Added Collector

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

VirtualRobot/MJCF/visitors.h

+#pragma once
+
+#include "visitors/Collector.h"

VirtualRobot/MJCF/visitors/Collector.cpp

+#include "Collector.h"
+
+
+namespace mjcf
+{
+
+}

VirtualRobot/MJCF/visitors/Collector.h

+#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();
+    }
+}
+