void TwoDSceneXMLParser::loadSceneFromXML( const std::string& filename, TwoDScene& twodscene, SceneStepper** scenestepper, scalar& dt, scalar& max_t, scalar& maxfreq, std::vector<renderingutils::Color>& particle_colors, std::vector<renderingutils::Color>& edge_colors, std::vector<renderingutils::ParticlePath>& particle_paths, renderingutils::Color& bgcolor, std::string& description, std::string& scenetag, TwoDimensionalDisplayController& display)
{
assert( *scenestepper == NULL );
//std::cout << "Loading scene: " << filename << std::endl;
// Load the xml document
std::vector<char> xmlchars;
rapidxml::xml_document<> doc;
loadXMLFile( filename, xmlchars, doc );
// Attempt to locate the root node
rapidxml::xml_node<>* node = doc.first_node("scene");
if( node == NULL )
{
std::cerr << "\033[31;1mERROR IN XMLSCENEPARSER:\033[m Failed to parse xml scene file. Failed to locate root <scene> node. Exiting." << std::endl;
exit(1);
}
// TODO: Clear old state
// Camera
loadCameraLocation(node, display);
// Scene
loadParticles( node, twodscene );
loadEdges( node, twodscene );
loadSceneTag( node, scenetag );
// Forces
loadSpringForces( node, twodscene );
loadSimpleGravityForces( node, twodscene );
loadGravitationalForces( node, twodscene );
loadDragDampingForces( node, twodscene );
loadVorexForces( node, twodscene );
// Integrator/solver
loadIntegrator( node, scenestepper, dt );
loadMaxTime( node, max_t );
// UI
loadMaxSimFrequency( node, maxfreq );
// Rendering state
particle_colors.resize(twodscene.getNumParticles(),renderingutils::Color(0.650980392156863,0.294117647058824,0.0));
loadParticleColors( node, particle_colors );
edge_colors.resize(twodscene.getNumEdges(),renderingutils::Color(0.0,0.388235294117647,0.388235294117647));
loadEdgeColors( node, edge_colors );
loadBackgroundColor( node, bgcolor );
loadParticlePaths( node, dt, particle_paths );
std::string description_string;
loadSceneDescriptionString( node, description );
}
void ompl::base::PlannerDataStorage::load(std::istream &in, PlannerData &pd)
{
pd.clear();
const SpaceInformationPtr &si = pd.getSpaceInformation();
if (!in.good())
{
OMPL_ERROR("Failed to load PlannerData: input stream is invalid");
return;
}
if (!si)
{
OMPL_ERROR("Failed to load PlannerData: SpaceInformation is invalid");
return;
}
// Loading the planner data:
try
{
boost::archive::binary_iarchive ia(in);
// Read the header
Header h;
ia >> h;
// Checking the archive marker
if (h.marker != OMPL_PLANNER_DATA_ARCHIVE_MARKER)
{
OMPL_ERROR("Failed to load PlannerData: PlannerData archive marker not found");
return;
}
// Verify that the state space is the same
std::vector<int> sig;
si->getStateSpace()->computeSignature(sig);
if (h.signature != sig)
{
OMPL_ERROR("Failed to load PlannerData: StateSpace signature mismatch");
return;
}
// File seems ok... loading vertices and edges
loadVertices(pd, h.vertex_count, ia);
loadEdges(pd, h.edge_count, ia);
}
catch (boost::archive::archive_exception &ae)
{
OMPL_ERROR("Failed to load PlannerData: %s", ae.what());
}
}
int main() {
utils::StopWatch sw(true);
loadEdges();
dijkstra();
std::vector<int> desired = { 7, 37, 59, 82, 99, 115, 133, 165, 188, 197 };
std::stringstream ss;
for (auto &vertex : desired) {
ss << distances[vertex];
if (vertex != desired.back()) {
ss << ",";
}
}
std::cout << ss.str() << std::endl;
utils::CopyToClipboard(ss.str());
sw.stop();
std::cout << sw.getLastElapsed() << std::endl;
std::cin.ignore();
return 0;
}
