From 2765743deaf7f401bde0bba5fb61cc59430b5e61 Mon Sep 17 00:00:00 2001
From: Livox-SDK <dev@livoxtech.com>
Date: Mon, 6 May 2019 12:33:55 +0800
Subject: [PATCH] feature:support save lvx file for lidar;

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 sample/lidar/main.c                           |   20 +-
 sample/lidar_lvx_file/CMakeLists.txt          |    8 +
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 sample/lidar_lvx_file/lvx_file.h              |  113 +
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 .../third_party/rapidxml/rapidxml.hpp         | 2596 +++++++++++++++++
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 907 files changed, 10205 insertions(+), 5141 deletions(-)
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 create mode 100644 sample/lidar_lvx_file/CMakeLists.txt
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 create mode 100644 sample/lidar_lvx_file/third_party/rapidxml/rapidxml_utils.hpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 910cb77..1be22a6 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,4 +9,5 @@ message(STATUS "main project dir: " ${PROJECT_SOURCE_DIR})
 add_subdirectory(sdk_core sdk_core)
 add_subdirectory(sample/hub)
 add_subdirectory(sample/lidar)
-
+add_subdirectory(sample/hub_lvx_file)
+add_subdirectory(sample/lidar_lvx_file)
diff --git a/LICENSE.txt b/LICENSE.txt
index b31c2bc..0201796 100644
--- a/LICENSE.txt
+++ b/LICENSE.txt
@@ -6,9 +6,19 @@ Livox-SDK
 │   ├── hub
 │   │   ├── CMakeLists.txt
 │   │   └── main.c
-│   └── lidar
-│       ├── CMakeLists.txt
-│       └── main.c
+│   ├── hub_lvx_file
+│   │   ├── CMakeLists.txt
+│   │   ├── lvx_file.cpp
+│   │   ├── lvx_file.h
+│   │   └── main.cpp
+│   ├── lidar
+│   │   ├── CMakeLists.txt
+│   │   └── main.c
+│   └── lidar_lvx_file
+│          ├── CMakeLists.txt
+│          ├── lvx_file.cpp
+│          ├── lvx_file.h
+│          └── main.cpp
 └── sdk_core
     ├── CMakeLists.txt
     ├── include
@@ -700,3 +710,58 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
+===============================================================
+LIVOX’s Livox SDK uses unmodified libraries of rapidxml(http://rapidxml.sourceforge.net/), which is licensed under the Boost Software License and MIT license. A copy of the Boost Software License and MIT license is provided below and is also available at http://rapidxml.sourceforge.net/license.txt.
+
+Use of this software is granted under one of the following two licenses,
+to be chosen freely by the user.
+
+1. Boost Software License - Version 1.0 - August 17th, 2003
+===============================================================================
+
+Copyright (c) 2006, 2007 Marcin Kalicinski
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+
+2. The MIT License
+===============================================================================
+
+Copyright (c) 2006, 2007 Marcin Kalicinski
+
+Permission is hereby granted, free of charge, to any person obtaining a copy 
+of this software and associated documentation files (the "Software"), to deal 
+in the Software without restriction, including without limitation the rights 
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies 
+of the Software, and to permit persons to whom the Software is furnished to do so, 
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all 
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 
+IN THE SOFTWARE.
\ No newline at end of file
diff --git a/README.md b/README.md
index 1db7eb5..bee1b65 100644
--- a/README.md
+++ b/README.md
@@ -11,13 +11,13 @@ Livox SDK consists of Livox SDK communication protocol, Livox SDK core, Livox SD
 
 # 2 Livox SDK Communication Protocol
 
-Livox SDK communication protocol opens to all users. It is the communication protocol between user programs and Livox products. The protocol consists of control commands and data format. Please refer to the [Livox SDK Communication Protocol](doc/Livox_SDK_Communication_Protocol_EN_20190117.pdf) for detailed information.
+Livox SDK communication protocol opens to all users. It is the communication protocol between user programs and Livox products. The protocol consists of control commands and data format. Please refer to the [Livox SDK Communication Protocol](<https://github.com/Livox-SDK/Livox-SDK/wiki/Livox-SDK-Communication-Protocol>) for detailed information.
 
 # 3 Livox SDK Core
 
 Livox SDK provides the implementation of control commands and point cloud data transmission, as well as the C/C++ API. The basic structure of Livox SDK core is shown as below:
 
-![sdk](doc/images/sdk.png)
+![Livox SDK Architecture](doc/images/sdk.png)
 
 User Datagram Protocol (UDP) is used for communication between Livox SDK and LiDAR sensors. Please refer to the Livox SDK Communication Protocol for further information. Point cloud data handler supports point cloud data transmission, while command handler receives and sends control commands. And the C/C++ API is based on command handler and point cloud data handler.
 
@@ -25,7 +25,7 @@ The Livox LiDAR sensors can be connected to host directly or through the Livox H
 
 # 4 Livox SDK API
 
-Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](doc/Livox_LiDAR_SDK_API_Reference.pdf) for further information.
+Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](https://livox-sdk.github.io/Livox-SDK/) for further information.
 
 ## 4.1 Installation
 The installation procedures in Ubuntu 16.04/14.04 LTS and Windows 7/10 are shown here as examples.
@@ -79,30 +79,8 @@ You can now compile the Livox SDK in Visual Studio.
 ## 4.2 Run Livox SDK Sample
 Two samples are provided in Sample/Lidar and Sample/Hub, which demonstrate how to configure Livox LiDAR units and receive the point cloud data when directly connecting Livox SDK to LiDAR units or by using a Livox Hub, respectively. The sequence diagram is shown as below: 
 
-![sample](doc/images/sample.png)
+![](doc/images/sample.png)
 
-**NOTE**: We will connect all the broadcast device in default. You can also use program options in `4.2.3 Program Options` to connect specific device by the broadcast code. Or you can input the broadcast code list in sample. If you choose this way, please comment the following code section:
-```
-/** Connect all the broadcast device. */
-int lidar_count = 0;
-char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize];
-```
-Remove the comment of the following code section, set the BROADCAST_CODE_LIST_SIZE and replace the broadcast code lists in the `main.c` for both LiDAR sample ({Livox-SDK}/sample/lidar/main.c) and Hub sample ({Livox-SDK}/sample/hub/main.c) with the broadcast code of your devices before building.
-```
-/** Connect the broadcast device in list, please input the broadcast code and modify the BROADCAST_CODE_LIST_SIZE. */
-/*#define BROADCAST_CODE_LIST_SIZE  3
-int lidar_count = BROADCAST_CODE_LIST_SIZE;
-char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
-  "000000000000002",
-  "000000000000003",
-  "000000000000004"
-};*/
-```
-The broadcast code consists of its serial number and an additional number (1,2, or 3). The serial number can be found on the body of the LiDAR unit (below the QR code). The detailed format is shown as below:
-
-![sample](doc/images/broadcast_code.png)
-
-Again, steps for running the samples in Ubuntu 16.04 LTS and Windows 7/10 are shown here as examples.
 ### 4.2.1 Ubuntu 16.04 /14.04 LTS
 For Ubuntun 16.04/14.04 LTS, run the *lidar_sample* if connect with the LiDAR unit(s):
 ```
@@ -117,12 +95,27 @@ After compiling the Livox SDK as shown in section 4.1.2, you can find `hub_sampl
 
 Then you can see the information as below:
 
-![sample](doc/images/sdk_init.png)
+![](doc/images/sdk_init.png)
 
-### 4.2.3 Program Options
-We provide the following program options for the broadcast code and log file:
+### 4.3 Connect to the specific LiDAR units
+
+Samples we provided will connect all the broadcast device in you LAN in default.There are two ways to connect the specific units: 
+
+* run sample with input options 
+
+* edit the Broadcast Code list in source code
+
+**NOTE:**
+
+Each Livox LiDAR unit owns a unique Broadcast Code . The broadcast code consists of its serial number and an additional number (1,2, or 3). The serial number can be found on the body of the LiDAR unit (below the QR code).The Broadcast Code may be used when you want to connect to the specific LiDAR unit(s).  The detailed format is shown as below:
+
+![Broadcast Code](doc/images/broadcast_code.png)
+
+#### 4.3.1 Program Options
+
+We provide the following program options for connecting the specific units and saving log file:
 ```
-[-c]:Register device broadcast code.
+[-c]:Register LiDAR units by Broadcast Code. Connect the registered units ONLY. 
 [-l]:Save the log file(In the executable file's directory).
 [-h]:Show help.
 ```
@@ -132,7 +125,48 @@ Here is the example:
 ./hub_sample -c "00000000000001" -l
 ```
 
+#### 4.3.2 Edit Broadcast Code List
+
+ Comment the following code section:
+
+```
+/** Connect all the broadcast device. */
+int lidar_count = 0;
+char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize];
+```
+
+Remove the comment of the following code section, set the BROADCAST_CODE_LIST_SIZE and replace the broadcast code lists in the `main.c` for both LiDAR sample ({Livox-SDK}/sample/lidar/main.c) and Hub sample ({Livox-SDK}/sample/hub/main.c) with the broadcast code of your devices before building.
+
+```
+/** Connect the broadcast device in list, please input the broadcast code and modify the BROADCAST_CODE_LIST_SIZE. */
+/*#define BROADCAST_CODE_LIST_SIZE  3
+int lidar_count = BROADCAST_CODE_LIST_SIZE;
+char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
+  "000000000000002",
+  "000000000000003",
+  "000000000000004"
+};*/
+```
+
+### 4.4 Generate the lvx file
+
+We provide the C++ sample to generate the lvx file for hub and LiDAR unit(s). You can use the same way in `4.2.1` and `4.2.2` to run them.
+
+#### 4.4.1 Program Options
+
+You can alse use the program options in `4.3.1` to connect specific device and generate the log file, and we provide two new options for lvx file:
+```
+[-t] Time to save point cloud to the lvx file.(unit: s)
+[-p] Get the extrinsic parameter from standard extrinsic.xml file(The same as viewer) in the executable file's directory.(Especially for LiDAR unit(s) as the hub will calculate the extrinsic parameter by itself)
+```
+Here is the example:
+```
+./lidar_lvx_sample -c "00000000000002&00000000000003&00000000000004" -l -t 10 -p
+./hub_lvx_sample -c "00000000000001" -l -t 10
+```
+
 # 5 Support
+
 You can get support from Livox with the following methods:
 * Send email to dev@livoxtech.com with a clear description of your problem and your setup
 * Github Issues
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-<div class="title">Livox SDK API Documentation</div>  </div>
+<div class="title">1 Introduction </div>  </div>
 </div><!--header-->
 <div class="contents">
+<div class="textblock"><p>Livox SDK is the software development kit designed for all Livox products. It is developed based on C/C++ following Livox SDK Communication Protocol, and provides easy-to-use C style API. With Livox SDK, users can quickly connect to Livox products and receive point cloud data.</p>
+<p>Livox SDK consists of Livox SDK communication protocol, Livox SDK core, Livox SDK API, Linux sample, and ROS demo.</p>
+<h2>Prerequisites</h2>
+<ul>
+<li>Ubuntu 14.04/Ubuntu 16.04, both x86 and ARM (Nvidia TX2)</li>
+<li>Windows 7/10, Visual Studio 2015/2017</li>
+<li>C++11 compiler.</li>
+</ul>
+<h1>2 Livox SDK Communication Protocol</h1>
+<p>Livox SDK communication protocol opens to all users. It is the communication protocol between user programs and Livox products. The protocol consists of control commands and data format. Please refer to the <a href="https://github.com/Livox-SDK/Livox-SDK/wiki/Livox-SDK-Communication-Protocol">Livox SDK Communication Protocol</a> for detailed information.</p>
+<h1>3 Livox SDK Core</h1>
+<p>Livox SDK provides the implementation of control commands and point cloud data transmission, as well as the C/C++ API. The basic structure of Livox SDK core is shown as below:</p>
+<div class="image">
+<img src="sdk.png" alt="sdk.png"/>
+<div class="caption">
+Livox SDK Architecture</div></div>
+<p>User Datagram Protocol (UDP) is used for communication between Livox SDK and LiDAR sensors. Please refer to the Livox SDK Communication Protocol for further information. Point cloud data handler supports point cloud data transmission, while command handler receives and sends control commands. And the C/C++ API is based on command handler and point cloud data handler.</p>
+<p>The Livox LiDAR sensors can be connected to host directly or through the Livox Hub. Livox SDK supports both connection methods. When LiDAR units are connected to host directly, the host will establish communication with each LiDAR unit individually. And if the LiDAR units connect to host through Hub, then the host only communicates with the Livox Hub while the Hub communicates with each LiDAR unit.</p>
+<h1>4 Livox SDK API</h1>
+<p>Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the <a href="https://livox-sdk.github.io/Livox-SDK/">Livox SDK API Reference</a> for further information.</p>
+<h2>4.1 Installation</h2>
+<p>The installation procedures in Ubuntu 16.04/14.04 LTS and Windows 7/10 are shown here as examples. </p><h3>4.1.1 Ubuntu 16.04/14.04 LTS</h3>
+<h4>Dependencies</h4>
+<p>Livox SDK requires <a href="https://cmake.org/">CMake 3.0.0+</a>, <a href="http://apr.apache.org/">Apache Portable Runtime (APR) 1.61+</a> and <a href="https://www.boost.org/">Boost 1.54+</a> as dependencies. You can install these packages using apt: </p><div class="fragment"><div class="line">sudo apt install cmake libapr1-dev libboost-atomic-dev libboost-system-dev</div></div><!-- fragment --> <h4>Compile Livox SDK</h4>
+<p>In the Livox SDK directory, run the following commands to compile the project: </p><div class="fragment"><div class="line">git clone https://github.com/Livox-SDK/Livox-SDK.git</div><div class="line">cd Livox-SDK/build</div><div class="line">cmake ..</div><div class="line">make</div><div class="line">sudo make install</div></div><!-- fragment --> <h3>4.1.2 Windows 7/10</h3>
+<h4>Dependencies</h4>
+<p>Livox SDK supports Visual Studio 2015/2017 and requires <a href="https://cmake.org/">CMake 3.0.0+</a>, <a href="http://apr.apache.org/">Apache Portable Runtime (APR) 1.61+</a> and <a href="https://www.boost.org/">Boost 1.54+</a> as dependencies. <a href="https://github.com/Microsoft/vcpkg">vcpkg</a> is recommended for building the dependency libraries as follows: For the 32-bit project: </p><div class="fragment"><div class="line">.\vcpkg install apr</div><div class="line">.\vcpkg install boost-atomic</div><div class="line">.\vcpkg install boost-system</div><div class="line">.\vcpkg install boost-thread</div><div class="line">.\vcpkg integrate install</div></div><!-- fragment --><p> For the 64-bit project: </p><div class="fragment"><div class="line">.\vcpkg install apr:x64-windows</div><div class="line">.\vcpkg install boost-atomic:x64-windows</div><div class="line">.\vcpkg install boost-system:x64-windows</div><div class="line">.\vcpkg install boost-thread:x64-windows</div><div class="line">.\vcpkg integrate install</div></div><!-- fragment --><p> Then, in the Livox SDK directory, run the following commands to create the Visual Studio solution file. Please replace [vcpkgroot] with your vcpkg installation path. Generate the 32-bit project: </p><div class="fragment"><div class="line">cd build &amp;&amp; \</div><div class="line">cmake .. &quot;-DCMAKE_TOOLCHAIN_FILE=[vcpkgroot]\scripts\buildsystems\vcpkg.cmake&quot;</div></div><!-- fragment --><p> Generate the 64-bit project: </p><div class="fragment"><div class="line">cd build &amp;&amp; \</div><div class="line">cmake .. -G &quot;Visual Studio 15 2017 Win64&quot; &quot;-DCMAKE_TOOLCHAIN_FILE=[vcpkgroot]\scripts\buildsystems\vcpkg.cmake&quot;</div></div><!-- fragment --> <h4>Compile Livox SDK</h4>
+<p>You can now compile the Livox SDK in Visual Studio. </p><h2>4.2 Run Livox SDK Sample</h2>
+<p>Two samples are provided in Sample/Lidar and Sample/Hub, which demonstrate how to configure Livox LiDAR units and receive the point cloud data when directly connecting Livox SDK to LiDAR units or by using a Livox Hub, respectively. The sequence diagram is shown as below:</p>
+<div class="image">
+<img src="sample.png" alt="sample.png"/>
+</div>
+   <h3>4.2.1 Ubuntu 16.04 /14.04 LTS</h3>
+<p>For Ubuntun 16.04/14.04 LTS, run the <em>lidar_sample</em> if connect with the LiDAR unit(s): </p><div class="fragment"><div class="line">cd sample/lidar &amp;&amp; ./lidar_sample</div></div><!-- fragment --><p> or run the <em>hub_sample</em> if connect with the hub unit(s): </p><div class="fragment"><div class="line">cd sample/hub &amp;&amp; ./hub_sample</div></div><!-- fragment --> <h3>4.2.2 Windows 7/10</h3>
+<p>After compiling the Livox SDK as shown in section 4.1.2, you can find <code>hub_sample.exe</code> or <code>lidar_sample.exe</code> in the {Livox-SDK}\build\sample\hub\Debug or {Livox-SDK}\build\sample\lidar\Debug folder, respectively, which can be run directly.</p>
+<p>Then you can see the information as below:</p>
+<div class="image">
+<img src="sdk_init.png" alt="sdk_init.png"/>
+</div>
+   <h3>4.3 Connect to the specific LiDAR units</h3>
+<p>Samples we provided will connect all the broadcast device in you LAN in default.There are two ways to connect the specific units:</p>
+<ul>
+<li>run sample with input options</li>
+<li>edit the Broadcast Code list in source code</li>
+</ul>
+<p><b>NOTE:</b></p>
+<p>Each Livox LiDAR unit owns a unique Broadcast Code . The broadcast code consists of its serial number and an additional number (1,2, or 3). The serial number can be found on the body of the LiDAR unit (below the QR code).The Broadcast Code may be used when you want to connect to the specific LiDAR unit(s). The detailed format is shown as below:</p>
+<div class="image">
+<img src="broadcast_code.png" alt="broadcast_code.png"/>
+<div class="caption">
+Broadcast Code</div></div>
+<h4>4.3.1 Program Options</h4>
+<p>We provide the following program options for connecting the specific units and saving log file: </p><div class="fragment"><div class="line">[-c]:Register LiDAR units by Broadcast Code.Connect the registered units ONLY. </div><div class="line">[-l]:Save the log file(In the executable file&#39;s directory).</div><div class="line">[-h]:Show help.</div></div><!-- fragment --><p> Here is the example: </p><div class="fragment"><div class="line">./lidar_sample -c &quot;00000000000002&amp;00000000000003&amp;00000000000004&quot; -l</div><div class="line">./hub_sample -c &quot;00000000000001&quot; -l</div></div><!-- fragment --><h4>4.3.2 Edit Broadcast Code List</h4>
+<p>Comment the following code section:</p>
+<div class="fragment"><div class="line">/** Connect all the broadcast device. */</div><div class="line">int lidar_count = 0;</div><div class="line">char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize];</div></div><!-- fragment --><p>Remove the comment of the following code section, set the BROADCAST_CODE_LIST_SIZE and replace the broadcast code lists in the <code>main.c</code> for both LiDAR sample ({Livox-SDK}/sample/lidar/main.c) and Hub sample ({Livox-SDK}/sample/hub/main.c) with the broadcast code of your devices before building.</p>
+<div class="fragment"><div class="line">/** Connect the broadcast device in list, please input the broadcast code and modify the BROADCAST_CODE_LIST_SIZE. */</div><div class="line">/*#define BROADCAST_CODE_LIST_SIZE  3</div><div class="line">int lidar_count = BROADCAST_CODE_LIST_SIZE;</div><div class="line">char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {</div><div class="line">  &quot;000000000000002&quot;,</div><div class="line">  &quot;000000000000003&quot;,</div><div class="line">  &quot;000000000000004&quot;</div><div class="line">};*/</div></div><!-- fragment --><h1>5 Support</h1>
+<p>You can get support from Livox with the following methods:</p><ul>
+<li>Send email to <a href="#" onclick="location.href='mai'+'lto:'+'dev'+'@l'+'ivo'+'xt'+'ech'+'.c'+'om'; return false;">dev@l<span style="display: none;">.nosp@m.</span>ivox<span style="display: none;">.nosp@m.</span>tech.<span style="display: none;">.nosp@m.</span>com</a> with a clear description of your problem and your setup</li>
+<li>Github Issues </li>
+</ul>
+</div></div><!-- PageDoc -->
 </div><!-- contents -->
 </div><!-- doc-content -->
 <!-- start footer part -->
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-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/rotating__file__sink_8h_source.html b/docs/rotating__file__sink_8h_source.html
index e2c43e3..91e78c1 100644
--- a/docs/rotating__file__sink_8h_source.html
+++ b/docs/rotating__file__sink_8h_source.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/sample.png b/docs/sample.png
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   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/tweakme_8h.html b/docs/tweakme_8h.html
index 4fe695b..ff0116c 100644
--- a/docs/tweakme_8h.html
+++ b/docs/tweakme_8h.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/tweakme_8h_source.html b/docs/tweakme_8h_source.html
index b476496..23508a8 100644
--- a/docs/tweakme_8h_source.html
+++ b/docs/tweakme_8h_source.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/union_status_union-members.html b/docs/union_status_union-members.html
index cd2bbb1..250615d 100644
--- a/docs/union_status_union-members.html
+++ b/docs/union_status_union-members.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/union_status_union.html b/docs/union_status_union.html
index d45bff1..32ecc87 100644
--- a/docs/union_status_union.html
+++ b/docs/union_status_union.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union-members.html b/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union-members.html
index b298b40..805739e 100644
--- a/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union-members.html
+++ b/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union-members.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union.html b/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union.html
index 72765b0..e5d3670 100644
--- a/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union.html
+++ b/docs/unionfmt_1_1v5_1_1internal_1_1color__type_1_1color__union.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/version_8h.html b/docs/version_8h.html
index 53dc535..00b3923 100644
--- a/docs/version_8h.html
+++ b/docs/version_8h.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/version_8h_source.html b/docs/version_8h_source.html
index 9562daf..7b56add 100644
--- a/docs/version_8h_source.html
+++ b/docs/version_8h_source.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/wincolor__sink_8h.html b/docs/wincolor__sink_8h.html
index eb4c953..c6c4dd7 100644
--- a/docs/wincolor__sink_8h.html
+++ b/docs/wincolor__sink_8h.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/docs/wincolor__sink_8h_source.html b/docs/wincolor__sink_8h_source.html
index 583d404..63bd83c 100644
--- a/docs/wincolor__sink_8h_source.html
+++ b/docs/wincolor__sink_8h_source.html
@@ -31,7 +31,7 @@
   <td id="projectlogo"><img alt="Logo" src="1.png"/></td>
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">Livox SDK API
-   &#160;<span id="projectnumber">v1.0.0</span>
+   &#160;<span id="projectnumber">V1.1.0</span>
    </div>
   </td>
  </tr>
diff --git a/sample/hub/main.c b/sample/hub/main.c
index d62c853..58afb9c 100644
--- a/sample/hub/main.c
+++ b/sample/hub/main.c
@@ -59,16 +59,16 @@ char broadcast_code_list[BROADCAST_CODE_LIST_SIZE][kBroadcastCodeSize] = {
   "00000000000001"
 };*/
 
-void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
+void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
   static uint32_t receive_packet_count = 0;
   if (data) {
     ++receive_packet_count;
     if (0 == (receive_packet_count % 10000)) {
       printf("receive packet count %d %d\n", data->id, receive_packet_count);
 
-	  /** Parsing the timestamp and the point cloud data. */
-	  uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
-	  LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
+      /** Parsing the timestamp and the point cloud data. */
+      uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
+      LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
     }
     printf("receive packet from %d \n", (uint16_t) HubGetLidarHandle(data->slot, data->id));
   }
@@ -198,7 +198,7 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
   uint8_t handle = 0;
   result = AddHubToConnect(info->broadcast_code, &handle);
   if (result == kStatusSuccess && handle < kMaxLidarCount) {
-    SetDataCallback(handle, GetLidarData);
+    SetDataCallback(handle, GetLidarData, NULL);
     devices[handle].handle = handle;
     devices[handle].device_state = kDeviceStateDisconnect;
   }
@@ -221,8 +221,14 @@ int SetProgramOption(int argc, const char *argv[]) {
   int optch = 0;
   const char *optarg = NULL;
 
-  apr_initialize();
-  apr_pool_create(&mp, NULL);
+  if (apr_initialize() != APR_SUCCESS) {
+    return -1;
+  }
+
+  if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
+    return -1;
+  }
+
   rv = apr_getopt_init(&opt, mp, argc, argv);
   if (rv != APR_SUCCESS) {
     printf("Program options initialization failed.\n");
diff --git a/sample/hub_lvx_file/CMakeLists.txt b/sample/hub_lvx_file/CMakeLists.txt
new file mode 100644
index 0000000..3431e26
--- /dev/null
+++ b/sample/hub_lvx_file/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.0)
+
+set(DEMO_NAME hub_lvx_sample)
+add_executable(${DEMO_NAME} main.cpp lvx_file.cpp)
+target_link_libraries(${DEMO_NAME}
+        PRIVATE
+        ${PROJECT_NAME}_static
+        )
diff --git a/sample/hub_lvx_file/lvx_file.cpp b/sample/hub_lvx_file/lvx_file.cpp
new file mode 100644
index 0000000..7a8d50a
--- /dev/null
+++ b/sample/hub_lvx_file/lvx_file.cpp
@@ -0,0 +1,155 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <time.h>
+#include <math.h>
+#include "lvx_file.h"
+
+#define WRITE_BUFFER_LEN 1024 * 1024
+#define MAGIC_CODE       (0xac0ea767)
+#define PACK_POINT_NUM   100
+#define M_PI             3.14159265358979323846
+
+LvxFileHandle::LvxFileHandle() : cur_offset_(0), cur_frame_index_(0) {
+}
+
+bool LvxFileHandle::InitLvxFile() {
+  time_t curtime = time(nullptr);
+  char filename[30] = { 0 };
+
+  tm* local_time = localtime(&curtime);
+  sprintf(filename, "%d-%02d-%02d_%02d-%02d-%02d.lvx", local_time->tm_year + 1900,
+                                                       local_time->tm_mon + 1,
+                                                       local_time->tm_mday,
+                                                       local_time->tm_hour,
+                                                       local_time->tm_min,
+                                                       local_time->tm_sec);
+
+  lvx_file_.open(filename, std::ios::out | std::ios::binary);
+
+  if (!lvx_file_.is_open()) {
+    return false;
+  }
+  return true;
+}
+
+void LvxFileHandle::InitLvxFileHeader() {
+  LvxFileHeader lvx_file_header = { 0 };
+  std::unique_ptr<char[]> write_buffer(new char[WRITE_BUFFER_LEN]);
+  std::string signature = "livox_tech";
+  memcpy(lvx_file_header.signature, signature.c_str(), signature.size());
+  
+  lvx_file_header.version[0] = 1;
+  lvx_file_header.version[1] = 0;
+  lvx_file_header.version[2] = 0;
+  lvx_file_header.version[3] = 0;
+
+  lvx_file_header.magic_code = MAGIC_CODE;
+
+  memcpy(write_buffer.get() + cur_offset_, (void *)&lvx_file_header, sizeof(LvxFileHeader));
+  cur_offset_ += sizeof(LvxFileHeader);
+
+  uint8_t device_count = static_cast<uint8_t>(device_info_list_.size());
+  memcpy(write_buffer.get() + cur_offset_, (void *)&device_count, sizeof(uint8_t));
+  cur_offset_ += sizeof(uint8_t);
+  
+  for (int i = 0; i < device_count; i++) {
+    memcpy(write_buffer.get() + cur_offset_, (void *)&device_info_list_[i], sizeof(LvxDeviceInfo));
+    cur_offset_ += sizeof(LvxDeviceInfo);
+  }
+
+  lvx_file_.write((char *)write_buffer.get(), cur_offset_);
+}
+
+void LvxFileHandle::SaveFrameToLvxFile(std::list<LvxBasePackDetail> &point_packet_list_temp) {
+  uint64_t cur_pos = 0;
+  FrameHeader frame_header = { 0 };
+  std::unique_ptr<char[]> write_buffer(new char[WRITE_BUFFER_LEN]);
+
+  int pack_num = point_packet_list_temp.size();
+  frame_header.current_offset = cur_offset_;
+  frame_header.next_offset = cur_offset_ + (int64_t)pack_num * sizeof(LvxBasePackDetail) + sizeof(FrameHeader);
+  frame_header.package_count = pack_num;
+  frame_header.frame_index = cur_frame_index_;
+
+  memcpy(write_buffer.get() + cur_pos, (void*)&frame_header, sizeof(FrameHeader));
+  cur_pos += sizeof(FrameHeader);
+
+  auto iter = point_packet_list_temp.begin();
+  for (; iter != point_packet_list_temp.end(); iter++) {
+    if (cur_pos + sizeof(LvxBasePackDetail) >= WRITE_BUFFER_LEN) {
+      lvx_file_.write((char*)write_buffer.get(), cur_pos);
+      cur_pos = 0;
+      memcpy(write_buffer.get() + cur_pos, (void*)&(*iter), sizeof(LvxBasePackDetail));
+      cur_pos += sizeof(LvxBasePackDetail);
+    }
+    else {
+      memcpy(write_buffer.get() + cur_pos, (void*)&(*iter), sizeof(LvxBasePackDetail));
+      cur_pos += sizeof(LvxBasePackDetail);
+    }
+  }
+  lvx_file_.write((char*)write_buffer.get(), cur_pos);
+
+  cur_offset_ = frame_header.next_offset;
+  cur_frame_index_++;
+}
+
+void LvxFileHandle::CloseLvxFile() {
+  if (lvx_file_.is_open())
+    lvx_file_.close();
+}
+
+void LvxFileHandle::BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &packet) {
+  packet.version = data->version;
+  packet.port_id = data->slot;
+  packet.lidar_index = data->id;
+  packet.rsvd = data->rsvd;
+  packet.error_code = data->err_code;
+  packet.timestamp_type = data->timestamp_type;
+  packet.data_type = data->data_type;
+  memcpy(packet.timestamp, data->timestamp, 8 * sizeof(uint8_t));
+
+  if (packet.data_type == 0) {
+    LivoxRawPoint tmp[PACK_POINT_NUM];
+    memcpy(tmp, (void *)data->data, PACK_POINT_NUM * sizeof(LivoxRawPoint));
+    for (int i = 0; i < PACK_POINT_NUM; i++) {
+      packet.point[i].x = static_cast<float>(tmp[i].x / 1000.0);
+      packet.point[i].y = static_cast<float>(tmp[i].y / 1000.0);
+      packet.point[i].z = static_cast<float>(tmp[i].z / 1000.0);
+      packet.point[i].reflectivity = tmp[i].reflectivity;
+    }
+  }
+  else if (packet.data_type == 1) {
+    LivoxSpherPoint tmp[PACK_POINT_NUM];
+    memcpy(tmp, (void *)data->data, PACK_POINT_NUM * sizeof(LivoxSpherPoint));
+    for (int i = 0; i < PACK_POINT_NUM; i++) {
+      packet.point[i].x = static_cast<float>(tmp[i].depth / 1000.0);
+      packet.point[i].y = static_cast<float>(tmp[i].theta);
+      packet.point[i].z = static_cast<float>(tmp[i].phi);
+      packet.point[i].reflectivity = tmp[i].reflectivity;
+      LivoxPoint temp = { packet.point[i].x * sin(packet.point[i].y) * cos(packet.point[i].z), packet.point[i].x * sin(packet.point[i].y) * sin(packet.point[i].z), packet.point[i].x * cos(packet.point[i].y) };;
+      packet.point[i] = temp;
+    }
+  }
+}
\ No newline at end of file
diff --git a/sample/hub_lvx_file/lvx_file.h b/sample/hub_lvx_file/lvx_file.h
new file mode 100644
index 0000000..bc84576
--- /dev/null
+++ b/sample/hub_lvx_file/lvx_file.h
@@ -0,0 +1,110 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <apr_thread_cond.h>
+#include <apr_thread_mutex.h>
+#include <apr_thread_proc.h>
+#include <condition_variable>
+#include <memory>
+#include <fstream>
+#include <list>
+#include <vector>
+#include <mutex>
+#include "livox_sdk.h"
+
+typedef enum {
+  kDeviceStateDisconnect = 0,
+  kDeviceStateConnect = 1,
+  kDeviceStateSampling = 2,
+} DeviceState;
+
+typedef struct {
+  uint8_t handle;
+  DeviceState device_state;
+  DeviceInfo info;
+} DeviceItem;
+
+#pragma pack(1)
+
+typedef struct {
+  uint8_t signature[16];
+  uint8_t version[4];
+  uint32_t magic_code;
+}LvxFileHeader;
+
+typedef struct {
+  uint8_t lidar_broadcast_code[16];
+  uint8_t hub_broadcast_code[16];
+  uint8_t device_index;
+  uint8_t device_type;
+  float roll;
+  float pitch;
+  float yaw;
+  float x;
+  float y;
+  float z;
+} LvxDeviceInfo;
+
+typedef struct {
+  uint8_t device_index;
+  uint8_t version;
+  uint8_t port_id;
+  uint8_t lidar_index;
+  uint8_t rsvd;
+  uint32_t error_code;
+  uint8_t timestamp_type;
+  uint8_t data_type;
+  uint8_t timestamp[8];
+  LivoxPoint point[100];
+}LvxBasePackDetail;
+
+typedef struct {
+  uint64_t current_offset;
+  uint64_t next_offset;
+  uint64_t frame_index;
+  uint64_t package_count;
+}FrameHeader;
+
+#pragma pack()
+
+class LvxFileHandle {
+public:
+  LvxFileHandle();
+
+  bool InitLvxFile();
+  void InitLvxFileHeader();
+  void SaveFrameToLvxFile(std::list<LvxBasePackDetail> &point_packet_list_temp);
+  void CloseLvxFile();
+
+  void AddDeviceInfo(LvxDeviceInfo &info) { device_info_list_.push_back(info); };
+  int GetDeviceInfoListSize() { return device_info_list_.size(); }
+
+  void BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &packet);
+
+private:
+  std::ofstream lvx_file_;
+  std::vector<LvxDeviceInfo> device_info_list_;
+  uint32_t cur_frame_index_;
+  uint64_t cur_offset_;
+};
\ No newline at end of file
diff --git a/sample/hub_lvx_file/main.cpp b/sample/hub_lvx_file/main.cpp
new file mode 100644
index 0000000..ef656cd
--- /dev/null
+++ b/sample/hub_lvx_file/main.cpp
@@ -0,0 +1,354 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifdef WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+#include <apr_general.h>
+#include <apr_getopt.h>
+#include <string.h>
+#include <algorithm>
+#include "lvx_file.h"
+
+DeviceItem devices[kMaxLidarCount];
+LvxFileHandle lvx_file_handler;
+std::list<LvxBasePackDetail> point_packet_list;
+std::condition_variable condition_variable;
+std::mutex mtx;
+int lidar_units_index[32];
+int lvx_file_save_time = 10;
+bool is_finish_extrinsic_parameter = false;
+
+#define FRAME_RATE 20
+
+/** Connect the first broadcast hub in default and connect specific device when use program options or broadcast_code_list is not empty. */
+std::vector<std::string> broadcast_code_list = {
+  //"000000000000001"
+};
+
+/** Receiving point cloud data from Livox Hub. */
+void GetHubData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
+  if (data) {
+    if (is_finish_extrinsic_parameter) {
+      std::lock_guard<std::mutex> lock(mtx);
+      LvxBasePackDetail packet;
+      packet.device_index = lidar_units_index[HubGetLidarHandle(data->slot, data->id)];
+      lvx_file_handler.BasePointsHandle(data, packet);
+      point_packet_list.push_back(packet);
+
+      if (point_packet_list.size() % (50 * broadcast_code_list.size()) == 0) {
+        condition_variable.notify_one();
+      }
+    }
+  }
+}
+
+/** Callback function of starting sampling. */
+void OnSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data) {
+  printf("OnSampleCallback statue %d handle %d response %d \n", status, handle, response);
+  if (status == kStatusSuccess) {
+    if (response != 0) {
+      devices[handle].device_state = kDeviceStateConnect;
+    }
+  } else if (status == kStatusTimeout) {
+    devices[handle].device_state = kDeviceStateConnect;
+  }
+}
+
+/** Callback function of stopping sampling. */
+void OnStopSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data) {
+}
+
+/** Callback function of get LiDAR units' extrinsic parameter. */
+void OnGetLidarUnitsExtrinsicParameter(uint8_t status, uint8_t handle, HubGetExtrinsicParameterResponse *response, void *data) {
+  if (status == kStatusSuccess) {
+    if (response != 0) {
+      printf("OnGetLidarUnitsExtrinsicParameter statue %d handle %d response %d \n", status, handle, response->ret_code);
+      std::lock_guard<std::mutex> lock(mtx);
+      LvxDeviceInfo lidar_info;
+      for (int i = 0; i < response->count; i++) {
+        ExtrinsicParameterResponseItem temp;
+        memcpy(&temp, (void *)(response->parameter_list + i), sizeof(ExtrinsicParameterResponseItem));
+        strncpy((char *)lidar_info.lidar_broadcast_code, temp.broadcast_code, kBroadcastCodeSize);
+        strncpy((char *)lidar_info.hub_broadcast_code, broadcast_code_list[0].c_str(), kBroadcastCodeSize);
+
+        std::unique_ptr<DeviceInfo[]> device_list(new DeviceInfo[kMaxLidarCount]);
+        std::unique_ptr<uint8_t> size(new uint8_t);
+        GetConnectedDevices(device_list.get(), size.get());
+        for (int j = 0; j < kMaxLidarCount; j++) {
+          if (strncmp(device_list[j].broadcast_code, temp.broadcast_code, kBroadcastCodeSize) == 0) {
+            lidar_units_index[device_list[j].handle] = i;
+            lidar_info.device_index = i;
+            break;
+          }
+        }
+
+        lidar_info.device_type = devices[handle].info.type;
+        lidar_info.pitch = temp.pitch;
+        lidar_info.roll = temp.roll;
+        lidar_info.yaw = temp.yaw;
+        lidar_info.x = static_cast<float>(temp.x / 1000.0);
+        lidar_info.y = static_cast<float>(temp.y / 1000.0);
+        lidar_info.z = static_cast<float>(temp.z / 1000.0);
+        lvx_file_handler.AddDeviceInfo(lidar_info);
+      }
+      is_finish_extrinsic_parameter = true;
+      condition_variable.notify_one();
+    }
+  }
+  else if (status == kStatusTimeout) {
+    printf("GetLidarUnitsExtrinsicParameter timeout! \n");
+  }
+}
+
+void OnHubLidarInfo(uint8_t status, uint8_t handle, HubQueryLidarInformationResponse *response, void *client_data) {
+  if (status != kStatusSuccess) {
+    printf("Device Query Informations Failed %d\n", status);
+  }
+  if (response) {
+    int i = 0;
+    for (i = 0; i < response->count; ++i) {
+      printf("Hub Lidar Info broadcast code %s id %d slot %d \n ",
+        response->device_info_list[i].broadcast_code,
+        response->device_info_list[i].id,
+        response->device_info_list[i].slot);
+    }
+  }
+}
+
+/** Callback function of changing of device state. */
+void OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
+  if (info == nullptr) {
+    return;
+  }
+  printf("OnDeviceChange broadcast code %s update type %d\n", info->broadcast_code, type);
+  uint8_t handle = info->handle;
+  if (handle >= kMaxLidarCount) {
+    return;
+  }
+  if (type == kEventConnect) {
+    HubQueryLidarInformation(OnHubLidarInfo, nullptr);
+    if (devices[handle].device_state == kDeviceStateDisconnect) {
+      devices[handle].device_state = kDeviceStateConnect;
+      devices[handle].info = *info;
+    }
+  } else if (type == kEventDisconnect) {
+    devices[handle].device_state = kDeviceStateDisconnect;
+  } else if (type == kEventStateChange) {
+    devices[handle].info = *info;
+  }
+
+  if (devices[handle].device_state == kDeviceStateConnect) {
+    printf("Device State error_code %d\n", devices[handle].info.status.status_code);
+    printf("Device State working state %d\n", devices[handle].info.state);
+    printf("Device feature %d\n", devices[handle].info.feature);
+    if (devices[handle].info.state == kLidarStateNormal) {
+      if (devices[handle].info.type == kDeviceTypeHub) {
+        HubGetExtrinsicParameter(OnGetLidarUnitsExtrinsicParameter, nullptr);
+        HubStartSampling(OnSampleCallback, nullptr);
+        devices[handle].device_state = kDeviceStateSampling;
+      }
+    }
+  }
+}
+
+/** Callback function when broadcast message received.
+ * You need to add listening device broadcast code and set the point cloud data callback in this function.
+ */
+void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
+  if (info == nullptr) {
+    return;
+  }
+
+  printf("Receive Broadcast Code %s\n", info->broadcast_code);
+
+  if (broadcast_code_list.size() > 0) {
+    bool found = false;
+    uint8_t i = 0;
+    for (i = 0; i < broadcast_code_list.size(); ++i) {
+      if (strncmp(info->broadcast_code, broadcast_code_list[i].c_str(), kBroadcastCodeSize) == 0) {
+        found = true;
+        break;
+      }
+    }
+    if (!found) {
+      return;
+    }
+  }
+  else {
+    broadcast_code_list.push_back(info->broadcast_code);
+    return;
+  }
+
+  bool result = false;
+  uint8_t handle = 0;
+  result = AddHubToConnect(info->broadcast_code, &handle);
+  if (result == kStatusSuccess) {
+    SetDataCallback(handle, GetHubData, nullptr);
+    devices[handle].handle = handle;
+    devices[handle].device_state = kDeviceStateDisconnect;
+  }
+}
+
+/** Set the program options.
+* You can input the registered device broadcast code and decide whether to save the log file.
+*/
+int SetProgramOption(int argc, const char *argv[]) {
+  apr_status_t rv;
+  apr_pool_t *mp = nullptr;
+  static const apr_getopt_option_t opt_option[] = {
+    /** Long-option, short-option, has-arg flag, description */
+    { "code", 'c', 1, "Register device broadcast code" },     
+    { "log", 'l', 0, "Save the log file" },    
+    { "time", 't', 1, "Time to save point cloud to the lvx file" },
+    { "help", 'h', 0, "Show help" },    
+    { nullptr, 0, 0, nullptr },
+  };
+  apr_getopt_t *opt = nullptr;
+  int optch = 0;
+  const char *optarg = nullptr;
+
+  if (apr_initialize() != APR_SUCCESS) {
+    return -1;
+  }
+
+  if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
+    return -1;
+  }
+
+  rv = apr_getopt_init(&opt, mp, argc, argv);
+  if (rv != APR_SUCCESS) {
+    printf("Program options initialization failed.\n");
+    return -1;
+  }
+
+  /** Parse the all options based on opt_option[] */
+  bool is_help = false;
+  while ((rv = apr_getopt_long(opt, opt_option, &optch, &optarg)) == APR_SUCCESS) {
+    switch (optch) {
+    case 'c': {
+      printf("Register broadcast code: %s\n", optarg);
+      broadcast_code_list.push_back(optarg);
+      break;
+    }
+    case 'l': {
+      printf("Save the log file.\n");
+      SaveLoggerFile();
+      break;
+    }
+    case 't': {
+      printf("Time to save point cloud to the lvx file:%s.\n", optarg);
+      lvx_file_save_time = atoi(optarg);
+      break;
+    }
+    case 'h': {
+      printf(
+        " [-c] Register device broadcast code\n"
+        " [-l] Save the log file\n"
+        " [-t] Time to save point cloud to the lvx file\n"
+        " [-h] Show help\n"
+      );
+      is_help = true;
+      break;
+    }
+    }
+  }
+  if (rv != APR_EOF) {
+    printf("Invalid options.\n");
+  }
+
+  apr_pool_destroy(mp);
+  mp = nullptr;
+  if (is_help)
+    return 1;
+  return 0;
+}
+
+int main(int argc, const char *argv[]) {
+/** Set the program options. */
+  if (SetProgramOption(argc, argv))
+    return 0;
+
+  printf("Livox SDK initializing.\n");
+/** Initialize Livox-SDK. */
+  if (!Init()) {
+    return -1;
+  }
+  printf("Livox SDK has been initialized.\n");
+
+  LivoxSdkVersion _sdkversion;
+  GetLivoxSdkVersion(&_sdkversion);
+  printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
+
+  memset(devices, 0, sizeof(devices));
+
+/** Set the callback function receiving broadcast message from Livox LiDAR. */
+  SetBroadcastCallback(OnDeviceBroadcast);
+
+/** Set the callback function called when device state change,
+ * which means connection/disconnection and changing of LiDAR state.
+ */
+  SetDeviceStateUpdateCallback(OnDeviceChange);
+
+/** Start the device discovering routine. */
+  if (!Start()) {
+    Uninit();
+    return -1;
+  }
+  printf("Start discovering device.\n");
+
+  {
+    std::unique_lock<std::mutex> lock(mtx);
+    condition_variable.wait(lock);
+  }
+
+  printf("Start initialize lvx file.\n");
+  if (!lvx_file_handler.InitLvxFile()) {
+    Uninit();
+    return -1;
+  }
+  lvx_file_handler.InitLvxFileHeader();
+
+  int i = 0;
+  for (i = 0; i < lvx_file_save_time * FRAME_RATE; ++i) {
+    std::list<LvxBasePackDetail> point_packet_list_temp;
+    {
+      std::unique_lock<std::mutex> lock(mtx);
+      condition_variable.wait(lock);
+      point_packet_list_temp.swap(point_packet_list);
+    }
+
+    printf("Finish save %d frame to lvx file.\n", i);
+    lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp);
+  }
+
+  lvx_file_handler.CloseLvxFile();
+
+  HubStopSampling(OnStopSampleCallback, NULL);
+  printf("stop sample\n");
+
+  Uninit();
+}
diff --git a/sample/lidar/main.c b/sample/lidar/main.c
index a76a969..962d0db 100644
--- a/sample/lidar/main.c
+++ b/sample/lidar/main.c
@@ -63,15 +63,15 @@ char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
 };*/
 
 /** Receiving point cloud data from Livox LiDAR. */
-void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
+void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
   if (data) {
     data_recveive_count[handle] += data_num;
     if (data_recveive_count[handle] % 10000 == 0) {
       printf("receive packet count %d %d\n", handle, data_recveive_count[handle]);
 
-	  /** Parsing the timestamp and the point cloud data. */
-	  uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
-	  LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
+      /** Parsing the timestamp and the point cloud data. */
+      uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
+      LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
     }
   }
 }
@@ -172,7 +172,7 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
   result = AddLidarToConnect(info->broadcast_code, &handle);
   if (result == kStatusSuccess) {
     /** Set the point cloud data for a specific Livox LiDAR. */
-    SetDataCallback(handle, GetLidarData);
+    SetDataCallback(handle, GetLidarData, NULL);
     devices[handle].handle = handle;
     devices[handle].device_state = kDeviceStateDisconnect;
   }
@@ -195,8 +195,14 @@ int SetProgramOption(int argc, const char *argv[]) {
   int optch = 0;
   const char *optarg = NULL;
 
-  apr_initialize();
-  apr_pool_create(&mp, NULL);
+  if (apr_initialize() != APR_SUCCESS) {
+    return -1;
+  }
+
+  if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
+    return -1;
+  }
+
   rv = apr_getopt_init(&opt, mp, argc, argv);
   if (rv != APR_SUCCESS) {
     printf("Program options initialization failed.\n");
diff --git a/sample/lidar_lvx_file/CMakeLists.txt b/sample/lidar_lvx_file/CMakeLists.txt
new file mode 100644
index 0000000..3bf0a78
--- /dev/null
+++ b/sample/lidar_lvx_file/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.0)
+
+set(DEMO_NAME lidar_lvx_sample)
+add_executable(${DEMO_NAME} main.cpp lvx_file.cpp)
+target_link_libraries(${DEMO_NAME}
+        PRIVATE
+        ${PROJECT_NAME}_static
+        )
diff --git a/sample/lidar_lvx_file/lvx_file.cpp b/sample/lidar_lvx_file/lvx_file.cpp
new file mode 100644
index 0000000..553ed0c
--- /dev/null
+++ b/sample/lidar_lvx_file/lvx_file.cpp
@@ -0,0 +1,208 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <time.h>
+#include <math.h>
+#include "lvx_file.h"
+#include "third_party/rapidxml/rapidxml.hpp"
+#include "third_party/rapidxml/rapidxml_utils.hpp"
+
+#define WRITE_BUFFER_LEN 1024 * 1024
+#define MAGIC_CODE       (0xac0ea767)
+#define PACK_POINT_NUM   100
+#define M_PI             3.14159265358979323846
+
+LvxFileHandle::LvxFileHandle() : cur_offset_(0), cur_frame_index_(0) {
+}
+
+bool LvxFileHandle::InitLvxFile() {
+  time_t curtime = time(nullptr);
+  char filename[30] = { 0 };
+
+  tm* local_time = localtime(&curtime);
+  sprintf(filename, "%d-%02d-%02d_%02d-%02d-%02d.lvx", local_time->tm_year + 1900,
+                                                       local_time->tm_mon + 1,
+                                                       local_time->tm_mday,
+                                                       local_time->tm_hour,
+                                                       local_time->tm_min,
+                                                       local_time->tm_sec);
+
+  lvx_file_.open(filename, std::ios::out | std::ios::binary);
+
+  if (!lvx_file_.is_open()) {
+    return false;
+  }
+  return true;
+}
+
+void LvxFileHandle::InitLvxFileHeader() {
+  LvxFileHeader lvx_file_header = { 0 };
+  std::unique_ptr<char[]> write_buffer(new char[WRITE_BUFFER_LEN]);
+  std::string signature = "livox_tech";
+  memcpy(lvx_file_header.signature, signature.c_str(), signature.size());
+  
+  lvx_file_header.version[0] = 1;
+  lvx_file_header.version[1] = 0;
+  lvx_file_header.version[2] = 0;
+  lvx_file_header.version[3] = 0;
+
+  lvx_file_header.magic_code = MAGIC_CODE;
+
+  memcpy(write_buffer.get() + cur_offset_, (void *)&lvx_file_header, sizeof(LvxFileHeader));
+  cur_offset_ += sizeof(LvxFileHeader);
+
+  uint8_t device_count = static_cast<uint8_t>(device_info_list_.size());
+  memcpy(write_buffer.get() + cur_offset_, (void *)&device_count, sizeof(uint8_t));
+  cur_offset_ += sizeof(uint8_t);
+  
+  for (int i = 0; i < device_count; i++) {
+    memcpy(write_buffer.get() + cur_offset_, (void *)&device_info_list_[i], sizeof(LvxDeviceInfo));
+    cur_offset_ += sizeof(LvxDeviceInfo);
+  }
+
+  lvx_file_.write((char *)write_buffer.get(), cur_offset_);
+}
+
+void LvxFileHandle::SaveFrameToLvxFile(std::list<LvxBasePackDetail> &point_packet_list_temp) {
+  uint64_t cur_pos = 0;
+  FrameHeader frame_header = { 0 };
+  std::unique_ptr<char[]> write_buffer(new char[WRITE_BUFFER_LEN]);
+
+  int pack_num = point_packet_list_temp.size();
+  frame_header.current_offset = cur_offset_;
+  frame_header.next_offset = cur_offset_ + (int64_t)pack_num * sizeof(LvxBasePackDetail) + sizeof(FrameHeader);
+  frame_header.package_count = pack_num;
+  frame_header.frame_index = cur_frame_index_;
+
+  memcpy(write_buffer.get() + cur_pos, (void*)&frame_header, sizeof(FrameHeader));
+  cur_pos += sizeof(FrameHeader);
+
+  auto iter = point_packet_list_temp.begin();
+  for (; iter != point_packet_list_temp.end(); iter++) {
+    if (cur_pos + sizeof(LvxBasePackDetail) >= WRITE_BUFFER_LEN) {
+      lvx_file_.write((char*)write_buffer.get(), cur_pos);
+      cur_pos = 0;
+      memcpy(write_buffer.get() + cur_pos, (void*)&(*iter), sizeof(LvxBasePackDetail));
+      cur_pos += sizeof(LvxBasePackDetail);
+    }
+    else {
+      memcpy(write_buffer.get() + cur_pos, (void*)&(*iter), sizeof(LvxBasePackDetail));
+      cur_pos += sizeof(LvxBasePackDetail);
+    }
+  }
+  lvx_file_.write((char*)write_buffer.get(), cur_pos);
+
+  cur_offset_ = frame_header.next_offset;
+  cur_frame_index_++;
+}
+
+void LvxFileHandle::CloseLvxFile() {
+  if (lvx_file_.is_open())
+    lvx_file_.close();
+}
+
+void LvxFileHandle::BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &packet) {
+  packet.version = data->version;
+  packet.port_id = data->slot;
+  packet.lidar_index = data->id;
+  packet.rsvd = data->rsvd;
+  packet.error_code = data->err_code;
+  packet.timestamp_type = data->timestamp_type;
+  packet.data_type = data->data_type;
+  memcpy(packet.timestamp, data->timestamp, 8 * sizeof(uint8_t));
+
+  if (packet.data_type == 0) {
+    LivoxRawPoint tmp[PACK_POINT_NUM];
+    memcpy(tmp, (void *)data->data, PACK_POINT_NUM * sizeof(LivoxRawPoint));
+    for (int i = 0; i < PACK_POINT_NUM; i++) {
+      packet.point[i].x = static_cast<float>(tmp[i].x / 1000.0);
+      packet.point[i].y = static_cast<float>(tmp[i].y / 1000.0);
+      packet.point[i].z = static_cast<float>(tmp[i].z / 1000.0);
+      packet.point[i].reflectivity = tmp[i].reflectivity;
+    }
+  }
+  else if (packet.data_type == 1) {
+    LivoxSpherPoint tmp[PACK_POINT_NUM];
+    memcpy(tmp, (void *)data->data, PACK_POINT_NUM * sizeof(LivoxSpherPoint));
+    for (int i = 0; i < PACK_POINT_NUM; i++) {
+      packet.point[i].x = static_cast<float>(tmp[i].depth / 1000.0);
+      packet.point[i].y = static_cast<float>(tmp[i].theta);
+      packet.point[i].z = static_cast<float>(tmp[i].phi);
+      packet.point[i].reflectivity = tmp[i].reflectivity;
+    }
+  }
+}
+
+void LvxFileHandle::CalcExtrinsicPoints(LvxBasePackDetail &packet) {
+  LvxDeviceInfo info = device_info_list_[packet.device_index];
+  info.roll = static_cast<float>(info.roll * M_PI / 180.0);
+  info.pitch = static_cast<float>(info.pitch * M_PI / 180.0);
+  info.yaw = static_cast<float>(info.yaw * M_PI / 180.0);
+  float rotate[3][3] = { { cos(info.pitch) * cos(info.yaw), sin(info.roll) * sin(info.pitch) * cos(info.yaw) - cos(info.roll) * sin(info.yaw), cos(info.roll) * sin(info.pitch) * cos(info.yaw) + sin(info.roll) * sin(info.yaw) },
+                         { cos(info.pitch) * sin(info.yaw), sin(info.roll) * sin(info.pitch) * sin(info.yaw) + cos(info.roll) * cos(info.yaw), cos(info.roll) * sin(info.pitch) * sin(info.yaw) - sin(info.roll) * cos(info.yaw) },
+                         { -sin(info.pitch), sin(info.roll) * cos(info.pitch), cos(info.roll) * cos(info.pitch) } };
+
+  float trans[3] = { static_cast<float>(info.x), static_cast<float>(info.y), static_cast<float>(info.z) };
+  if (packet.data_type == 0) {
+    for (int i = 0; i < PACK_POINT_NUM; i++) {
+      LivoxPoint temp = packet.point[i];
+      packet.point[i].x = temp.x * rotate[0][0] + temp.y * rotate[0][1] + temp.z * rotate[0][2] + trans[0];
+      packet.point[i].y = temp.x * rotate[1][0] + temp.y * rotate[1][1] + temp.z * rotate[1][2] + trans[1];
+      packet.point[i].z = temp.x * rotate[2][0] + temp.y * rotate[2][1] + temp.z * rotate[2][2] + trans[2];
+    }
+  }
+  else {
+    for (int i = 0; i < PACK_POINT_NUM; i++) {
+      LivoxPoint temp = { packet.point[i].x * sin(packet.point[i].y) * cos(packet.point[i].z), packet.point[i].x * sin(packet.point[i].y) * sin(packet.point[i].z), packet.point[i].x * cos(packet.point[i].y) };;
+      packet.point[i].x = temp.x * rotate[0][0] + temp.y * rotate[0][1] + temp.z * rotate[0][2] + trans[0];
+      packet.point[i].y = temp.x * rotate[1][0] + temp.y * rotate[1][1] + temp.z * rotate[1][2] + trans[1];
+      packet.point[i].z = temp.x * rotate[2][0] + temp.y * rotate[2][1] + temp.z * rotate[2][2] + trans[2];
+    }
+  }
+}
+
+void ParseExtrinsicXml(DeviceItem &item, LvxDeviceInfo &info) {
+  rapidxml::file<> extrinsic_param("extrinsic.xml");
+  rapidxml::xml_document<> doc;
+  doc.parse<0>(extrinsic_param.data());
+  rapidxml::xml_node<>* root = doc.first_node();
+  if ("Livox" == (std::string)root->name()) {
+    for (rapidxml::xml_node<>* device = root->first_node(); device; device = device->next_sibling()) {
+      if ("Device" == (std::string)device->name() && (strncmp(item.info.broadcast_code, device->value(), kBroadcastCodeSize) == 0)) {
+        memcpy(info.lidar_broadcast_code, device->value(), kBroadcastCodeSize);
+        memset(info.hub_broadcast_code, 0, kBroadcastCodeSize);
+        info.device_type = item.info.type;
+        info.device_index = item.handle;
+        for (rapidxml::xml_attribute<>* param = device->first_attribute(); param; param = param->next_attribute()) {
+          if ("roll" == (std::string)param->name()) info.roll = static_cast<float>(atof(param->value()));
+          if ("pitch" == (std::string)param->name()) info.pitch = static_cast<float>(atof(param->value()));
+          if ("yaw" == (std::string)param->name()) info.yaw = static_cast<float>(atof(param->value()));
+          if ("x" == (std::string)param->name()) info.x = static_cast<float>(atof(param->value()));
+          if ("y" == (std::string)param->name()) info.y = static_cast<float>(atof(param->value()));
+          if ("z" == (std::string)param->name()) info.z = static_cast<float>(atof(param->value()));
+        }
+      }
+    }
+  }
+}
diff --git a/sample/lidar_lvx_file/lvx_file.h b/sample/lidar_lvx_file/lvx_file.h
new file mode 100644
index 0000000..f77143e
--- /dev/null
+++ b/sample/lidar_lvx_file/lvx_file.h
@@ -0,0 +1,113 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <apr_thread_cond.h>
+#include <apr_thread_mutex.h>
+#include <apr_thread_proc.h>
+#include <condition_variable>
+#include <memory>
+#include <fstream>
+#include <list>
+#include <vector>
+#include <mutex>
+#include "livox_sdk.h"
+
+typedef enum {
+  kDeviceStateDisconnect = 0,
+  kDeviceStateConnect = 1,
+  kDeviceStateSampling = 2,
+} DeviceState;
+
+typedef struct {
+  uint8_t handle;
+  DeviceState device_state;
+  DeviceInfo info;
+} DeviceItem;
+
+#pragma pack(1)
+
+typedef struct {
+  uint8_t signature[16];
+  uint8_t version[4];
+  uint32_t magic_code;
+}LvxFileHeader;
+
+typedef struct {
+  uint8_t lidar_broadcast_code[16];
+  uint8_t hub_broadcast_code[16];
+  uint8_t device_index;
+  uint8_t device_type;
+  float roll;
+  float pitch;
+  float yaw;
+  float x;
+  float y;
+  float z;
+} LvxDeviceInfo;
+
+typedef struct {
+  uint8_t device_index;
+  uint8_t version;
+  uint8_t port_id;
+  uint8_t lidar_index;
+  uint8_t rsvd;
+  uint32_t error_code;
+  uint8_t timestamp_type;
+  uint8_t data_type;
+  uint8_t timestamp[8];
+  LivoxPoint point[100];
+}LvxBasePackDetail;
+
+typedef struct {
+  uint64_t current_offset;
+  uint64_t next_offset;
+  uint64_t frame_index;
+  uint64_t package_count;
+}FrameHeader;
+
+#pragma pack()
+
+class LvxFileHandle {
+public:
+  LvxFileHandle();
+
+  bool InitLvxFile();
+  void InitLvxFileHeader();
+  void SaveFrameToLvxFile(std::list<LvxBasePackDetail> &point_packet_list_temp);
+  void CloseLvxFile();
+
+  void AddDeviceInfo(LvxDeviceInfo &info) { device_info_list_.push_back(info); };
+  int GetDeviceInfoListSize() { return device_info_list_.size(); }
+
+  void BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &packet);
+  void CalcExtrinsicPoints(LvxBasePackDetail &packet);
+
+private:
+  std::ofstream lvx_file_;
+  std::vector<LvxDeviceInfo> device_info_list_;
+  uint32_t cur_frame_index_;
+  uint64_t cur_offset_;
+};
+
+void ParseExtrinsicXml(DeviceItem &item, LvxDeviceInfo &info);
\ No newline at end of file
diff --git a/sample/lidar_lvx_file/main.cpp b/sample/lidar_lvx_file/main.cpp
new file mode 100644
index 0000000..2611fcf
--- /dev/null
+++ b/sample/lidar_lvx_file/main.cpp
@@ -0,0 +1,395 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifdef WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+#include <apr_general.h>
+#include <apr_getopt.h>
+#include <algorithm>
+#include <string.h>
+#include "lvx_file.h"
+
+DeviceItem devices[kMaxLidarCount];
+LvxFileHandle lvx_file_handler;
+std::list<LvxBasePackDetail> point_packet_list;
+std::vector<std::string> broadcast_code_rev;
+std::condition_variable condition_variable;
+std::mutex mtx;
+int lvx_file_save_time = 10;
+bool is_finish_extrinsic_parameter = false;
+bool is_read_extrinsic_from_xml = false;
+
+#define FRAME_RATE 20
+
+/** Connect all the broadcast device in default and connect specific device when use program options or broadcast_code_list is not empty. */
+std::vector<std::string> broadcast_code_list = {
+  //"000000000000002",
+  //"000000000000003",
+  //"000000000000004"
+};
+
+/** Receiving point cloud data from Livox LiDAR. */
+void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
+  if (data) {
+    if (handle < broadcast_code_list.size() && is_finish_extrinsic_parameter) {
+      std::lock_guard<std::mutex> lock(mtx);
+      LvxBasePackDetail packet;
+      packet.device_index = handle;
+      lvx_file_handler.BasePointsHandle(data, packet);
+      lvx_file_handler.CalcExtrinsicPoints(packet);
+      point_packet_list.push_back(packet);
+
+      if (point_packet_list.size() % (50 * broadcast_code_list.size()) == 0) {
+        condition_variable.notify_one();
+      }
+    }
+  }
+}
+
+/** Callback function of starting sampling. */
+void OnSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data) {
+  printf("OnSampleCallback statue %d handle %d response %d \n", status, handle, response);
+  if (status == kStatusSuccess) {
+    if (response != 0) {
+      devices[handle].device_state = kDeviceStateConnect;
+    }
+  } else if (status == kStatusTimeout) {
+    devices[handle].device_state = kDeviceStateConnect;
+  }
+}
+
+/** Callback function of stopping sampling. */
+void OnStopSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data) {
+}
+
+/** Callback function of get LiDARs' extrinsic parameter. */
+void OnGetLidarExtrinsicParameter(uint8_t status, uint8_t handle, LidarGetExtrinsicParameterResponse *response, void *data) {
+  if (status == kStatusSuccess) {
+    if (response != 0) {
+      printf("OnGetLidarExtrinsicParameter statue %d handle %d response %d \n", status, handle, response->ret_code);
+      std::lock_guard<std::mutex> lock(mtx);
+      LvxDeviceInfo lidar_info;
+      strncpy((char *)lidar_info.lidar_broadcast_code, devices[handle].info.broadcast_code, kBroadcastCodeSize);
+      memset(lidar_info.hub_broadcast_code, 0, kBroadcastCodeSize);
+      lidar_info.device_index = handle;
+      lidar_info.device_type = devices[handle].info.type;
+      lidar_info.pitch = response->pitch;
+      lidar_info.roll = response->roll;
+      lidar_info.yaw = response->yaw;
+      lidar_info.x = static_cast<float>(response->x / 1000.0);
+      lidar_info.y = static_cast<float>(response->y / 1000.0);
+      lidar_info.z = static_cast<float>(response->z / 1000.0);
+      lvx_file_handler.AddDeviceInfo(lidar_info);
+      if (lvx_file_handler.GetDeviceInfoListSize() == broadcast_code_list.size()) {
+        is_finish_extrinsic_parameter = true;
+        condition_variable.notify_one();
+      }
+    }
+  }
+  else if (status == kStatusTimeout) {
+    printf("GetLidarExtrinsicParameter timeout! \n");
+  }
+}
+
+/** Get LiDARs' extrinsic parameter from file named "extrinsic.xml". */
+void LidarGetExtrinsicFromXml(uint8_t handle) {
+  LvxDeviceInfo lidar_info;
+  ParseExtrinsicXml(devices[handle], lidar_info);
+  lvx_file_handler.AddDeviceInfo(lidar_info);
+  if (lvx_file_handler.GetDeviceInfoListSize() == broadcast_code_list.size()) {
+    is_finish_extrinsic_parameter = true;
+    condition_variable.notify_one();
+  }
+}
+
+/** Query the firmware version of Livox LiDAR. */
+void OnDeviceInformation(uint8_t status, uint8_t handle, DeviceInformationResponse *ack, void *data) {
+  if (status != kStatusSuccess) {
+    printf("Device Query Informations Failed %d\n", status);
+  }
+  if (ack) {
+    printf("firm ver: %d.%d.%d.%d\n",
+           ack->firmware_version[0],
+           ack->firmware_version[1],
+           ack->firmware_version[2],
+           ack->firmware_version[3]);
+  }
+}
+
+/** Callback function of changing of device state. */
+void OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
+  if (info == nullptr) {
+    return;
+  }
+  printf("OnDeviceChange broadcast code %s update type %d\n", info->broadcast_code, type);
+  uint8_t handle = info->handle;
+  if (handle >= kMaxLidarCount) {
+    return;
+  }
+  if (type == kEventConnect) {
+    QueryDeviceInformation(handle, OnDeviceInformation, nullptr);
+    if (devices[handle].device_state == kDeviceStateDisconnect) {
+      devices[handle].device_state = kDeviceStateConnect;
+      devices[handle].info = *info;
+    }
+  } else if (type == kEventDisconnect) {
+    devices[handle].device_state = kDeviceStateDisconnect;
+  } else if (type == kEventStateChange) {
+    devices[handle].info = *info;
+  }
+
+  if (devices[handle].device_state == kDeviceStateConnect) {
+    printf("Device State error_code %d\n", devices[handle].info.status.status_code);
+    printf("Device State working state %d\n", devices[handle].info.state);
+    printf("Device feature %d\n", devices[handle].info.feature);
+    if (devices[handle].info.state == kLidarStateNormal) {
+      if (devices[handle].info.type != kDeviceTypeHub) {
+        if (!is_read_extrinsic_from_xml) {
+          LidarGetExtrinsicParameter(handle, OnGetLidarExtrinsicParameter, nullptr);
+        }
+        else {
+          LidarGetExtrinsicFromXml(handle);
+        }
+        LidarStartSampling(handle, OnSampleCallback, nullptr);
+        devices[handle].device_state = kDeviceStateSampling;
+      }
+    }
+  }
+}
+
+/** Callback function when broadcast message received.
+ * You need to add listening device broadcast code and set the point cloud data callback in this function.
+ */
+void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
+  if (info == nullptr) {
+    return;
+  }
+
+  printf("Receive Broadcast Code %s\n", info->broadcast_code);
+
+  if (broadcast_code_list.size() > 0) {
+    bool found = false;
+    uint8_t i = 0;
+    for (i = 0; i < broadcast_code_list.size(); ++i) {
+      if (strncmp(info->broadcast_code, broadcast_code_list[i].c_str(), kBroadcastCodeSize) == 0) {
+        found = true;
+        break;
+      }
+    }
+    if (!found) {
+      return;
+    }
+  }
+  else {
+    if ((broadcast_code_rev.size() == 0) || (std::find(broadcast_code_rev.begin(), broadcast_code_rev.end(), info->broadcast_code) == broadcast_code_rev.end()))
+      broadcast_code_rev.push_back(info->broadcast_code);
+    return;
+  }
+
+  bool result = false;
+  uint8_t handle = 0;
+  result = AddLidarToConnect(info->broadcast_code, &handle);
+  if (result == kStatusSuccess) {
+    /** Set the point cloud data for a specific Livox LiDAR. */
+    SetDataCallback(handle, GetLidarData, nullptr);
+    devices[handle].handle = handle;
+    devices[handle].device_state = kDeviceStateDisconnect;
+  }
+}
+
+/** Set the program options.
+* You can input the registered device broadcast code and decide whether to save the log file.
+*/
+int SetProgramOption(int argc, const char *argv[]) {
+  apr_status_t rv;
+  apr_pool_t *mp = nullptr;
+  static const apr_getopt_option_t opt_option[] = {
+    /** Long-option, short-option, has-arg flag, description */
+    { "code", 'c', 1, "Register device broadcast code" },     
+    { "log", 'l', 0, "Save the log file" },    
+    { "time", 't', 1, "Time to save point cloud to the lvx file" },
+    { "param", 'p', 0, "Get the extrinsic parameter from extrinsic.xml file" },
+    { "help", 'h', 0, "Show help" },    
+    { nullptr, 0, 0, nullptr },
+  };
+  apr_getopt_t *opt = nullptr;
+  int optch = 0;
+  const char *optarg = nullptr;
+
+  if (apr_initialize() != APR_SUCCESS) {
+    return -1;
+  }
+
+  if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
+    return -1;
+  }
+
+  rv = apr_getopt_init(&opt, mp, argc, argv);
+  if (rv != APR_SUCCESS) {
+    printf("Program options initialization failed.\n");
+    return -1;
+  }
+
+  /** Parse the all options based on opt_option[] */
+  bool is_help = false;
+  while ((rv = apr_getopt_long(opt, opt_option, &optch, &optarg)) == APR_SUCCESS) {
+    switch (optch) {
+    case 'c': {
+      printf("Register broadcast code: %s\n", optarg);
+      char *sn_list = (char *)malloc(sizeof(char)*(strlen(optarg) + 1));
+      strncpy(sn_list, optarg, sizeof(char)*(strlen(optarg) + 1));
+      char *sn_list_head = sn_list;
+      sn_list = strtok(sn_list, "&");
+      int i = 0;
+      broadcast_code_list.clear();
+      while (sn_list) {
+        broadcast_code_list.push_back(sn_list);
+        sn_list = strtok(nullptr, "&");
+        i++;
+      }
+      free(sn_list_head);
+      sn_list_head = nullptr;
+      break;
+    }
+    case 'l': {
+      printf("Save the log file.\n");
+      SaveLoggerFile();
+      break;
+    }
+    case 't': {
+      printf("Time to save point cloud to the lvx file:%s.\n", optarg);
+      lvx_file_save_time = atoi(optarg);
+      break;
+    }
+    case 'p': {
+      printf("Get the extrinsic parameter from extrinsic.xml file.\n");
+      is_read_extrinsic_from_xml = true;
+      break;
+    }
+    case 'h': {
+      printf(
+        " [-c] Register device broadcast code\n"
+        " [-l] Save the log file\n"
+        " [-t] Time to save point cloud to the lvx file\n"
+        " [-p] Get the extrinsic parameter from extrinsic.xml file\n"
+        " [-h] Show help\n"
+      );
+      is_help = true;
+      break;
+    }
+    }
+  }
+  if (rv != APR_EOF) {
+    printf("Invalid options.\n");
+  }
+
+  apr_pool_destroy(mp);
+  mp = nullptr;
+  if (is_help)
+    return 1;
+  return 0;
+}
+
+int main(int argc, const char *argv[]) {
+/** Set the program options. */
+  if (SetProgramOption(argc, argv))
+    return 0;
+
+  printf("Livox SDK initializing.\n");
+/** Initialize Livox-SDK. */
+  if (!Init()) {
+    return -1;
+  }
+  printf("Livox SDK has been initialized.\n");
+
+  LivoxSdkVersion _sdkversion;
+  GetLivoxSdkVersion(&_sdkversion);
+  printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
+
+  memset(devices, 0, sizeof(devices));
+
+/** Set the callback function receiving broadcast message from Livox LiDAR. */
+  SetBroadcastCallback(OnDeviceBroadcast);
+
+/** Set the callback function called when device state change,
+ * which means connection/disconnection and changing of LiDAR state.
+ */
+  SetDeviceStateUpdateCallback(OnDeviceChange);
+
+/** Start the device discovering routine. */
+  if (!Start()) {
+    Uninit();
+    return -1;
+  }
+  printf("Start discovering device.\n");
+
+#ifdef WIN32
+  Sleep(2000);
+#else
+  sleep(2);
+#endif
+
+  if (broadcast_code_rev.size() != 0)
+    broadcast_code_list = broadcast_code_rev;
+
+  {
+    std::unique_lock<std::mutex> lock(mtx);
+    condition_variable.wait(lock);
+  }
+
+  printf("Start initialize lvx file.\n");
+  if (!lvx_file_handler.InitLvxFile()) {
+    Uninit();
+    return -1;
+  }
+  lvx_file_handler.InitLvxFileHeader();
+
+  int i = 0;
+  for (i = 0; i < lvx_file_save_time * FRAME_RATE; ++i) {
+    std::list<LvxBasePackDetail> point_packet_list_temp;
+    {
+      std::unique_lock<std::mutex> lock(mtx);
+      condition_variable.wait(lock);
+      point_packet_list_temp.swap(point_packet_list);
+    }
+
+    printf("Finish save %d frame to lvx file.\n", i);
+    lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp);
+  }
+
+  lvx_file_handler.CloseLvxFile();
+
+  for (i = 0; i < kMaxLidarCount; ++i) {
+    if (devices[i].device_state == kDeviceStateSampling) {
+/** Stop the sampling of Livox LiDAR. */
+      LidarStopSampling(devices[i].handle, OnStopSampleCallback, nullptr);
+    }
+  }
+
+/** Uninitialize Livox-SDK. */
+  Uninit();
+}
diff --git a/sample/lidar_lvx_file/third_party/rapidxml/rapidxml.hpp b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml.hpp
new file mode 100644
index 0000000..ae91e08
--- /dev/null
+++ b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml.hpp
@@ -0,0 +1,2596 @@
+#ifndef RAPIDXML_HPP_INCLUDED
+#define RAPIDXML_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+//! \file rapidxml.hpp This file contains rapidxml parser and DOM implementation
+
+// If standard library is disabled, user must provide implementations of required functions and typedefs
+#if !defined(RAPIDXML_NO_STDLIB)
+    #include <cstdlib>      // For std::size_t
+    #include <cassert>      // For assert
+    #include <new>          // For placement new
+#endif
+
+// On MSVC, disable "conditional expression is constant" warning (level 4). 
+// This warning is almost impossible to avoid with certain types of templated code
+#ifdef _MSC_VER
+    #pragma warning(push)
+    #pragma warning(disable:4127)   // Conditional expression is constant
+#endif
+
+///////////////////////////////////////////////////////////////////////////
+// RAPIDXML_PARSE_ERROR
+    
+#if defined(RAPIDXML_NO_EXCEPTIONS)
+
+#define RAPIDXML_PARSE_ERROR(what, where) { parse_error_handler(what, where); assert(0); }
+
+namespace rapidxml
+{
+    //! When exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, 
+    //! this function is called to notify user about the error.
+    //! It must be defined by the user.
+    //! <br><br>
+    //! This function cannot return. If it does, the results are undefined.
+    //! <br><br>
+    //! A very simple definition might look like that:
+    //! <pre>
+    //! void %rapidxml::%parse_error_handler(const char *what, void *where)
+    //! {
+    //!     std::cout << "Parse error: " << what << "\n";
+    //!     std::abort();
+    //! }
+    //! </pre>
+    //! \param what Human readable description of the error.
+    //! \param where Pointer to character data where error was detected.
+    void parse_error_handler(const char *what, void *where);
+}
+
+#else
+    
+#include <exception>    // For std::exception
+
+#define RAPIDXML_PARSE_ERROR(what, where) throw parse_error(what, where)
+
+namespace rapidxml
+{
+
+    //! Parse error exception. 
+    //! This exception is thrown by the parser when an error occurs. 
+    //! Use what() function to get human-readable error message. 
+    //! Use where() function to get a pointer to position within source text where error was detected.
+    //! <br><br>
+    //! If throwing exceptions by the parser is undesirable, 
+    //! it can be disabled by defining RAPIDXML_NO_EXCEPTIONS macro before rapidxml.hpp is included.
+    //! This will cause the parser to call rapidxml::parse_error_handler() function instead of throwing an exception.
+    //! This function must be defined by the user.
+    //! <br><br>
+    //! This class derives from <code>std::exception</code> class.
+    class parse_error: public std::exception
+    {
+    
+    public:
+    
+        //! Constructs parse error
+        parse_error(const char *what, void *where)
+            : m_what(what)
+            , m_where(where)
+        {
+        }
+
+        //! Gets human readable description of error.
+        //! \return Pointer to null terminated description of the error.
+        virtual const char *what() const throw()
+        {
+            return m_what;
+        }
+
+        //! Gets pointer to character data where error happened.
+        //! Ch should be the same as char type of xml_document that produced the error.
+        //! \return Pointer to location within the parsed string where error occured.
+        template<class Ch>
+        Ch *where() const
+        {
+            return reinterpret_cast<Ch *>(m_where);
+        }
+
+    private:  
+
+        const char *m_what;
+        void *m_where;
+
+    };
+}
+
+#endif
+
+///////////////////////////////////////////////////////////////////////////
+// Pool sizes
+
+#ifndef RAPIDXML_STATIC_POOL_SIZE
+    // Size of static memory block of memory_pool.
+    // Define RAPIDXML_STATIC_POOL_SIZE before including rapidxml.hpp if you want to override the default value.
+    // No dynamic memory allocations are performed by memory_pool until static memory is exhausted.
+    #define RAPIDXML_STATIC_POOL_SIZE (64 * 1024)
+#endif
+
+#ifndef RAPIDXML_DYNAMIC_POOL_SIZE
+    // Size of dynamic memory block of memory_pool.
+    // Define RAPIDXML_DYNAMIC_POOL_SIZE before including rapidxml.hpp if you want to override the default value.
+    // After the static block is exhausted, dynamic blocks with approximately this size are allocated by memory_pool.
+    #define RAPIDXML_DYNAMIC_POOL_SIZE (64 * 1024)
+#endif
+
+#ifndef RAPIDXML_ALIGNMENT
+    // Memory allocation alignment.
+    // Define RAPIDXML_ALIGNMENT before including rapidxml.hpp if you want to override the default value, which is the size of pointer.
+    // All memory allocations for nodes, attributes and strings will be aligned to this value.
+    // This must be a power of 2 and at least 1, otherwise memory_pool will not work.
+    #define RAPIDXML_ALIGNMENT sizeof(void *)
+#endif
+
+namespace rapidxml
+{
+    // Forward declarations
+    template<class Ch> class xml_node;
+    template<class Ch> class xml_attribute;
+    template<class Ch> class xml_document;
+    
+    //! Enumeration listing all node types produced by the parser.
+    //! Use xml_node::type() function to query node type.
+    enum node_type
+    {
+        node_document,      //!< A document node. Name and value are empty.
+        node_element,       //!< An element node. Name contains element name. Value contains text of first data node.
+        node_data,          //!< A data node. Name is empty. Value contains data text.
+        node_cdata,         //!< A CDATA node. Name is empty. Value contains data text.
+        node_comment,       //!< A comment node. Name is empty. Value contains comment text.
+        node_declaration,   //!< A declaration node. Name and value are empty. Declaration parameters (version, encoding and standalone) are in node attributes.
+        node_doctype,       //!< A DOCTYPE node. Name is empty. Value contains DOCTYPE text.
+        node_pi             //!< A PI node. Name contains target. Value contains instructions.
+    };
+
+    ///////////////////////////////////////////////////////////////////////
+    // Parsing flags
+
+    //! Parse flag instructing the parser to not create data nodes. 
+    //! Text of first data node will still be placed in value of parent element, unless rapidxml::parse_no_element_values flag is also specified.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_data_nodes = 0x1;            
+
+    //! Parse flag instructing the parser to not use text of first data node as a value of parent element.
+    //! Can be combined with other flags by use of | operator.
+    //! Note that child data nodes of element node take precendence over its value when printing. 
+    //! That is, if element has one or more child data nodes <em>and</em> a value, the value will be ignored.
+    //! Use rapidxml::parse_no_data_nodes flag to prevent creation of data nodes if you want to manipulate data using values of elements.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_element_values = 0x2;
+    
+    //! Parse flag instructing the parser to not place zero terminators after strings in the source text.
+    //! By default zero terminators are placed, modifying source text.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_string_terminators = 0x4;
+    
+    //! Parse flag instructing the parser to not translate entities in the source text.
+    //! By default entities are translated, modifying source text.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_entity_translation = 0x8;
+    
+    //! Parse flag instructing the parser to disable UTF-8 handling and assume plain 8 bit characters.
+    //! By default, UTF-8 handling is enabled.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_no_utf8 = 0x10;
+    
+    //! Parse flag instructing the parser to create XML declaration node.
+    //! By default, declaration node is not created.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_declaration_node = 0x20;
+    
+    //! Parse flag instructing the parser to create comments nodes.
+    //! By default, comment nodes are not created.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_comment_nodes = 0x40;
+    
+    //! Parse flag instructing the parser to create DOCTYPE node.
+    //! By default, doctype node is not created.
+    //! Although W3C specification allows at most one DOCTYPE node, RapidXml will silently accept documents with more than one.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_doctype_node = 0x80;
+    
+    //! Parse flag instructing the parser to create PI nodes.
+    //! By default, PI nodes are not created.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_pi_nodes = 0x100;
+    
+    //! Parse flag instructing the parser to validate closing tag names. 
+    //! If not set, name inside closing tag is irrelevant to the parser.
+    //! By default, closing tags are not validated.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_validate_closing_tags = 0x200;
+    
+    //! Parse flag instructing the parser to trim all leading and trailing whitespace of data nodes.
+    //! By default, whitespace is not trimmed. 
+    //! This flag does not cause the parser to modify source text.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_trim_whitespace = 0x400;
+
+    //! Parse flag instructing the parser to condense all whitespace runs of data nodes to a single space character.
+    //! Trimming of leading and trailing whitespace of data is controlled by rapidxml::parse_trim_whitespace flag.
+    //! By default, whitespace is not normalized. 
+    //! If this flag is specified, source text will be modified.
+    //! Can be combined with other flags by use of | operator.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_normalize_whitespace = 0x800;
+
+    // Compound flags
+    
+    //! Parse flags which represent default behaviour of the parser. 
+    //! This is always equal to 0, so that all other flags can be simply ored together.
+    //! Normally there is no need to inconveniently disable flags by anding with their negated (~) values.
+    //! This also means that meaning of each flag is a <i>negation</i> of the default setting. 
+    //! For example, if flag name is rapidxml::parse_no_utf8, it means that utf-8 is <i>enabled</i> by default,
+    //! and using the flag will disable it.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_default = 0;
+    
+    //! A combination of parse flags that forbids any modifications of the source text. 
+    //! This also results in faster parsing. However, note that the following will occur:
+    //! <ul>
+    //! <li>names and values of nodes will not be zero terminated, you have to use xml_base::name_size() and xml_base::value_size() functions to determine where name and value ends</li>
+    //! <li>entities will not be translated</li>
+    //! <li>whitespace will not be normalized</li>
+    //! </ul>
+    //! See xml_document::parse() function.
+    const int parse_non_destructive = parse_no_string_terminators | parse_no_entity_translation;
+    
+    //! A combination of parse flags resulting in fastest possible parsing, without sacrificing important data.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_fastest = parse_non_destructive | parse_no_data_nodes;
+    
+    //! A combination of parse flags resulting in largest amount of data being extracted. 
+    //! This usually results in slowest parsing.
+    //! <br><br>
+    //! See xml_document::parse() function.
+    const int parse_full = parse_declaration_node | parse_comment_nodes | parse_doctype_node | parse_pi_nodes | parse_validate_closing_tags;
+
+    ///////////////////////////////////////////////////////////////////////
+    // Internals
+
+    //! \cond internal
+    namespace internal
+    {
+
+        // Struct that contains lookup tables for the parser
+        // It must be a template to allow correct linking (because it has static data members, which are defined in a header file).
+        template<int Dummy>
+        struct lookup_tables
+        {
+            static const unsigned char lookup_whitespace[256];              // Whitespace table
+            static const unsigned char lookup_node_name[256];               // Node name table
+            static const unsigned char lookup_text[256];                    // Text table
+            static const unsigned char lookup_text_pure_no_ws[256];         // Text table
+            static const unsigned char lookup_text_pure_with_ws[256];       // Text table
+            static const unsigned char lookup_attribute_name[256];          // Attribute name table
+            static const unsigned char lookup_attribute_data_1[256];        // Attribute data table with single quote
+            static const unsigned char lookup_attribute_data_1_pure[256];   // Attribute data table with single quote
+            static const unsigned char lookup_attribute_data_2[256];        // Attribute data table with double quotes
+            static const unsigned char lookup_attribute_data_2_pure[256];   // Attribute data table with double quotes
+            static const unsigned char lookup_digits[256];                  // Digits
+            static const unsigned char lookup_upcase[256];                  // To uppercase conversion table for ASCII characters
+        };
+
+        // Find length of the string
+        template<class Ch>
+        inline std::size_t measure(const Ch *p)
+        {
+            const Ch *tmp = p;
+            while (*tmp) 
+                ++tmp;
+            return tmp - p;
+        }
+
+        // Compare strings for equality
+        template<class Ch>
+        inline bool compare(const Ch *p1, std::size_t size1, const Ch *p2, std::size_t size2, bool case_sensitive)
+        {
+            if (size1 != size2)
+                return false;
+            if (case_sensitive)
+            {
+                for (const Ch *end = p1 + size1; p1 < end; ++p1, ++p2)
+                    if (*p1 != *p2)
+                        return false;
+            }
+            else
+            {
+                for (const Ch *end = p1 + size1; p1 < end; ++p1, ++p2)
+                    if (lookup_tables<0>::lookup_upcase[static_cast<unsigned char>(*p1)] != lookup_tables<0>::lookup_upcase[static_cast<unsigned char>(*p2)])
+                        return false;
+            }
+            return true;
+        }
+    }
+    //! \endcond
+
+    ///////////////////////////////////////////////////////////////////////
+    // Memory pool
+    
+    //! This class is used by the parser to create new nodes and attributes, without overheads of dynamic memory allocation.
+    //! In most cases, you will not need to use this class directly. 
+    //! However, if you need to create nodes manually or modify names/values of nodes, 
+    //! you are encouraged to use memory_pool of relevant xml_document to allocate the memory. 
+    //! Not only is this faster than allocating them by using <code>new</code> operator, 
+    //! but also their lifetime will be tied to the lifetime of document, 
+    //! possibly simplyfing memory management. 
+    //! <br><br>
+    //! Call allocate_node() or allocate_attribute() functions to obtain new nodes or attributes from the pool. 
+    //! You can also call allocate_string() function to allocate strings.
+    //! Such strings can then be used as names or values of nodes without worrying about their lifetime.
+    //! Note that there is no <code>free()</code> function -- all allocations are freed at once when clear() function is called, 
+    //! or when the pool is destroyed.
+    //! <br><br>
+    //! It is also possible to create a standalone memory_pool, and use it 
+    //! to allocate nodes, whose lifetime will not be tied to any document.
+    //! <br><br>
+    //! Pool maintains <code>RAPIDXML_STATIC_POOL_SIZE</code> bytes of statically allocated memory. 
+    //! Until static memory is exhausted, no dynamic memory allocations are done.
+    //! When static memory is exhausted, pool allocates additional blocks of memory of size <code>RAPIDXML_DYNAMIC_POOL_SIZE</code> each,
+    //! by using global <code>new[]</code> and <code>delete[]</code> operators. 
+    //! This behaviour can be changed by setting custom allocation routines. 
+    //! Use set_allocator() function to set them.
+    //! <br><br>
+    //! Allocations for nodes, attributes and strings are aligned at <code>RAPIDXML_ALIGNMENT</code> bytes.
+    //! This value defaults to the size of pointer on target architecture.
+    //! <br><br>
+    //! To obtain absolutely top performance from the parser,
+    //! it is important that all nodes are allocated from a single, contiguous block of memory.
+    //! Otherwise, cache misses when jumping between two (or more) disjoint blocks of memory can slow down parsing quite considerably.
+    //! If required, you can tweak <code>RAPIDXML_STATIC_POOL_SIZE</code>, <code>RAPIDXML_DYNAMIC_POOL_SIZE</code> and <code>RAPIDXML_ALIGNMENT</code> 
+    //! to obtain best wasted memory to performance compromise.
+    //! To do it, define their values before rapidxml.hpp file is included.
+    //! \param Ch Character type of created nodes. 
+    template<class Ch = char>
+    class memory_pool
+    {
+        
+    public:
+
+        //! \cond internal
+        typedef void *(alloc_func)(std::size_t);       // Type of user-defined function used to allocate memory
+        typedef void (free_func)(void *);              // Type of user-defined function used to free memory
+        //! \endcond
+        
+        //! Constructs empty pool with default allocator functions.
+        memory_pool()
+            : m_alloc_func(0)
+            , m_free_func(0)
+        {
+            init();
+        }
+
+        //! Destroys pool and frees all the memory. 
+        //! This causes memory occupied by nodes allocated by the pool to be freed.
+        //! Nodes allocated from the pool are no longer valid.
+        ~memory_pool()
+        {
+            clear();
+        }
+
+        //! Allocates a new node from the pool, and optionally assigns name and value to it. 
+        //! If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>.
+        //! If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function
+        //! will call rapidxml::parse_error_handler() function.
+        //! \param type Type of node to create.
+        //! \param name Name to assign to the node, or 0 to assign no name.
+        //! \param value Value to assign to the node, or 0 to assign no value.
+        //! \param name_size Size of name to assign, or 0 to automatically calculate size from name string.
+        //! \param value_size Size of value to assign, or 0 to automatically calculate size from value string.
+        //! \return Pointer to allocated node. This pointer will never be NULL.
+        xml_node<Ch> *allocate_node(node_type type, 
+                                    const Ch *name = 0, const Ch *value = 0, 
+                                    std::size_t name_size = 0, std::size_t value_size = 0)
+        {
+            void *memory = allocate_aligned(sizeof(xml_node<Ch>));
+            xml_node<Ch> *node = new(memory) xml_node<Ch>(type);
+            if (name)
+            {
+                if (name_size > 0)
+                    node->name(name, name_size);
+                else
+                    node->name(name);
+            }
+            if (value)
+            {
+                if (value_size > 0)
+                    node->value(value, value_size);
+                else
+                    node->value(value);
+            }
+            return node;
+        }
+
+        //! Allocates a new attribute from the pool, and optionally assigns name and value to it.
+        //! If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>.
+        //! If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function
+        //! will call rapidxml::parse_error_handler() function.
+        //! \param name Name to assign to the attribute, or 0 to assign no name.
+        //! \param value Value to assign to the attribute, or 0 to assign no value.
+        //! \param name_size Size of name to assign, or 0 to automatically calculate size from name string.
+        //! \param value_size Size of value to assign, or 0 to automatically calculate size from value string.
+        //! \return Pointer to allocated attribute. This pointer will never be NULL.
+        xml_attribute<Ch> *allocate_attribute(const Ch *name = 0, const Ch *value = 0, 
+                                              std::size_t name_size = 0, std::size_t value_size = 0)
+        {
+            void *memory = allocate_aligned(sizeof(xml_attribute<Ch>));
+            xml_attribute<Ch> *attribute = new(memory) xml_attribute<Ch>;
+            if (name)
+            {
+                if (name_size > 0)
+                    attribute->name(name, name_size);
+                else
+                    attribute->name(name);
+            }
+            if (value)
+            {
+                if (value_size > 0)
+                    attribute->value(value, value_size);
+                else
+                    attribute->value(value);
+            }
+            return attribute;
+        }
+
+        //! Allocates a char array of given size from the pool, and optionally copies a given string to it.
+        //! If the allocation request cannot be accomodated, this function will throw <code>std::bad_alloc</code>.
+        //! If exceptions are disabled by defining RAPIDXML_NO_EXCEPTIONS, this function
+        //! will call rapidxml::parse_error_handler() function.
+        //! \param source String to initialize the allocated memory with, or 0 to not initialize it.
+        //! \param size Number of characters to allocate, or zero to calculate it automatically from source string length; if size is 0, source string must be specified and null terminated.
+        //! \return Pointer to allocated char array. This pointer will never be NULL.
+        Ch *allocate_string(const Ch *source = 0, std::size_t size = 0)
+        {
+            assert(source || size);     // Either source or size (or both) must be specified
+            if (size == 0)
+                size = internal::measure(source) + 1;
+            Ch *result = static_cast<Ch *>(allocate_aligned(size * sizeof(Ch)));
+            if (source)
+                for (std::size_t i = 0; i < size; ++i)
+                    result[i] = source[i];
+            return result;
+        }
+
+        //! Clones an xml_node and its hierarchy of child nodes and attributes.
+        //! Nodes and attributes are allocated from this memory pool.
+        //! Names and values are not cloned, they are shared between the clone and the source.
+        //! Result node can be optionally specified as a second parameter, 
+        //! in which case its contents will be replaced with cloned source node.
+        //! This is useful when you want to clone entire document.
+        //! \param source Node to clone.
+        //! \param result Node to put results in, or 0 to automatically allocate result node
+        //! \return Pointer to cloned node. This pointer will never be NULL.
+        xml_node<Ch> *clone_node(const xml_node<Ch> *source, xml_node<Ch> *result = 0)
+        {
+            // Prepare result node
+            if (result)
+            {
+                result->remove_all_attributes();
+                result->remove_all_nodes();
+                result->type(source->type());
+            }
+            else
+                result = allocate_node(source->type());
+
+            // Clone name and value
+            result->name(source->name(), source->name_size());
+            result->value(source->value(), source->value_size());
+
+            // Clone child nodes and attributes
+            for (xml_node<Ch> *child = source->first_node(); child; child = child->next_sibling())
+                result->append_node(clone_node(child));
+            for (xml_attribute<Ch> *attr = source->first_attribute(); attr; attr = attr->next_attribute())
+                result->append_attribute(allocate_attribute(attr->name(), attr->value(), attr->name_size(), attr->value_size()));
+
+            return result;
+        }
+
+        //! Clears the pool. 
+        //! This causes memory occupied by nodes allocated by the pool to be freed.
+        //! Any nodes or strings allocated from the pool will no longer be valid.
+        void clear()
+        {
+            while (m_begin != m_static_memory)
+            {
+                char *previous_begin = reinterpret_cast<header *>(align(m_begin))->previous_begin;
+                if (m_free_func)
+                    m_free_func(m_begin);
+                else
+                    delete[] m_begin;
+                m_begin = previous_begin;
+            }
+            init();
+        }
+
+        //! Sets or resets the user-defined memory allocation functions for the pool.
+        //! This can only be called when no memory is allocated from the pool yet, otherwise results are undefined.
+        //! Allocation function must not return invalid pointer on failure. It should either throw,
+        //! stop the program, or use <code>longjmp()</code> function to pass control to other place of program. 
+        //! If it returns invalid pointer, results are undefined.
+        //! <br><br>
+        //! User defined allocation functions must have the following forms:
+        //! <br><code>
+        //! <br>void *allocate(std::size_t size);
+        //! <br>void free(void *pointer);
+        //! </code><br>
+        //! \param af Allocation function, or 0 to restore default function
+        //! \param ff Free function, or 0 to restore default function
+        void set_allocator(alloc_func *af, free_func *ff)
+        {
+            assert(m_begin == m_static_memory && m_ptr == align(m_begin));    // Verify that no memory is allocated yet
+            m_alloc_func = af;
+            m_free_func = ff;
+        }
+
+    private:
+
+        struct header
+        {
+            char *previous_begin;
+        };
+
+        void init()
+        {
+            m_begin = m_static_memory;
+            m_ptr = align(m_begin);
+            m_end = m_static_memory + sizeof(m_static_memory);
+        }
+        
+        char *align(char *ptr)
+        {
+            std::size_t alignment = ((RAPIDXML_ALIGNMENT - (std::size_t(ptr) & (RAPIDXML_ALIGNMENT - 1))) & (RAPIDXML_ALIGNMENT - 1));
+            return ptr + alignment;
+        }
+        
+        char *allocate_raw(std::size_t size)
+        {
+            // Allocate
+            void *memory;   
+            if (m_alloc_func)   // Allocate memory using either user-specified allocation function or global operator new[]
+            {
+                memory = m_alloc_func(size);
+                assert(memory); // Allocator is not allowed to return 0, on failure it must either throw, stop the program or use longjmp
+            }
+            else
+            {
+                memory = new char[size];
+#ifdef RAPIDXML_NO_EXCEPTIONS
+                if (!memory)            // If exceptions are disabled, verify memory allocation, because new will not be able to throw bad_alloc
+                    RAPIDXML_PARSE_ERROR("out of memory", 0);
+#endif
+            }
+            return static_cast<char *>(memory);
+        }
+        
+        void *allocate_aligned(std::size_t size)
+        {
+            // Calculate aligned pointer
+            char *result = align(m_ptr);
+
+            // If not enough memory left in current pool, allocate a new pool
+            if (result + size > m_end)
+            {
+                // Calculate required pool size (may be bigger than RAPIDXML_DYNAMIC_POOL_SIZE)
+                std::size_t pool_size = RAPIDXML_DYNAMIC_POOL_SIZE;
+                if (pool_size < size)
+                    pool_size = size;
+                
+                // Allocate
+                std::size_t alloc_size = sizeof(header) + (2 * RAPIDXML_ALIGNMENT - 2) + pool_size;     // 2 alignments required in worst case: one for header, one for actual allocation
+                char *raw_memory = allocate_raw(alloc_size);
+                    
+                // Setup new pool in allocated memory
+                char *pool = align(raw_memory);
+                header *new_header = reinterpret_cast<header *>(pool);
+                new_header->previous_begin = m_begin;
+                m_begin = raw_memory;
+                m_ptr = pool + sizeof(header);
+                m_end = raw_memory + alloc_size;
+
+                // Calculate aligned pointer again using new pool
+                result = align(m_ptr);
+            }
+
+            // Update pool and return aligned pointer
+            m_ptr = result + size;
+            return result;
+        }
+
+        char *m_begin;                                      // Start of raw memory making up current pool
+        char *m_ptr;                                        // First free byte in current pool
+        char *m_end;                                        // One past last available byte in current pool
+        char m_static_memory[RAPIDXML_STATIC_POOL_SIZE];    // Static raw memory
+        alloc_func *m_alloc_func;                           // Allocator function, or 0 if default is to be used
+        free_func *m_free_func;                             // Free function, or 0 if default is to be used
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+    // XML base
+
+    //! Base class for xml_node and xml_attribute implementing common functions: 
+    //! name(), name_size(), value(), value_size() and parent().
+    //! \param Ch Character type to use
+    template<class Ch = char>
+    class xml_base
+    {
+
+    public:
+        
+        ///////////////////////////////////////////////////////////////////////////
+        // Construction & destruction
+    
+        // Construct a base with empty name, value and parent
+        xml_base()
+            : m_name(0)
+            , m_value(0)
+            , m_parent(0)
+        {
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node data access
+    
+        //! Gets name of the node. 
+        //! Interpretation of name depends on type of node.
+        //! Note that name will not be zero-terminated if rapidxml::parse_no_string_terminators option was selected during parse.
+        //! <br><br>
+        //! Use name_size() function to determine length of the name.
+        //! \return Name of node, or empty string if node has no name.
+        Ch *name() const
+        {
+            return m_name ? m_name : nullstr();
+        }
+
+        //! Gets size of node name, not including terminator character.
+        //! This function works correctly irrespective of whether name is or is not zero terminated.
+        //! \return Size of node name, in characters.
+        std::size_t name_size() const
+        {
+            return m_name ? m_name_size : 0;
+        }
+
+        //! Gets value of node. 
+        //! Interpretation of value depends on type of node.
+        //! Note that value will not be zero-terminated if rapidxml::parse_no_string_terminators option was selected during parse.
+        //! <br><br>
+        //! Use value_size() function to determine length of the value.
+        //! \return Value of node, or empty string if node has no value.
+        Ch *value() const
+        {
+            return m_value ? m_value : nullstr();
+        }
+
+        //! Gets size of node value, not including terminator character.
+        //! This function works correctly irrespective of whether value is or is not zero terminated.
+        //! \return Size of node value, in characters.
+        std::size_t value_size() const
+        {
+            return m_value ? m_value_size : 0;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node modification
+    
+        //! Sets name of node to a non zero-terminated string.
+        //! See \ref ownership_of_strings.
+        //! <br><br>
+        //! Note that node does not own its name or value, it only stores a pointer to it. 
+        //! It will not delete or otherwise free the pointer on destruction.
+        //! It is reponsibility of the user to properly manage lifetime of the string.
+        //! The easiest way to achieve it is to use memory_pool of the document to allocate the string -
+        //! on destruction of the document the string will be automatically freed.
+        //! <br><br>
+        //! Size of name must be specified separately, because name does not have to be zero terminated.
+        //! Use name(const Ch *) function to have the length automatically calculated (string must be zero terminated).
+        //! \param name Name of node to set. Does not have to be zero terminated.
+        //! \param size Size of name, in characters. This does not include zero terminator, if one is present.
+        void name(const Ch *name, std::size_t size)
+        {
+            m_name = const_cast<Ch *>(name);
+            m_name_size = size;
+        }
+
+        //! Sets name of node to a zero-terminated string.
+        //! See also \ref ownership_of_strings and xml_node::name(const Ch *, std::size_t).
+        //! \param name Name of node to set. Must be zero terminated.
+        void name(const Ch *name)
+        {
+            this->name(name, internal::measure(name));
+        }
+
+        //! Sets value of node to a non zero-terminated string.
+        //! See \ref ownership_of_strings.
+        //! <br><br>
+        //! Note that node does not own its name or value, it only stores a pointer to it. 
+        //! It will not delete or otherwise free the pointer on destruction.
+        //! It is reponsibility of the user to properly manage lifetime of the string.
+        //! The easiest way to achieve it is to use memory_pool of the document to allocate the string -
+        //! on destruction of the document the string will be automatically freed.
+        //! <br><br>
+        //! Size of value must be specified separately, because it does not have to be zero terminated.
+        //! Use value(const Ch *) function to have the length automatically calculated (string must be zero terminated).
+        //! <br><br>
+        //! If an element has a child node of type node_data, it will take precedence over element value when printing.
+        //! If you want to manipulate data of elements using values, use parser flag rapidxml::parse_no_data_nodes to prevent creation of data nodes by the parser.
+        //! \param value value of node to set. Does not have to be zero terminated.
+        //! \param size Size of value, in characters. This does not include zero terminator, if one is present.
+        void value(const Ch *value, std::size_t size)
+        {
+            m_value = const_cast<Ch *>(value);
+            m_value_size = size;
+        }
+
+        //! Sets value of node to a zero-terminated string.
+        //! See also \ref ownership_of_strings and xml_node::value(const Ch *, std::size_t).
+        //! \param value Vame of node to set. Must be zero terminated.
+        void value(const Ch *value)
+        {
+            this->value(value, internal::measure(value));
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Related nodes access
+    
+        //! Gets node parent.
+        //! \return Pointer to parent node, or 0 if there is no parent.
+        xml_node<Ch> *parent() const
+        {
+            return m_parent;
+        }
+
+    protected:
+
+        // Return empty string
+        static Ch *nullstr()
+        {
+            static Ch zero = Ch('\0');
+            return &zero;
+        }
+
+        Ch *m_name;                         // Name of node, or 0 if no name
+        Ch *m_value;                        // Value of node, or 0 if no value
+        std::size_t m_name_size;            // Length of node name, or undefined of no name
+        std::size_t m_value_size;           // Length of node value, or undefined if no value
+        xml_node<Ch> *m_parent;             // Pointer to parent node, or 0 if none
+
+    };
+
+    //! Class representing attribute node of XML document. 
+    //! Each attribute has name and value strings, which are available through name() and value() functions (inherited from xml_base).
+    //! Note that after parse, both name and value of attribute will point to interior of source text used for parsing. 
+    //! Thus, this text must persist in memory for the lifetime of attribute.
+    //! \param Ch Character type to use.
+    template<class Ch = char>
+    class xml_attribute: public xml_base<Ch>
+    {
+
+        friend class xml_node<Ch>;
+    
+    public:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Construction & destruction
+    
+        //! Constructs an empty attribute with the specified type. 
+        //! Consider using memory_pool of appropriate xml_document if allocating attributes manually.
+        xml_attribute()
+        {
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Related nodes access
+    
+        //! Gets document of which attribute is a child.
+        //! \return Pointer to document that contains this attribute, or 0 if there is no parent document.
+        xml_document<Ch> *document() const
+        {
+            if (xml_node<Ch> *node = this->parent())
+            {
+                while (node->parent())
+                    node = node->parent();
+                return node->type() == node_document ? static_cast<xml_document<Ch> *>(node) : 0;
+            }
+            else
+                return 0;
+        }
+
+        //! Gets previous attribute, optionally matching attribute name. 
+        //! \param name Name of attribute to find, or 0 to return previous attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *previous_attribute(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_attribute<Ch> *attribute = m_prev_attribute; attribute; attribute = attribute->m_prev_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name, name_size, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return this->m_parent ? m_prev_attribute : 0;
+        }
+
+        //! Gets next attribute, optionally matching attribute name. 
+        //! \param name Name of attribute to find, or 0 to return next attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *next_attribute(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_attribute<Ch> *attribute = m_next_attribute; attribute; attribute = attribute->m_next_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name, name_size, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return this->m_parent ? m_next_attribute : 0;
+        }
+
+    private:
+
+        xml_attribute<Ch> *m_prev_attribute;        // Pointer to previous sibling of attribute, or 0 if none; only valid if parent is non-zero
+        xml_attribute<Ch> *m_next_attribute;        // Pointer to next sibling of attribute, or 0 if none; only valid if parent is non-zero
+    
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+    // XML node
+
+    //! Class representing a node of XML document. 
+    //! Each node may have associated name and value strings, which are available through name() and value() functions. 
+    //! Interpretation of name and value depends on type of the node.
+    //! Type of node can be determined by using type() function.
+    //! <br><br>
+    //! Note that after parse, both name and value of node, if any, will point interior of source text used for parsing. 
+    //! Thus, this text must persist in the memory for the lifetime of node.
+    //! \param Ch Character type to use.
+    template<class Ch = char>
+    class xml_node: public xml_base<Ch>
+    {
+
+    public:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Construction & destruction
+    
+        //! Constructs an empty node with the specified type. 
+        //! Consider using memory_pool of appropriate document to allocate nodes manually.
+        //! \param type Type of node to construct.
+        xml_node(node_type type)
+            : m_type(type)
+            , m_first_node(0)
+            , m_first_attribute(0)
+        {
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node data access
+    
+        //! Gets type of node.
+        //! \return Type of node.
+        node_type type() const
+        {
+            return m_type;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Related nodes access
+    
+        //! Gets document of which node is a child.
+        //! \return Pointer to document that contains this node, or 0 if there is no parent document.
+        xml_document<Ch> *document() const
+        {
+            xml_node<Ch> *node = const_cast<xml_node<Ch> *>(this);
+            while (node->parent())
+                node = node->parent();
+            return node->type() == node_document ? static_cast<xml_document<Ch> *>(node) : 0;
+        }
+
+        //! Gets first child node, optionally matching node name.
+        //! \param name Name of child to find, or 0 to return first child regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found child, or 0 if not found.
+        xml_node<Ch> *first_node(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_node<Ch> *child = m_first_node; child; child = child->next_sibling())
+                    if (internal::compare(child->name(), child->name_size(), name, name_size, case_sensitive))
+                        return child;
+                return 0;
+            }
+            else
+                return m_first_node;
+        }
+
+        //! Gets last child node, optionally matching node name. 
+        //! Behaviour is undefined if node has no children.
+        //! Use first_node() to test if node has children.
+        //! \param name Name of child to find, or 0 to return last child regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found child, or 0 if not found.
+        xml_node<Ch> *last_node(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            assert(m_first_node);  // Cannot query for last child if node has no children
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_node<Ch> *child = m_last_node; child; child = child->previous_sibling())
+                    if (internal::compare(child->name(), child->name_size(), name, name_size, case_sensitive))
+                        return child;
+                return 0;
+            }
+            else
+                return m_last_node;
+        }
+
+        //! Gets previous sibling node, optionally matching node name. 
+        //! Behaviour is undefined if node has no parent.
+        //! Use parent() to test if node has a parent.
+        //! \param name Name of sibling to find, or 0 to return previous sibling regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found sibling, or 0 if not found.
+        xml_node<Ch> *previous_sibling(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            assert(this->m_parent);     // Cannot query for siblings if node has no parent
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_node<Ch> *sibling = m_prev_sibling; sibling; sibling = sibling->m_prev_sibling)
+                    if (internal::compare(sibling->name(), sibling->name_size(), name, name_size, case_sensitive))
+                        return sibling;
+                return 0;
+            }
+            else
+                return m_prev_sibling;
+        }
+
+        //! Gets next sibling node, optionally matching node name. 
+        //! Behaviour is undefined if node has no parent.
+        //! Use parent() to test if node has a parent.
+        //! \param name Name of sibling to find, or 0 to return next sibling regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found sibling, or 0 if not found.
+        xml_node<Ch> *next_sibling(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            assert(this->m_parent);     // Cannot query for siblings if node has no parent
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_node<Ch> *sibling = m_next_sibling; sibling; sibling = sibling->m_next_sibling)
+                    if (internal::compare(sibling->name(), sibling->name_size(), name, name_size, case_sensitive))
+                        return sibling;
+                return 0;
+            }
+            else
+                return m_next_sibling;
+        }
+
+        //! Gets first attribute of node, optionally matching attribute name.
+        //! \param name Name of attribute to find, or 0 to return first attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *first_attribute(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_attribute<Ch> *attribute = m_first_attribute; attribute; attribute = attribute->m_next_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name, name_size, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return m_first_attribute;
+        }
+
+        //! Gets last attribute of node, optionally matching attribute name.
+        //! \param name Name of attribute to find, or 0 to return last attribute regardless of its name; this string doesn't have to be zero-terminated if name_size is non-zero
+        //! \param name_size Size of name, in characters, or 0 to have size calculated automatically from string
+        //! \param case_sensitive Should name comparison be case-sensitive; non case-sensitive comparison works properly only for ASCII characters
+        //! \return Pointer to found attribute, or 0 if not found.
+        xml_attribute<Ch> *last_attribute(const Ch *name = 0, std::size_t name_size = 0, bool case_sensitive = true) const
+        {
+            if (name)
+            {
+                if (name_size == 0)
+                    name_size = internal::measure(name);
+                for (xml_attribute<Ch> *attribute = m_last_attribute; attribute; attribute = attribute->m_prev_attribute)
+                    if (internal::compare(attribute->name(), attribute->name_size(), name, name_size, case_sensitive))
+                        return attribute;
+                return 0;
+            }
+            else
+                return m_first_attribute ? m_last_attribute : 0;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node modification
+    
+        //! Sets type of node.
+        //! \param type Type of node to set.
+        void type(node_type type)
+        {
+            m_type = type;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Node manipulation
+
+        //! Prepends a new child node.
+        //! The prepended child becomes the first child, and all existing children are moved one position back.
+        //! \param child Node to prepend.
+        void prepend_node(xml_node<Ch> *child)
+        {
+            assert(child && !child->parent() && child->type() != node_document);
+            if (first_node())
+            {
+                child->m_next_sibling = m_first_node;
+                m_first_node->m_prev_sibling = child;
+            }
+            else
+            {
+                child->m_next_sibling = 0;
+                m_last_node = child;
+            }
+            m_first_node = child;
+            child->m_parent = this;
+            child->m_prev_sibling = 0;
+        }
+
+        //! Appends a new child node. 
+        //! The appended child becomes the last child.
+        //! \param child Node to append.
+        void append_node(xml_node<Ch> *child)
+        {
+            assert(child && !child->parent() && child->type() != node_document);
+            if (first_node())
+            {
+                child->m_prev_sibling = m_last_node;
+                m_last_node->m_next_sibling = child;
+            }
+            else
+            {
+                child->m_prev_sibling = 0;
+                m_first_node = child;
+            }
+            m_last_node = child;
+            child->m_parent = this;
+            child->m_next_sibling = 0;
+        }
+
+        //! Inserts a new child node at specified place inside the node. 
+        //! All children after and including the specified node are moved one position back.
+        //! \param where Place where to insert the child, or 0 to insert at the back.
+        //! \param child Node to insert.
+        void insert_node(xml_node<Ch> *where, xml_node<Ch> *child)
+        {
+            assert(!where || where->parent() == this);
+            assert(child && !child->parent() && child->type() != node_document);
+            if (where == m_first_node)
+                prepend_node(child);
+            else if (where == 0)
+                append_node(child);
+            else
+            {
+                child->m_prev_sibling = where->m_prev_sibling;
+                child->m_next_sibling = where;
+                where->m_prev_sibling->m_next_sibling = child;
+                where->m_prev_sibling = child;
+                child->m_parent = this;
+            }
+        }
+
+        //! Removes first child node. 
+        //! If node has no children, behaviour is undefined.
+        //! Use first_node() to test if node has children.
+        void remove_first_node()
+        {
+            assert(first_node());
+            xml_node<Ch> *child = m_first_node;
+            m_first_node = child->m_next_sibling;
+            if (child->m_next_sibling)
+                child->m_next_sibling->m_prev_sibling = 0;
+            else
+                m_last_node = 0;
+            child->m_parent = 0;
+        }
+
+        //! Removes last child of the node. 
+        //! If node has no children, behaviour is undefined.
+        //! Use first_node() to test if node has children.
+        void remove_last_node()
+        {
+            assert(first_node());
+            xml_node<Ch> *child = m_last_node;
+            if (child->m_prev_sibling)
+            {
+                m_last_node = child->m_prev_sibling;
+                child->m_prev_sibling->m_next_sibling = 0;
+            }
+            else
+                m_first_node = 0;
+            child->m_parent = 0;
+        }
+
+        //! Removes specified child from the node
+        // \param where Pointer to child to be removed.
+        void remove_node(xml_node<Ch> *where)
+        {
+            assert(where && where->parent() == this);
+            assert(first_node());
+            if (where == m_first_node)
+                remove_first_node();
+            else if (where == m_last_node)
+                remove_last_node();
+            else
+            {
+                where->m_prev_sibling->m_next_sibling = where->m_next_sibling;
+                where->m_next_sibling->m_prev_sibling = where->m_prev_sibling;
+                where->m_parent = 0;
+            }
+        }
+
+        //! Removes all child nodes (but not attributes).
+        void remove_all_nodes()
+        {
+            for (xml_node<Ch> *node = first_node(); node; node = node->m_next_sibling)
+                node->m_parent = 0;
+            m_first_node = 0;
+        }
+
+        //! Prepends a new attribute to the node.
+        //! \param attribute Attribute to prepend.
+        void prepend_attribute(xml_attribute<Ch> *attribute)
+        {
+            assert(attribute && !attribute->parent());
+            if (first_attribute())
+            {
+                attribute->m_next_attribute = m_first_attribute;
+                m_first_attribute->m_prev_attribute = attribute;
+            }
+            else
+            {
+                attribute->m_next_attribute = 0;
+                m_last_attribute = attribute;
+            }
+            m_first_attribute = attribute;
+            attribute->m_parent = this;
+            attribute->m_prev_attribute = 0;
+        }
+
+        //! Appends a new attribute to the node.
+        //! \param attribute Attribute to append.
+        void append_attribute(xml_attribute<Ch> *attribute)
+        {
+            assert(attribute && !attribute->parent());
+            if (first_attribute())
+            {
+                attribute->m_prev_attribute = m_last_attribute;
+                m_last_attribute->m_next_attribute = attribute;
+            }
+            else
+            {
+                attribute->m_prev_attribute = 0;
+                m_first_attribute = attribute;
+            }
+            m_last_attribute = attribute;
+            attribute->m_parent = this;
+            attribute->m_next_attribute = 0;
+        }
+
+        //! Inserts a new attribute at specified place inside the node. 
+        //! All attributes after and including the specified attribute are moved one position back.
+        //! \param where Place where to insert the attribute, or 0 to insert at the back.
+        //! \param attribute Attribute to insert.
+        void insert_attribute(xml_attribute<Ch> *where, xml_attribute<Ch> *attribute)
+        {
+            assert(!where || where->parent() == this);
+            assert(attribute && !attribute->parent());
+            if (where == m_first_attribute)
+                prepend_attribute(attribute);
+            else if (where == 0)
+                append_attribute(attribute);
+            else
+            {
+                attribute->m_prev_attribute = where->m_prev_attribute;
+                attribute->m_next_attribute = where;
+                where->m_prev_attribute->m_next_attribute = attribute;
+                where->m_prev_attribute = attribute;
+                attribute->m_parent = this;
+            }
+        }
+
+        //! Removes first attribute of the node. 
+        //! If node has no attributes, behaviour is undefined.
+        //! Use first_attribute() to test if node has attributes.
+        void remove_first_attribute()
+        {
+            assert(first_attribute());
+            xml_attribute<Ch> *attribute = m_first_attribute;
+            if (attribute->m_next_attribute)
+            {
+                attribute->m_next_attribute->m_prev_attribute = 0;
+            }
+            else
+                m_last_attribute = 0;
+            attribute->m_parent = 0;
+            m_first_attribute = attribute->m_next_attribute;
+        }
+
+        //! Removes last attribute of the node. 
+        //! If node has no attributes, behaviour is undefined.
+        //! Use first_attribute() to test if node has attributes.
+        void remove_last_attribute()
+        {
+            assert(first_attribute());
+            xml_attribute<Ch> *attribute = m_last_attribute;
+            if (attribute->m_prev_attribute)
+            {
+                attribute->m_prev_attribute->m_next_attribute = 0;
+                m_last_attribute = attribute->m_prev_attribute;
+            }
+            else
+                m_first_attribute = 0;
+            attribute->m_parent = 0;
+        }
+
+        //! Removes specified attribute from node.
+        //! \param where Pointer to attribute to be removed.
+        void remove_attribute(xml_attribute<Ch> *where)
+        {
+            assert(first_attribute() && where->parent() == this);
+            if (where == m_first_attribute)
+                remove_first_attribute();
+            else if (where == m_last_attribute)
+                remove_last_attribute();
+            else
+            {
+                where->m_prev_attribute->m_next_attribute = where->m_next_attribute;
+                where->m_next_attribute->m_prev_attribute = where->m_prev_attribute;
+                where->m_parent = 0;
+            }
+        }
+
+        //! Removes all attributes of node.
+        void remove_all_attributes()
+        {
+            for (xml_attribute<Ch> *attribute = first_attribute(); attribute; attribute = attribute->m_next_attribute)
+                attribute->m_parent = 0;
+            m_first_attribute = 0;
+        }
+        
+    private:
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Restrictions
+
+        // No copying
+        xml_node(const xml_node &);
+        void operator =(const xml_node &);
+    
+        ///////////////////////////////////////////////////////////////////////////
+        // Data members
+    
+        // Note that some of the pointers below have UNDEFINED values if certain other pointers are 0.
+        // This is required for maximum performance, as it allows the parser to omit initialization of 
+        // unneded/redundant values.
+        //
+        // The rules are as follows:
+        // 1. first_node and first_attribute contain valid pointers, or 0 if node has no children/attributes respectively
+        // 2. last_node and last_attribute are valid only if node has at least one child/attribute respectively, otherwise they contain garbage
+        // 3. prev_sibling and next_sibling are valid only if node has a parent, otherwise they contain garbage
+
+        node_type m_type;                       // Type of node; always valid
+        xml_node<Ch> *m_first_node;             // Pointer to first child node, or 0 if none; always valid
+        xml_node<Ch> *m_last_node;              // Pointer to last child node, or 0 if none; this value is only valid if m_first_node is non-zero
+        xml_attribute<Ch> *m_first_attribute;   // Pointer to first attribute of node, or 0 if none; always valid
+        xml_attribute<Ch> *m_last_attribute;    // Pointer to last attribute of node, or 0 if none; this value is only valid if m_first_attribute is non-zero
+        xml_node<Ch> *m_prev_sibling;           // Pointer to previous sibling of node, or 0 if none; this value is only valid if m_parent is non-zero
+        xml_node<Ch> *m_next_sibling;           // Pointer to next sibling of node, or 0 if none; this value is only valid if m_parent is non-zero
+
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+    // XML document
+    
+    //! This class represents root of the DOM hierarchy. 
+    //! It is also an xml_node and a memory_pool through public inheritance.
+    //! Use parse() function to build a DOM tree from a zero-terminated XML text string.
+    //! parse() function allocates memory for nodes and attributes by using functions of xml_document, 
+    //! which are inherited from memory_pool.
+    //! To access root node of the document, use the document itself, as if it was an xml_node.
+    //! \param Ch Character type to use.
+    template<class Ch = char>
+    class xml_document: public xml_node<Ch>, public memory_pool<Ch>
+    {
+    
+    public:
+
+        //! Constructs empty XML document
+        xml_document()
+            : xml_node<Ch>(node_document)
+        {
+        }
+
+        //! Parses zero-terminated XML string according to given flags.
+        //! Passed string will be modified by the parser, unless rapidxml::parse_non_destructive flag is used.
+        //! The string must persist for the lifetime of the document.
+        //! In case of error, rapidxml::parse_error exception will be thrown.
+        //! <br><br>
+        //! If you want to parse contents of a file, you must first load the file into the memory, and pass pointer to its beginning.
+        //! Make sure that data is zero-terminated.
+        //! <br><br>
+        //! Document can be parsed into multiple times. 
+        //! Each new call to parse removes previous nodes and attributes (if any), but does not clear memory pool.
+        //! \param text XML data to parse; pointer is non-const to denote fact that this data may be modified by the parser.
+        template<int Flags>
+        void parse(Ch *text)
+        {
+            assert(text);
+            
+            // Remove current contents
+            this->remove_all_nodes();
+            this->remove_all_attributes();
+            
+            // Parse BOM, if any
+            parse_bom<Flags>(text);
+            
+            // Parse children
+            while (1)
+            {
+                // Skip whitespace before node
+                skip<whitespace_pred, Flags>(text);
+                if (*text == 0)
+                    break;
+
+                // Parse and append new child
+                if (*text == Ch('<'))
+                {
+                    ++text;     // Skip '<'
+                    if (xml_node<Ch> *node = parse_node<Flags>(text))
+                        this->append_node(node);
+                }
+                else
+                    RAPIDXML_PARSE_ERROR("expected <", text);
+            }
+
+        }
+
+        //! Clears the document by deleting all nodes and clearing the memory pool.
+        //! All nodes owned by document pool are destroyed.
+        void clear()
+        {
+            this->remove_all_nodes();
+            this->remove_all_attributes();
+            memory_pool<Ch>::clear();
+        }
+        
+    private:
+
+        ///////////////////////////////////////////////////////////////////////
+        // Internal character utility functions
+        
+        // Detect whitespace character
+        struct whitespace_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_whitespace[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect node name character
+        struct node_name_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_node_name[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect attribute name character
+        struct attribute_name_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_attribute_name[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect text character (PCDATA)
+        struct text_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_text[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect text character (PCDATA) that does not require processing
+        struct text_pure_no_ws_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_text_pure_no_ws[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect text character (PCDATA) that does not require processing
+        struct text_pure_with_ws_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                return internal::lookup_tables<0>::lookup_text_pure_with_ws[static_cast<unsigned char>(ch)];
+            }
+        };
+
+        // Detect attribute value character
+        template<Ch Quote>
+        struct attribute_value_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                if (Quote == Ch('\''))
+                    return internal::lookup_tables<0>::lookup_attribute_data_1[static_cast<unsigned char>(ch)];
+                if (Quote == Ch('\"'))
+                    return internal::lookup_tables<0>::lookup_attribute_data_2[static_cast<unsigned char>(ch)];
+                return 0;       // Should never be executed, to avoid warnings on Comeau
+            }
+        };
+
+        // Detect attribute value character
+        template<Ch Quote>
+        struct attribute_value_pure_pred
+        {
+            static unsigned char test(Ch ch)
+            {
+                if (Quote == Ch('\''))
+                    return internal::lookup_tables<0>::lookup_attribute_data_1_pure[static_cast<unsigned char>(ch)];
+                if (Quote == Ch('\"'))
+                    return internal::lookup_tables<0>::lookup_attribute_data_2_pure[static_cast<unsigned char>(ch)];
+                return 0;       // Should never be executed, to avoid warnings on Comeau
+            }
+        };
+
+        // Insert coded character, using UTF8 or 8-bit ASCII
+        template<int Flags>
+        static void insert_coded_character(Ch *&text, unsigned long code)
+        {
+            if (Flags & parse_no_utf8)
+            {
+                // Insert 8-bit ASCII character
+                // Todo: possibly verify that code is less than 256 and use replacement char otherwise?
+                text[0] = static_cast<unsigned char>(code);
+                text += 1;
+            }
+            else
+            {
+                // Insert UTF8 sequence
+                if (code < 0x80)    // 1 byte sequence
+                {
+	                text[0] = static_cast<unsigned char>(code);
+                    text += 1;
+                }
+                else if (code < 0x800)  // 2 byte sequence
+                {
+	                text[1] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[0] = static_cast<unsigned char>(code | 0xC0);
+                    text += 2;
+                }
+	            else if (code < 0x10000)    // 3 byte sequence
+                {
+	                text[2] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[1] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[0] = static_cast<unsigned char>(code | 0xE0);
+                    text += 3;
+                }
+	            else if (code < 0x110000)   // 4 byte sequence
+                {
+	                text[3] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[2] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[1] = static_cast<unsigned char>((code | 0x80) & 0xBF); code >>= 6;
+	                text[0] = static_cast<unsigned char>(code | 0xF0);
+                    text += 4;
+                }
+                else    // Invalid, only codes up to 0x10FFFF are allowed in Unicode
+                {
+                    RAPIDXML_PARSE_ERROR("invalid numeric character entity", text);
+                }
+            }
+        }
+
+        // Skip characters until predicate evaluates to true
+        template<class StopPred, int Flags>
+        static void skip(Ch *&text)
+        {
+            Ch *tmp = text;
+            while (StopPred::test(*tmp))
+                ++tmp;
+            text = tmp;
+        }
+
+        // Skip characters until predicate evaluates to true while doing the following:
+        // - replacing XML character entity references with proper characters (&apos; &amp; &quot; &lt; &gt; &#...;)
+        // - condensing whitespace sequences to single space character
+        template<class StopPred, class StopPredPure, int Flags>
+        static Ch *skip_and_expand_character_refs(Ch *&text)
+        {
+            // If entity translation, whitespace condense and whitespace trimming is disabled, use plain skip
+            if (Flags & parse_no_entity_translation && 
+                !(Flags & parse_normalize_whitespace) &&
+                !(Flags & parse_trim_whitespace))
+            {
+                skip<StopPred, Flags>(text);
+                return text;
+            }
+            
+            // Use simple skip until first modification is detected
+            skip<StopPredPure, Flags>(text);
+
+            // Use translation skip
+            Ch *src = text;
+            Ch *dest = src;
+            while (StopPred::test(*src))
+            {
+                // If entity translation is enabled    
+                if (!(Flags & parse_no_entity_translation))
+                {
+                    // Test if replacement is needed
+                    if (src[0] == Ch('&'))
+                    {
+                        switch (src[1])
+                        {
+
+                        // &amp; &apos;
+                        case Ch('a'): 
+                            if (src[2] == Ch('m') && src[3] == Ch('p') && src[4] == Ch(';'))
+                            {
+                                *dest = Ch('&');
+                                ++dest;
+                                src += 5;
+                                continue;
+                            }
+                            if (src[2] == Ch('p') && src[3] == Ch('o') && src[4] == Ch('s') && src[5] == Ch(';'))
+                            {
+                                *dest = Ch('\'');
+                                ++dest;
+                                src += 6;
+                                continue;
+                            }
+                            break;
+
+                        // &quot;
+                        case Ch('q'): 
+                            if (src[2] == Ch('u') && src[3] == Ch('o') && src[4] == Ch('t') && src[5] == Ch(';'))
+                            {
+                                *dest = Ch('"');
+                                ++dest;
+                                src += 6;
+                                continue;
+                            }
+                            break;
+
+                        // &gt;
+                        case Ch('g'): 
+                            if (src[2] == Ch('t') && src[3] == Ch(';'))
+                            {
+                                *dest = Ch('>');
+                                ++dest;
+                                src += 4;
+                                continue;
+                            }
+                            break;
+
+                        // &lt;
+                        case Ch('l'): 
+                            if (src[2] == Ch('t') && src[3] == Ch(';'))
+                            {
+                                *dest = Ch('<');
+                                ++dest;
+                                src += 4;
+                                continue;
+                            }
+                            break;
+
+                        // &#...; - assumes ASCII
+                        case Ch('#'): 
+                            if (src[2] == Ch('x'))
+                            {
+                                unsigned long code = 0;
+                                src += 3;   // Skip &#x
+                                while (1)
+                                {
+                                    unsigned char digit = internal::lookup_tables<0>::lookup_digits[static_cast<unsigned char>(*src)];
+                                    if (digit == 0xFF)
+                                        break;
+                                    code = code * 16 + digit;
+                                    ++src;
+                                }
+                                insert_coded_character<Flags>(dest, code);    // Put character in output
+                            }
+                            else
+                            {
+                                unsigned long code = 0;
+                                src += 2;   // Skip &#
+                                while (1)
+                                {
+                                    unsigned char digit = internal::lookup_tables<0>::lookup_digits[static_cast<unsigned char>(*src)];
+                                    if (digit == 0xFF)
+                                        break;
+                                    code = code * 10 + digit;
+                                    ++src;
+                                }
+                                insert_coded_character<Flags>(dest, code);    // Put character in output
+                            }
+                            if (*src == Ch(';'))
+                                ++src;
+                            else
+                                RAPIDXML_PARSE_ERROR("expected ;", src);
+                            continue;
+
+                        // Something else
+                        default:
+                            // Ignore, just copy '&' verbatim
+                            break;
+
+                        }
+                    }
+                }
+                
+                // If whitespace condensing is enabled
+                if (Flags & parse_normalize_whitespace)
+                {
+                    // Test if condensing is needed                 
+                    if (whitespace_pred::test(*src))
+                    {
+                        *dest = Ch(' '); ++dest;    // Put single space in dest
+                        ++src;                      // Skip first whitespace char
+                        // Skip remaining whitespace chars
+                        while (whitespace_pred::test(*src))
+                            ++src;
+                        continue;
+                    }
+                }
+
+                // No replacement, only copy character
+                *dest++ = *src++;
+
+            }
+
+            // Return new end
+            text = src;
+            return dest;
+
+        }
+
+        ///////////////////////////////////////////////////////////////////////
+        // Internal parsing functions
+        
+        // Parse BOM, if any
+        template<int Flags>
+        void parse_bom(Ch *&text)
+        {
+            // UTF-8?
+            if (static_cast<unsigned char>(text[0]) == 0xEF && 
+                static_cast<unsigned char>(text[1]) == 0xBB && 
+                static_cast<unsigned char>(text[2]) == 0xBF)
+            {
+                text += 3;      // Skup utf-8 bom
+            }
+        }
+
+        // Parse XML declaration (<?xml...)
+        template<int Flags>
+        xml_node<Ch> *parse_xml_declaration(Ch *&text)
+        {
+            // If parsing of declaration is disabled
+            if (!(Flags & parse_declaration_node))
+            {
+                // Skip until end of declaration
+                while (text[0] != Ch('?') || text[1] != Ch('>'))
+                {
+                    if (!text[0])
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 2;    // Skip '?>'
+                return 0;
+            }
+
+            // Create declaration
+            xml_node<Ch> *declaration = this->allocate_node(node_declaration);
+
+            // Skip whitespace before attributes or ?>
+            skip<whitespace_pred, Flags>(text);
+
+            // Parse declaration attributes
+            parse_node_attributes<Flags>(text, declaration);
+            
+            // Skip ?>
+            if (text[0] != Ch('?') || text[1] != Ch('>'))
+                RAPIDXML_PARSE_ERROR("expected ?>", text);
+            text += 2;
+            
+            return declaration;
+        }
+
+        // Parse XML comment (<!--...)
+        template<int Flags>
+        xml_node<Ch> *parse_comment(Ch *&text)
+        {
+            // If parsing of comments is disabled
+            if (!(Flags & parse_comment_nodes))
+            {
+                // Skip until end of comment
+                while (text[0] != Ch('-') || text[1] != Ch('-') || text[2] != Ch('>'))
+                {
+                    if (!text[0])
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 3;     // Skip '-->'
+                return 0;      // Do not produce comment node
+            }
+
+            // Remember value start
+            Ch *value = text;
+
+            // Skip until end of comment
+            while (text[0] != Ch('-') || text[1] != Ch('-') || text[2] != Ch('>'))
+            {
+                if (!text[0])
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                ++text;
+            }
+
+            // Create comment node
+            xml_node<Ch> *comment = this->allocate_node(node_comment);
+            comment->value(value, text - value);
+            
+            // Place zero terminator after comment value
+            if (!(Flags & parse_no_string_terminators))
+                *text = Ch('\0');
+            
+            text += 3;     // Skip '-->'
+            return comment;
+        }
+
+        // Parse DOCTYPE
+        template<int Flags>
+        xml_node<Ch> *parse_doctype(Ch *&text)
+        {
+            // Remember value start
+            Ch *value = text;
+
+            // Skip to >
+            while (*text != Ch('>'))
+            {
+                // Determine character type
+                switch (*text)
+                {
+                
+                // If '[' encountered, scan for matching ending ']' using naive algorithm with depth
+                // This works for all W3C test files except for 2 most wicked
+                case Ch('['):
+                {
+                    ++text;     // Skip '['
+                    int depth = 1;
+                    while (depth > 0)
+                    {
+                        switch (*text)
+                        {
+                            case Ch('['): ++depth; break;
+                            case Ch(']'): --depth; break;
+                            case 0: RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                        }
+                        ++text;
+                    }
+                    break;
+                }
+                
+                // Error on end of text
+                case Ch('\0'):
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                
+                // Other character, skip it
+                default:
+                    ++text;
+
+                }
+            }
+            
+            // If DOCTYPE nodes enabled
+            if (Flags & parse_doctype_node)
+            {
+                // Create a new doctype node
+                xml_node<Ch> *doctype = this->allocate_node(node_doctype);
+                doctype->value(value, text - value);
+                
+                // Place zero terminator after value
+                if (!(Flags & parse_no_string_terminators))
+                    *text = Ch('\0');
+
+                text += 1;      // skip '>'
+                return doctype;
+            }
+            else
+            {
+                text += 1;      // skip '>'
+                return 0;
+            }
+
+        }
+
+        // Parse PI
+        template<int Flags>
+        xml_node<Ch> *parse_pi(Ch *&text)
+        {
+            // If creation of PI nodes is enabled
+            if (Flags & parse_pi_nodes)
+            {
+                // Create pi node
+                xml_node<Ch> *pi = this->allocate_node(node_pi);
+
+                // Extract PI target name
+                Ch *name = text;
+                skip<node_name_pred, Flags>(text);
+                if (text == name)
+                    RAPIDXML_PARSE_ERROR("expected PI target", text);
+                pi->name(name, text - name);
+                
+                // Skip whitespace between pi target and pi
+                skip<whitespace_pred, Flags>(text);
+
+                // Remember start of pi
+                Ch *value = text;
+                
+                // Skip to '?>'
+                while (text[0] != Ch('?') || text[1] != Ch('>'))
+                {
+                    if (*text == Ch('\0'))
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+
+                // Set pi value (verbatim, no entity expansion or whitespace normalization)
+                pi->value(value, text - value);     
+                
+                // Place zero terminator after name and value
+                if (!(Flags & parse_no_string_terminators))
+                {
+                    pi->name()[pi->name_size()] = Ch('\0');
+                    pi->value()[pi->value_size()] = Ch('\0');
+                }
+                
+                text += 2;                          // Skip '?>'
+                return pi;
+            }
+            else
+            {
+                // Skip to '?>'
+                while (text[0] != Ch('?') || text[1] != Ch('>'))
+                {
+                    if (*text == Ch('\0'))
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 2;    // Skip '?>'
+                return 0;
+            }
+        }
+
+        // Parse and append data
+        // Return character that ends data.
+        // This is necessary because this character might have been overwritten by a terminating 0
+        template<int Flags>
+        Ch parse_and_append_data(xml_node<Ch> *node, Ch *&text, Ch *contents_start)
+        {
+            // Backup to contents start if whitespace trimming is disabled
+            if (!(Flags & parse_trim_whitespace))
+                text = contents_start;     
+            
+            // Skip until end of data
+            Ch *value = text, *end;
+            if (Flags & parse_normalize_whitespace)
+                end = skip_and_expand_character_refs<text_pred, text_pure_with_ws_pred, Flags>(text);   
+            else
+                end = skip_and_expand_character_refs<text_pred, text_pure_no_ws_pred, Flags>(text);
+
+            // Trim trailing whitespace if flag is set; leading was already trimmed by whitespace skip after >
+            if (Flags & parse_trim_whitespace)
+            {
+                if (Flags & parse_normalize_whitespace)
+                {
+                    // Whitespace is already condensed to single space characters by skipping function, so just trim 1 char off the end
+                    if (*(end - 1) == Ch(' '))
+                        --end;
+                }
+                else
+                {
+                    // Backup until non-whitespace character is found
+                    while (whitespace_pred::test(*(end - 1)))
+                        --end;
+                }
+            }
+            
+            // If characters are still left between end and value (this test is only necessary if normalization is enabled)
+            // Create new data node
+            if (!(Flags & parse_no_data_nodes))
+            {
+                xml_node<Ch> *data = this->allocate_node(node_data);
+                data->value(value, end - value);
+                node->append_node(data);
+            }
+
+            // Add data to parent node if no data exists yet
+            if (!(Flags & parse_no_element_values)) 
+                if (*node->value() == Ch('\0'))
+                    node->value(value, end - value);
+
+            // Place zero terminator after value
+            if (!(Flags & parse_no_string_terminators))
+            {
+                Ch ch = *text;
+                *end = Ch('\0');
+                return ch;      // Return character that ends data; this is required because zero terminator overwritten it
+            }
+
+            // Return character that ends data
+            return *text;
+        }
+
+        // Parse CDATA
+        template<int Flags>
+        xml_node<Ch> *parse_cdata(Ch *&text)
+        {
+            // If CDATA is disabled
+            if (Flags & parse_no_data_nodes)
+            {
+                // Skip until end of cdata
+                while (text[0] != Ch(']') || text[1] != Ch(']') || text[2] != Ch('>'))
+                {
+                    if (!text[0])
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                text += 3;      // Skip ]]>
+                return 0;       // Do not produce CDATA node
+            }
+
+            // Skip until end of cdata
+            Ch *value = text;
+            while (text[0] != Ch(']') || text[1] != Ch(']') || text[2] != Ch('>'))
+            {
+                if (!text[0])
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                ++text;
+            }
+
+            // Create new cdata node
+            xml_node<Ch> *cdata = this->allocate_node(node_cdata);
+            cdata->value(value, text - value);
+
+            // Place zero terminator after value
+            if (!(Flags & parse_no_string_terminators))
+                *text = Ch('\0');
+
+            text += 3;      // Skip ]]>
+            return cdata;
+        }
+        
+        // Parse element node
+        template<int Flags>
+        xml_node<Ch> *parse_element(Ch *&text)
+        {
+            // Create element node
+            xml_node<Ch> *element = this->allocate_node(node_element);
+
+            // Extract element name
+            Ch *name = text;
+            skip<node_name_pred, Flags>(text);
+            if (text == name)
+                RAPIDXML_PARSE_ERROR("expected element name", text);
+            element->name(name, text - name);
+            
+            // Skip whitespace between element name and attributes or >
+            skip<whitespace_pred, Flags>(text);
+
+            // Parse attributes, if any
+            parse_node_attributes<Flags>(text, element);
+
+            // Determine ending type
+            if (*text == Ch('>'))
+            {
+                ++text;
+                parse_node_contents<Flags>(text, element);
+            }
+            else if (*text == Ch('/'))
+            {
+                ++text;
+                if (*text != Ch('>'))
+                    RAPIDXML_PARSE_ERROR("expected >", text);
+                ++text;
+            }
+            else
+                RAPIDXML_PARSE_ERROR("expected >", text);
+
+            // Place zero terminator after name
+            if (!(Flags & parse_no_string_terminators))
+                element->name()[element->name_size()] = Ch('\0');
+
+            // Return parsed element
+            return element;
+        }
+
+        // Determine node type, and parse it
+        template<int Flags>
+        xml_node<Ch> *parse_node(Ch *&text)
+        {
+            // Parse proper node type
+            switch (text[0])
+            {
+
+            // <...
+            default: 
+                // Parse and append element node
+                return parse_element<Flags>(text);
+
+            // <?...
+            case Ch('?'): 
+                ++text;     // Skip ?
+                if ((text[0] == Ch('x') || text[0] == Ch('X')) &&
+                    (text[1] == Ch('m') || text[1] == Ch('M')) && 
+                    (text[2] == Ch('l') || text[2] == Ch('L')) &&
+                    whitespace_pred::test(text[3]))
+                {
+                    // '<?xml ' - xml declaration
+                    text += 4;      // Skip 'xml '
+                    return parse_xml_declaration<Flags>(text);
+                }
+                else
+                {
+                    // Parse PI
+                    return parse_pi<Flags>(text);
+                }
+            
+            // <!...
+            case Ch('!'): 
+
+                // Parse proper subset of <! node
+                switch (text[1])    
+                {
+                
+                // <!-
+                case Ch('-'):
+                    if (text[2] == Ch('-'))
+                    {
+                        // '<!--' - xml comment
+                        text += 3;     // Skip '!--'
+                        return parse_comment<Flags>(text);
+                    }
+                    break;
+
+                // <![
+                case Ch('['):
+                    if (text[2] == Ch('C') && text[3] == Ch('D') && text[4] == Ch('A') && 
+                        text[5] == Ch('T') && text[6] == Ch('A') && text[7] == Ch('['))
+                    {
+                        // '<![CDATA[' - cdata
+                        text += 8;     // Skip '![CDATA['
+                        return parse_cdata<Flags>(text);
+                    }
+                    break;
+
+                // <!D
+                case Ch('D'):
+                    if (text[2] == Ch('O') && text[3] == Ch('C') && text[4] == Ch('T') && 
+                        text[5] == Ch('Y') && text[6] == Ch('P') && text[7] == Ch('E') && 
+                        whitespace_pred::test(text[8]))
+                    {
+                        // '<!DOCTYPE ' - doctype
+                        text += 9;      // skip '!DOCTYPE '
+                        return parse_doctype<Flags>(text);
+                    }
+
+                }   // switch
+
+                // Attempt to skip other, unrecognized node types starting with <!
+                ++text;     // Skip !
+                while (*text != Ch('>'))
+                {
+                    if (*text == 0)
+                        RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+                    ++text;
+                }
+                ++text;     // Skip '>'
+                return 0;   // No node recognized
+
+            }
+        }
+
+        // Parse contents of the node - children, data etc.
+        template<int Flags>
+        void parse_node_contents(Ch *&text, xml_node<Ch> *node)
+        {
+            // For all children and text
+            while (1)
+            {
+                // Skip whitespace between > and node contents
+                Ch *contents_start = text;      // Store start of node contents before whitespace is skipped
+                skip<whitespace_pred, Flags>(text);
+                Ch next_char = *text;
+
+            // After data nodes, instead of continuing the loop, control jumps here.
+            // This is because zero termination inside parse_and_append_data() function
+            // would wreak havoc with the above code.
+            // Also, skipping whitespace after data nodes is unnecessary.
+            after_data_node:    
+                
+                // Determine what comes next: node closing, child node, data node, or 0?
+                switch (next_char)
+                {
+                
+                // Node closing or child node
+                case Ch('<'):
+                    if (text[1] == Ch('/'))
+                    {
+                        // Node closing
+                        text += 2;      // Skip '</'
+                        if (Flags & parse_validate_closing_tags)
+                        {
+                            // Skip and validate closing tag name
+                            Ch *closing_name = text;
+                            skip<node_name_pred, Flags>(text);
+                            if (!internal::compare(node->name(), node->name_size(), closing_name, text - closing_name, true))
+                                RAPIDXML_PARSE_ERROR("invalid closing tag name", text);
+                        }
+                        else
+                        {
+                            // No validation, just skip name
+                            skip<node_name_pred, Flags>(text);
+                        }
+                        // Skip remaining whitespace after node name
+                        skip<whitespace_pred, Flags>(text);
+                        if (*text != Ch('>'))
+                            RAPIDXML_PARSE_ERROR("expected >", text);
+                        ++text;     // Skip '>'
+                        return;     // Node closed, finished parsing contents
+                    }
+                    else
+                    {
+                        // Child node
+                        ++text;     // Skip '<'
+                        if (xml_node<Ch> *child = parse_node<Flags>(text))
+                            node->append_node(child);
+                    }
+                    break;
+
+                // End of data - error
+                case Ch('\0'):
+                    RAPIDXML_PARSE_ERROR("unexpected end of data", text);
+
+                // Data node
+                default:
+                    next_char = parse_and_append_data<Flags>(node, text, contents_start);
+                    goto after_data_node;   // Bypass regular processing after data nodes
+
+                }
+            }
+        }
+        
+        // Parse XML attributes of the node
+        template<int Flags>
+        void parse_node_attributes(Ch *&text, xml_node<Ch> *node)
+        {
+            // For all attributes 
+            while (attribute_name_pred::test(*text))
+            {
+                // Extract attribute name
+                Ch *name = text;
+                ++text;     // Skip first character of attribute name
+                skip<attribute_name_pred, Flags>(text);
+                if (text == name)
+                    RAPIDXML_PARSE_ERROR("expected attribute name", name);
+
+                // Create new attribute
+                xml_attribute<Ch> *attribute = this->allocate_attribute();
+                attribute->name(name, text - name);
+                node->append_attribute(attribute);
+
+                // Skip whitespace after attribute name
+                skip<whitespace_pred, Flags>(text);
+
+                // Skip =
+                if (*text != Ch('='))
+                    RAPIDXML_PARSE_ERROR("expected =", text);
+                ++text;
+
+                // Add terminating zero after name
+                if (!(Flags & parse_no_string_terminators))
+                    attribute->name()[attribute->name_size()] = 0;
+
+                // Skip whitespace after =
+                skip<whitespace_pred, Flags>(text);
+
+                // Skip quote and remember if it was ' or "
+                Ch quote = *text;
+                if (quote != Ch('\'') && quote != Ch('"'))
+                    RAPIDXML_PARSE_ERROR("expected ' or \"", text);
+                ++text;
+
+                // Extract attribute value and expand char refs in it
+                Ch *value = text, *end;
+                const int AttFlags = Flags & ~parse_normalize_whitespace;   // No whitespace normalization in attributes
+                if (quote == Ch('\''))
+                    end = skip_and_expand_character_refs<attribute_value_pred<Ch('\'')>, attribute_value_pure_pred<Ch('\'')>, AttFlags>(text);
+                else
+                    end = skip_and_expand_character_refs<attribute_value_pred<Ch('"')>, attribute_value_pure_pred<Ch('"')>, AttFlags>(text);
+                
+                // Set attribute value
+                attribute->value(value, end - value);
+                
+                // Make sure that end quote is present
+                if (*text != quote)
+                    RAPIDXML_PARSE_ERROR("expected ' or \"", text);
+                ++text;     // Skip quote
+
+                // Add terminating zero after value
+                if (!(Flags & parse_no_string_terminators))
+                    attribute->value()[attribute->value_size()] = 0;
+
+                // Skip whitespace after attribute value
+                skip<whitespace_pred, Flags>(text);
+            }
+        }
+
+    };
+
+    //! \cond internal
+    namespace internal
+    {
+
+        // Whitespace (space \n \r \t)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_whitespace[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  1,  1,  0,  0,  1,  0,  0,  // 0
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 1
+             1,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 2
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 3
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 4
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 5
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 6
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 7
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 8
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // 9
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // A
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // B
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // C
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // D
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  // E
+             0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0   // F
+        };
+
+        // Node name (anything but space \n \r \t / > ? \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_node_name[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  0,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Text (i.e. PCDATA) (anything but < \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_text[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Text (i.e. PCDATA) that does not require processing when ws normalization is disabled 
+        // (anything but < \0 &)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_text_pure_no_ws[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Text (i.e. PCDATA) that does not require processing when ws normalizationis is enabled
+        // (anything but < \0 & space \n \r \t)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_text_pure_with_ws[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  0,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             0,  1,  1,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute name (anything but space \n \r \t / < > = ? ! \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_name[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  0,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             0,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  0,  0,  0,  0,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with single quote (anything but ' \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_1[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with single quote that does not require processing (anything but ' \0 &)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_1_pure[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  1,  1,  1,  1,  0,  0,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with double quote (anything but " \0)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_2[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Attribute data with double quote that does not require processing (anything but " \0 &)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_attribute_data_2_pure[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+             0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 0
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 1
+             1,  1,  0,  1,  1,  1,  0,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 2
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 3
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 4
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 5
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 6
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 7
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 8
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // 9
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // A
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // B
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // C
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // D
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  // E
+             1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1   // F
+        };
+
+        // Digits (dec and hex, 255 denotes end of numeric character reference)
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_digits[256] = 
+        {
+          // 0   1   2   3   4   5   6   7   8   9   A   B   C   D   E   F
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 0
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 1
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 2
+             0,  1,  2,  3,  4,  5,  6,  7,  8,  9,255,255,255,255,255,255,  // 3
+           255, 10, 11, 12, 13, 14, 15,255,255,255,255,255,255,255,255,255,  // 4
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 5
+           255, 10, 11, 12, 13, 14, 15,255,255,255,255,255,255,255,255,255,  // 6
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 7
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 8
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // 9
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // A
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // B
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // C
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // D
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,  // E
+           255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255   // F
+        };
+    
+        // Upper case conversion
+        template<int Dummy>
+        const unsigned char lookup_tables<Dummy>::lookup_upcase[256] = 
+        {
+          // 0,  1,  2,  3,  4,  5,  6,  7,  8,  9,  A   B   C   D   E   F
+           0,  1,  2,  3,  4,  5,  6,  7,  8,  9,  10, 11, 12, 13, 14, 15,   // 0
+           16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31,   // 1
+           32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47,   // 2
+           48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63,   // 3
+           64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79,   // 4
+           80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95,   // 5
+           96, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79,   // 6
+           80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 123,124,125,126,127,  // 7
+           128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,  // 8
+           144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,  // 9
+           160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,  // A
+           176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,  // B
+           192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,  // C
+           208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,  // D
+           224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,  // E
+           240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255   // F
+        };
+    }
+    //! \endcond
+
+}
+
+// Undefine internal macros
+#undef RAPIDXML_PARSE_ERROR
+
+// On MSVC, restore warnings state
+#ifdef _MSC_VER
+    #pragma warning(pop)
+#endif
+
+#endif
diff --git a/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_iterators.hpp b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_iterators.hpp
new file mode 100644
index 0000000..52ebc29
--- /dev/null
+++ b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_iterators.hpp
@@ -0,0 +1,174 @@
+#ifndef RAPIDXML_ITERATORS_HPP_INCLUDED
+#define RAPIDXML_ITERATORS_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+//! \file rapidxml_iterators.hpp This file contains rapidxml iterators
+
+#include "rapidxml.hpp"
+
+namespace rapidxml
+{
+
+    //! Iterator of child nodes of xml_node
+    template<class Ch>
+    class node_iterator
+    {
+    
+    public:
+
+        typedef typename xml_node<Ch> value_type;
+        typedef typename xml_node<Ch> &reference;
+        typedef typename xml_node<Ch> *pointer;
+        typedef std::ptrdiff_t difference_type;
+        typedef std::bidirectional_iterator_tag iterator_category;
+        
+        node_iterator()
+            : m_node(0)
+        {
+        }
+
+        node_iterator(xml_node<Ch> *node)
+            : m_node(node->first_node())
+        {
+        }
+        
+        reference operator *() const
+        {
+            assert(m_node);
+            return *m_node;
+        }
+
+        pointer operator->() const
+        {
+            assert(m_node);
+            return m_node;
+        }
+
+        node_iterator& operator++()
+        {
+            assert(m_node);
+            m_node = m_node->next_sibling();
+            return *this;
+        }
+
+        node_iterator operator++(int)
+        {
+            node_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        node_iterator& operator--()
+        {
+            assert(m_node && m_node->previous_sibling());
+            m_node = m_node->previous_sibling();
+            return *this;
+        }
+
+        node_iterator operator--(int)
+        {
+            node_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        bool operator ==(const node_iterator<Ch> &rhs)
+        {
+            return m_node == rhs.m_node;
+        }
+
+        bool operator !=(const node_iterator<Ch> &rhs)
+        {
+            return m_node != rhs.m_node;
+        }
+
+    private:
+
+        xml_node<Ch> *m_node;
+
+    };
+
+    //! Iterator of child attributes of xml_node
+    template<class Ch>
+    class attribute_iterator
+    {
+    
+    public:
+
+        typedef typename xml_attribute<Ch> value_type;
+        typedef typename xml_attribute<Ch> &reference;
+        typedef typename xml_attribute<Ch> *pointer;
+        typedef std::ptrdiff_t difference_type;
+        typedef std::bidirectional_iterator_tag iterator_category;
+        
+        attribute_iterator()
+            : m_attribute(0)
+        {
+        }
+
+        attribute_iterator(xml_node<Ch> *node)
+            : m_attribute(node->first_attribute())
+        {
+        }
+        
+        reference operator *() const
+        {
+            assert(m_attribute);
+            return *m_attribute;
+        }
+
+        pointer operator->() const
+        {
+            assert(m_attribute);
+            return m_attribute;
+        }
+
+        attribute_iterator& operator++()
+        {
+            assert(m_attribute);
+            m_attribute = m_attribute->next_attribute();
+            return *this;
+        }
+
+        attribute_iterator operator++(int)
+        {
+            attribute_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        attribute_iterator& operator--()
+        {
+            assert(m_attribute && m_attribute->previous_attribute());
+            m_attribute = m_attribute->previous_attribute();
+            return *this;
+        }
+
+        attribute_iterator operator--(int)
+        {
+            attribute_iterator tmp = *this;
+            ++this;
+            return tmp;
+        }
+
+        bool operator ==(const attribute_iterator<Ch> &rhs)
+        {
+            return m_attribute == rhs.m_attribute;
+        }
+
+        bool operator !=(const attribute_iterator<Ch> &rhs)
+        {
+            return m_attribute != rhs.m_attribute;
+        }
+
+    private:
+
+        xml_attribute<Ch> *m_attribute;
+
+    };
+
+}
+
+#endif
diff --git a/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_print.hpp b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_print.hpp
new file mode 100644
index 0000000..0ae2b14
--- /dev/null
+++ b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_print.hpp
@@ -0,0 +1,421 @@
+#ifndef RAPIDXML_PRINT_HPP_INCLUDED
+#define RAPIDXML_PRINT_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+//! \file rapidxml_print.hpp This file contains rapidxml printer implementation
+
+#include "rapidxml.hpp"
+
+// Only include streams if not disabled
+#ifndef RAPIDXML_NO_STREAMS
+    #include <ostream>
+    #include <iterator>
+#endif
+
+namespace rapidxml
+{
+
+    ///////////////////////////////////////////////////////////////////////
+    // Printing flags
+
+    const int print_no_indenting = 0x1;   //!< Printer flag instructing the printer to suppress indenting of XML. See print() function.
+
+    ///////////////////////////////////////////////////////////////////////
+    // Internal
+
+    //! \cond internal
+    namespace internal
+    {
+        
+        ///////////////////////////////////////////////////////////////////////////
+        // Internal character operations
+    
+        // Copy characters from given range to given output iterator
+        template<class OutIt, class Ch>
+        inline OutIt copy_chars(const Ch *begin, const Ch *end, OutIt out)
+        {
+            while (begin != end)
+                *out++ = *begin++;
+            return out;
+        }
+        
+        // Copy characters from given range to given output iterator and expand
+        // characters into references (&lt; &gt; &apos; &quot; &amp;)
+        template<class OutIt, class Ch>
+        inline OutIt copy_and_expand_chars(const Ch *begin, const Ch *end, Ch noexpand, OutIt out)
+        {
+            while (begin != end)
+            {
+                if (*begin == noexpand)
+                {
+                    *out++ = *begin;    // No expansion, copy character
+                }
+                else
+                {
+                    switch (*begin)
+                    {
+                    case Ch('<'):
+                        *out++ = Ch('&'); *out++ = Ch('l'); *out++ = Ch('t'); *out++ = Ch(';');
+                        break;
+                    case Ch('>'): 
+                        *out++ = Ch('&'); *out++ = Ch('g'); *out++ = Ch('t'); *out++ = Ch(';');
+                        break;
+                    case Ch('\''): 
+                        *out++ = Ch('&'); *out++ = Ch('a'); *out++ = Ch('p'); *out++ = Ch('o'); *out++ = Ch('s'); *out++ = Ch(';');
+                        break;
+                    case Ch('"'): 
+                        *out++ = Ch('&'); *out++ = Ch('q'); *out++ = Ch('u'); *out++ = Ch('o'); *out++ = Ch('t'); *out++ = Ch(';');
+                        break;
+                    case Ch('&'): 
+                        *out++ = Ch('&'); *out++ = Ch('a'); *out++ = Ch('m'); *out++ = Ch('p'); *out++ = Ch(';'); 
+                        break;
+                    default:
+                        *out++ = *begin;    // No expansion, copy character
+                    }
+                }
+                ++begin;    // Step to next character
+            }
+            return out;
+        }
+
+        // Fill given output iterator with repetitions of the same character
+        template<class OutIt, class Ch>
+        inline OutIt fill_chars(OutIt out, int n, Ch ch)
+        {
+            for (int i = 0; i < n; ++i)
+                *out++ = ch;
+            return out;
+        }
+
+        // Find character
+        template<class Ch, Ch ch>
+        inline bool find_char(const Ch *begin, const Ch *end)
+        {
+            while (begin != end)
+                if (*begin++ == ch)
+                    return true;
+            return false;
+        }
+
+        ///////////////////////////////////////////////////////////////////////////
+        // Internal printing operations
+    
+        // Print node
+        template<class OutIt, class Ch>
+        inline OutIt print_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            // Print proper node type
+            switch (node->type())
+            {
+
+            // Document
+            case node_document:
+                out = print_children(out, node, flags, indent);
+                break;
+
+            // Element
+            case node_element:
+                out = print_element_node(out, node, flags, indent);
+                break;
+            
+            // Data
+            case node_data:
+                out = print_data_node(out, node, flags, indent);
+                break;
+            
+            // CDATA
+            case node_cdata:
+                out = print_cdata_node(out, node, flags, indent);
+                break;
+
+            // Declaration
+            case node_declaration:
+                out = print_declaration_node(out, node, flags, indent);
+                break;
+
+            // Comment
+            case node_comment:
+                out = print_comment_node(out, node, flags, indent);
+                break;
+            
+            // Doctype
+            case node_doctype:
+                out = print_doctype_node(out, node, flags, indent);
+                break;
+
+            // Pi
+            case node_pi:
+                out = print_pi_node(out, node, flags, indent);
+                break;
+
+                // Unknown
+            default:
+                assert(0);
+                break;
+            }
+            
+            // If indenting not disabled, add line break after node
+            if (!(flags & print_no_indenting))
+                *out = Ch('\n'), ++out;
+
+            // Return modified iterator
+            return out;
+        }
+        
+        // Print children of the node                               
+        template<class OutIt, class Ch>
+        inline OutIt print_children(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            for (xml_node<Ch> *child = node->first_node(); child; child = child->next_sibling())
+                out = print_node(out, child, flags, indent);
+            return out;
+        }
+
+        // Print attributes of the node
+        template<class OutIt, class Ch>
+        inline OutIt print_attributes(OutIt out, const xml_node<Ch> *node, int flags)
+        {
+            for (xml_attribute<Ch> *attribute = node->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                if (attribute->name() && attribute->value())
+                {
+                    // Print attribute name
+                    *out = Ch(' '), ++out;
+                    out = copy_chars(attribute->name(), attribute->name() + attribute->name_size(), out);
+                    *out = Ch('='), ++out;
+                    // Print attribute value using appropriate quote type
+                    if (find_char<Ch, Ch('"')>(attribute->value(), attribute->value() + attribute->value_size()))
+                    {
+                        *out = Ch('\''), ++out;
+                        out = copy_and_expand_chars(attribute->value(), attribute->value() + attribute->value_size(), Ch('"'), out);
+                        *out = Ch('\''), ++out;
+                    }
+                    else
+                    {
+                        *out = Ch('"'), ++out;
+                        out = copy_and_expand_chars(attribute->value(), attribute->value() + attribute->value_size(), Ch('\''), out);
+                        *out = Ch('"'), ++out;
+                    }
+                }
+            }
+            return out;
+        }
+
+        // Print data node
+        template<class OutIt, class Ch>
+        inline OutIt print_data_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_data);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            out = copy_and_expand_chars(node->value(), node->value() + node->value_size(), Ch(0), out);
+            return out;
+        }
+
+        // Print data node
+        template<class OutIt, class Ch>
+        inline OutIt print_cdata_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_cdata);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'); ++out;
+            *out = Ch('!'); ++out;
+            *out = Ch('['); ++out;
+            *out = Ch('C'); ++out;
+            *out = Ch('D'); ++out;
+            *out = Ch('A'); ++out;
+            *out = Ch('T'); ++out;
+            *out = Ch('A'); ++out;
+            *out = Ch('['); ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch(']'); ++out;
+            *out = Ch(']'); ++out;
+            *out = Ch('>'); ++out;
+            return out;
+        }
+
+        // Print element node
+        template<class OutIt, class Ch>
+        inline OutIt print_element_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_element);
+
+            // Print element name and attributes, if any
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            out = copy_chars(node->name(), node->name() + node->name_size(), out);
+            out = print_attributes(out, node, flags);
+            
+            // If node is childless
+            if (node->value_size() == 0 && !node->first_node())
+            {
+                // Print childless node tag ending
+                *out = Ch('/'), ++out;
+                *out = Ch('>'), ++out;
+            }
+            else
+            {
+                // Print normal node tag ending
+                *out = Ch('>'), ++out;
+
+                // Test if node contains a single data node only (and no other nodes)
+                xml_node<Ch> *child = node->first_node();
+                if (!child)
+                {
+                    // If node has no children, only print its value without indenting
+                    out = copy_and_expand_chars(node->value(), node->value() + node->value_size(), Ch(0), out);
+                }
+                else if (child->next_sibling() == 0 && child->type() == node_data)
+                {
+                    // If node has a sole data child, only print its value without indenting
+                    out = copy_and_expand_chars(child->value(), child->value() + child->value_size(), Ch(0), out);
+                }
+                else
+                {
+                    // Print all children with full indenting
+                    if (!(flags & print_no_indenting))
+                        *out = Ch('\n'), ++out;
+                    out = print_children(out, node, flags, indent + 1);
+                    if (!(flags & print_no_indenting))
+                        out = fill_chars(out, indent, Ch('\t'));
+                }
+
+                // Print node end
+                *out = Ch('<'), ++out;
+                *out = Ch('/'), ++out;
+                out = copy_chars(node->name(), node->name() + node->name_size(), out);
+                *out = Ch('>'), ++out;
+            }
+            return out;
+        }
+
+        // Print declaration node
+        template<class OutIt, class Ch>
+        inline OutIt print_declaration_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            // Print declaration start
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('?'), ++out;
+            *out = Ch('x'), ++out;
+            *out = Ch('m'), ++out;
+            *out = Ch('l'), ++out;
+
+            // Print attributes
+            out = print_attributes(out, node, flags);
+            
+            // Print declaration end
+            *out = Ch('?'), ++out;
+            *out = Ch('>'), ++out;
+            
+            return out;
+        }
+
+        // Print comment node
+        template<class OutIt, class Ch>
+        inline OutIt print_comment_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_comment);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('!'), ++out;
+            *out = Ch('-'), ++out;
+            *out = Ch('-'), ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch('-'), ++out;
+            *out = Ch('-'), ++out;
+            *out = Ch('>'), ++out;
+            return out;
+        }
+
+        // Print doctype node
+        template<class OutIt, class Ch>
+        inline OutIt print_doctype_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_doctype);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('!'), ++out;
+            *out = Ch('D'), ++out;
+            *out = Ch('O'), ++out;
+            *out = Ch('C'), ++out;
+            *out = Ch('T'), ++out;
+            *out = Ch('Y'), ++out;
+            *out = Ch('P'), ++out;
+            *out = Ch('E'), ++out;
+            *out = Ch(' '), ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch('>'), ++out;
+            return out;
+        }
+
+        // Print pi node
+        template<class OutIt, class Ch>
+        inline OutIt print_pi_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
+        {
+            assert(node->type() == node_pi);
+            if (!(flags & print_no_indenting))
+                out = fill_chars(out, indent, Ch('\t'));
+            *out = Ch('<'), ++out;
+            *out = Ch('?'), ++out;
+            out = copy_chars(node->name(), node->name() + node->name_size(), out);
+            *out = Ch(' '), ++out;
+            out = copy_chars(node->value(), node->value() + node->value_size(), out);
+            *out = Ch('?'), ++out;
+            *out = Ch('>'), ++out;
+            return out;
+        }
+
+    }
+    //! \endcond
+
+    ///////////////////////////////////////////////////////////////////////////
+    // Printing
+
+    //! Prints XML to given output iterator.
+    //! \param out Output iterator to print to.
+    //! \param node Node to be printed. Pass xml_document to print entire document.
+    //! \param flags Flags controlling how XML is printed.
+    //! \return Output iterator pointing to position immediately after last character of printed text.
+    template<class OutIt, class Ch> 
+    inline OutIt print(OutIt out, const xml_node<Ch> &node, int flags = 0)
+    {
+        return internal::print_node(out, &node, flags, 0);
+    }
+
+#ifndef RAPIDXML_NO_STREAMS
+
+    //! Prints XML to given output stream.
+    //! \param out Output stream to print to.
+    //! \param node Node to be printed. Pass xml_document to print entire document.
+    //! \param flags Flags controlling how XML is printed.
+    //! \return Output stream.
+    template<class Ch> 
+    inline std::basic_ostream<Ch> &print(std::basic_ostream<Ch> &out, const xml_node<Ch> &node, int flags = 0)
+    {
+        print(std::ostream_iterator<Ch>(out), node, flags);
+        return out;
+    }
+
+    //! Prints formatted XML to given output stream. Uses default printing flags. Use print() function to customize printing process.
+    //! \param out Output stream to print to.
+    //! \param node Node to be printed.
+    //! \return Output stream.
+    template<class Ch> 
+    inline std::basic_ostream<Ch> &operator <<(std::basic_ostream<Ch> &out, const xml_node<Ch> &node)
+    {
+        return print(out, node);
+    }
+
+#endif
+
+}
+
+#endif
diff --git a/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_utils.hpp b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_utils.hpp
new file mode 100644
index 0000000..37c2953
--- /dev/null
+++ b/sample/lidar_lvx_file/third_party/rapidxml/rapidxml_utils.hpp
@@ -0,0 +1,122 @@
+#ifndef RAPIDXML_UTILS_HPP_INCLUDED
+#define RAPIDXML_UTILS_HPP_INCLUDED
+
+// Copyright (C) 2006, 2009 Marcin Kalicinski
+// Version 1.13
+// Revision $DateTime: 2009/05/13 01:46:17 $
+//! \file rapidxml_utils.hpp This file contains high-level rapidxml utilities that can be useful
+//! in certain simple scenarios. They should probably not be used if maximizing performance is the main objective.
+
+#include "rapidxml.hpp"
+#include <vector>
+#include <string>
+#include <fstream>
+#include <stdexcept>
+
+namespace rapidxml
+{
+
+    //! Represents data loaded from a file
+    template<class Ch = char>
+    class file
+    {
+        
+    public:
+        
+        //! Loads file into the memory. Data will be automatically destroyed by the destructor.
+        //! \param filename Filename to load.
+        file(const char *filename)
+        {
+            using namespace std;
+
+            // Open stream
+            basic_ifstream<Ch> stream(filename, ios::binary);
+            if (!stream)
+                throw runtime_error(string("cannot open file ") + filename);
+            stream.unsetf(ios::skipws);
+            
+            // Determine stream size
+            stream.seekg(0, ios::end);
+            size_t size = stream.tellg();
+            stream.seekg(0);   
+            
+            // Load data and add terminating 0
+            m_data.resize(size + 1);
+            stream.read(&m_data.front(), static_cast<streamsize>(size));
+            m_data[size] = 0;
+        }
+
+        //! Loads file into the memory. Data will be automatically destroyed by the destructor
+        //! \param stream Stream to load from
+        file(std::basic_istream<Ch> &stream)
+        {
+            using namespace std;
+
+            // Load data and add terminating 0
+            stream.unsetf(ios::skipws);
+            m_data.assign(istreambuf_iterator<Ch>(stream), istreambuf_iterator<Ch>());
+            if (stream.fail() || stream.bad())
+                throw runtime_error("error reading stream");
+            m_data.push_back(0);
+        }
+        
+        //! Gets file data.
+        //! \return Pointer to data of file.
+        Ch *data()
+        {
+            return &m_data.front();
+        }
+
+        //! Gets file data.
+        //! \return Pointer to data of file.
+        const Ch *data() const
+        {
+            return &m_data.front();
+        }
+
+        //! Gets file data size.
+        //! \return Size of file data, in characters.
+        std::size_t size() const
+        {
+            return m_data.size();
+        }
+
+    private:
+
+        std::vector<Ch> m_data;   // File data
+
+    };
+
+    //! Counts children of node. Time complexity is O(n).
+    //! \return Number of children of node
+    template<class Ch>
+    inline std::size_t count_children(xml_node<Ch> *node)
+    {
+        xml_node<Ch> *child = node->first_node();
+        std::size_t count = 0;
+        while (child)
+        {
+            ++count;
+            child = child->next_sibling();
+        }
+        return count;
+    }
+
+    //! Counts attributes of node. Time complexity is O(n).
+    //! \return Number of attributes of node
+    template<class Ch>
+    inline std::size_t count_attributes(xml_node<Ch> *node)
+    {
+        xml_attribute<Ch> *attr = node->first_attribute();
+        std::size_t count = 0;
+        while (attr)
+        {
+            ++count;
+            attr = attr->next_attribute();
+        }
+        return count;
+    }
+
+}
+
+#endif
diff --git a/sdk_core/include/livox_def.h b/sdk_core/include/livox_def.h
index c57e270..bd37e7b 100644
--- a/sdk_core/include/livox_def.h
+++ b/sdk_core/include/livox_def.h
@@ -90,7 +90,7 @@ typedef enum {
 #pragma pack(1)
 
 #define LIVOX_SDK_MAJOR_VERSION       1
-#define LIVOX_SDK_MINOR_VERSION       1
+#define LIVOX_SDK_MINOR_VERSION       2
 #define LIVOX_SDK_PATCH_VERSION       0
 
 #define kBroadcastCodeSize 16
@@ -110,6 +110,14 @@ typedef struct {
   uint8_t reflectivity; /**< Reflectivity */
 } LivoxRawPoint;
 
+/** Spherical coordinate format. */
+typedef struct {
+  uint32_t depth;       /**< Radial distance, Unit:mm */
+  uint16_t theta;       /**< Polar angle, Unit:0.01rad */
+  uint16_t phi;         /**< Azimuthal angle, Unit:0.01rad */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxSpherPoint;
+
 /** Standard point cloud format */
 typedef struct {
   float x;              /**< X axis, Unit:m */
@@ -144,7 +152,7 @@ typedef struct {
   uint8_t handle;                          /**< Device handle. */
   uint8_t slot;                            /**< Slot number used for connecting LiDAR. */
   uint8_t id;                              /**< LiDAR id. */
-  uint32_t type;                           /**< Device type, refer to \ref DeviceType. */
+  uint8_t type;                            /**< Device type, refer to \ref DeviceType. */
   uint16_t data_port;                      /**< Point cloud data UDP port. */
   uint16_t cmd_port;                       /**< Control command UDP port. */
   char ip[16];                             /**< IP address. */
@@ -389,6 +397,14 @@ typedef struct {
   ReturnCode ret_state_list[1]; /**< Return code */
 } HubRainFogSuppressResponse;
 
+/**
+* The response body of getting hub slots' power state.
+*/
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint16_t slot_power_state;    /**< Slot power status. */
+} HubQuerySlotPowerStatusResponse;
+
 #pragma pack()
 
 #endif  // LIVOX_DEF_H_
diff --git a/sdk_core/include/livox_sdk.h b/sdk_core/include/livox_sdk.h
index 3271c49..2052b18 100644
--- a/sdk_core/include/livox_sdk.h
+++ b/sdk_core/include/livox_sdk.h
@@ -146,18 +146,21 @@ uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, voi
 
 /**
  * Callback function for receiving point cloud data.
- * @param handle   device handle.
- * @param data     device's data.
- * @param data_num number of points in data.
+ * @param handle      device handle.
+ * @param data        device's data.
+ * @param data_num    number of points in data.
+ * @param client_data user data associated with the command.
  */
-typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num);
+typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
 
 /**
  * Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
  * cloud data callback before beginning sampling.
+ * @param handle      device handle.
  * @param cb callback to receive point cloud data.
+ * @param client_data user data associated with the command.
  */
-void SetDataCallback(uint8_t handle, DataCallback cb);
+void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
 
 /**
  * Function type of callback with 1 byte of response.
@@ -371,16 +374,11 @@ typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
 
 /**
  * Get extrinsic parameters of LiDAR units connected to the Livox Hub.
- * @param  req           the LiDAR units broadcast code list.
- * @param  length        the request's length.
  * @param  cb            callback for the command.
  * @param  client_data   user data associated with the command.
  * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
  */
-uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
-                                 uint16_t length,
-                                 HubGetExtrinsicParameterCallback cb,
-                                 void *client_data);
+uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
 
 /**
  * Turn on or off the calculation of extrinsic parameters.
@@ -418,6 +416,24 @@ uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
                            HubRainFogSuppressCallback cb,
                            void *client_data);
 
+/**
+* @c HubQuerySlotPowerStatus response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void(*HubQuerySlotPowerStatusCallback)(uint8_t status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data);
+
+/**
+* Get the power supply state of each hub slot.
+* @param  cb            callback for the command.
+* @param  client_data   user data associated with the command.
+* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+*/
+uint8_t HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
+
 /**
  * Start LiDAR sampling.
  * @param  handle        device handle.
diff --git a/sdk_core/src/command_handler/command_impl.cpp b/sdk_core/src/command_handler/command_impl.cpp
index eed8f36..81cb968 100644
--- a/sdk_core/src/command_handler/command_impl.cpp
+++ b/sdk_core/src/command_handler/command_impl.cpp
@@ -75,8 +75,8 @@ uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size) {
   return kStatusSuccess;
 }
 
-void SetDataCallback(uint8_t handle, DataCallback cb) {
-  data_handler().AddDataListener(handle, cb);
+void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data) {
+  data_handler().AddDataListener(handle, cb, client_data);
 }
 
 uint8_t DeviceSampleControl(uint8_t handle, bool enable, CommonCommandCallback cb, void *data) {
@@ -292,18 +292,15 @@ uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
   return result ? kStatusSuccess : kStatusFailure;
 }
 
-uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
-                                 uint16_t length,
-                                 HubGetExtrinsicParameterCallback cb,
-                                 void *client_data) {
+uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data) {
   if (device_manager().device_mode() != kDeviceModeHub) {
     return kStatusNotSupported;
   }
   bool result = command_handler().SendCommand(kHubDefaultHandle,
                                               kCommandSetHub,
                                               kCommandIDHubGetExtrinsicParameter,
-                                              (uint8_t *)req,
-                                              length,
+                                              NULL,
+                                              0,
                                               MakeCommandCallback<HubGetExtrinsicParameterResponse>(cb, client_data));
   return result ? kStatusSuccess : kStatusFailure;
 }
@@ -350,3 +347,16 @@ uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
                                               MakeCommandCallback<HubRainFogSuppressResponse>(cb, client_data));
   return result ? kStatusSuccess : kStatusFailure;
 }
+
+uint8_t HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data) {
+  if (device_manager().device_mode() != kDeviceModeHub) {
+    return kStatusNotSupported;
+  }
+  bool result = command_handler().SendCommand(kHubDefaultHandle,
+                                              kCommandSetHub,
+                                              kCommandIDHubQuerySlotPowerStatus,
+                                              NULL,
+                                              0,
+                                              MakeCommandCallback<HubQuerySlotPowerStatusResponse>(cb, client_data));
+  return result ? kStatusSuccess : kStatusFailure;
+}
\ No newline at end of file
diff --git a/sdk_core/src/command_handler/command_impl.h b/sdk_core/src/command_handler/command_impl.h
index 8514a61..acdb234 100644
--- a/sdk_core/src/command_handler/command_impl.h
+++ b/sdk_core/src/command_handler/command_impl.h
@@ -164,6 +164,10 @@ typedef enum {
    * Hub command set, open or close the rain and fog mode of the connected Livox LiDAR.
    */
   kCommandIDHubRainFogSuppression = 7,
+  /**
+  * Hub command set, get the power supply state of each hub slot.
+  */
+  kCommandIDHubQuerySlotPowerStatus = 8,
 
   /**
    * ******************************************************
@@ -179,6 +183,7 @@ static const uint16_t HubCommandTimeout[kCommandIDHubCommandCount] = {KDefaultTi
                                                                       KDefaultTimeOut,
                                                                       KDefaultTimeOut,
                                                                       KDefaultTimeOut,
+                                                                      KDefaultTimeOut,
                                                                       KDefaultTimeOut};
 
 /**
diff --git a/sdk_core/src/data_handler/data_handler.cpp b/sdk_core/src/data_handler/data_handler.cpp
index 679627f..a725e98 100644
--- a/sdk_core/src/data_handler/data_handler.cpp
+++ b/sdk_core/src/data_handler/data_handler.cpp
@@ -38,10 +38,11 @@ DataHandler &data_handler() {
   return handler;
 }
 
-bool DataHandler::AddDataListener(uint8_t handle, const DataCallback &cb) {
+bool DataHandler::AddDataListener(uint8_t handle, const DataCallback &cb, void *client_data) {
   if (handle >= callbacks_.size()) {
     return false;
   }
+  client_data_[handle] = client_data;
   callbacks_[handle] = cb;
   return true;
 }
@@ -107,7 +108,7 @@ void DataHandler::OnDataCallback(uint8_t handle, void *data, uint16_t size) {
     //LOG_INFO(" timeStampType: {}", (uint32_t) (lidar_data->timestamp_type));
     //LOG_INFO(" timeStamp: {}", (uint32_t) *(lidar_data->time_stamp));
     //LOG_INFO(" dataType: {}", (uint16_t) lidar_data->data_type);
-    cb(handle, lidar_data, size);
+    cb(handle, lidar_data, size, client_data_[handle]);
   }
 }
 
diff --git a/sdk_core/src/data_handler/data_handler.h b/sdk_core/src/data_handler/data_handler.h
index 95dfab3..1b792d6 100644
--- a/sdk_core/src/data_handler/data_handler.h
+++ b/sdk_core/src/data_handler/data_handler.h
@@ -38,7 +38,7 @@ class DataHandlerImpl;
 
 class DataHandler : public noncopyable {
  public:
-  typedef boost::function<void(uint8_t handle, LivoxEthPacket *data, uint32_t data_num)> DataCallback;
+  typedef boost::function<void(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data)> DataCallback;
 
  public:
   DataHandler() : mem_pool_(NULL) {}
@@ -49,13 +49,13 @@ class DataHandler : public noncopyable {
   bool AddDevice(const DeviceInfo &info);
   void RemoveDevice(uint8_t handle);
 
-  bool AddDataListener(uint8_t handle, const DataCallback &cb);
-  //  bool RemoveDataListener(uint8_t handle);
+  bool AddDataListener(uint8_t handle, const DataCallback &cb, void *client_data);
   void OnDataCallback(uint8_t handle, void *data, uint16_t size);
 
  private:
   apr_pool_t *mem_pool_;
   boost::array<DataCallback, kMaxConnectedDeviceNum> callbacks_;
+  boost::array<void *, kMaxConnectedDeviceNum> client_data_;
   boost::scoped_ptr<DataHandlerImpl> impl_;
 };
 
diff --git a/sdk_core/src/device_manager.cpp b/sdk_core/src/device_manager.cpp
index faed1d1..924a02f 100644
--- a/sdk_core/src/device_manager.cpp
+++ b/sdk_core/src/device_manager.cpp
@@ -214,8 +214,6 @@ void DeviceManager::UpdateDeviceState(uint8_t handle, const HeartbeatResponse &r
   if (handle >= devices_.size()) {
     return;
   }
-
-  //LOG_INFO(" Update State {}, connect {}", (uint16_t)response.state, devices_[handle].connected);
   bool update = false;
   DeviceInfo &info = devices_[handle].info;
   if (info.state != response.state) {