CoeffFactory.cpp

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#include "robot_instance/CoeffFactory.h"

using namespace std;
using namespace log4cpp;

/***************************************************************************/
CoeffMap::value_type CoeffFactory::fromXml(const std::string& xml, const std::string& namePrefix)
{
    TiXmlDocument file;
    file.Parse(xml.c_str());
    TiXmlHandle doc(&file);
    TiXmlHandle elementHandle(doc.FirstChild("Coeff"));

    if (elementHandle.ToElement())
    {
        string name = "";

        if (elementHandle.ToElement()->Attribute("id"))
        {
            if (namePrefix.size() > 0)
            {
                name = StringUtilities::makeFullyQualifiedRoboDynElement(namePrefix, elementHandle.ToElement()->Attribute("id"));
            }
            else
            {
                name = elementHandle.ToElement()->Attribute("id");
            }
        }
        else
        {
            NasaCommonLogging::Logger::getCategory("gov.nasa.robonet.CoeffFactory") << Priority::ERROR << "The attribute [id] was not found for element [" << elementHandle.ToElement()->ValueStr() << "]";
            MissingXMLElementException missingXMLElementException;
            throw missingXMLElementException;
        }

        float  value    = 0;
        string valueStr = "";

        if (elementHandle.ToElement()->Attribute("value"))
        {
            valueStr = elementHandle.ToElement()->Attribute("value");
            value = boost::lexical_cast<float>(valueStr);
        }
        else
        {
            NasaCommonLogging::Logger::getCategory("gov.nasa.robonet.CoeffFactory") << Priority::ERROR << "The attribute [value] was not found for element [" << elementHandle.ToElement()->ValueStr() << "]";
            MissingXMLElementException missingXMLElementException;
            throw missingXMLElementException;
        }

        //    // Create and return the new token
        return CoeffMap::value_type(name, value);
    }
    else
    {
        NasaCommonLogging::Logger::getCategory("gov.nasa.robonet.CoeffFactory") << Priority::ERROR << "The element [Coeff] was not found.";
        MissingXMLElementException missingXMLElementException;
        throw missingXMLElementException;
    }
}