KinBodyGroup* CreateOsgGroup(KinBody& body) {
assert(!body.GetUserData("osg"));
RAVELOG_DEBUG("creating graphics for kinbody %s\n", body.GetName().c_str());
osg::Node* node = osgNodeFromKinBody(body);
UserDataPtr rph = UserDataPtr(new RefPtrHolder(node));
body.SetUserData("osg", rph);
return static_cast<KinBodyGroup*>(static_cast<RefPtrHolder*>(rph.get())->rp.get());
}
bool InterfaceBase::RemoveUserData(const std::string& key) const
{
// have to destroy the userdata pointer outside the lock, otherwise can get into a deadlock
UserDataPtr olduserdata;
{
boost::unique_lock< boost::shared_mutex > lock(_mutexInterface);
std::map<std::string, UserDataPtr>::iterator it = __mapUserData.find(key);
if( it == __mapUserData.end() ) {
return false;
}
olduserdata = it->second;
__mapUserData.erase(it);
}
olduserdata.reset();
return true;
}
void InterfaceBase::SetUserData(const std::string& key, UserDataPtr data) const
{
UserDataPtr olduserdata;
{
boost::unique_lock< boost::shared_mutex > lock(_mutexInterface);
std::map<std::string, UserDataPtr>::iterator it = __mapUserData.find(key);
if( it == __mapUserData.end() ) {
__mapUserData[key] = data;
}
else {
olduserdata = it->second;
it->second = data;
}
}
olduserdata.reset();
}
bool StandardContactList::deserializeLines(const UserDataPtr& ud, const QString& dataname, const QString& data)
{
PropertyHubPtr hub = ud->getUserData(dataname);
if(!hub)
hub = ud->createUserData(dataname);
QStringList list = data.split('\n');
foreach(const QString& s, list)
{
QStringList keyval = s.split('=');
if(keyval.size() != 2)
continue;
if(keyval.at(1).startsWith('\"') && keyval.at(1).endsWith('\"') )
hub->setValue(keyval.at(0), keyval.at(1).mid(1, keyval.at(1).size() - 2));
else
hub->setValue(keyval.at(0), keyval.at(1));
}
int main(int argc, char ** argv)
{
//int num = 1;
string scenefilename = "data/lab1.env.xml";
string viewername = RaveGetDefaultViewerType(); //qtcoin
// parse the command line options
int i = 1;
while(i < argc) {
if((strcmp(argv[i], "-h") == 0)||(strcmp(argv[i], "-?") == 0)||(strcmp(argv[i], "/?") == 0)||(strcmp(argv[i], "--help") == 0)||(strcmp(argv[i], "-help") == 0)) {
RAVELOG_INFO("orloadviewer [--num n] [--scene filename] viewername\n");
return 0;
}
else if( strcmp(argv[i], "--scene") == 0 ) {
scenefilename = argv[i+1];
i += 2;
}
else
break;
}
if( i < argc ) {
viewername = argv[i++];
}
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
RaveSetDebugLevel(Level_Debug);
boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
penv->Load(scenefilename); // load the scene
UserDataPtr pregistration;
while(!pregistration) {
if( !pregistration && !!penv->GetViewer() ) {
pregistration = penv->GetViewer()->RegisterViewerThreadCallback(boost::bind(ViewerCallback,penv->GetViewer()));
}
boost::this_thread::sleep(boost::posix_time::milliseconds(1));
}
thviewer.join(); // wait for the viewer thread to exit
pregistration.reset();
penv->Destroy(); // destroy
return 0;
}
KinBodyGroup* GetOsgGroup(KinBody& body) {
UserDataPtr rph = body.GetUserData("osg");
return rph ? static_cast<KinBodyGroup*>(static_cast<RefPtrHolder*>(rph.get())->rp.get())
: NULL;
}
