void Waypoint::Restore(XMLReader &reader)
{
// read my Element
reader.readElement("Waypoint");
Name = reader.getAttribute("name");
// get the value of the placement
EndPos = Base::Placement(Base::Vector3d(reader.getAttributeAsFloat("Px"),
reader.getAttributeAsFloat("Py"),
reader.getAttributeAsFloat("Pz")),
Base::Rotation(reader.getAttributeAsFloat("Q0"),
reader.getAttributeAsFloat("Q1"),
reader.getAttributeAsFloat("Q2"),
reader.getAttributeAsFloat("Q3")));
Velocity = (float) reader.getAttributeAsFloat("vel");
Accelaration = (float) reader.getAttributeAsFloat("acc");
Cont = (reader.getAttributeAsInteger("cont") != 0)?true:false;
Tool = reader.getAttributeAsInteger("tool");
Base = reader.getAttributeAsInteger("base");
std::string type = reader.getAttribute("type");
if(type=="PTP")
Type = Waypoint::PTP;
else if(type=="LIN")
Type = Waypoint::LINE;
else if(type=="CIRC")
Type = Waypoint::CIRC;
else if(type=="WAIT")
Type = Waypoint::WAIT;
else
Type = Waypoint::UNDEF;
}
void Constraint::Restore(XMLReader &reader)
{
reader.readElement("Constrain");
Name = reader.getAttribute("Name");
Type = (ConstraintType) reader.getAttributeAsInteger("Type");
Value = reader.getAttributeAsFloat("Value");
First = reader.getAttributeAsInteger("First");
FirstPos = (PointPos) reader.getAttributeAsInteger("FirstPos");
Second = reader.getAttributeAsInteger("Second");
SecondPos = (PointPos) reader.getAttributeAsInteger("SecondPos");
if(this->Type==InternalAlignment) {
AlignmentType = (InternalAlignmentType) reader.getAttributeAsInteger("InternalAlignmentType");
if (reader.hasAttribute("InternalAlignmentIndex"))
InternalAlignmentIndex = reader.getAttributeAsInteger("InternalAlignmentIndex");
}
else {
AlignmentType = Undef;
}
// read the third geo group if present
if (reader.hasAttribute("Third")) {
Third = reader.getAttributeAsInteger("Third");
ThirdPos = (PointPos) reader.getAttributeAsInteger("ThirdPos");
}
// Read the distance a constraint label has been moved
if (reader.hasAttribute("LabelDistance"))
LabelDistance = (float)reader.getAttributeAsFloat("LabelDistance");
if (reader.hasAttribute("LabelPosition"))
LabelPosition = (float)reader.getAttributeAsFloat("LabelPosition");
if (reader.hasAttribute("IsDriving"))
isDriving = reader.getAttributeAsInteger("IsDriving") ? true : false;
if (reader.hasAttribute("IsInVirtualSpace"))
isInVirtualSpace = reader.getAttributeAsInteger("IsInVirtualSpace") ? true : false;
}
