void CMetadata::_vecJsonToBson(rapidjson::Value& json, mongo::BSONArrayBuilder& vecBuilder)
{
for(int i=0; i<this->_getVecCount(json); ++i) {
rapidjson::Value& member = this->getFieldVec(json, i);
if (this->isFieldI64(member)) {
vecBuilder.append(this->getFieldI64(member));
}
else if (this->isFieldInt(member)) {
vecBuilder.append(this->getFieldInt(member));
}
else if (this->isFieldStr(member)) {
vecBuilder.append(this->getFieldStr(member));
}
else if (this->isFieldObj(member)) {
mongo::BSONObjBuilder objbuilder;
for (rapidjson::Value::MemberIterator it = member.MemberBegin(); it != member.MemberEnd(); ++it) {
this->_fieldJsonToBson(member, it->name.GetString(), objbuilder);
}
vecBuilder.append(objbuilder.obj());
}
}
}
//-----------------------------------------------------------------------------
bool joint_c::insert( mongo::BSONArrayBuilder& bson_array, Reveal::Core::joint_ptr joint ) {
mongo::BSONObjBuilder bob;
bob.append( FIELD_ID, joint->id );
mongo::BSONArrayBuilder bab_q;
for( unsigned i = 0; i < joint->state.size_q(); i++ )
bab_q.append( joint->state.q(i) );
bob.appendArray( FIELD_STATE_POSITION, bab_q.arr() );
mongo::BSONArrayBuilder bab_dq;
for( unsigned i = 0; i < joint->state.size_dq(); i++ )
bab_dq.append( joint->state.dq(i) );
bob.appendArray( FIELD_STATE_VELOCITY, bab_dq.arr() );
mongo::BSONArrayBuilder bab_u;
for( unsigned i = 0; i < joint->control.size_u(); i++ )
bab_u.append( joint->control.u(i) );
bob.appendArray( FIELD_CONTROL, bab_u.arr() );
bson_array.append( bob.obj() );
return true;
}