From 04ac72d49f8111d99f6919f7a75a66bf43042cee Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Wed, 3 Apr 2019 14:01:06 +0200
Subject: [PATCH] Added Collector
---
VirtualRobot/CMakeLists.txt | 3 ++
VirtualRobot/MJCF/visitors.h | 3 ++
VirtualRobot/MJCF/visitors/Collector.cpp | 7 ++++
VirtualRobot/MJCF/visitors/Collector.h | 49 ++++++++++++++++++++++++
4 files changed, 62 insertions(+)
create mode 100644 VirtualRobot/MJCF/visitors.h
create mode 100644 VirtualRobot/MJCF/visitors/Collector.cpp
create mode 100644 VirtualRobot/MJCF/visitors/Collector.h
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index 64ba542d4..d8608e962 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -329,6 +329,7 @@ SET(SOURCES
MJCF/elements/types/statistic.cpp
MJCF/elements/types/tendon.cpp
MJCF/elements/types/visual.cpp
+ MJCF/visitors/Collector.cpp
Nodes/CameraSensor.cpp
Nodes/CameraSensorFactory.cpp
@@ -538,6 +539,8 @@ SET(INCLUDES
MJCF/elements/types/statistic.h
MJCF/elements/types/tendon.h
MJCF/elements/types/visual.h
+ MJCF/visitors.h
+ MJCF/visitors/Collector.h
Nodes/CameraSensor.h
Nodes/CameraSensorFactory.h
diff --git a/VirtualRobot/MJCF/visitors.h b/VirtualRobot/MJCF/visitors.h
new file mode 100644
index 000000000..f2cec5530
--- /dev/null
+++ b/VirtualRobot/MJCF/visitors.h
@@ -0,0 +1,3 @@
+#pragma once
+
+#include "visitors/Collector.h"
diff --git a/VirtualRobot/MJCF/visitors/Collector.cpp b/VirtualRobot/MJCF/visitors/Collector.cpp
new file mode 100644
index 000000000..3f838bce5
--- /dev/null
+++ b/VirtualRobot/MJCF/visitors/Collector.cpp
@@ -0,0 +1,7 @@
+#include "Collector.h"
+
+
+namespace mjcf
+{
+
+}
diff --git a/VirtualRobot/MJCF/visitors/Collector.h b/VirtualRobot/MJCF/visitors/Collector.h
new file mode 100644
index 000000000..bb8ed7e45
--- /dev/null
+++ b/VirtualRobot/MJCF/visitors/Collector.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include "../elements.h"
+
+
+namespace mjcf
+{
+
+ /**
+ * @brief A visitor that collects all elements of the specified type.
+ */
+ template <class ElementT>
+ class Collector : public Visitor
+ {
+ public:
+
+ static std::vector<ElementT> collect(Document& document, AnyElement root);
+
+ Collector(Document& document) : Visitor(document) {}
+
+ // Visitor interface
+ virtual bool visitEnter(const AnyElement& element) override
+ {
+ if (element.is<ElementT>())
+ {
+ collected.push_back(element.as<ElementT>());
+ }
+ return true;
+ }
+
+ std::vector<ElementT>& getCollected() { return collected; }
+ const std::vector<ElementT>& getCollected() const { return collected; }
+
+
+ private:
+
+ std::vector<ElementT> collected;
+
+ };
+
+ template <class ElementT>
+ std::vector<ElementT> Collector<ElementT>::collect(Document& document, AnyElement root)
+ {
+ mjcf::Collector<ElementT> collector(document);
+ root.accept(collector);
+ return collector.getCollected();
+ }
+}
+
--
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