From aef36300cce56f2a506423a282281fc2674c788f Mon Sep 17 00:00:00 2001
From: vahrenkamp <vahrenkamp@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Thu, 11 Oct 2012 09:04:50 +0000
Subject: [PATCH] Convenient methods
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@327 042f3d55-54a8-47e9-b7fb-15903f145c44
---
VirtualRobot/Compression/CompressionBZip2.cpp | 2 +-
.../CoinVisualizationFactory.cpp | 24 +++++++++++++++++++
.../CoinVisualizationFactory.h | 5 ++++
.../Visualization/VisualizationFactory.h | 1 +
.../Workspace/WorkspaceRepresentation.cpp | 1 +
VirtualRobot/XML/ObjectIO.cpp | 22 +++++++++++------
VirtualRobot/XML/ObjectIO.h | 10 ++++++++
VirtualRobot/XML/SceneIO.h | 4 ++--
8 files changed, 59 insertions(+), 10 deletions(-)
diff --git a/VirtualRobot/Compression/CompressionBZip2.cpp b/VirtualRobot/Compression/CompressionBZip2.cpp
index 1d2f36d3f..cbdbbd8a3 100644
--- a/VirtualRobot/Compression/CompressionBZip2.cpp
+++ b/VirtualRobot/Compression/CompressionBZip2.cpp
@@ -4020,4 +4020,4 @@ bool CompressionBZip2::write(std::ostream *file, const char *value, int num)
return file->good();
}
-} // namespace
\ No newline at end of file
+} // namespace
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 56728c73a..1e4987391 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -100,6 +100,30 @@ VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromFile(const st
return visualizationNode;
}
+VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox)
+{
+ VisualizationNodePtr visualizationNode(new VisualizationNode);
+
+ // passing an empty string to SoInput and trying to open it aborts the program
+ if (!ifs)
+ {
+ std::cerr << "Filestream not valid" << std::endl;
+ return visualizationNode;
+ }
+
+ // try to open the given file
+ std::ostringstream oss;
+ oss << ifs.rdbuf();
+
+ if(!ifs && !ifs.eof())
+ {
+ std::cerr << "Error reading filestream " << std::endl;
+ return visualizationNode;
+ }
+ std::string contents(oss.str());
+ return getVisualizationFromString(contents);
+}
+
/**
* This method creates a VirtualRobot::CoinVisualizationNode from a given \p modelString.
* An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index 4e18d11e5..35b1a4f22 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -41,6 +41,7 @@
#include <boost/shared_ptr.hpp>
#include <string>
+#include <fstream>
namespace VirtualRobot
{
@@ -58,6 +59,7 @@ public:
virtual ~CoinVisualizationFactory();
virtual VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false);
+ virtual VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false);
virtual VisualizationNodePtr getVisualizationFromString(const std::string& modelString, bool boundingBox = false);
virtual VisualizationNodePtr createBox(float width, float height, float depth, float colorR, float colorG, float colorB);
virtual VisualizationNodePtr createLine(const Eigen::Vector3f &from, const Eigen::Vector3f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f);
@@ -238,6 +240,9 @@ private:
static SubClassRegistry registry;
};
+typedef boost::shared_ptr<CoinVisualizationFactory> CoinVisualizationFactoryPtr;
+
+
} // namespace VirtualRobot
#endif // _VirtualRobot_CoinVisualizationFactory_h_
diff --git a/VirtualRobot/Visualization/VisualizationFactory.h b/VirtualRobot/Visualization/VisualizationFactory.h
index 3bed0e11c..452440be9 100644
--- a/VirtualRobot/Visualization/VisualizationFactory.h
+++ b/VirtualRobot/Visualization/VisualizationFactory.h
@@ -59,6 +59,7 @@ public:
virtual ~VisualizationFactory() {;}
virtual VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false){return VisualizationNodePtr();}
+ virtual VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false){return VisualizationNodePtr();};
virtual VisualizationNodePtr createBox(float length, float height, float width, float colorR, float colorG, float colorB){return VisualizationNodePtr();}
virtual VisualizationNodePtr createLine(const Eigen::Vector3f &from, const Eigen::Vector3f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f){return VisualizationNodePtr();}
virtual VisualizationNodePtr createLine(const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width = 1.0f, float colorR = 0.5f, float colorG = 0.5f, float colorB = 0.5f){return VisualizationNodePtr();}
diff --git a/VirtualRobot/Workspace/WorkspaceRepresentation.cpp b/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
index 3ec212abb..0b30d5a07 100644
--- a/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
+++ b/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
@@ -204,6 +204,7 @@ void WorkspaceRepresentation::load(const std::string &filename)
// first check if the current version is used
if (version[0] != versionMajor || version[1] != versionMinor)
{
+ cout << "File version: " << version[0] << "." << version[1] << endl;
// now check if an older version is used
THROW_VR_EXCEPTION_IF(
(version[0] > 2) ||
diff --git a/VirtualRobot/XML/ObjectIO.cpp b/VirtualRobot/XML/ObjectIO.cpp
index 17e4f00af..e6755ded9 100644
--- a/VirtualRobot/XML/ObjectIO.cpp
+++ b/VirtualRobot/XML/ObjectIO.cpp
@@ -27,19 +27,27 @@ VirtualRobot::ManipulationObjectPtr ObjectIO::loadManipulationObject( const std:
std::ifstream in(xmlFile.c_str());
THROW_VR_EXCEPTION_IF (!in.is_open(),"Could not open XML file:" << xmlFile);
-
- std::stringstream buffer;
- buffer << in.rdbuf();
- std::string objectXML(buffer.str());
+
boost::filesystem::path filenameBaseComplete(xmlFile);
boost::filesystem::path filenameBasePath = filenameBaseComplete.branch_path();
std::string basePath = filenameBasePath.string();
+ VirtualRobot::ManipulationObjectPtr res = loadManipulationObject(in,basePath);
+ THROW_VR_EXCEPTION_IF (!res,"Error while parsing file " << xmlFile);
+ res->setFilename(xmlFile);
+ return res;
+}
- in.close();
+VirtualRobot::ManipulationObjectPtr ObjectIO::loadManipulationObject( const std::ifstream &xmlFile, const std::string &basePath /*= ""*/ )
+{
+ // load file
+ THROW_VR_EXCEPTION_IF (!xmlFile.is_open(),"Could not open XML file");
+
+ std::stringstream buffer;
+ buffer << xmlFile.rdbuf();
+ std::string objectXML(buffer.str());
VirtualRobot::ManipulationObjectPtr res = createManipulationObjectFromString(objectXML, basePath);
- THROW_VR_EXCEPTION_IF (!res,"Error while parsing file " << xmlFile);
- res->setFilename(xmlFile);
+ THROW_VR_EXCEPTION_IF (!res,"Error while parsing file.");
return res;
}
diff --git a/VirtualRobot/XML/ObjectIO.h b/VirtualRobot/XML/ObjectIO.h
index e1d737983..d537f703b 100644
--- a/VirtualRobot/XML/ObjectIO.h
+++ b/VirtualRobot/XML/ObjectIO.h
@@ -27,6 +27,8 @@
#include "BaseIO.h"
#include "../Scene.h"
+#include <fstream>
+
// using forward declarations here, so that the rapidXML header does not have to be parsed when this file is included
namespace rapidxml
{
@@ -48,6 +50,14 @@ public:
@return Returns an empty pointer, when file access failed.
*/
static ManipulationObjectPtr loadManipulationObject(const std::string &xmlFile);
+
+ /*!
+ Load ManipulationObject from a file stream.
+ @param xmlFile The file stream
+ @param basePath If file tags are given, the base path for searching the object files can be specified.
+ @return Returns an empty pointer, when file access failed.
+ */
+ static ManipulationObjectPtr loadManipulationObject(const std::ifstream &xmlFile, const std::string &basePath = "");
/*!
Save ManipulationObject to file.
diff --git a/VirtualRobot/XML/SceneIO.h b/VirtualRobot/XML/SceneIO.h
index 933ad8da9..d6a8f9d98 100644
--- a/VirtualRobot/XML/SceneIO.h
+++ b/VirtualRobot/XML/SceneIO.h
@@ -43,14 +43,14 @@ public:
/*!
Load scene from file.
- \param xmlFile The file
+ \param xmlFile The file.
\return Returns an empty pointer, when file access failed.
*/
static ScenePtr loadScene(const std::string &xmlFile);
/*!
Save a scene to file.
- \param s The scen to be saved.
+ \param s The scene to be saved.
\param xmlFile The absolute filename.
\return true on success.
*/
--
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