bool ObjectRenderer::Load(string name){ char filename[256]; XmlTree tree; sprintf(filename,"Worlds/Objects/%s.xml",name.c_str()); if(FileFinder::Find(filename)){ tree.LoadFromFile(FileFinder::GetCStr()); } return Load(&tree); }
bool World::Load(string name){ char filename[256]; XmlTree tree; sprintf(filename,"Worlds/%s.xml",name.c_str()); if(FileFinder::Find(filename)){ if(tree.LoadFromFile(FileFinder::GetString())){ return Load(&tree); } } return false; }
RobotInterface::Status ExampleOpenLoopPIDControlModule::RobotInit(){ // Sensors and actuators mSensorsGroup.SetSensorsList(mRobot->GetSensors()); mActuatorsGroup.SetActuatorsList(mRobot->GetActuators()); mJointTorques.Resize(mRobot->GetDOFCount()); mJointTarget.Resize(mRobot->GetDOFCount()); //mJointTorques.Print(); if(mInternalRobot.Load(mRobot->GetType(),mRobot->GetSubType(),"")){ cout << "Internal robot loaded as a copy of main robbot"<<endl; }else{ cout << "Failed loading internal robot"<<endl; exit(0); } mInternalSensorsGroup.SetSensorsList(mInternalRobot.GetSensors()); mInternalActuatorsGroup.SetActuatorsList(mInternalRobot.GetActuators()); // Inverse dynamics mInvDynamics.SetRobot(mRobot); mInvDynamics.Init(); mInvDynamics.SetGravityCompensationOnly(true); XmlTree tree; tree.LoadFromFile("./data/packages/WAMRobotModel/Misc/WAMDefaultPID.xml"); mPIDCtrl.Init(&tree); mState = 0; if(GetConsole()){ AddConsoleCommand("Rest"); AddConsoleCommand("Hit"); AddConsoleCommand("GComp"); GetConsole()->Print("Available commands are GComp Rest and Hit"); } return STATUS_OK; }
void MultiFingersObjImpController::LoadStructureXml(const char* xmlFileName) { XmlTree config; bool bSuccess = config.LoadFromFile(xmlFileName); if(bSuccess) { //parse the xml file - config file for RobotToolKit pXmlTreeList pTList = config.GetSubTrees(); vector<string> nameAndPatches; FileFinder::AddAdditionalPath("./config"); FileFinder::AddAdditionalPath("./data"); for(int i = 0; i < int(pTList->size()); ++i) { if(pTList->at(i)->GetName() == "Robot") { printf("Loading robot structure...\n"); nameAndPatches = Tokenize(RemoveSpaces(pTList->at(i)->GetData())); if(nameAndPatches.size() > 0) { bSuccess = mRobot.Load(nameAndPatches[0], Serialize(nameAndPatches, 1)); if(!bSuccess) { printf("Fail to load robot structure file.\n"); } else { printf("Successfully load robot structure.\n"); } } } } } else { printf("Fail to load configuration file.\n"); } return; }