char *phyloNodeNames(struct phyloTree *tree)
/* add all the node names to a dy string */
{
struct dyString *ds = newDyString(0);
nodeNames(tree, ds);
ds->string[ds->stringSize-1]=0;
return ds->string;
}
static void nodeNames(struct phyloTree *tree, struct dyString *ds)
/* recursive workhorse to add all the node names to a string */
{
int ii;
if (tree->ident->name)
{
dyStringAppendN(ds, tree->ident->name, strlen(tree->ident->name));
dyStringAppendC(ds, ' ');
}
for (ii=0; ii < tree->numEdges; ii++)
nodeNames(tree->edges[ii],ds);
}
RobotNodeSetPtr RobotNodeSet::clone(RobotPtr newRobot)
{
if (!newRobot)
{
VR_ERROR << "Attempting to clone RobotNodeSet for invalid robot";
return RobotNodeSetPtr();
}
std::vector<std::string> nodeNames(robotNodes.size());
for(unsigned int i = 0; i < robotNodes.size(); i++)
nodeNames[i] = robotNodes[i]->getName();
std::string kinRootName = "";
if (kinematicRoot)
kinRootName = kinematicRoot->getName();
std::string tcpName = "";
if (tcp)
tcpName = tcp->getName();
RobotNodeSetPtr nodeSet = RobotNodeSet::createRobotNodeSet(newRobot, name, nodeNames, kinRootName, tcpName, true);
return nodeSet;
}
core::ConfigNode VisionSystem::findVisionSystemConfig(core::ConfigNode cfg,
std::string& nodeUsed)
{
core::ConfigNode config(core::ConfigNode::fromString("{}"));
// Attempt to find the section deeper in the file
if (cfg.exists("Subsystems"))
{
cfg = cfg["Subsystems"];
// Attempt to find a VisionSystem subsystem
core::NodeNameList nodeNames(cfg.subNodes());
BOOST_FOREACH(std::string nodeName, nodeNames)
{
core::ConfigNode subsysCfg(cfg[nodeName]);
if (("VisionSystem" == subsysCfg["type"].asString("NONE"))||
("SimVision" == subsysCfg["type"].asString("NONE")))
{
config = subsysCfg;
std::stringstream ss;
ss << "Subsystem:" << nodeName << ":" << nodeUsed;
nodeUsed = ss.str();
}
}
