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;
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