[simspark-cvs] simspark/spark/plugin/rosimporter rosimporter.cpp,1.6,1.7 rosimporter.h,1.5,1.6

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Update of /cvsroot/simspark/simspark/spark/plugin/rosimporter
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv8248

Modified Files:
	rosimporter.cpp rosimporter.h 
Log Message:
- an object within a 'movable' tag has not necessarily a physical Body
- added a valid flag to the physical description
- moved decision whether to create a Body to function HasBody()
- when macros are instantiated with a translation or rotation, an additional
Transform node is required. Therefore GetJointParentBody has to walk up the
hierarchy

Index: rosimporter.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** rosimporter.cpp	19 Feb 2006 14:16:58 -0000	1.6
--- rosimporter.cpp	19 Feb 2006 15:04:01 -0000	1.7
***************
*** 139,142 ****
--- 139,150 ----
  }

+ bool RosImporter::HasBody(const Physical& physical, ENodeContext context)
+ {
+     return (
+             (physical.valid) &&
+             (context == NC_MOVABLE)
+             );
+ }
+ 
  bool RosImporter::ParseScene(const char* scene, int size,
                                     shared_ptr<BaseNode> parent,
***************
*** 468,477 ****
           )
          {
!             TiXmlElement* element = static_cast<TiXmlElement*>(node);
!             if (element == 0)
                  {
                      continue;
                  }

              bool ok = true;

--- 476,485 ----
           )
          {
!             if (IgnoreNode(node))
                  {
                      continue;
                  }

+             TiXmlElement* element = static_cast<TiXmlElement*>(node);
              bool ok = true;

***************
*** 676,679 ****
--- 684,689 ----
  bool RosImporter::ReadPhysical(TiXmlElement* element, Physical& physical, ENodeContext context)
  {
+     physical.valid = false;
+ 
      if (context != NC_MOVABLE)
          {
***************
*** 684,717 ****
      if (physElem == 0)
          {
!             string name = S_UNNAMED;
!             ReadAttribute(element, RA_NAME, name, true);
! 
!             GetLog()->Error() << "(RosImporter) ERROR: missing physical attributes in "
!                               << GetXMLPath(element) << " name " << name << "\n";
!             return false;
          }

!     // we must have a mass
      TiXmlElement* massElem = GetFirstChild(physElem, RosElements::RE_MASS);
!     if (massElem == 0)
          {
-             string name = S_UNNAMED;
-             ReadAttribute(element, RA_NAME, name, true);
- 
-             GetLog()->Error() << "(RosImporter) ERROR: missing mass element in physical attributes in "
-                               << GetXMLPath(element) << "name " << name << " \n";
              return false;
          }

!     if (! ReadAttribute(massElem, RA_VALUE, physical.mass))
!         {
!             return false;
!         }

      // check for mass center
      TiXmlElement* centerElem = GetFirstChild(physElem,RosElements::RE_CENTEROFMASS);
!     if (centerElem != 0)
          {
!             ReadVector(centerElem, physical.massCenter);
          }

--- 694,721 ----
      if (physElem == 0)
          {
!             return true;
          }

!     // check for mass
      TiXmlElement* massElem = GetFirstChild(physElem, RosElements::RE_MASS);
!     if (
!         (massElem != 0) &&
!         (! ReadAttribute(massElem, RA_VALUE, physical.mass))
!         )
          {
              return false;
          }

!     // a mass value is enough for a valid physical body description
!     physical.valid = true;

      // check for mass center
      TiXmlElement* centerElem = GetFirstChild(physElem,RosElements::RE_CENTEROFMASS);
!     if (
!         (centerElem != 0) &&
!         (! ReadVector(centerElem, physical.massCenter))
!         )
          {
!             return false;
          }

***************
*** 761,782 ****
      ccylinder->SetMaterial(appear.ref);

!     // add body?
!     switch (context)
          {
!         case NC_ELEMENTS:
!             break;
! 
!         case NC_MOVABLE:
!             {
!                 shared_ptr<Body> body = shared_dynamic_cast<Body>
!                     (GetCore()->New("/oxygen/Body"));

!                 transform->AddChildReference(body);

!                 body->SetName(S_BODY+name);
!                 body->SetCappedCylinderTotal(physical.mass, radius, height);
!                 //! TODO: set mass center
!                 break;
!             }
          }

--- 765,778 ----
      ccylinder->SetMaterial(appear.ref);

!     if (HasBody(physical, context))
          {
!             shared_ptr<Body> body = shared_dynamic_cast<Body>
!                 (GetCore()->New("/oxygen/Body"));

!             transform->AddChildReference(body);

!             body->SetName(S_BODY+name);
!             body->SetCappedCylinderTotal(physical.mass, radius, height);
!             //! TODO: set mass center
          }

***************
*** 831,852 ****
      sphere->SetMaterial(appear.ref);

!     // add body?
!     switch (context)
          {
!         case NC_ELEMENTS:
!             break;
! 
!         case NC_MOVABLE:
!             {
!                 shared_ptr<Body> body = shared_dynamic_cast<Body>
!                     (GetCore()->New("/oxygen/Body"));

!                 transform->AddChildReference(body);

!                 body->SetName(S_BODY+name);
!                 body->SetSphereTotal(physical.mass, radius);
!                 //! TODO: set mass center
!                 break;
!             }
          }

--- 827,840 ----
      sphere->SetMaterial(appear.ref);

!     if (HasBody(physical, context))
          {
!             shared_ptr<Body> body = shared_dynamic_cast<Body>
!                 (GetCore()->New("/oxygen/Body"));

!             transform->AddChildReference(body);

!             body->SetName(S_BODY+name);
!             body->SetSphereTotal(physical.mass, radius);
!             //! TODO: set mass center
          }

***************
*** 904,925 ****
      box->SetMaterial(appear.ref);

!     // add body?
!     switch (context)
          {
!         case NC_ELEMENTS:
!             break;
! 
!         case NC_MOVABLE:
!             {
!                 shared_ptr<Body> body = shared_dynamic_cast<Body>
!                     (GetCore()->New("/oxygen/Body"));

!                 transform->AddChildReference(body);

!                 body->SetName(S_BODY+name);
!                 body->SetBoxTotal(physical.mass, boxDim);
!                 //! TODO: set mass center
!                 break;
!             }
          }

--- 892,905 ----
      box->SetMaterial(appear.ref);

!     if (HasBody(physical, context))
          {
!             shared_ptr<Body> body = shared_dynamic_cast<Body>
!                 (GetCore()->New("/oxygen/Body"));

!             transform->AddChildReference(body);

!             body->SetName(S_BODY+name);
!             body->SetBoxTotal(physical.mass, boxDim);
!             //! TODO: set mass center
          }

***************
*** 968,972 ****
  shared_ptr<Body> RosImporter::GetJointParentBody(shared_ptr<BaseNode> parent)
  {
!     return parent->FindChildSupportingClass<Body>();
  }

--- 948,965 ----
  shared_ptr<Body> RosImporter::GetJointParentBody(shared_ptr<BaseNode> parent)
  {
!     for (
!          shared_ptr<BaseNode> node = parent;
!          node.get() != 0;
!          node = shared_dynamic_cast<BaseNode>(node->GetParent().lock())
!          )
!         {
!             shared_ptr<Body> body = node->FindChildSupportingClass<Body>();
!             if (body.get() != 0)
!                 {
!                     return body;
!                 }
!         }
! 
!     return shared_ptr<Body>();
  }

Index: rosimporter.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** rosimporter.h	19 Feb 2006 14:16:58 -0000	1.5
--- rosimporter.h	19 Feb 2006 15:04:01 -0000	1.6
***************
*** 78,81 ****
--- 78,82 ----
      {
      public:
+         bool valid;
          double mass;
          salt::Vector3f massCenter;
***************
*** 83,87 ****
      public:
          Physical()
!             : mass(0.0), massCenter(0.0, 0.0, 0.0) {}
      };

--- 84,88 ----
      public:
          Physical()
!             : valid(false), mass(0.0), massCenter(0.0, 0.0, 0.0) {}
      };

***************
*** 119,123 ****
--- 120,126 ----
      TiXmlElement* GetFirstChild(TiXmlNode* node, RosElements::ERosElement type);
      TiXmlElement* IterateChildren(TiXmlNode* node, RosElements::ERosElement type);
+ 
      bool IgnoreNode(const TiXmlNode* node) const;
+     bool HasBody(const Physical& physical, ENodeContext context);

      RosElements::ERosElement GetType(const TiXmlElement* element) const;