void GetTaskInfoFromXML(BSTR xml, CStringW &app_name, CStringW ¶m)
{
CStringW xml_str(xml);
int pos = xml_str.Find(L"<Command>");
if (pos == -1) {
return;
}
int info_start = pos + 9;
pos = xml_str.Find(L"</Command>", info_start);
if (pos == -1) {
return;
}
int info_length = pos - info_start;
app_name.SetString(xml_str.GetString() + info_start, info_length);
pos = xml_str.Find(L"<Arguments>");
if (pos == -1) {
return;
}
info_start = pos + 11;
pos = xml_str.Find(L"</Arguments>", info_start);
if (pos == -1) {
return;
}
info_length = pos - info_start;
param.SetString(xml_str.GetString() + info_start, info_length);
}
osg::ref_ptr<osg::Node> RobotModel::load(QString path){
loadEmptyScene();
std::ifstream t( path.toStdString().c_str() );
std::string xml_str((std::istreambuf_iterator<char>(t)),
std::istreambuf_iterator<char>());
//Parse urdf
boost::shared_ptr<urdf::ModelInterface> model = urdf::parseURDF( xml_str );
rootPrefix = QDir(QFileInfo(path).absoluteDir());
if (!model)
return NULL;
// Create map of mimic joints
std::map<std::string, boost::shared_ptr<urdf::Joint> >::const_iterator it;
for( it = model->joints_.begin(); it!=model->joints_.end(); ++it ) {
boost::shared_ptr<urdf::Joint> joint = it->second;
if(joint->type != urdf::Joint::FIXED){
if(joint->mimic)
{
mimic_joints_[ it->first ] = MimicJoint( joint->mimic->joint_name,
joint->mimic->multiplier, joint->mimic->offset );
}
}
}
return makeOsg(model);
}
boost::property_tree::ptree
readXml(const char xml[])
{
boost::property_tree::ptree ptree;
std::istringstream xml_str(xml);
boost::property_tree::read_xml(
xml_str, ptree,
boost::property_tree::xml_parser::no_comments |
boost::property_tree::xml_parser::trim_whitespace);
return ptree;
}
ModelInterfaceSharedPtr parseURDFFile(const std::string &path)
{
std::ifstream stream( path.c_str() );
if (!stream)
{
CONSOLE_BRIDGE_logError(("File " + path + " does not exist").c_str());
return ModelInterfaceSharedPtr();
}
std::string xml_str((std::istreambuf_iterator<char>(stream)),
std::istreambuf_iterator<char>());
return urdf::parseURDF( xml_str );
}
boost::shared_ptr<ModelInterface> parseURDFFile(const std::string &path)
{
std::ifstream stream( path.c_str() );
if (!stream)
{
logError(("File " + path + " does not exist").c_str());
return boost::shared_ptr<ModelInterface>();
}
std::string xml_str((std::istreambuf_iterator<char>(stream)),
std::istreambuf_iterator<char>());
return urdf::parseURDF( xml_str );
}
bool XmlHelper::LoadXmlFile()
{
doc_.clear();
QFile file(file_name_);
if (!file.open(QIODevice::ReadWrite))
{
file.close();
return false;
}
QTextStream out(&file);
QString xml_str(out.readAll());
if (!doc_.setContent(xml_str))
{
file.close();
return false;
}
file.close();
return true;
}
bool NoiseCovariancePlottingGadget::loadNoiseCovariance()
{
std::ifstream infile;
infile.open(full_name_stored_noise_dependency_.c_str(), std::ios::in | std::ios::binary);
if (infile.good())
{
//Read the XML header of the noise scan
uint32_t xml_length;
infile.read(reinterpret_cast<char*>(&xml_length), 4);
std::string xml_str(xml_length, '\0');
infile.read(const_cast<char*>(xml_str.c_str()), xml_length);
ISMRMRD::deserialize(xml_str.c_str(), noise_ismrmrd_header_);
infile.read(reinterpret_cast<char*>(&noise_dwell_time_us_), sizeof(float));
size_t len;
infile.read(reinterpret_cast<char*>(&len), sizeof(size_t));
char* buf = new char[len];
if (buf == NULL) return false;
infile.read(buf, len);
if (!noise_covariance_matrixf_.deserialize(buf, len))
{
delete[] buf;
return false;
}
delete[] buf;
infile.close();
}
else
{
return false;
}
return true;
}
