Beispiel #1
0
/*virtual*/
void Marker::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{

    if (versionNumber < XMLDocument::getLatestVersion()){
        if (versionNumber < 30501) {
            // Parse name of Body under <body>node
            SimTK::Xml::element_iterator bIter = aNode.element_begin("body");
            SimTK::String bName = bIter->getValue();
            // Create nodes for new layout
            SimTK::Xml::Element connectorsElement("connectors");
            SimTK::Xml::Element frameElement("Connector_PhysicalFrame_");
            connectorsElement.insertNodeAfter(connectorsElement.node_end(), frameElement);
            frameElement.setAttributeValue("name", "parent_frame");
            SimTK::Xml::Element connecteeElement("connectee_name");
            // Markers in pre-4.0 models are necessarily 1 level deep
            // (model, markers), and Bodies were necessarily 1 level deep;
            // here we create the correct relative path (accounting for sets
            // being components).
            bName = XMLDocument::updateConnecteePath30517("bodyset", bName);
            connecteeElement.setValue(bName);
            frameElement.insertNodeAfter(frameElement.node_end(), connecteeElement);
            aNode.insertNodeAfter(bIter, connectorsElement);
            aNode.eraseNode(bIter);
        }
    }
    // Call base class now assuming _node has been corrected for current version
    Super::updateFromXMLNode(aNode, versionNumber);
}
void ModelComponent::updateFromXMLNode(SimTK::Xml::Element& aNode,
        int versionNumber) {

    if (versionNumber < XMLDocument::getLatestVersion()) {
        if (versionNumber < 30506) {
            // geometry list property removed. Everything that was in this list
            // should be moved to the components list property.
            SimTK::Xml::element_iterator geometry = aNode.element_begin("geometry");
            if (geometry != aNode.element_end()) {
                // We found a list property of geometry.
                SimTK::Xml::Element componentsNode;
                SimTK::Xml::element_iterator componentsIt = aNode.element_begin("components");
                if (componentsIt == aNode.element_end()) {
                    // This component does not yet have a list property of
                    // components, so we'll create one.
                    componentsNode = SimTK::Xml::Element("components");
                    aNode.insertNodeBefore(aNode.element_begin(), componentsNode);
                } else {
                    componentsNode = *componentsIt;
                }
                // Copy each node under <geometry> into <components>.
                for (auto geomIt = geometry->element_begin();
                        geomIt != geometry->element_end(); ++geomIt) {
                    componentsNode.appendNode(geomIt->clone());
                }
                // Now that we moved over the geometry, we can delete the
                // <geometry> element.
                aNode.eraseNode(geometry);
            }
        }
    }
    Super::updateFromXMLNode(aNode, versionNumber);
}
Beispiel #3
0
/*virtual*/
void Marker::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{

    if (versionNumber < XMLDocument::getLatestVersion()){
        if (versionNumber < 30501) {
            // Parse name of Body under <body>node
            SimTK::Xml::element_iterator bIter = aNode.element_begin("body");
            SimTK::String bName = bIter->getValue();
            // Create nodes for new layout
            SimTK::Xml::Element connectorsElement("connectors");
            SimTK::Xml::Element frameElement("Connector_PhysicalFrame_");
            connectorsElement.insertNodeAfter(connectorsElement.node_end(), frameElement);
            frameElement.setAttributeValue("name", "reference_frame");
            SimTK::Xml::Element connecteeElement("connectee_name");
            connecteeElement.setValue(bName);
            frameElement.insertNodeAfter(frameElement.node_end(), connecteeElement);
            aNode.insertNodeAfter(bIter, connectorsElement);
            aNode.eraseNode(bIter);
        }
    }
    // Call base class now assuming _node has been corrected for current version
    Object::updateFromXMLNode(aNode, versionNumber);
}
/** Override of the default implementation to account for versioning. */
void CustomJoint::
updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
	int documentVersion = versionNumber;
	if ( documentVersion < XMLDocument::getLatestVersion()){
		if (Object::getDebugLevel()>=1)
			cout << "Updating CustomJoint to latest format..." << endl;
		// Version before refactoring spatialTransform
		if (documentVersion<10901){
			// replace TransformAxisSet with SpatialTransform
			/////renameChildNode("TransformAxisSet", "SpatialTransform");
			// Check how many TransformAxes are defined
			SimTK::Xml::element_iterator spatialTransformNode = 
                aNode.element_begin("TransformAxisSet");
			if (spatialTransformNode == aNode.element_end()) return;

			SimTK::Xml::element_iterator axesSetNode = 
                spatialTransformNode->element_begin("objects");
			/////if (axesSetNode != NULL)
			/////	spatialTransformNode->removeChild(axesSetNode);
			/////DOMElement*grpNode = XMLNode::GetFirstChildElementByTagName(spatialTransformNode,"groups");
			/////if (grpNode != NULL)
			/////	spatialTransformNode->removeChild(grpNode);
			// (0, 1, 2 rotations & 3, 4, 5 translations then remove the is_rotation node)
			SimTK::Array_<SimTK::Xml::Element> list = 
                axesSetNode->getAllElements();
			unsigned int listLength = list.size();
			int objectsFound = 0;
			Array<int> translationIndices(-1, 0);
			Array<int>  rotationIndices(-1, 0);
			int nextAxis = 0;
			std::vector<TransformAxis *> axes;
			// Add children for all six axes here
			//////_node->removeChild(SpatialTransformNode);
			
			// Create a blank Spatial Transform and use it to populate the 
            // XML structure
			for(int i=0; i<6; i++)
				updSpatialTransform()[i].setFunction(new OpenSim::Constant(0));
			
			Array<OpenSim::TransformAxis*> oldAxes;
			for(unsigned int j=0;j<listLength;j++) {
				// getChildNodes() returns all types of DOMNodes including 
                // comments, text, etc., but we only want
				// to process element nodes
				SimTK::Xml::Element objElmt = list[j];
				string objectType = objElmt.getElementTag();
                // (sherm) this is cleaning up old TransformAxis here but
                // that should really be done in TransformAxis instead.
				if (objectType == "TransformAxis"){
					OpenSim::TransformAxis* readAxis = 
                        new OpenSim::TransformAxis(objElmt);
					assert(nextAxis <=5);
					bool isRotation = false;
					SimTK::Xml::element_iterator rotationNode = 
                        objElmt.element_begin("is_rotation");
					if (rotationNode != objElmt.element_end()){
						SimTK::String sValue = 
                            rotationNode->getValueAs<SimTK::String>();
						bool value = (sValue.toLower() == "true");
								isRotation = value;
						objElmt.eraseNode(rotationNode);
							}
					SimTK::Xml::element_iterator coordinateNode = 
                        objElmt.element_begin("coordinate");
					SimTK::String coordinateName = 
                        coordinateNode->getValueAs<SimTK::String>();
					Array<std::string> names("");
					names.append(coordinateName);
					readAxis->setCoordinateNames(names);
					SimTK::Xml::element_iterator axisNode = 
                        objElmt.element_begin("axis");
					
					SimTK::Vec3 axisVec= axisNode->getValueAs<SimTK::Vec3>();
					readAxis->setAxis(axisVec);
					if (isRotation){
						rotationIndices.append(nextAxis);
					}
					else {
						translationIndices.append(nextAxis);
					}
					axes.push_back(readAxis);
					nextAxis++;
				}
			}
			assert(rotationIndices.getSize() <=3);
			assert(translationIndices.getSize() <=3);
			//XMLNode::RemoveChildren(SpatialTransformAxesNode);
			int nRotations = rotationIndices.getSize();
			int nTranslations = translationIndices.getSize();
			// Now copy coordinateName, Axis, Function into proper slot
			for (int i=0; i<nRotations; i++){
				updSpatialTransform()[i] = *axes[rotationIndices[i]];
			}
			updSpatialTransform().constructIndependentAxes(nRotations, 0);
			// Add Translations from old list then pad with default ones, 
            // make sure no singularity.
			for (int i=0; i<nTranslations; i++){
				updSpatialTransform()[i+3] = *axes[translationIndices[i]];
			}
			updSpatialTransform().constructIndependentAxes(nTranslations, 3);
		}
	}

    // Delegate to superclass now.
	Super::updateFromXMLNode(aNode, versionNumber);

	const CoordinateSet& coordinateSet = get_CoordinateSet();

	// Fix coordinate type post deserialization
	// Fix coordinate type post deserialization
	for (int i=0; i<coordinateSet.getSize(); i++){
		OpenSim::Coordinate& nextCoord = coordinateSet.get(i);
		// Find TransformAxis for the coordinate and use it to set Coordinate's motionType
		for(int axisIndex=0; axisIndex<6; axisIndex++){
			const TransformAxis& nextAxis = getSpatialTransform()[axisIndex];
			const Property<std::string>& coordNames = nextAxis.getCoordinateNames();
			if (coordNames.findIndex(nextCoord.getName())!=-1){
				coordinateSet.get(i).setMotionType((axisIndex>2)? 
						Coordinate::Translational : Coordinate::Rotational);
				break;
			}
		}
	}
	// Axes should be independent otherwise Simbody throws an exception in addToSystem
	double tol = 1e-5;
    // Verify that none of the rotation axes are colinear
	const std::vector<SimTK::Vec3> axes=getSpatialTransform().getAxes();
	for(int startIndex=0; startIndex<=3; startIndex+=3){
        if(((axes[startIndex+0]%axes[startIndex+1]).norm() < tol)||
			((axes[startIndex+0]%axes[startIndex+2]).norm() < tol)||
			((axes[startIndex+1]%axes[startIndex+2]).norm() < tol)){
				throw(Exception("CustomJoint " + getName() + 
                    " has colinear axes and so is not well-defined."
                    " Please fix and retry loading.."));
		}
	}
    updProperty_SpatialTransform().setValueIsDefault(false);
}
Beispiel #5
0
void Joint::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
    int documentVersion = versionNumber;
    //bool converting = false;
    if (documentVersion < XMLDocument::getLatestVersion()){
        if (documentVersion<30500){
            XMLDocument::renameChildNode(aNode, "location", "location_in_child"); 
            XMLDocument::renameChildNode(aNode, "orientation", "orientation_in_child");
        }
        // Version 30501 converted Connector_Body_ to Connector_PhysicalFrame_
        if (documentVersion < 30501) {
            // Handle any models that have the Joint connecting to Bodies instead
            // of PhyscialFrames
            XMLDocument::renameChildNode(aNode, "Connector_Body_",
                                                "Connector_PhysicalFrame_");
        }
        // Version 30505 changed "parent_body" connector name to "parent_frame"
        // Convert location and orientation into PhysicalOffsetFrames owned by the Joint
        if (documentVersion < 30505) {
            // Elements for the parent and child names the joint connects
            SimTK::Xml::element_iterator parentNameElt;
            SimTK::Xml::element_iterator childNameElt;
            // The names of the two PhysicalFrames this joint connects
            std::string parentFrameName("");
            std::string childFrameName("");

            SimTK::Xml::element_iterator connectors_node = aNode.element_begin("connectors");

            SimTK::Xml::element_iterator connectorElement =
                connectors_node->element_begin("Connector_PhysicalFrame_");
            while (connectorElement != aNode.element_end()) {
                // If connector name is "parent_body" rename it to "parent_frame"
                if (connectorElement->getRequiredAttributeValue("name") == "parent_body") {
                    connectorElement->setAttributeValue("name", "parent_frame");
                }
                // If connector name is "parent_frame" get the name of the connectee
                if (connectorElement->getRequiredAttributeValue("name") == "parent_frame"){
                    parentNameElt = connectorElement->element_begin("connectee_name");
                    parentNameElt->getValueAs<std::string>(parentFrameName);

                    const auto slashLoc = parentFrameName.rfind('/');
                    if (slashLoc != std::string::npos)
                        parentFrameName = parentFrameName.substr(slashLoc + 1);
                }
                if (connectorElement->getRequiredAttributeValue("name") == "child_body") {
                    connectorElement->setAttributeValue("name", "child_frame");
                }
                if (connectorElement->getRequiredAttributeValue("name") == "child_frame") {
                    childNameElt =  connectorElement->element_begin("connectee_name");
                    childNameElt->getValueAs<std::string>(childFrameName);
                    const auto slashLoc = childFrameName.rfind('/');
                    if (slashLoc != std::string::npos)
                        childFrameName = childFrameName.substr(slashLoc + 1);
                }
                ++connectorElement;
            }

            SimTK::Xml::element_iterator locParentElt =
                aNode.element_begin("location_in_parent");
            SimTK::Xml::element_iterator orientParentElt =
                aNode.element_begin("orientation_in_parent");
            SimTK::Xml::element_iterator locChildElt =
                aNode.element_begin("location_in_child");
            SimTK::Xml::element_iterator orientChildElt =
                aNode.element_begin("orientation_in_child");

            Vec3 location_in_parent(0);
            Vec3 orientation_in_parent(0);
            Vec3 location_in_child(0);
            Vec3 orientation_in_child(0);

            if (locParentElt != aNode.element_end()){
                locParentElt->getValueAs<Vec3>(location_in_parent);
            }
            if (orientParentElt != aNode.element_end()){
                orientParentElt->getValueAs<Vec3>(orientation_in_parent);
            }
            if (locChildElt != aNode.element_end()){
                locChildElt->getValueAs<Vec3>(location_in_child);
            }
            if (orientChildElt != aNode.element_end()){
                orientChildElt->getValueAs<Vec3>(orientation_in_child);
            }

            // now append updated frames to the property list for
            // both parent and child
            XMLDocument::addPhysicalOffsetFrame30505_30517(aNode, parentFrameName+"_offset",
                parentFrameName, location_in_parent, orientation_in_parent);
            parentNameElt->setValue(parentFrameName + "_offset");

            XMLDocument::addPhysicalOffsetFrame30505_30517(aNode, childFrameName + "_offset",
                childFrameName, location_in_child, orientation_in_child);
            childNameElt->setValue(childFrameName + "_offset");
        }

        // Version 30507 replaced Joint's CoordinateSet with a "coordinates"
        // list property.
        if (documentVersion < 30507) {
            if (aNode.hasElement("CoordinateSet")) {
                auto coordSetIter = aNode.element_begin("CoordinateSet");
                if (coordSetIter->hasElement("objects")) {
                    auto coordIter = coordSetIter->getRequiredElement("objects")
                                                   .element_begin("Coordinate");
                    if (coordIter != aNode.element_end()) {
                        // A "CoordinateSet" element exists, it contains an
                        // "objects" element, and the "objects" element contains
                        // at least one "Coordinate" element.

                        // Create an element for the new layout.
                        Xml::Element coordinatesElement("coordinates");
                        // Copy all "Coordinate" elements from the old layout.
                        while (coordIter != aNode.element_end()) {
                            coordinatesElement.appendNode(coordIter->clone());
                            ++coordIter;
                        }
                        // Insert new "coordinates" element.
                        aNode.insertNodeAfter(coordSetIter, coordinatesElement);
                    }
                }

                // Remove old "CoordinateSet" element.
                aNode.eraseNode(coordSetIter);
            }
        }

        // Version 30514 removed the user-facing "reverse" property from Joint.
        // The parent and child frames are swapped if a "reverse" element is
        // found and its value is "true".
        if (documentVersion < 30514) {
            auto reverseElt = aNode.element_begin("reverse");

            if (reverseElt != aNode.element_end()) {
                bool swapFrames = false;
                reverseElt->getValue().tryConvertToBool(swapFrames);

                if (swapFrames) {
                    std::string oldParentFrameName = "";
                    std::string oldChildFrameName  = "";

                    // Find names of parent and child frames. If more than one
                    // "parent_frame" or "child_frame" element exists, keep the
                    // first one. The "parent_frame" and "child_frame" elements
                    // may be listed in either order.
                    SimTK::Xml::element_iterator connectorsNode =
                        aNode.element_begin("connectors");
                    SimTK::Xml::element_iterator connectorElt = connectorsNode->
                        element_begin("Connector_PhysicalFrame_");
                    SimTK::Xml::element_iterator connecteeNameElt;

                    while (connectorElt != connectorsNode->element_end())
                    {
                        if (connectorElt->getRequiredAttributeValue("name") ==
                            "parent_frame" && oldParentFrameName.empty())
                        {
                            connecteeNameElt = connectorElt->
                                               element_begin("connectee_name");
                            connecteeNameElt->getValueAs<std::string>(
                                oldParentFrameName);
                        }
                        else if (connectorElt->getRequiredAttributeValue("name")
                                 == "child_frame" && oldChildFrameName.empty())
                        {
                            connecteeNameElt = connectorElt->
                                               element_begin("connectee_name");
                            connecteeNameElt->getValueAs<std::string>(
                                oldChildFrameName);
                        }
                        ++connectorElt;
                    }

                    // Swap parent and child frame names. If more than one
                    // "parent_frame" or "child_frame" element exists, assign
                    // the same value to all such elements.
                    connectorsNode = aNode.element_begin("connectors");
                    connectorElt = connectorsNode->element_begin(
                                   "Connector_PhysicalFrame_");

                    while (connectorElt != connectorsNode->element_end())
                    {
                        if (connectorElt->getRequiredAttributeValue("name") ==
                            "parent_frame")
                        {
                            connecteeNameElt = connectorElt->
                                               element_begin("connectee_name");
                            connecteeNameElt->setValue(oldChildFrameName);
                        }
                        else if (connectorElt->getRequiredAttributeValue("name")
                                 == "child_frame")
                        {
                            connecteeNameElt = connectorElt->
                                               element_begin("connectee_name");
                            connecteeNameElt->setValue(oldParentFrameName);
                        }
                        ++connectorElt;
                    }
                }

                // Remove "reverse" element regardless of its value (it is no
                // longer a property of Joint).
                aNode.eraseNode(reverseElt);
            }
        }

    }

    Super::updateFromXMLNode(aNode, versionNumber);
}