From 509bc2f5fa256cd713ff365417c97ddcff9f6167 Mon Sep 17 00:00:00 2001
From: vahrenkamp <vahrenkamp@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Mon, 10 Nov 2014 13:22:41 +0000
Subject: [PATCH] fixed relative path bug in export to XML
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@728 042f3d55-54a8-47e9-b7fb-15903f145c44
---
VirtualRobot/Nodes/RobotNode.cpp | 24 ++++++++++++++++++------
VirtualRobot/Nodes/RobotNode.h | 2 +-
VirtualRobot/Robot.cpp | 4 ++--
VirtualRobot/Robot.h | 2 +-
VirtualRobot/XML/RobotIO.cpp | 2 +-
5 files changed, 23 insertions(+), 11 deletions(-)
diff --git a/VirtualRobot/Nodes/RobotNode.cpp b/VirtualRobot/Nodes/RobotNode.cpp
index a7e567aaf..0718269f0 100644
--- a/VirtualRobot/Nodes/RobotNode.cpp
+++ b/VirtualRobot/Nodes/RobotNode.cpp
@@ -15,6 +15,7 @@
#include <boost/math/special_functions/fpclassify.hpp>
#include <boost/pointer_cast.hpp>
+#include <boost/filesystem.hpp>
#include <Eigen/Core>
@@ -693,7 +694,7 @@ std::vector<SensorPtr> RobotNode::getSensors() const
return sensors;
}
-std::string RobotNode::toXML( const std::string &modelPath /*= "models"*/, bool storeSensors )
+std::string RobotNode::toXML( const std::string &basePath, const std::string &modelPathRelative /*= "models"*/, bool storeSensors )
{
std::stringstream ss;
ss << "\t<RobotNode name='" << name << "'>" << endl;
@@ -703,24 +704,35 @@ std::string RobotNode::toXML( const std::string &modelPath /*= "models"*/, bool
ss << BaseIO::toXML(localTransformation,"\t\t\t");
ss << "\t\t</Transform>" << endl;
}
- ss << _toXML(modelPath);
+ ss << _toXML(modelPathRelative);
if (physics.isSet())
ss << physics.toXML(2);
- if (visualizationModel && visualizationModel->getTriMeshModel() && visualizationModel->getTriMeshModel()->faces.size()>0)
+ boost::filesystem::path pBase(basePath);
+ if (visualizationModel && visualizationModel->getTriMeshModel() && visualizationModel->getTriMeshModel()->faces.size()>0)
{
std::string visuFile = getFilenameReplacementVisuModel();
- ss << visualizationModel->toXML(modelPath,visuFile,2);
+
+ boost::filesystem::path pModel(modelPathRelative);
+ boost::filesystem::path modelDirComplete = boost::filesystem::operator/(pBase,pModel);
+ boost::filesystem::path fn(visuFile);
+ boost::filesystem::path modelFileComplete = boost::filesystem::operator/(modelDirComplete,fn);
+
+ ss << visualizationModel->toXML(pBase.string(),modelFileComplete.string(),2);
}
if (collisionModel && collisionModel->getTriMeshModel() && collisionModel->getTriMeshModel()->faces.size()>0)
{
std::string colFile = getFilenameReplacementColModel();
- ss << collisionModel->toXML(modelPath,colFile,2);
+ boost::filesystem::path pModel(modelPathRelative);
+ boost::filesystem::path modelDirComplete = boost::filesystem::operator/(pBase,pModel);
+ boost::filesystem::path fn(colFile);
+ boost::filesystem::path modelFileComplete = boost::filesystem::operator/(modelDirComplete,fn);
+ ss << collisionModel->toXML(pBase.string(),modelFileComplete.string(),2);
}
if (storeSensors)
{
for (size_t i=0;i<sensors.size();i++)
{
- ss << sensors[i]->toXML(modelPath,2);
+ ss << sensors[i]->toXML(modelPathRelative,2);
}
}
diff --git a/VirtualRobot/Nodes/RobotNode.h b/VirtualRobot/Nodes/RobotNode.h
index 2654d27fb..4eceffdb2 100644
--- a/VirtualRobot/Nodes/RobotNode.h
+++ b/VirtualRobot/Nodes/RobotNode.h
@@ -291,7 +291,7 @@ public:
Creates an XML string that defines the robotnode. Filenames of all visualization models are set to modelPath/RobotNodeName_visu and/or modelPath/RobotNodeName_colmodel.
@see RobotIO::saveXML.
*/
- virtual std::string toXML(const std::string &modelPath = "models", bool storeSensors = true);
+ virtual std::string toXML( const std::string &basePath, const std::string &modelPathRelative = "models", bool storeSensors = true);
protected:
diff --git a/VirtualRobot/Robot.cpp b/VirtualRobot/Robot.cpp
index c758af208..422ae3311 100644
--- a/VirtualRobot/Robot.cpp
+++ b/VirtualRobot/Robot.cpp
@@ -865,7 +865,7 @@ std::vector<SensorPtr> Robot::getSensors()
return result;
}
-std::string Robot::toXML( const std::string &modelPath /*= "models"*/, bool storeEEF, bool storeRNS, bool storeSensors )
+std::string Robot::toXML(const std::string &basePath, const std::string &modelPath /*= "models"*/, bool storeEEF, bool storeRNS, bool storeSensors )
{
std::stringstream ss;
ss << "<?xml version='1.0' encoding='UTF-8'?>" << endl << endl;
@@ -873,7 +873,7 @@ std::string Robot::toXML( const std::string &modelPath /*= "models"*/, bool stor
std::vector<RobotNodePtr> nodes = getRobotNodes();
for (size_t i=0;i<nodes.size();i++)
{
- ss << nodes[i]->toXML(modelPath, storeSensors) << endl;
+ ss << nodes[i]->toXML(basePath, modelPath, storeSensors) << endl;
}
ss << endl;
if (storeRNS)
diff --git a/VirtualRobot/Robot.h b/VirtualRobot/Robot.h
index 9a6bd36e0..d64479b7f 100644
--- a/VirtualRobot/Robot.h
+++ b/VirtualRobot/Robot.h
@@ -378,7 +378,7 @@ public:
Creates an XML string that defines the complete robot. Filenames of all visualization models are set to modelPath/RobotNodeName_visu and/or modelPath/RobotNodeName_colmodel.
@see RobotIO::saveXML.
*/
- virtual std::string toXML(const std::string &modelPath = "models", bool storeEEF = true, bool storeRNS = true, bool storeSensors = true);
+ virtual std::string toXML(const std::string &basePath = ".", const std::string &modelPath = "models", bool storeEEF = true, bool storeRNS = true, bool storeSensors = true);
protected:
Robot();
diff --git a/VirtualRobot/XML/RobotIO.cpp b/VirtualRobot/XML/RobotIO.cpp
index a9be99e57..9c625961e 100644
--- a/VirtualRobot/XML/RobotIO.cpp
+++ b/VirtualRobot/XML/RobotIO.cpp
@@ -1212,7 +1212,7 @@ bool RobotIO::saveXML(RobotPtr robot, const std::string &filename, const std::st
return false;
}
- std::string xmlRob = robot->toXML(modelDir, storeEEF, storeRNS, storeSensors);
+ std::string xmlRob = robot->toXML(basePath, modelDir, storeEEF, storeRNS, storeSensors);
f << xmlRob;
f.close();
--
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