void ReadFile(RobotBasePtr& probot, const std::string& filename, const AttributesList& atts)
{
std::ifstream f(filename.c_str());
if( !f ) {
throw OPENRAVE_EXCEPTION_FORMAT("failed to read %s filename",filename,ORE_InvalidArguments);
}
f.seekg(0,ios::end);
std::vector<char> filedata(static_cast<size_t>(f.tellg())+1, 0); // need a null-terminator
f.seekg(0,ios::beg);
f.read(&filedata[0], filedata.size());
Read(probot,filedata,atts);
probot->__struri = filename;
#if defined(HAVE_BOOST_FILESYSTEM) && BOOST_VERSION >= 103600 // stem() was introduced in 1.36
boost::filesystem::path bfpath(filename);
#if defined(BOOST_FILESYSTEM_VERSION) && BOOST_FILESYSTEM_VERSION >= 3
probot->SetName(utils::ConvertToOpenRAVEName(bfpath.stem().string()));
#else
probot->SetName(utils::ConvertToOpenRAVEName(bfpath.stem()));
#endif
#endif
}
void Read(RobotBasePtr& probot, const std::vector<char>& data,const AttributesList& atts)
{
_ProcessAtts(atts);
if( !probot ) {
probot = RaveCreateRobot(_penv,_bodytype);
}
probot->SetName(_bodyname);
Assimp::XFileParserOpenRAVE parser(data);
_Read(probot,parser.GetImportedData());
if( probot->GetName().size() == 0 ) {
probot->SetName("robot");
}
// add manipulators
FOREACH(itmanip,_listendeffectors) {
RobotBase::ManipulatorInfo manipinfo;
manipinfo._name = itmanip->first->_info._name;
manipinfo._sEffectorLinkName = itmanip->first->GetName();
manipinfo._sBaseLinkName = probot->GetLinks().at(0)->GetName();
manipinfo._tLocalTool = itmanip->second;
manipinfo._vdirection=Vector(1,0,0);
probot->_vecManipulators.push_back(RobotBase::ManipulatorPtr(new RobotBase::Manipulator(probot,manipinfo)));
}
