explicit as_if(const Node& node_) : node(node_) {}
+  const Node& node;
+
+  std::string operator()(const S& fallback) const {
+    if (node.Type() == NodeType::Null)
+      return "null";
+    if (node.Type() != NodeType::Scalar)
+      return fallback;
+    return node.Scalar();
+  }
+};
+
+template <typename T>
+struct as_if<T, void> {
+  explicit as_if(const Node& node_) : node(node_) {}
+  const Node& node;
+
+  T operator()() const {
+    if (!node.m_pNode)
+      throw TypedBadConversion<T>(node.Mark());
+
+    T t;
+    if (convert<T>::decode(node, t))
+      return t;
+    throw TypedBadConversion<T>(node.Mark());
+  }
+};
+
+template <>
+struct as_if<std::string, void> {
+  explicit as_if(const Node& node_) : node(node_) {}
+  const Node& node;
+
+  std::string operator()() const {
+    if (node.Type() == NodeType::Null)
+      return "null";
+    if (node.Type() != NodeType::Scalar)
+      throw TypedBadConversion<std::string>(node.Mark());
+    return node.Scalar();
+  }
+};
+
+// access functions
+template <typename T>
+inline T Node::as() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  return as_if<T, void>(*this)();
+}
+
+template <typename T, typename S>
+inline T Node::as(const S& fallback) const {
+  if (!m_isValid)
+    return fallback;
+  return as_if<T, S>(*this)(fallback);
+}
+
+inline const std::string& Node::Scalar() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  return m_pNode ? m_pNode->scalar() : detail::node_data::empty_scalar();
+}
+
+inline const std::string& Node::Tag() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  return m_pNode ? m_pNode->tag() : detail::node_data::empty_scalar();
+}
+
+inline void Node::SetTag(const std::string& tag) {
+  EnsureNodeExists();
+  m_pNode->set_tag(tag);
+}
+
+inline EmitterStyle::value Node::Style() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  return m_pNode ? m_pNode->style() : EmitterStyle::Default;
+}
+
+inline void Node::SetStyle(EmitterStyle::value style) {
+  EnsureNodeExists();
+  m_pNode->set_style(style);
+}
+
+// assignment
+inline bool Node::is(const Node& rhs) const {
+  if (!m_isValid || !rhs.m_isValid)
+    throw InvalidNode(m_invalidKey);
+  if (!m_pNode || !rhs.m_pNode)
+    return false;
+  return m_pNode->is(*rhs.m_pNode);
+}
+
+template <typename T>
+inline Node& Node::operator=(const T& rhs) {
+  Assign(rhs);
+  return *this;
+}
+
+inline Node& Node::operator=(const Node& rhs) {
+  if (is(rhs))
+    return *this;
+  AssignNode(rhs);
+  return *this;
+}
+
+inline void Node::reset(const YAML::Node& rhs) {
+  if (!m_isValid || !rhs.m_isValid)
+    throw InvalidNode(m_invalidKey);
+  m_pMemory = rhs.m_pMemory;
+  m_pNode = rhs.m_pNode;
+}
+
+template <typename T>
+inline void Node::Assign(const T& rhs) {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  AssignData(convert<T>::encode(rhs));
+}
+
+template <>
+inline void Node::Assign(const std::string& rhs) {
+  EnsureNodeExists();
+  m_pNode->set_scalar(rhs);
+}
+
+inline void Node::Assign(const char* rhs) {
+  EnsureNodeExists();
+  m_pNode->set_scalar(rhs);
+}
+
+inline void Node::Assign(char* rhs) {
+  EnsureNodeExists();
+  m_pNode->set_scalar(rhs);
+}
+
+inline void Node::AssignData(const Node& rhs) {
+  EnsureNodeExists();
+  rhs.EnsureNodeExists();
+
+  m_pNode->set_data(*rhs.m_pNode);
+  m_pMemory->merge(*rhs.m_pMemory);
+}
+
+inline void Node::AssignNode(const Node& rhs) {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  rhs.EnsureNodeExists();
+
+  if (!m_pNode) {
+    m_pNode = rhs.m_pNode;
+    m_pMemory = rhs.m_pMemory;
+    return;
+  }
+
+  m_pNode->set_ref(*rhs.m_pNode);
+  m_pMemory->merge(*rhs.m_pMemory);
+  m_pNode = rhs.m_pNode;
+}
+
+// size/iterator
+inline std::size_t Node::size() const {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  return m_pNode ? m_pNode->size() : 0;
+}
+
+inline const_iterator Node::begin() const {
+  if (!m_isValid)
+    return const_iterator();
+  return m_pNode ? const_iterator(m_pNode->begin(), m_pMemory)
+                 : const_iterator();
+}
+
+inline iterator Node::begin() {
+  if (!m_isValid)
+    return iterator();
+  return m_pNode ? iterator(m_pNode->begin(), m_pMemory) : iterator();
+}
+
+inline const_iterator Node::end() const {
+  if (!m_isValid)
+    return const_iterator();
+  return m_pNode ? const_iterator(m_pNode->end(), m_pMemory) : const_iterator();
+}
+
+inline iterator Node::end() {
+  if (!m_isValid)
+    return iterator();
+  return m_pNode ? iterator(m_pNode->end(), m_pMemory) : iterator();
+}
+
+// sequence
+template <typename T>
+inline void Node::push_back(const T& rhs) {
+  if (!m_isValid)
+    throw InvalidNode(m_invalidKey);
+  push_back(Node(rhs));
+}
+
+inline void Node::push_back(const Node& rhs) {
+  EnsureNodeExists();
+  rhs.EnsureNodeExists();
+
+  m_pNode->push_back(*rhs.m_pNode, m_pMemory);
+  m_pMemory->merge(*rhs.m_pMemory);
+}
+
+template<typename Key>
+std::string key_to_string(const Key& key) {
+  return streamable_to_string<Key, is_streamable<std::stringstream, Key>::value>().impl(key);
+}
+
+// indexing
+template <typename Key>
+inline const Node Node::operator[](const Key& key) const {
+  EnsureNodeExists();
+  detail::node* value =
+      static_cast<const detail::node&>(*m_pNode).get(key, m_pMemory);
+  if (!value) {
+    return Node(ZombieNode, key_to_string(key));
+  }
+  return Node(*value, m_pMemory);
+}
+
+template <typename Key>
+inline Node Node::operator[](const Key& key) {
+  EnsureNodeExists();
+  detail::node& value = m_pNode->get(key, m_pMemory);
+  return Node(value, m_pMemory);
+}
+
+template <typename Key>
+inline bool Node::remove(const Key& key) {
+  EnsureNodeExists();
+  return m_pNode->remove(key, m_pMemory);
+}
+
+inline const Node Node::operator[](const Node& key) const {
+  EnsureNodeExists();
+  key.EnsureNodeExists();
+  m_pMemory->merge(*key.m_pMemory);
+  detail::node* value =
+      static_cast<const detail::node&>(*m_pNode).get(*key.m_pNode, m_pMemory);
+  if (!value) {
+    return Node(ZombieNode, key_to_string(key));
+  }
+  return Node(*value, m_pMemory);
+}
+
+inline Node Node::operator[](const Node& key) {
+  EnsureNodeExists();
+  key.EnsureNodeExists();
+  m_pMemory->merge(*key.m_pMemory);
+  detail::node& value = m_pNode->get(*key.m_pNode, m_pMemory);
+  return Node(value, m_pMemory);
+}
+
+inline bool Node::remove(const Node& key) {
+  EnsureNodeExists();
+  key.EnsureNodeExists();
+  return m_pNode->remove(*key.m_pNode, m_pMemory);
+}
+
+// map
+template <typename Key, typename Value>
+inline void Node::force_insert(const Key& key, const Value& value) {
+  EnsureNodeExists();
+  m_pNode->force_insert(key, value, m_pMemory);
+}
+
+// free functions
+inline bool operator==(const Node& lhs, const Node& rhs) { return lhs.is(rhs); }
+}  // namespace YAML
+
+#endif  // NODE_IMPL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/iterator.h

@@ -0,0 +1,34 @@
+#ifndef VALUE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/node/node.h"
+#include "yaml-cpp/node/detail/iterator_fwd.h"
+#include "yaml-cpp/node/detail/iterator.h"
+#include <list>
+#include <utility>
+#include <vector>
+
+// Assert in place so gcc + libc++ combination properly builds
+static_assert(std::is_constructible<YAML::Node, const YAML::Node&>::value, "Node must be copy constructable");
+
+namespace YAML {
+namespace detail {
+struct iterator_value : public Node, std::pair<Node, Node> {
+  iterator_value() = default;
+  explicit iterator_value(const Node& rhs)
+      : Node(rhs),
+        std::pair<Node, Node>(Node(Node::ZombieNode), Node(Node::ZombieNode)) {}
+  explicit iterator_value(const Node& key, const Node& value)
+      : Node(Node::ZombieNode), std::pair<Node, Node>(key, value) {}
+};
+}
+}
+
+#endif  // VALUE_ITERATOR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/node.h

@@ -0,0 +1,148 @@
+#ifndef NODE_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NODE_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <stdexcept>
+#include <string>
+
+#include "yaml-cpp/dll.h"
+#include "yaml-cpp/emitterstyle.h"
+#include "yaml-cpp/mark.h"
+#include "yaml-cpp/node/detail/iterator_fwd.h"
+#include "yaml-cpp/node/ptr.h"
+#include "yaml-cpp/node/type.h"
+
+namespace YAML {
+namespace detail {
+class node;
+class node_data;
+struct iterator_value;
+}  // namespace detail
+}  // namespace YAML
+
+namespace YAML {
+class YAML_CPP_API Node {
+ public:
+  friend class NodeBuilder;
+  friend class NodeEvents;
+  friend struct detail::iterator_value;
+  friend class detail::node;
+  friend class detail::node_data;
+  template <typename>
+  friend class detail::iterator_base;
+  template <typename T, typename S>
+  friend struct as_if;
+
+  using iterator = YAML::iterator;
+  using const_iterator = YAML::const_iterator;
+
+  Node();
+  explicit Node(NodeType::value type);
+  template <typename T>
+  explicit Node(const T& rhs);
+  explicit Node(const detail::iterator_value& rhs);
+  Node(const Node& rhs);
+  ~Node();
+
+  YAML::Mark Mark() const;
+  NodeType::value Type() const;
+  bool IsDefined() const;
+  bool IsNull() const { return Type() == NodeType::Null; }
+  bool IsScalar() const { return Type() == NodeType::Scalar; }
+  bool IsSequence() const { return Type() == NodeType::Sequence; }
+  bool IsMap() const { return Type() == NodeType::Map; }
+
+  // bool conversions
+  explicit operator bool() const { return IsDefined(); }
+  bool operator!() const { return !IsDefined(); }
+
+  // access
+  template <typename T>
+  T as() const;
+  template <typename T, typename S>
+  T as(const S& fallback) const;
+  const std::string& Scalar() const;
+
+  const std::string& Tag() const;
+  void SetTag(const std::string& tag);
+
+  // style
+  // WARNING: This API might change in future releases.
+  EmitterStyle::value Style() const;
+  void SetStyle(EmitterStyle::value style);
+
+  // assignment
+  bool is(const Node& rhs) const;
+  template <typename T>
+  Node& operator=(const T& rhs);
+  Node& operator=(const Node& rhs);
+  void reset(const Node& rhs = Node());
+
+  // size/iterator
+  std::size_t size() const;
+
+  const_iterator begin() const;
+  iterator begin();
+
+  const_iterator end() const;
+  iterator end();
+
+  // sequence
+  template <typename T>
+  void push_back(const T& rhs);
+  void push_back(const Node& rhs);
+
+  // indexing
+  template <typename Key>
+  const Node operator[](const Key& key) const;
+  template <typename Key>
+  Node operator[](const Key& key);
+  template <typename Key>
+  bool remove(const Key& key);
+
+  const Node operator[](const Node& key) const;
+  Node operator[](const Node& key);
+  bool remove(const Node& key);
+
+  // map
+  template <typename Key, typename Value>
+  void force_insert(const Key& key, const Value& value);
+
+ private:
+  enum Zombie { ZombieNode };
+  explicit Node(Zombie);
+  explicit Node(Zombie, const std::string&);
+  explicit Node(detail::node& node, detail::shared_memory_holder pMemory);
+
+  void EnsureNodeExists() const;
+
+  template <typename T>
+  void Assign(const T& rhs);
+  void Assign(const char* rhs);
+  void Assign(char* rhs);
+
+  void AssignData(const Node& rhs);
+  void AssignNode(const Node& rhs);
+
+ private:
+  bool m_isValid;
+  // String representation of invalid key, if the node is invalid.
+  std::string m_invalidKey;
+  mutable detail::shared_memory_holder m_pMemory;
+  mutable detail::node* m_pNode;
+};
+
+YAML_CPP_API bool operator==(const Node& lhs, const Node& rhs);
+
+YAML_CPP_API Node Clone(const Node& node);
+
+template <typename T>
+struct convert;
+}
+
+#endif  // NODE_NODE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/parse.h

@@ -0,0 +1,78 @@
+#ifndef VALUE_PARSE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_PARSE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <iosfwd>
+#include <string>
+#include <vector>
+
+#include "yaml-cpp/dll.h"
+
+namespace YAML {
+class Node;
+
+/**
+ * Loads the input string as a single YAML document.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ */
+YAML_CPP_API Node Load(const std::string& input);
+
+/**
+ * Loads the input string as a single YAML document.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ */
+YAML_CPP_API Node Load(const char* input);
+
+/**
+ * Loads the input stream as a single YAML document.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ */
+YAML_CPP_API Node Load(std::istream& input);
+
+/**
+ * Loads the input file as a single YAML document.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ * @throws {@link BadFile} if the file cannot be loaded.
+ */
+YAML_CPP_API Node LoadFile(const std::string& filename);
+
+/**
+ * Loads the input string as a list of YAML documents.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ */
+YAML_CPP_API std::vector<Node> LoadAll(const std::string& input);
+
+/**
+ * Loads the input string as a list of YAML documents.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ */
+YAML_CPP_API std::vector<Node> LoadAll(const char* input);
+
+/**
+ * Loads the input stream as a list of YAML documents.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ */
+YAML_CPP_API std::vector<Node> LoadAll(std::istream& input);
+
+/**
+ * Loads the input file as a list of YAML documents.
+ *
+ * @throws {@link ParserException} if it is malformed.
+ * @throws {@link BadFile} if the file cannot be loaded.
+ */
+YAML_CPP_API std::vector<Node> LoadAllFromFile(const std::string& filename);
+}  // namespace YAML
+
+#endif  // VALUE_PARSE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/ptr.h

@@ -0,0 +1,28 @@
+#ifndef VALUE_PTR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_PTR_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <memory>
+
+namespace YAML {
+namespace detail {
+class node;
+class node_ref;
+class node_data;
+class memory;
+class memory_holder;
+
+using shared_node = std::shared_ptr<node>;
+using shared_node_ref = std::shared_ptr<node_ref>;
+using shared_node_data = std::shared_ptr<node_data>;
+using shared_memory_holder = std::shared_ptr<memory_holder>;
+using shared_memory = std::shared_ptr<memory>;
+}
+}
+
+#endif  // VALUE_PTR_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/node/type.h

@@ -0,0 +1,16 @@
+#ifndef VALUE_TYPE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define VALUE_TYPE_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+namespace YAML {
+struct NodeType {
+  enum value { Undefined, Null, Scalar, Sequence, Map };
+};
+}
+
+#endif  // VALUE_TYPE_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/noexcept.h

@@ -0,0 +1,18 @@
+#ifndef NOEXCEPT_H_768872DA_476C_11EA_88B8_90B11C0C0FF8
+#define NOEXCEPT_H_768872DA_476C_11EA_88B8_90B11C0C0FF8
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+// This is here for compatibility with older versions of Visual Studio
+// which don't support noexcept.
+#if defined(_MSC_VER) && _MSC_VER < 1900
+    #define YAML_CPP_NOEXCEPT _NOEXCEPT
+#else
+    #define YAML_CPP_NOEXCEPT noexcept
+#endif
+
+#endif

class_model/include/yaml-cpp/null.h

@@ -0,0 +1,26 @@
+#ifndef NULL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define NULL_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/dll.h"
+#include <string>
+
+namespace YAML {
+class Node;
+
+struct YAML_CPP_API _Null {};
+inline bool operator==(const _Null&, const _Null&) { return true; }
+inline bool operator!=(const _Null&, const _Null&) { return false; }
+
+YAML_CPP_API bool IsNull(const Node& node);  // old API only
+YAML_CPP_API bool IsNullString(const std::string& str);
+
+extern YAML_CPP_API _Null Null;
+}
+
+#endif  // NULL_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/ostream_wrapper.h

@@ -0,0 +1,76 @@
+#ifndef OSTREAM_WRAPPER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define OSTREAM_WRAPPER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <string>
+#include <vector>
+
+#include "yaml-cpp/dll.h"
+
+namespace YAML {
+class YAML_CPP_API ostream_wrapper {
+ public:
+  ostream_wrapper();
+  explicit ostream_wrapper(std::ostream& stream);
+  ostream_wrapper(const ostream_wrapper&) = delete;
+  ostream_wrapper(ostream_wrapper&&) = delete;
+  ostream_wrapper& operator=(const ostream_wrapper&) = delete;
+  ostream_wrapper& operator=(ostream_wrapper&&) = delete;
+  ~ostream_wrapper();
+
+  void write(const std::string& str);
+  void write(const char* str, std::size_t size);
+
+  void set_comment() { m_comment = true; }
+
+  const char* str() const {
+    if (m_pStream) {
+      return nullptr;
+    } else {
+      m_buffer[m_pos] = '\0';
+      return &m_buffer[0];
+    }
+  }
+
+  std::size_t row() const { return m_row; }
+  std::size_t col() const { return m_col; }
+  std::size_t pos() const { return m_pos; }
+  bool comment() const { return m_comment; }
+
+ private:
+  void update_pos(char ch);
+
+ private:
+  mutable std::vector<char> m_buffer;
+  std::ostream* const m_pStream;
+
+  std::size_t m_pos;
+  std::size_t m_row, m_col;
+  bool m_comment;
+};
+
+template <std::size_t N>
+inline ostream_wrapper& operator<<(ostream_wrapper& stream,
+                                   const char (&str)[N]) {
+  stream.write(str, N - 1);
+  return stream;
+}
+
+inline ostream_wrapper& operator<<(ostream_wrapper& stream,
+                                   const std::string& str) {
+  stream.write(str);
+  return stream;
+}
+
+inline ostream_wrapper& operator<<(ostream_wrapper& stream, char ch) {
+  stream.write(&ch, 1);
+  return stream;
+}
+}  // namespace YAML
+
+#endif  // OSTREAM_WRAPPER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/parser.h

@@ -0,0 +1,90 @@
+#ifndef PARSER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define PARSER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <ios>
+#include <memory>
+
+#include "yaml-cpp/dll.h"
+
+namespace YAML {
+class EventHandler;
+class Node;
+class Scanner;
+struct Directives;
+struct Token;
+
+/**
+ * A parser turns a stream of bytes into one stream of "events" per YAML
+ * document in the input stream.
+ */
+class YAML_CPP_API Parser {
+ public:
+  /** Constructs an empty parser (with no input. */
+  Parser();
+
+  Parser(const Parser&) = delete;
+  Parser(Parser&&) = delete;
+  Parser& operator=(const Parser&) = delete;
+  Parser& operator=(Parser&&) = delete;
+
+  /**
+   * Constructs a parser from the given input stream. The input stream must
+   * live as long as the parser.
+   */
+  explicit Parser(std::istream& in);
+
+  ~Parser();
+
+  /** Evaluates to true if the parser has some valid input to be read. */
+  explicit operator bool() const;
+
+  /**
+   * Resets the parser with the given input stream. Any existing state is
+   * erased.
+   */
+  void Load(std::istream& in);
+
+  /**
+   * Handles the next document by calling events on the {@code eventHandler}.
+   *
+   * @throw a ParserException on error.
+   * @return false if there are no more documents
+   */
+  bool HandleNextDocument(EventHandler& eventHandler);
+
+  void PrintTokens(std::ostream& out);
+
+ private:
+  /**
+   * Reads any directives that are next in the queue, setting the internal
+   * {@code m_pDirectives} state.
+   */
+  void ParseDirectives();
+
+  void HandleDirective(const Token& token);
+
+  /**
+   * Handles a "YAML" directive, which should be of the form 'major.minor' (like
+   * a version number).
+   */
+  void HandleYamlDirective(const Token& token);
+
+  /**
+   * Handles a "TAG" directive, which should be of the form 'handle prefix',
+   * where 'handle' is converted to 'prefix' in the file.
+   */
+  void HandleTagDirective(const Token& token);
+
+ private:
+  std::unique_ptr<Scanner> m_pScanner;
+  std::unique_ptr<Directives> m_pDirectives;
+};
+}  // namespace YAML
+
+#endif  // PARSER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/stlemitter.h

@@ -0,0 +1,50 @@
+#ifndef STLEMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define STLEMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <vector>
+#include <list>
+#include <set>
+#include <map>
+
+namespace YAML {
+template <typename Seq>
+inline Emitter& EmitSeq(Emitter& emitter, const Seq& seq) {
+  emitter << BeginSeq;
+  for (const auto& v : seq)
+    emitter << v;
+  emitter << EndSeq;
+  return emitter;
+}
+
+template <typename T>
+inline Emitter& operator<<(Emitter& emitter, const std::vector<T>& v) {
+  return EmitSeq(emitter, v);
+}
+
+template <typename T>
+inline Emitter& operator<<(Emitter& emitter, const std::list<T>& v) {
+  return EmitSeq(emitter, v);
+}
+
+template <typename T>
+inline Emitter& operator<<(Emitter& emitter, const std::set<T>& v) {
+  return EmitSeq(emitter, v);
+}
+
+template <typename K, typename V>
+inline Emitter& operator<<(Emitter& emitter, const std::map<K, V>& m) {
+  emitter << BeginMap;
+  for (const auto& v : m)
+    emitter << Key << v.first << Value << v.second;
+  emitter << EndMap;
+  return emitter;
+}
+}
+
+#endif  // STLEMITTER_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/traits.h

@@ -0,0 +1,135 @@
+#ifndef TRAITS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define TRAITS_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include <type_traits>
+#include <utility>
+#include <string>
+#include <sstream>
+
+namespace YAML {
+template <typename>
+struct is_numeric {
+  enum { value = false };
+};
+
+template <>
+struct is_numeric<char> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<unsigned char> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<int> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<unsigned int> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<long int> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<unsigned long int> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<short int> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<unsigned short int> {
+  enum { value = true };
+};
+#if defined(_MSC_VER) && (_MSC_VER < 1310)
+template <>
+struct is_numeric<__int64> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<unsigned __int64> {
+  enum { value = true };
+};
+#else
+template <>
+struct is_numeric<long long> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<unsigned long long> {
+  enum { value = true };
+};
+#endif
+template <>
+struct is_numeric<float> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<double> {
+  enum { value = true };
+};
+template <>
+struct is_numeric<long double> {
+  enum { value = true };
+};
+
+template <bool, class T = void>
+struct enable_if_c {
+  using type = T;
+};
+
+template <class T>
+struct enable_if_c<false, T> {};
+
+template <class Cond, class T = void>
+struct enable_if : public enable_if_c<Cond::value, T> {};
+
+template <bool, class T = void>
+struct disable_if_c {
+  using type = T;
+};
+
+template <class T>
+struct disable_if_c<true, T> {};
+
+template <class Cond, class T = void>
+struct disable_if : public disable_if_c<Cond::value, T> {};
+}
+
+template <typename S, typename T>
+struct is_streamable {
+  template <typename StreamT, typename ValueT>
+  static auto test(int)
+      -> decltype(std::declval<StreamT&>() << std::declval<ValueT>(), std::true_type());
+
+  template <typename, typename>
+  static auto test(...) -> std::false_type;
+
+  static const bool value = decltype(test<S, T>(0))::value;
+};
+
+template<typename Key, bool Streamable>
+struct streamable_to_string {
+  static std::string impl(const Key& key) {
+    std::stringstream ss;
+    ss << key;
+    return ss.str();
+  }
+};
+
+template<typename Key>
+struct streamable_to_string<Key, false> {
+  static std::string impl(const Key&) {
+    return "";
+  }
+};
+#endif  // TRAITS_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/include/yaml-cpp/yaml.h

@@ -0,0 +1,24 @@
+#ifndef YAML_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+#define YAML_H_62B23520_7C8E_11DE_8A39_0800200C9A66
+
+#if defined(_MSC_VER) ||                                            \
+    (defined(__GNUC__) && (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) || \
+     (__GNUC__ >= 4))  // GCC supports "pragma once" correctly since 3.4
+#pragma once
+#endif
+
+#include "yaml-cpp/parser.h"
+#include "yaml-cpp/emitter.h"
+#include "yaml-cpp/emitterstyle.h"
+#include "yaml-cpp/stlemitter.h"
+#include "yaml-cpp/exceptions.h"
+
+#include "yaml-cpp/node/node.h"
+#include "yaml-cpp/node/impl.h"
+#include "yaml-cpp/node/convert.h"
+#include "yaml-cpp/node/iterator.h"
+#include "yaml-cpp/node/detail/impl.h"
+#include "yaml-cpp/node/parse.h"
+#include "yaml-cpp/node/emit.h"
+
+#endif  // YAML_H_62B23520_7C8E_11DE_8A39_0800200C9A66

class_model/src/config.yaml

@@ -0,0 +1,4 @@
+routh1:
+  x: 1.0
+  y: 1.5
+  z: 0.0

class_model/src/main.cpp

@@ -1,6 +1,7 @@
 #include "class_model/mission.h"
 #include "class_model/choose_leader.h"
 #include "class_model/PubInfo.h"
+#include "yaml-cpp/yaml.h"
 
 int main(int argc, char **argv) {
 
@@ -21,6 +22,7 @@ int main(int argc, char **argv) {
     
     // SelectionClass selection_object;
     
+    YAML::Node config = YAML::LoadFile("/home/dodo/ardupilot_ws/src/class_model/src/config.yaml");  //reading yaml parameter(target point)
 
     mode_object.set_Mode("GUIDED");
     control_object.arm();

class_model/src/test_lib.cpp

@@ -0,0 +1,15 @@
+#include <iostream>
+#include "yaml-cpp/yaml.h"
+
+using namespace std;
+
+int main(int argc,char** argv){
+
+    YAML::Node config = YAML::LoadFile("/home/dodo/ardupilot_ws/src/class_model/src/config.yaml");
+
+    cout <<"x:"<<config["routh1"]["x"].as<float>()<<endl;
+    cout <<"y:"<<config["routh1"]["y"].as<float>()<<endl;
+
+
+    return 0;
+}