bool
Frame::has_references () const
{
std::set<symbol> all;
entries (all);
for (std::set<symbol>::const_iterator i = all.begin ();
i != all.end ();
i++)
{
const symbol key = *i;
if (is_reference (key))
return true;;
if (!check (key))
continue;
Attribute::type type = lookup (key);
int size = type_size (key);
switch (type)
{
case Attribute::Submodel:
if (size == Attribute::Singleton)
{
if (submodel (key).has_references ())
return true;
}
else
{
const std::vector<boost::shared_ptr<const FrameSubmodel> >& models
= submodel_sequence (key);
for (size_t i = 0; i < models.size (); i++)
if (models[i]->has_references ())
return true;
}
break;
case Attribute::Model:
if (size == Attribute::Singleton)
{
if (model (key).has_references ())
return true;
}
else
{
const std::vector<boost::shared_ptr<const FrameModel> >& models
= model_sequence (key);
for (size_t i = 0; i < models.size (); i++)
if (models[i]->has_references ())
return true;
}
break;
default:
break;
}
}
return false;
}
bool ObjectModelReader::readParallelpipedModel(SpModelInterface model, QDomNode& n) {
QDomElement e;
QString aux;
QDomNode m, v;
std::vector<QString> names;
names.push_back("width");
names.push_back("height");
names.push_back("depth");
names.push_back("velocity");
std::vector<QString>::iterator it, it_end = names.end();
model->velocity_defined = false;
for(it = names.begin(); it != it_end; it++) {
if( ( m = XmlCommon::getParameterNode(*it, n) ).isNull() ) {
if(*it != "velocity") { //It can be undefined, as a default is built
AppendToLog("ObjectModelReader: Error reading ParallelpipedModel. Attribute model parameter " + *it + " must be defined for a ParallelpipedModel in file '" + m_fileName + "'. Execution will be aborted.");
return false;
}
} else {
e = m.toElement();
if( !e.isNull() ) {
if( (aux = e.attribute( "model", "" )) != "GaussianFunction" ) {
AppendToLog("ObjectModelReader: Error reading ParallelpipedModel. Parameter 'model' value '" + aux + "' does not define an available attribute model in file '" + m_fileName + "'. Valid models are: ParallelpipedModel. Execution will be aborted.");
return false;
}
} else {
AppendToLog("ObjectModelReader: ParallelpipedModel: Error reading XML information. Node to element transform failed in file '" + m_fileName + "'. Execution will be aborted.");
return false;
}
SpGaussianFunction g(new GaussianFunction());
g->setParameters(m);
(model->m_mapCriteria)[*it].score = 0.0;
model->m_mapCriteria[*it].reliability = 0.0;
model->m_mapCriteria[*it].spFunction = g;
if(*it == "velocity")
model->velocity_defined = true;
}
}
if(!model->velocity_defined) {
double max = m_data->sceneModel->m_MaximalObjectSpeed;
SpGaussianFunction g(new GaussianFunction());
g->mean = max/2.0;
g->sigma = max*2.0;
g->min = 0.0;
g->max = max;
model->m_mapCriteria["velocity"].spFunction = g;
model->m_mapCriteria["velocity"].score = 0.0;
model->m_mapCriteria["velocity"].reliability = 0.0;
}
if(!model->IsRigid) {
if( ( m = XmlCommon::getParameterNode("PostureList", n) ).isNull() ) {
AppendToLog("ObjectModelReader: reading ParallelpipedModel: warning: Parameter 'PostureList' not defined for a postural object. Changing to rigid.");
model->IsRigid = true;
} else {
QDomNode k = m.toElement().firstChild();
QString omodel;
ObjectSubtype subtype;
if(k.isNull()) {
AppendToLog("ObjectModelReader: reading ParallelpipedModel: warning: No parameters 'Posture' inside 'PostureList'. Changing to rigid.");
model->IsRigid = true;
}
while( !k.isNull() ) {
e = k.toElement();
SpModelInterface submodel(new ModelInterface(m_data));
if( !e.isNull() ) {
if( e.tagName() == "Posture" ) {
if( (aux = e.attribute( "name", "" )) == "") {
AppendToLog("ObjectModelReader: Error reading XML information. Undefined attribute 'name' for Posture in file '" + m_fileName + "'. Execution will be aborted.");
return false;
}
subtype = Blob::getSubtypeFromName(aux.toStdString());
if(subtype == ST_UNKNOWN) {
AppendToLog("ObjectModelReader: Error reading XML information. Attribute 'name' does not correspond to any pre-defined subtype. Check ObjectSubtype in file 'src/common.h' for allowed subtypes. Execution will be aborted.");
return false;
}
submodel->IsRigid = true;
if( (omodel = e.attribute( "model", "" )) == "") {
AppendToLog("ObjectModelReader: Error reading XML information. Undefined attribute 'model' for ObjectModel in file '" + m_fileName + "'. Execution will be aborted.");
return false;
}
}
} else {
AppendToLog("ObjectModelReader: Parallelpiped model: Error reading XML information. Node to element transform failed in file '" + m_fileName + "'. Execution will be aborted.");
return false;
}
if(omodel == "ParallelpipedModel") {
if(!readParallelpipedModel(submodel, k))
return false;
} else {
AppendToLog("ParallelpipedModel: Error reading XML information. Parameter 'model' value '" + omodel + "' does not define an available object model in file '" + m_fileName + "'. Valid models are: ParallelpipedModel. Execution will be aborted.");
return false;
}
model->addSubModel(subtype, submodel);
k = k.nextSibling();
}
}
}
return true;
}
