From 29fc48d2c43a42041e4cdbf5013a0b89223b572a Mon Sep 17 00:00:00 2001
From: vahrenkamp <vahrenkamp@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Wed, 26 Nov 2014 12:00:53 +0000
Subject: [PATCH] updated xsd description of XML file structure. Fixed
makeRelative function. Failed if file did not exist.
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@738 042f3d55-54a8-47e9-b7fb-15903f145c44
---
VirtualRobot/XML/BaseIO.cpp | 7 +++--
doc/file_format/simox_robot.xsd | 47 +++++++++++++++++++++++++++------
2 files changed, 44 insertions(+), 10 deletions(-)
diff --git a/VirtualRobot/XML/BaseIO.cpp b/VirtualRobot/XML/BaseIO.cpp
index 547026f77..b87a6074e 100644
--- a/VirtualRobot/XML/BaseIO.cpp
+++ b/VirtualRobot/XML/BaseIO.cpp
@@ -749,9 +749,12 @@ namespace VirtualRobot
{
return;
}
- else if (fs::path(filename).is_absolute() && boost::filesystem::exists(fs::path(filename)))
+ else if (fs::path(filename).is_absolute())
{
- filepath = fs::canonical(fs::path(filename));
+ if (boost::filesystem::exists(fs::path(filename)))
+ filepath = fs::canonical(fs::path(filename));
+ else
+ filepath = fs::path(filename);
}
else
{
diff --git a/doc/file_format/simox_robot.xsd b/doc/file_format/simox_robot.xsd
index ff515281b..f4e5a2841 100644
--- a/doc/file_format/simox_robot.xsd
+++ b/doc/file_format/simox_robot.xsd
@@ -202,12 +202,40 @@
</xs:complexContent>
</xs:complexType>
- <xs:complexType name="Coordinate-Type">
- <xs:attribute name="enale" type="xs:boolean" default="true"/>
- <xs:attribute name="scaling" type="xs:decimal" default="1.0"/>
- <xs:attribute name="text" type="xs:string" default=""/>
- </xs:complexType>
-
+ <xs:complexType name="Coordinate-Type">
+ <xs:attribute name="enale" type="xs:boolean" default="true"/>
+ <xs:attribute name="scaling" type="xs:decimal" default="1.0"/>
+ <xs:attribute name="text" type="xs:string" default=""/>
+ </xs:complexType>
+
+ <xs:complexType name="PropagateJointValue-Type">
+ <xs:attribute name="factor" type="xs:decimal" default="1.0"/>
+ <xs:attribute name="name" type="xs:string" default=""/>
+ </xs:complexType>
+
+ <xs:complexType name="PrimitiveBox-Type">
+ <xs:all>
+ <xs:element name="Transform" type="Transform-Type" minOccurs="0"/>
+ </xs:all>
+ <xs:attribute name="width" type="xs:decimal" default="0.0"/>
+ <xs:attribute name="height" type="xs:decimal" default="0.0"/>
+ <xs:attribute name="depth" type="xs:decimal" default="0.0"/>
+ </xs:complexType>
+
+ <xs:complexType name="PrimitiveSphere-Type">
+ <xs:all>
+ <xs:element name="Transform" type="Transform-Type" minOccurs="0"/>
+ </xs:all>
+ <xs:attribute name="radius" type="xs:decimal" default="1.0"/>
+ </xs:complexType>
+
+ <xs:complexType name="Primitive-Type">
+ <xs:all>
+ <xs:element name="box" type="PrimitiveBox-Type" minOccurs="0"/>
+ <xs:element name="sphere" type="PrimitiveSphere-Type" minOccurs="0"/>
+ </xs:all>
+ </xs:complexType>
+
<xs:complexType name="JointElement">
<xs:all>
<xs:element name="limits" type="Limits-Type" minOccurs="1"/>
@@ -216,6 +244,7 @@
<xs:element name="maxvelocity" type="Velocity-Type" minOccurs="1"/>
<xs:element name="maxacceleration" type="Acceleration-Type" minOccurs="1"/>
<xs:element name="maxtorque" type="Torque-Type" minOccurs="1"/>
+ <xs:element name="propagatejointvalue" type="PropagateJointValue-Type" minOccurs="0"/>
</xs:all>
<xs:attribute name="type" type="Joint-Type" default="fixed"/>
</xs:complexType>
@@ -230,8 +259,9 @@
<xs:complexType name="VisualizationElement">
<xs:all>
- <xs:element name="File" type="File-Type" minOccurs="0" maxOccurs="1"/>
- <xs:element name="CoordinateAxis" type="Coordinate-Type" minOccurs="0" maxOccurs="1"/>
+ <xs:element name="File" type="File-Type" minOccurs="0" maxOccurs="1"/>
+ <xs:element name="Primitives" type="Primitive-Type" minOccurs="0"/>
+ <xs:element name="CoordinateAxis" type="Coordinate-Type" minOccurs="0" maxOccurs="1"/>
</xs:all>
<xs:attribute name="enable" type="xs:boolean" default="true"/>
<xs:attribute name="useAsCollisionModel" type="xs:boolean" default="false"/>
@@ -240,6 +270,7 @@
<xs:complexType name="CollisionElement">
<xs:all>
<xs:element name="File" type="Col-File-Type" minOccurs="0" maxOccurs="1"/>
+ <xs:element name="Primitives" type="Primitive-Type" minOccurs="0"/>
</xs:all>
<xs:attribute name="enable" type="xs:boolean" default="true"/>
</xs:complexType>
--
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