void WindowsManager::addUrdfObjects (const char* urdfNameCorba,
const char* urdfPathCorba,
const char* urdfPackagePathCorba,
bool visual)
{
const std::string urdfName (urdfNameCorba);
const std::string urdfPath (urdfPathCorba);
const std::string urdfPackagePath (urdfPackagePathCorba);
if (urdfName == "") {
throw std::runtime_error ("Parameter nodeName cannot be empty in "
"idl request addUrdfObjects.");
}
if (nodes_.find (urdfName) != nodes_.end ()) {
std::ostringstream oss;
oss << "You need to chose an other name, \"" << urdfName
<< "\" already exist.";
throw std::runtime_error (oss.str ());
}
mtx_.lock();
GroupNodePtr_t urdf = urdfParser::parse
(urdfName, urdfPath, urdfPackagePath,
visual ? "visual" : "collision", "object");
NodePtr_t link;
for (int i=0; i< urdf->getNumOfChildren (); i++) {
link = urdf->getChild (i);
nodes_[link->getID ()] = link;
}
WindowsManager::initParent (urdfName, urdf);
addGroup (urdfName, urdf);
mtx_.unlock();
}
bool WindowsManager::addUrdfCollision (const char* urdfNameCorba,
const char* urdfPathCorba, const char* urdfPackagePathCorba)
{
const std::string urdfName (urdfNameCorba);
const std::string urdfPath (urdfPathCorba);
const std::string urdfPackagePath (urdfPackagePathCorba);
if (nodes_.find (urdfName) != nodes_.end ()) {
std::cout << "You need to chose an other name, \"" << urdfName
<< "\" already exist." << std::endl;
return false;
}
else {
mtx_.lock();
GroupNodePtr_t urdf = urdfParser::parse
(urdfName, urdfPath, urdfPackagePath, "collision");
NodePtr_t link;
for (int i=0; i< urdf->getNumOfChildren (); i++) {
link = urdf->getChild (i);
nodes_[link->getID ()] = link;
}
WindowsManager::initParent (urdfName, urdf);
addGroup (urdfName, urdf);
mtx_.unlock();
return true;
}
}