Documentation

VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.cpp

@@ -28,7 +28,6 @@ void SimoxXMLDocument::LoadFile(const fs::path& path)
     
     collisionModelFiles.clear();
     visualizationFiles.clear();
-    includedFiles.clear();
     
     XMLNode* xmlRobot = FirstChildElement("Robot");
     assert(xmlRobot);
@@ -36,7 +35,7 @@ void SimoxXMLDocument::LoadFile(const fs::path& path)
     SimoxXMLVisitor visitor(*this);
     xmlRobot->Accept(&visitor);
     
-    for (fs::path file : includedFiles)
+    for (fs::path file : visitor.includedFiles)
     {
         VR_INFO << "Loading included XML: " << file << std::endl;
         
@@ -140,7 +139,7 @@ bool SimoxXMLVisitor::VisitEnter(const tinyxml2::XMLElement& elem, const tinyxml
         assert(file);
         fs::path relPath = file->GetText();
         
-        xml.includedFiles.push_back(xml.inputFilePath.parent_path() / relPath);
+        includedFiles.push_back(xml.inputFilePath.parent_path() / relPath);
     }
     
     return true;

VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.h

@@ -11,7 +11,11 @@
 
 namespace VirtualRobot
 {
- 
+
+/**
+ * @brief A Simox XML document offering access to information not included 
+ * in a VirtualRobot::Robot.
+ */
 class SimoxXMLDocument : private tinyxml2::XMLDocument
 {
     using Base = tinyxml2::XMLDocument;
@@ -20,48 +24,78 @@ class SimoxXMLDocument : private tinyxml2::XMLDocument
     
 public:
     
+    /// Constructor.
     SimoxXMLDocument();
     
+    /**
+     * @brief Load a Simox XML file.
+     * Loads the given XML file and traverses it to collect the wanted 
+     * information. If the file references any other XML files via a
+     * <ChildFromRobot> element, loads that as well and aggregates its
+     * information into this.
+     */
     void LoadFile(const boost::filesystem::path& path);
+    /// @see LoadFile(const boost::filesyste::path&)
     void LoadFile(const std::string& path);
     
-    
+    /// Indicate whether a RobotNode has specified a collision model file.
     bool hasCollisionModelFile(RobotNodePtr robotNode) const;
+    /// Indicate whether a RobotNode has specified a visualization file.
     bool hasVisualizationFile(RobotNodePtr robotNode) const;
     
+    /// Get the collision model file of a RobotNode. If the node did not 
+    /// specify a collision model file, an empty path is returned.
     boost::filesystem::path collisionModelFile(RobotNodePtr robotNode) const;
+    /// Get the visualization file of a RobotNode. If the node did not 
+    /// specify a visualization model file, an empty path is returned.
     boost::filesystem::path visualizationFile(RobotNodePtr robotNode) const;
     
     
 private:
     
+    /// Map from (node) name to a path.
     using NamePathMap = std::map<std::string, boost::filesystem::path>;
 
-    
+    /// Return true when there is an entry for the robot node in the map.
     bool hasEntry(RobotNodePtr robotNode, const NamePathMap& map) const;
+    /// Return the value of the robot node in the map. If none is found, return an empty path.
     boost::filesystem::path getEntry(RobotNodePtr robotNode, const NamePathMap& map) const;
     
-    
+    /// The input file path. Necessary for resolving relative paths.
     boost::filesystem::path inputFilePath;
     
+    /// The collision model files of RobotNodes.
     NamePathMap collisionModelFiles;
+    /// The visualization files of RobotNodes.
     NamePathMap visualizationFiles;
     
-    std::vector<boost::filesystem::path> includedFiles;
+    
     
 };
 
 
+/**
+ * @brief The SimoxXMLVisitor class
+ */
 class SimoxXMLVisitor : public tinyxml2::XMLVisitor
 {
+    friend class SimoxXMLDocument;
+    
 public:
+    
     SimoxXMLVisitor(SimoxXMLDocument& xml);
     
+    /// Stores mesh files of RobotNodes, and stores files included <ChildFromRobot> elements.
     virtual bool VisitEnter(const tinyxml2::XMLElement&, const tinyxml2::XMLAttribute*) override;
     
+    
 private:
+    
     SimoxXMLDocument& xml;
     
+    /// The files included by the input file.
+    std::vector<boost::filesystem::path> includedFiles;
+    
 };