void URDFProperty::addLinkProperty(boost::shared_ptr<urdf::Link> link)
{
QTreeWidgetItem *item = new QTreeWidgetItem(link_root_);
item->setText(0, QString::fromStdString(link->name));
root_->addChild(item);
LinkPropertyPtr tree_link(new LinkProperty(link));
QObject::connect(tree_link.get(), SIGNAL(linkNameChanged(LinkProperty *, const QVariant &)),
this, SLOT(on_propertyWidget_linkNameChanged(LinkProperty*,QVariant)));
ltree_to_link_property_[item] = tree_link;
link_property_to_ltree_[tree_link.get()] = item;
link_names_.append(QString::fromStdString(link->name));
}
tree_t *tree_load(tree_t *tree, char *filename)
{
int filename_len = strlen(filename);
char filename_buf[filename_len+strlen(TREE_DEF_SUFFIX)+1];
char *basename, *suffix;
/* Clear file information */
if ( tree->loc.filename != NULL )
free(tree->loc.filename);
tree->loc.filename = NULL;
tree->loc.lineno = 0;
/* Clear error list */
tree_error_clear(tree);
/* Initial load state */
tree->current = NULL;
/* Determine file type */
strcpy(filename_buf, filename);
filename = filename_buf;
basename = strrchr(filename, G_DIR_SEPARATOR);
if ( basename == NULL )
basename = filename;
suffix = strrchr(basename, '.');
if ( suffix == NULL ) {
suffix = filename + filename_len;
strcpy(suffix, TREE_DEF_SUFFIX);
}
/* Load tree file */
if ( tree_scan_root(tree, filename) )
return NULL;
tree->loc.filename = strdup(filename);
/* Check tree health */
if ( tree->errcount > 0 )
return tree;
/* Link whole tree */
tree_link(tree);
if ( tree->errcount > 0 )
return tree;
/* Setup parent sequence links */
tree_object_link_seq(tree->head->object, NULL, NULL);
/* Check for dead execution nodes */
tree_simu(tree);
/* Load initial breakpoint and force_skip states from init file */
tree_init_load(tree);
tree->current = tree->head;
tree->t0 = time(NULL);
return tree;
}
