Project.cpp
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00001 #include <sys/param.h>
00002 #include <iostream>
00003 #include <boost/algorithm/string.hpp>
00004 
00005 #include <libxml/parser.h>
00006 #include <libxml/xmlreader.h>
00007 #include <libxml/xpath.h>
00008 #include <libxml/xpathInternals.h>
00009 #include <hrpModel/Config.h>
00010 #include "Project.h"
00011 
00012 ThreeDView::ThreeDView() : 
00013     showScale(true), showCoM(false), showCoMonFloor(false), showCollision(true){ 
00014     double r = 5.0, pan = M_PI/4, tilt = M_PI/16;
00015     double cp = cos(pan), sp = sin(pan);
00016     double ct = cos(tilt), st = sin(tilt);
00017     
00018     hrp::Matrix33 Rp = hrp::rotFromRpy(0,pan,0);
00019     hrp::Matrix33 Rt = hrp::rotFromRpy(-tilt, 0, 0);
00020     hrp::Matrix33 R  = hrp::rotFromRpy(0, M_PI/2,0)*hrp::rotFromRpy(0, 0, M_PI/2)*Rp*Rt;
00021     T[ 0] = R(0,0); T[ 1] = R(0,1); T[ 2] = R(0,2); T[ 3] = r*cp*ct; 
00022     T[ 4] = R(1,0); T[ 5] = R(1,1); T[ 6] = R(1,2); T[ 7] = r*sp*ct;
00023     T[ 8] = R(2,0); T[ 9] = R(2,1); T[10] = R(2,2); T[11] = r*st + 0.8;
00024     T[12] =      0; T[13] =      0; T[14] =      0; T[15] = 1.0;
00025 }
00026 
00027 Project::Project() : 
00028     m_timeStep(0.001), m_logTimeStep(0.01), m_totalTime(1.0), m_gravity(9.8), m_isEuler(true), m_kinematicsOnly(false), m_realTime(false)
00029 {
00030 }
00031 
00032 bool Project::parse(const std::string& filename)
00033 {
00034   xmlInitParser();
00035   xmlDocPtr doc = xmlParseFile(filename.c_str());
00036   if ( doc == NULL ) {
00037       std::cerr << "unable to parse file(" << filename << ")" << std::endl;
00038       return false;
00039   }
00040 
00041   /* Create xpath evaluation context */
00042   xmlXPathContextPtr xpathCtx = xmlXPathNewContext(doc);
00043   if ( xpathCtx == NULL ) {
00044       std::cerr << "unable to create new XPath context" << std::endl;
00045       xmlFreeDoc(doc);
00046       return false;
00047   }
00048 
00049   /* Evaluate xpath expression */
00050   xmlXPathObjectPtr xpathObj = xmlXPathEvalExpression(BAD_CAST "/grxui/mode/item", xpathCtx);
00051   if ( xmlXPathNodeSetIsEmpty(xpathObj->nodesetval) ) {
00052       std::cerr << "unable to find <mode>" << std::endl;
00053   }
00054 
00055   int size;
00056   size = xpathObj->nodesetval->nodeNr;
00057 
00058   for (int i = 0; i < size; i++ ) {
00059       xmlNodePtr node = xpathObj->nodesetval->nodeTab[i];
00060       //std::cerr << i << " class:" << xmlGetProp(node, (xmlChar *)"class") << std::endl;
00061       if ( xmlStrEqual( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.item.GrxSimulationItem")  ) {
00062           xmlNodePtr cur_node = node->children;
00063           while ( cur_node ) {
00064               if ( cur_node->type == XML_ELEMENT_NODE ) {
00065                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"integrate") ) {
00066                       m_kinematicsOnly = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == "false";
00067                       
00068                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"viewsimulate") ) {
00069                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"totalTime") ) {
00070                       m_totalTime = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00071                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"timeStep") ) {
00072                       m_timeStep = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00073                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"realTime") ) {
00074                       m_realTime = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == "true";
00075                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"gravity") ) {
00076                       m_gravity = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00077                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"method") ) {
00078                       m_isEuler = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == std::string("EULER");
00079                   } else {
00080 #if 0
00081                       std::cerr << "Unknown tag : " << cur_node->name << " "
00082                                 << "name=" << xmlGetProp(cur_node, (xmlChar *)"name")
00083                                 << "value=" << xmlGetProp(cur_node, (xmlChar *)"value") << std::endl;
00084 #endif
00085                   }
00086               }
00087               cur_node = cur_node->next;
00088           }
00089       } else if ( xmlStrEqual( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.item.GrxRTSItem")  ) {
00090           xmlNodePtr cur_node = node->children;
00091           while ( cur_node ) {
00092               if ( cur_node->type == XML_ELEMENT_NODE ) {
00093                   std::string name = (char *)xmlGetProp(cur_node, (xmlChar *)"name");
00094                   std::string value = (char *)xmlGetProp(cur_node, (xmlChar *)"value");
00095                   //std::cout << name << "," << value << std::endl;
00096 
00097                   if (name == "connection"){
00098                       int pos = value.find(':');
00099                       if (pos < 0){
00100                           std::cerr << "can't find a separator(:) in " 
00101                                     << value << std::endl; 
00102                       }else{
00103                           std::string p1 = value.substr(0,pos);
00104                           std::string p2 = value.substr(pos+1);
00105                           m_rts.connections.push_back(std::make_pair(p1, p2));
00106                       }
00107                   }else{
00108                       int pos = name.find('.');
00109                       if (pos < 0){
00110                           std::cerr << "unknown property name:" << name 
00111                                     << std::endl; 
00112                       }else{
00113                           std::string comp = name.substr(0,pos);
00114                           std::string cat = name.substr(pos+1);
00115                           RTSItem::rtc &rtc = m_rts.components[comp];
00116                           if (cat == "factory"){
00117                               rtc.path = value;
00118                               int pos = value.find_last_of("/");
00119                               rtc.name = value.substr(pos+1);
00120                           }else if (cat == "period") {
00121                               rtc.period = atof(value.c_str());
00122                           }else{
00123                               rtc.configuration.push_back(std::make_pair(cat, value));
00124                           } 
00125                       }
00126                   }
00127               }
00128               cur_node = cur_node->next;
00129           }
00130       } else if ( xmlStrEqual( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.item.GrxModelItem")  ) {
00131           //std::cerr << "GrxModelItem name:" << xmlGetProp(node, (xmlChar *)"name") << ", url:" << xmlGetProp(node, (xmlChar *)"url") << std::endl;
00132           std::string path = (char *)xmlGetProp(node, (xmlChar *)"url");
00133           if ( path.find("$(CURRENT_DIR)") != std::string::npos ) {
00134               if (filename.find_last_of("/") != std::string::npos){
00135                   path.replace(path.find("$(CURRENT_DIR)"),14, 
00136                                filename.substr(0, filename.find_last_of("/")));
00137               }else{
00138                   path.replace(path.find("$(CURRENT_DIR)"),15, ""); 
00139               }
00140               if (path[0] != '/'){
00141                   char buf[MAXPATHLEN];
00142                   path = std::string(getcwd(buf, MAXPATHLEN))+"/"+path;
00143               }
00144           }
00145           if ( path.find("$(PROJECT_DIR)") != std::string::npos ) {
00146               std::string shdir = OPENHRP_SHARE_DIR;
00147               std::string pjdir = shdir + "/sample/project";
00148               path.replace(path.find("$(PROJECT_DIR)"),14, pjdir);
00149           }
00150           ModelItem m;
00151           m.url = std::string("file://")+path;
00152           xmlNodePtr cur_node = node->children;
00153           while ( cur_node ) {
00154               if ( cur_node->type == XML_ELEMENT_NODE ) {
00155                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"isRobot") ) {
00156                       if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"value"),(xmlChar *)"true")) {
00157                           //isRobot = true;
00158                       }
00159                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"controlTime") ) {
00160                       //controlTimeStep = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00161                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"rtcName") ) {
00162                       m.rtcName = (char *)xmlGetProp(cur_node, (xmlChar *)"value");
00163                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"inport") ) {
00164                       m.inports.push_back((char *)xmlGetProp(cur_node, (xmlChar *)"value"));
00165                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"outport") ) {
00166                       m.outports.push_back((char *)xmlGetProp(cur_node, (xmlChar *)"value"));
00167                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".angle") != std::string::npos ) {
00168                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00169                       name.erase(name.rfind(".angle"));
00170                       m.joint[name].angle = atof((char *)xmlGetProp(cur_node, (xmlChar *)"value"));
00171                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".mode") != std::string::npos ) {
00172                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00173                       name.erase(name.rfind(".mode"));
00174                       m.joint[name].isHighGain = xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"value"), (xmlChar *)"HighGain");
00175                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".NumOfAABB") != std::string::npos ) {
00176                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00177                       name.erase(name.rfind(".NumOfAABB"));
00178                       m.joint[name].NumOfAABB = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00179                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".collisionShape") != std::string::npos ) {
00180                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00181                       name.erase(name.rfind(".collisionShape"));
00182                       m.joint[name].collisionShape = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00183                       boost::trim(m.joint[name].collisionShape);
00184                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".translation") != std::string::npos ) {
00185                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00186                       name.erase(name.rfind(".translation"));
00187                       float x, y, z;
00188                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f", &x, &y, &z);
00189                       m.joint[name].translation[0] = x; m.joint[name].translation[1] = y; m.joint[name].translation[2] = z;
00190                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".rotation") != std::string::npos ) {
00191                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00192                       name.erase(name.rfind(".rotation"));
00193                       float x, y, z, w;
00194                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f %f", &x, &y, &z, &w);
00195                       hrp::calcRodrigues(m.joint[name].rotation, hrp::Vector3(x, y, z), w);
00196                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".velocity") != std::string::npos ) {
00197                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00198                       name.erase(name.rfind(".velocity"));
00199                       float x, y, z;
00200                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f", &x, &y, &z);
00201                       m.joint[name].linearVelocity << x, y, z; 
00202                   } else if ( std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name")).rfind(".angularVelocity") != std::string::npos ) {
00203                       std::string name = std::string((char *)xmlGetProp(cur_node, (xmlChar *)"name"));
00204                       name.erase(name.rfind(".angularVelocity"));
00205                       float x, y, z;
00206                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f", &x, &y, &z);
00207                       m.joint[name].angularVelocity << x, y, z; 
00208                   } else {
00209 #if 0
00210                       std::cerr << "Unknown tag : " << cur_node->name << " "
00211                                 << "name=" << xmlGetProp(cur_node, (xmlChar *)"name") << " "
00212                                 << "value=" << xmlGetProp(cur_node, (xmlChar *)"value") << std::endl;
00213 #endif
00214                   }
00215               }
00216               cur_node = cur_node->next;
00217           }
00218           std::string n = std::string((char *)xmlGetProp(node, (xmlChar *)"name"));
00219           m_models[n] = m;
00220       } else if ( xmlStrEqual( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.item.GrxWorldStateItem") ) {
00221           xmlNodePtr cur_node = node->children;
00222           while ( cur_node ) {
00223               if ( cur_node->type == XML_ELEMENT_NODE ) {
00224                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"logTimeStep") ) {
00225                       m_logTimeStep = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00226                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"timeStep") ) {
00227                       m_timeStep = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00228                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"totalTime") ) {
00229                       m_totalTime = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00230                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"method") ) {
00231                       m_isEuler = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == std::string("EULER");
00232                   }
00233               }
00234               cur_node = cur_node->next;
00235           }
00236       } else if ( xmlStrEqual ( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.item.GrxCollisionPairItem")  ) {
00237           CollisionPairItem c;
00238           xmlNodePtr cur_node = node->children;
00239           while ( cur_node ) {
00240               if ( cur_node->type == XML_ELEMENT_NODE ) {
00241                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"objectName1") ) {
00242                       c.objectName1 = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00243                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"objectName2") ) {
00244                       c.objectName2 = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00245                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"jointName1") ) {
00246                       c.jointName1 = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00247                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"jointName2") ) {
00248                       c.jointName2 = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00249                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"slidingFriction") ) {
00250                       c.slidingFriction = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00251                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"staticFriction") ) {
00252                       c.staticFriction = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00253                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"cullingThresh") ) {
00254                       c.cullingThresh = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00255                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"Restitution") ) {
00256                       c.restitution = atof((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00257                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"sprintDamperModel") ) {
00258                       c.sprintDamperModel = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00259                   } else {
00260 #if 0
00261                       std::cerr << "Unknown tag : " << cur_node->name << " "
00262                                 << ", name=" << xmlGetProp(cur_node, (xmlChar *)"name")
00263                                 << ", value=" << xmlGetProp(cur_node, (xmlChar *)"value") << std::endl;
00264 #endif
00265                   }
00266               }
00267               cur_node = cur_node->next;
00268           }
00269           m_collisionPairs.push_back(c);
00270       } else if ( xmlStrEqual ( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.item.GrxExtraJointItem")  ) {
00271           ExtraJointItem c;
00272           xmlNodePtr cur_node = node->children;
00273           while ( cur_node ) {
00274               if ( cur_node->type == XML_ELEMENT_NODE ) {
00275                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"object1Name") ) {
00276                       c.object1Name = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00277                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"object2Name") ) {
00278                       c.object2Name = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00279                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"link1Name") ) {
00280                       c.link1Name = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00281                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"link2Name") ) {
00282                       c.link2Name = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00283                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"jointType") ) {
00284                       c.jointType = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00285                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"jointAxis") ) {
00286                       float x, y, z;
00287                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f", &x, &y, &z);
00288                       c.jointAxis[0] = x; c.jointAxis[1] = y; c.jointAxis[2] = z;
00289                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"link1LocalPos") ) {
00290                       float x, y, z;
00291                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f", &x, &y, &z);
00292                       c.link1LocalPos[0] = x; c.link1LocalPos[1] = y; c.link1LocalPos[2] = z;
00293                   } else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"link2LocalPos") ) {
00294                       float x, y, z;
00295                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%f %f %f", &x, &y, &z);
00296                       c.link2LocalPos[0] = x; c.link2LocalPos[1] = y; c.link2LocalPos[2] = z;
00297                   } else {
00298 #if 0
00299                       std::cerr << "Unknown tag : " << cur_node->name << " "
00300                                 << ", name=" << xmlGetProp(cur_node, (xmlChar *)"name")
00301                                 << ", value=" << xmlGetProp(cur_node, (xmlChar *)"value") << std::endl;
00302 #endif
00303                   }
00304               }
00305               cur_node = cur_node->next;
00306           }
00307           m_extraJoints.push_back(c);
00308       }
00309   }
00310 
00311   /* Cleanup Xpath Data */
00312   xmlXPathFreeObject(xpathObj);
00313   xmlXPathFreeContext(xpathCtx);
00314 
00315   {
00316   /* Create xpath evaluation context */
00317   xmlXPathContextPtr xpathCtx = xmlXPathNewContext(doc);
00318   if ( xpathCtx == NULL ) {
00319       std::cerr << "unable to create new XPath context" << std::endl;
00320       xmlFreeDoc(doc);
00321       return false;
00322   }
00323 
00324   xmlXPathObjectPtr xpathObj = xmlXPathEvalExpression(BAD_CAST "/grxui/mode/view", xpathCtx);
00325   if ( xmlXPathNodeSetIsEmpty(xpathObj->nodesetval) ) {
00326       std::cerr << "unable to find <mode>" << std::endl;
00327   }
00328 
00329   int size;
00330   size = xpathObj->nodesetval->nodeNr;
00331 
00332   for (int i = 0; i < size; i++ ) {
00333       xmlNodePtr node = xpathObj->nodesetval->nodeTab[i];
00334       //std::cerr << i << " class:" << xmlGetProp(node, (xmlChar *)"class") << std::endl;
00335       if ( xmlStrEqual( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.view.GrxRobotHardwareClientView")  ) {
00336           xmlNodePtr cur_node = node->children;
00337           while ( cur_node ) {
00338               if ( cur_node->type == XML_ELEMENT_NODE ) {
00339                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"robotHost") ) {
00340                       m_rhview.hostname = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00341                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"robotPort") ) {
00342                       m_rhview.port = atoi((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00343                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"interval") ) {
00344                       m_rhview.interval = atoi((char *)(xmlGetProp(cur_node, (xmlChar *)"value")));
00345                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"stateProvider") ) {
00346                       m_rhview.RobotHardwareName = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00347                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"StateHolderRTC") ) {
00348                       m_rhview.StateHolderName = (char *)(xmlGetProp(cur_node, (xmlChar *)"value"));
00349                   }
00350               }
00351               cur_node = cur_node->next;
00352           }
00353       } else if ( xmlStrEqual( xmlGetProp(node, (xmlChar *)"class"), (xmlChar *)"com.generalrobotix.ui.view.Grx3DView")  ) {
00354           xmlNodePtr cur_node = node->children;
00355           while ( cur_node ) {
00356               if ( cur_node->type == XML_ELEMENT_NODE ) {
00357                   if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"showScale") ) {
00358                       m_3dview.showScale = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == "true";
00359                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"showCoM") ) {
00360                       m_3dview.showCoM = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == "true";
00361                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"showCoMonFloor") ) {
00362                       m_3dview.showCoMonFloor = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == "true";
00363                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"showCollision") ) {
00364                       m_3dview.showCollision = std::string((char *)(xmlGetProp(cur_node, (xmlChar *)"value"))) == "true";
00365                   }else if ( xmlStrEqual(xmlGetProp(cur_node, (xmlChar *)"name"),(xmlChar *)"eyeHomePosition") ) {
00366                       sscanf(((char *)xmlGetProp(cur_node, (xmlChar *)"value")),"%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf ", 
00367                              &m_3dview.T[0],&m_3dview.T[1],&m_3dview.T[2],&m_3dview.T[3],
00368                              &m_3dview.T[4],&m_3dview.T[5],&m_3dview.T[6],&m_3dview.T[7],
00369                              &m_3dview.T[8],&m_3dview.T[9],&m_3dview.T[10],&m_3dview.T[11]);
00370                   }
00371               }
00372               cur_node = cur_node->next;
00373           }
00374       }
00375   }
00376   xmlXPathFreeObject(xpathObj);
00377   xmlXPathFreeContext(xpathCtx);
00378   }
00379 
00380   /* free the document */
00381   xmlFreeDoc(doc);
00382   xmlCleanupParser();
00383 
00384   return true;
00385 }
00386 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55