/* the return value is the | of all the typeMasks of the holidays */
int getHebHolidays( date_t dth, holstorep_t *holiList )
{
int tmpMask;
holstorep_t tmpholip, chp; /* current holiday pointer */
tmpMask = 0;
*holiList = NULL;
for (chp = holidays[dth.mm][dth.dd]; /* static holidays */
chp;
chp = chp->next)
{
tmpMask |= PushHoliday (chp, holiList);
}
for (chp = var_holidays[dth.mm][dth.dd]; /* variable holidays */
chp;
chp = chp->next)
{
tmpMask |= PushHoliday (chp, holiList);
}
if (dth.dd == 1)
{
if(dth.mm == TISHREI) /* special processing for rosh hashana */
{
tmpholip = getHolstorep ();
initStr (&tmpholip->name, 22);
sprintf (tmpholip->name, "%s %d",
_("Rosh Hashana"),
dth.yy);
PushHoliday (tmpholip, &var_holidays[TISHREI][1]);
tmpMask |= PushHoliday (tmpholip, holiList);
}
else
{
if( ! suppress_rosh_chodesh_sw ) /* rosh Chodesh Processing... */
{
tmpholip = getHolstorep();
initStr (&tmpholip->name, NM_LEN);
sprintf (tmpholip->name, _("Rosh Chodesh %s"),
LANGUAGE2(hMonths[LEAP_YR_HEB (dth.yy)][dth.mm].name));
tmpMask |= PushHoliday (tmpholip, holiList);
}
}
}
if (dth.dd == 30 && ! suppress_rosh_chodesh_sw)
{
tmpholip = getHolstorep ();
initStr (&tmpholip->name, NM_LEN);
sprintf (tmpholip->name, _("Rosh Chodesh %s"),
LANGUAGE2(hMonths[LEAP_YR_HEB (dth.yy)][dth.mm + 1].name));
tmpMask |= PushHoliday (tmpholip, holiList);
}
return tmpMask;
}
void localize_to_city(const char *cityNameArg)
{
size_t len = strlen(cityNameArg);
char *pc, *cityStr;
city_t *pcity;
initStr(&cityStr, strlen(cityNameArg));
strcpy(cityStr, cityNameArg);
if (cityName != NULL)
free(cityName);
/* convert non-alpha to spaces */
for ( pc = cityStr; *pc != '\0'; pc++ )
if ( ! isalpha( (int)*pc ) )
*pc = ' ';
for (pcity = &cities[0]; pcity->name != NULL; pcity++)
if (0 == istrncasecmp(len, cityStr, pcity->name))
{
if (!(longp || latp)) /* -l and -L override -C */
{
latdeg = pcity->latdeg;
latmin = pcity->latmin;
longdeg = pcity->longdeg;
longmin = pcity->longmin;
}
if (!zonep)
{
TZ = pcity->TZ;
DST_scheme = pcity->DST_scheme;
}
free(cityStr);
initStr(&cityName, strlen(pcity->name));
strcpy(cityName, pcity->name);
return;
}
warn("unknown city: %s. Use a nearby city or geographic coordinates.", cityNameArg);
warn("run 'hebcal cities' for a list of cities.", "");
ok_to_run = 0;
}
void localize_to_city(const char *cityNameArg)
{
size_t len = strlen(cityNameArg);
char *pc, *cityStr;
city_t *pcity;
initStr(&cityStr, strlen(cityNameArg));
strcpy(cityStr, cityNameArg);
if (cityName != NULL)
free(cityName);
/* convert non-alpha to spaces */
for ( pc = cityStr; *pc != '\0'; pc++ )
if ( ! isalpha( (int)*pc ) )
*pc = ' ';
for (pcity = &cities[0]; pcity->name != NULL; pcity++)
if (0 == istrncasecmp(len, cityStr, pcity->name))
{
if (!(longp || latp)) /* -l and -L override -C */
{
latdeg = pcity->latdeg;
latmin = pcity->latmin;
longdeg = pcity->longdeg;
longmin = pcity->longmin;
}
TZ_INFO = timelib_parse_tzfile(pcity->tz, timelib_builtin_db());
if (TZ_INFO == NULL) {
die("unable to read time zone argument: %s", pcity->tz);
}
free(cityStr);
initStr(&cityName, strlen(pcity->name));
strcpy(cityName, pcity->name);
return;
}
warn("unknown city: %s. Use a nearby city or geographic coordinates.", cityNameArg);
warn("run 'hebcal cities' for a list of cities.", "");
ok_to_run = 0;
}
int main()
{
FILE *fin = fopen("kimbits.in", "r");
fout = fopen("kimbits.out", "w");
int length, number, i;
long long index;
fscanf(fin, "%d %d %lld\n", &length, &number, &index);
initStr();
//for (i = 1; i <= 19; i++) {
printbits(length, number, index-1);
fprintf(fout, "\n");
//}
fclose(fin);
fclose(fout);
}
/* list, returning the typemask of the pushed element */
int PushHoliday(
holstorep_t hp, /* the holiday to be added */
holstorep_t *lp /* pointer to the list to be added to. */
)
{
holstorep_t temp;
temp = getHolstorep ();
initStr (&temp->name, MAX_LINE_LEN);
strcpy (temp->name, hp->name);
temp->typeMask = hp->typeMask;
if ( ! *lp ) /* if there are no holidays here yet, start a new bucket */
*lp = temp;
else
{
temp->next = *lp; /* put hp at the head of the list */
*lp = temp;
}
return temp->typeMask;
}
GsmTrack::GsmTrack(QObject *parent) : QObject(parent)
{
nextCmd.clear();
trackTimer = new QTimer(this);
trackTimer->setInterval(1500);
connect(trackTimer, SIGNAL(timeout()), SLOT(slUpdateGSM()));
initStr();
gsmSerial = new QSerialPort(this);
connect(gsmSerial, SIGNAL(readyRead()), SLOT(slReadSerial()));
QString PortName;
// 假如只有一个设备
foreach (const QSerialPortInfo &info, QSerialPortInfo::availablePorts()) {
QString description = info.description();
#define _GSMTRACK_TEST_XP_x
#ifdef _GSMTRACK_TEST_XP_
if(description.contains("UI Interface", Qt::CaseInsensitive)){
#else
if(description.contains("Control", Qt::CaseInsensitive)){
#endif
PortName = info.portName();
}
}
gsmSerial->setPortName( PortName );
gsmSerial->setBaudRate( QSerialPort::Baud9600 );
gsmSerial->setDataBits(QSerialPort::Data8);
bool isOK = gsmSerial->open(QIODevice::ReadWrite);
if(isOK){
qDebug("open successful");
}else{
qDebug("open failed");
}
trackTimer->start();
}
EngineConfiguration EngineConfigurationDialog::engineConfiguration()
{
EngineConfiguration engine;
engine.setName(ui->m_nameEdit->text());
engine.setCommand(ui->m_commandEdit->text());
engine.setWorkingDirectory(ui->m_workingDirEdit->text());
engine.setProtocol(ui->m_protocolCombo->currentText());
QString initStr(ui->m_initStringEdit->toPlainText());
if (!initStr.isEmpty())
engine.setInitStrings(initStr.split('\n'));
engine.setWhiteEvalPov(ui->m_whitePovCheck->checkState() == Qt::Checked);
QList<EngineOption*> optionCopies;
foreach (EngineOption* option, m_options)
optionCopies << option->copy();
engine.setOptions(optionCopies);
engine.setSupportedVariants(m_variants);
return engine;
}
void init_yahrtzeits( int hyear )
{
holstorep_t tmpholp;
char *s, *monthStr, *eventStr, nextChar;
int index, inMonth, inDay, inYear, lineNum = 1;
date_t hDeath, gDeath;
initStr (&s, MAX_LINE_LEN);
initStr (&monthStr, MAX_LINE_LEN);
rewind (yFile);
nextChar = (char) getc (yFile); /* priming getc */
for (; !feof (yFile);
lineNum++, nextChar = (char) getc (yFile))
{ /* force an EOF */
ungetc (nextChar, yFile);
if (!fgets (s, MAX_LINE_LEN, yFile))
{
warn ("yahrtzeit file read error. Skipping line %s", hc_itoa (lineNum));
continue;
}
if (s[0] == '\n') /* blank line */
continue;
if (sscanf (s, "%s %d %d%n", monthStr, &inDay, &inYear, &index) < 3)
{
warn ("Error in yahrtzeit file. Skipping line %s", hc_itoa (lineNum));
continue;
}
if (!isAllNums (monthStr))
{
warn ("Non-numeric month in yahrtzeit file. Skipping line %s",
hc_itoa (lineNum));
continue;
}
sscanf (monthStr, "%d", &inMonth);
if (inMonth > 12 || inMonth < 1 ||
inDay < 1 || inDay > MonthLengths[LEAP (inYear)][inMonth])
{
warn ("Date out of range in yahrtzeit file. Skipping line %s",
hc_itoa (lineNum));
continue;
}
gDeath.dd = inDay;
gDeath.mm = inMonth;
gDeath.yy = inYear;
hDeath = abs2hebrew (greg2abs (gDeath));
/* If it's Heshvan 30 it depends on the first anniversary; if
that was not Heshvan 30, use the day before Kislev 1. */
if (hDeath.mm == CHESHVAN && hDeath.dd == 30 &&
!long_cheshvan (hDeath.yy + 1))
{
hDeath.dd = 1;
hDeath.mm = KISLEV;
hDeath.yy = hyear;
hDeath = abs2hebrew (hebrew2abs (hDeath) - 1L);
}
/* If it's Kislev 30 it depends on the first anniversary; if
that was not Kislev 30, use the day before Teveth 1. */
else if (hDeath.mm == KISLEV && hDeath.dd == 30 &&
!short_kislev (hDeath.yy + 1))
{
hDeath.dd = 1;
hDeath.mm = TEVET;
hDeath.yy = hyear;
hDeath = abs2hebrew (hebrew2abs (hDeath) - 1L);
}
/* If it's Adar II, use the same day in last month of
year (Adar or Adar II). */
else if (hDeath.mm == ADAR_II)
{
hDeath.mm = MONTHS_IN_HEB (hyear);
}
/* If it's the 30th in Adar I and year is not a leap year
(so Adar has only 29 days), use the last day in Shevat. */
else if (hDeath.mm == ADAR_I && hDeath.dd == 30 &&
!LEAP_YR_HEB (hyear))
{
hDeath.dd = 30;
hDeath.mm = SHVAT;
}
/* In all other cases, use the normal anniversary of the date of death. */
/* advance day to rosh chodesh if needed */
if (hDeath.mm == CHESHVAN && hDeath.dd == 30
&& !long_cheshvan(hyear)) {
hDeath.mm = KISLEV;
hDeath.dd = 1;
} else if (hDeath.mm == KISLEV && hDeath.dd == 30
&& short_kislev(hyear)) {
hDeath.mm = TEVET;
hDeath.dd = 1;
}
eventStr = s + index + 1; /* get the name of the event */
/* if (eventStr[strlen(eventStr)-1] == '\n') */
eventStr[strlen (eventStr) - 1] = '\0'; /* chop off the \n */
/* store the holiday in the LUT */
tmpholp = getHolstorep ();
initStr (&tmpholp->name, MAX_LINE_LEN);
strcpy (tmpholp->name, eventStr); /* load the user holiday into it. */
tmpholp->typeMask = USER_EVENT;
PushHoliday (tmpholp, &var_holidays[hDeath.mm][hDeath.dd]);
}
}
void init_user_holidays( int hyear )
{
holstorep_t tmpholp;
char *s, *monthStr, *eventStr, nextChar;
int index, inMonth, inDay, lineNum = 1;
initStr (&s, MAX_LINE_LEN);
initStr (&monthStr, MAX_LINE_LEN);
rewind (inFile);
nextChar = (char) getc (inFile); /* priming getc */
for (; !feof (inFile);
lineNum++, nextChar = (char) getc (inFile))
{ /* force an EOF */
ungetc (nextChar, inFile);
if (!fgets (s, MAX_LINE_LEN, inFile))
{
warn ("input file read error. Skipping line %s", hc_itoa (lineNum));
continue;
}
if (s[0] == '\n') /* blank line */
continue;
if (!sscanf (s, "%s %d%n", monthStr, &inDay, &index))
{
warn ("Error in input file. Skipping line %s", hc_itoa (lineNum));
continue;
}
if (isAllNums (monthStr))
{
warn ("Numeric hebrew month in input file. Skipping line %s",
hc_itoa (lineNum));
continue;
}
if (!(inMonth = lookup_hebrew_month (monthStr)))
{
warn ("Unrecognized hebrew month in input file. Skipping line %s",
hc_itoa (lineNum));
continue;
}
if (inDay < 1 || inDay > 30)
{
warn ("Date out of range in input file. Skipping line %s",
hc_itoa (lineNum));
continue;
}
if (inMonth == ADAR_II && !LEAP_YR_HEB (hyear))
inMonth = ADAR_I;
eventStr = s + index + 1; /* get the name of the event */
if (eventStr[strlen (eventStr) - 1] == '\n')
eventStr[strlen (eventStr) - 1] = '\0'; /* chop off the \n */
/* store the holiday in the LUT */
tmpholp = getHolstorep ();
initStr (&tmpholp->name, MAX_LINE_LEN);
strcpy (tmpholp->name, eventStr); /* load the user holiday into it. */
tmpholp->typeMask = USER_EVENT;
PushHoliday (tmpholp, &var_holidays[inMonth][inDay]);
}
}
void main_calendar( long todayAbs, long endAbs) /* the range of the desired printout */
{
date_t todayGreg, todayHeb;
holstorep_t holi_start,holip; /* a list of holidays for today */
year_t theYear;
char *omerStr ;
int omer, day_of_week, first_weekday, returnedMask;
int omer_today, sedra_today, candle_today, holidays_today, molad_today;
molad_t moladNext;
int monthNext;
int today_zemanim, i_zman;
int num_zmanim = sizeof (zemanim) / sizeof (struct _zman);
char buffer[80];
/* Used to decide whether a particular type of daily info should be
included in the abbreviated view. In abbreviated mode things like
sunrise, daf, omer are printed once a week. */
#define INCLUDE_TODAY(_sw) \
( (_sw) && ((!abbrev_sw) || (first_weekday == day_of_week)))
todayHeb = abs2hebrew (todayAbs);
todayGreg = abs2greg (todayAbs);
theYear = yearData (todayHeb.yy);
/* plug in light_offset before starting the loop */
for (i_zman = 0; i_zman < num_zmanim; i_zman ++)
if (zemanim[i_zman].flags == ZMAN_CANDLES_BEFORE)
zemanim[i_zman].min_offset = light_offset;
else if (zemanim[i_zman].flags == ZMAN_CANDLES_AFTER ||
zemanim[i_zman].flags == ZMAN_HAVDALAH )
zemanim[i_zman].min_offset = havdalah_minutes;
/*============== Main Year Loop ==============*/
reset_Omer (todayHeb.yy);
if (sedraAllWeek_sw || sedrot_sw)
reset_sedra (todayHeb.yy);
first_weekday = day_of_week = (int) (todayAbs % 7L);
while (todayAbs <= endAbs)
{
/* get the holidays for today */
returnedMask = getHebHolidays (todayHeb, &holip);
sedra_today = sedraAllWeek_sw || (sedrot_sw && (day_of_week == SAT));
omer_today = printOmer_sw &&
(todayAbs >= beginOmer) &&
(todayAbs <= endOmer);
holidays_today = holip &&
(!noHolidays_sw || (returnedMask & USER_EVENT));
molad_today = printMolad_sw &&
(day_of_week == SAT) &&
(todayHeb.dd >= 23 && todayHeb.dd <= 29) &&
(todayHeb.mm != ELUL); /* no birkat hachodesh before rosh hashana */
today_zemanim = 0;
if (INCLUDE_TODAY(default_zemanim))
today_zemanim |= default_zemanim;
if (candleLighting_sw)
{
if (day_of_week == FRI)
today_zemanim |= ZMAN_CANDLES_BEFORE;
else
{
if (returnedMask & LIGHT_CANDLES)
today_zemanim |= (day_of_week == SAT) ?
ZMAN_CANDLES_AFTER : ZMAN_CANDLES_BEFORE;
else
if ((returnedMask & LIGHT_CANDLES_TZEIS) &&
! (returnedMask & YOM_TOV_ENDS))
today_zemanim |= ZMAN_CANDLES_AFTER;
}
if (!(today_zemanim & (ZMAN_CANDLES_BEFORE | ZMAN_CANDLES_AFTER)) &&
(day_of_week == SAT || returnedMask & YOM_TOV_ENDS))
today_zemanim |= ZMAN_HAVDALAH;
if (!(today_zemanim & (ZMAN_CANDLES_BEFORE)) &&
(returnedMask & CHANUKAH_CANDLES))
today_zemanim |= ZMAN_CANDLES_AFTER; /* even if havdalah */
}
if (INCLUDE_TODAY(printHebDates_sw) ||
((printSomeHebDates_sw || printHebDates_sw) &&
(holidays_today || sedra_today || omer_today ||
(today_zemanim & (ZMAN_CANDLES_BEFORE|ZMAN_CANDLES_AFTER|ZMAN_HAVDALAH)))))
{
PrintGregDate (todayGreg);
printf ("%d%s of %s, %d\n",
todayHeb.dd, /* print the hebrew date */
numSuffix( todayHeb.dd ),
_(hMonths[LEAP_YR_HEB( todayHeb.yy )][todayHeb.mm].name),
todayHeb.yy);
}
if (printSunriseSunset_sw)
{
print_sunrise_sunset(todayGreg);
}
/* print the sedra, if desired */
if (sedra_today)
{
char sedraStr[40];
int foundSedra = sedra( todayAbs, sedraStr, 40 );
if (foundSedra)
{
PrintGregDate( todayGreg );
printf( "%s %s\n",
_("Parashat"),
sedraStr );
}
}
/* print today's holidays */
holi_start=holip; /* store the head of the list for freeing */
for (; holip; holip = holip->next)
{
if (!noHolidays_sw || (holip->typeMask & USER_EVENT))
{
PrintGregDate( todayGreg );
puts( holip->name );
}
}
/* Print the Omer */
if (INCLUDE_TODAY(omer_today))
{
initStr (&omerStr, NM_LEN);
omer = (int) (todayAbs - beginOmer + 1L);
if (!tabs_sw)
{
strncat (omerStr, hc_itoa (omer), NM_LEN);
strncat (omerStr, numSuffix (omer), NM_LEN);
strncat (omerStr, " day of the Omer", NM_LEN);
}
else
{
strncat (omerStr, "Omer: ", NM_LEN);
strncat (omerStr, hc_itoa (omer), NM_LEN);
}
PrintGregDate (todayGreg);
printf ("%s\n", omerStr);
free( omerStr );
}
if (INCLUDE_TODAY(dafYomi_sw))
hebcal_dafyomi(&todayGreg);
/* Print CandleLighting times */
if (today_zemanim)
{
print_candlelighting_times (today_zemanim,
day_of_week, todayGreg);
}
/* Print Molad */
if (molad_today)
{
PrintGregDate (todayGreg);
monthNext = (todayHeb.mm == MONTHS_IN_HEB(todayHeb.yy) ? 1 : todayHeb.mm + 1);
moladNext = get_molad(todayHeb.yy, monthNext);
printf ("Molad %s: %s, %d minutes and %d chalakim after %d %s\n",
hMonths[LEAP_YR_HEB(todayHeb.yy)][monthNext].name,
ShortDayNames[dayOfWeek(abs2greg(moladNext.day))],
(int) moladNext.chalakim / 18,
moladNext.chalakim % 18,
(moladNext.hour > 12 ? moladNext.hour - 12 : moladNext.hour),
(moladNext.hour > 12 ? "PM" : "AM")
);
}
incHebGregDate (&todayHeb, &todayGreg, &todayAbs, &day_of_week, &theYear);
# ifdef PLUG_LEAKS
free_holidays(*holip);
# endif
}
#undef INCLUDE_TODAY
}
/* Start a new race. */
static void
newrace(int index, tCarElt* car, tSituation *s)
{
total_tics[index]=0;
/***********************************************************************************
************************* UDP client identification ********************************
***********************************************************************************/
bool identified=false;
char line[UDP_MSGLEN];
// Set timeout
if (getTimeout()>0)
UDP_TIMEOUT = getTimeout();
//Set sensor range
if (strcmp(getVersion(),"2009")==0)
{
__SENSORS_RANGE__ = 100;
printf("*****2009*****\n");
}
else if (strcmp(getVersion(),"2010")==0 || strcmp(getVersion(),"2011")==0)
__SENSORS_RANGE__ = 200;
else
{
printf("%s is not a recognized version",getVersion());
exit(0);
}
listenSocket[index] = socket(AF_INET, SOCK_DGRAM, 0);
if (listenSocket[index] < 0)
{
std::cerr << "Error: cannot create listenSocket!";
exit(1);
}
srand(time(NULL));
// Bind listen socket to listen port.
serverAddress[index].sin_family = AF_INET;
serverAddress[index].sin_addr.s_addr = htonl(INADDR_ANY);
serverAddress[index].sin_port = htons(getUDPListenPort()+index);
if (bind(listenSocket[index],
(struct sockaddr *) &serverAddress[index],
sizeof(serverAddress[index])) < 0)
{
std::cerr << "cannot bind socket";
exit(1);
}
// Wait for connections from clients.
listen(listenSocket[index], 5);
std::cout << "Waiting for request on port " << getUDPListenPort()+index << "\n";
// Loop until a client identifies correctly
while (!identified)
{
clientAddressLength[index] = sizeof(clientAddress[index]);
// Set line to all zeroes
memset(line, 0x0, UDP_MSGLEN);
if (recvfrom(listenSocket[index], line, UDP_MSGLEN, 0,
(struct sockaddr *) &clientAddress[index],
&clientAddressLength[index]) < 0)
{
std::cerr << "Error: problem in receiving from the listen socket";
exit(1);
}
#ifdef __UDP_SERVER_VERBOSE__
// show the client's IP address
std::cout << " from " << inet_ntoa(clientAddress[index].sin_addr);
// show the client's port number.
std::cout << ":" << ntohs(clientAddress[index].sin_port) << "\n";
// Show the line
std::cout << " Received: " << line << "\n";
#endif
// compare received string with the ID
if (strncmp(line,UDP_ID,3)==0)
{
#ifdef __UDP_SERVER_VERBOSE__
std::cout << "IDENTIFIED" << std::endl;
#endif
std::string initStr(line);
if (SimpleParser::parse(initStr,std::string("init"),trackSensAngle[index],19)==false)
{
for (int i = 0; i < 19; ++i) {
trackSensAngle[index][i] =-90 + 10*i;
}
}
// char line[UDP_MSGLEN];
sprintf(line,"***identified***");
// Sending the car state to the client
if (sendto(listenSocket[index], line, strlen(line) + 1, 0,
(struct sockaddr *) &clientAddress[index],
sizeof(clientAddress[index])) < 0)
std::cerr << "Error: cannot send identification message";
identified=true;
}
}
focusSens[index] = new Sensors(car, 5);//ML
for (int i = 0; i < 5; ++i) {//ML
focusSens[index]->setSensor(i,(car->_focusCmd)+i-2,200);//ML
}//ML
// Initialization of track sensors
trackSens[index] = new Sensors(car, 19);
for (int i = 0; i < 19; ++i) {
trackSens[index]->setSensor(i,trackSensAngle[index][i],__SENSORS_RANGE__);
#ifdef __UDP_SERVER_VERBOSE__
std::cout << "Set Track Sensors " << i+1 << " at angle " << trackSensAngle[index][i] << std::endl;
#endif
}
// Initialization of opponents sensors
oppSens[index] = new ObstacleSensors(36, curTrack, car, s, __SENSORS_RANGE__);
prevDist[index]=-1;
}
bool SceneIO::processSceneRobot(rapidxml::xml_node<char>* sceneXMLNode, ScenePtr scene, const std::string& basePath )
{
THROW_VR_EXCEPTION_IF(!sceneXMLNode, "NULL data in processSceneRobot");
// get name
std::string robotName = processNameAttribute(sceneXMLNode,true);
if (robotName.empty())
{
THROW_VR_EXCEPTION("Please specify the name of the robot...");
return false;
}
std::string initStr("initconfig");
std::string initConfigName = processStringAttribute(initStr,sceneXMLNode,true);
std::vector< RobotConfigPtr > configs;
std::vector< std::vector< RobotConfig::Configuration > > configDefinitions;
std::vector< std::string > configNames;
Eigen::Matrix4f globalPose = Eigen::Matrix4f::Identity();
std::string fileName;
rapidxml::xml_node<>* node = sceneXMLNode->first_node();
std::vector< rapidxml::xml_node<>* > rnsNodes;
while (node)
{
std::string nodeName = getLowerCase(node->name());
if (nodeName == "file")
{
THROW_VR_EXCEPTION_IF(!fileName.empty(), "Multiple files defined in scene's robot tag '" << robotName << "'." << endl);
fileName = processFileNode(node,basePath);
} else if (nodeName == "configuration")
{
bool c*K = processConfigurationNodeList(node, configDefinitions, configNames);
THROW_VR_EXCEPTION_IF(!c*K, "Invalid configuration defined in scene's robot tag '" << robotName << "'." << endl);
} else if (nodeName == "globalpose")
{
processTransformNode(node, robotName, globalPose);
} else if (nodeName == "robotnodeset")
{
rnsNodes.push_back(node);
} else
{
THROW_VR_EXCEPTION("XML definition <" << nodeName << "> not supported in scene's Robot definition <" << robotName << ">." << endl);
}
node = node->next_sibling();
}
// create & register robot
THROW_VR_EXCEPTION_IF(fileName.empty(), "Missing file definition in scene's robot tag '" << robotName << "'." << endl);
RobotPtr robot = RobotIO::loadRobot(fileName);
THROW_VR_EXCEPTION_IF(!robot, "Invalid robot file in scene's robot tag '" << robotName << "'." << endl);
robot->setGlobalPose(globalPose);
scene->registerRobot(robot);
// create & register node sets
int rnsNr = 0;
for (size_t i=0;i<rnsNodes.size();i++)
{
// registers rns to robot
RobotNodeSetPtr r = processRobotNodeSet(rnsNodes[i], robot, robot->getRootNode()->getName(), rnsNr);
THROW_VR_EXCEPTION_IF(!r, "Invalid RobotNodeSet definition " << endl);
}
// create & register configs
THROW_VR_EXCEPTION_IF(configDefinitions.size()!=configNames.size(), "Invalid RobotConfig definitions " << endl);
for (size_t i=0;i<configDefinitions.size();i++)
{
RobotConfigPtr rc(new RobotConfig(robot,configNames[i],configDefinitions[i]));
scene->registerRobotConfig(robot,rc);
}
// process init config
if (!initConfigName.empty())
{
THROW_VR_EXCEPTION_IF(!scene->hasRobotConfig(robot,initConfigName), "Scene's robot tag '" << robotName << "' does not have the initConfig '" << initConfigName << "'." << endl);
robot->setJointValues(scene->getRobotConfig(robot,initConfigName));
}
return true;
}
