OpenRAVE::BaseXMLReader::ProcessElement kdata_parser::startElement(const std::string& name, const OpenRAVE::AttributesList& atts)
{
if (name == "spheres")
{
if (this->inside_spheres) RAVELOG_ERROR("you can't have <spheres> inside <spheres>!\n");
this->inside_spheres = true;
return PE_Support;
}
if (name == "sphere")
{
struct sphere * s;
struct sphereelem * e;
if (!this->inside_spheres) { RAVELOG_ERROR("you can't have <sphere> not inside <spheres>!\n"); return PE_Pass; }
s = (struct sphere *) malloc(sizeof(struct sphere));
for(OpenRAVE::AttributesList::const_iterator itatt = atts.begin(); itatt != atts.end(); ++itatt)
{
if (itatt->first=="link")
strcpy(s->linkname, itatt->second.c_str());
else if (itatt->first=="radius")
s->radius = strtod(itatt->second.c_str(), 0);
else if (itatt->first=="pos")
sscanf(itatt->second.c_str(), "%lf %lf %lf", &s->pos[0], &s->pos[1], &s->pos[2]);
else
RAVELOG_ERROR("unknown attribute %s=%s!\n",itatt->first.c_str(),itatt->second.c_str());
}
/* insert at head of kdata list */
e = (struct sphereelem *) malloc(sizeof(struct sphereelem));
e->s = s;
e->next = this->d->sphereelems;
this->d->sphereelems = e;
return PE_Support;
}
return PE_Pass;
}
OpenRAVE::BaseXMLReader::ProcessElement
kdata_parser::startElement(const std::string& name,
const OpenRAVE::AttributesList& atts)
{
if (name == "ignorables"){
if (this->inside_spheres) {
RAVELOG_ERROR("you can't have <ignorables> inside <spheres>!\n");
}
if (this->inside_ignorables) {
RAVELOG_ERROR("you can't have <ignorables> inside <ignorables>!\n");
}
this->inside_ignorables = true;
return PE_Support;
}
else if (name == "ignore"){
if (!this->inside_ignorables) {
RAVELOG_ERROR("you can't have <ignore> "
"not inside <ignorables>!\n");
return PE_Pass;
}
if (this->inside_spheres) {
RAVELOG_ERROR("you can't have <ignore> "
"inside <spheres>!\n");
return PE_Pass;
}
//increase the size of the vector,
// add an ignorable pair to the end.
d->ignorables.resize( d->ignorables.size() + 1 );
//iterate through the arguments, and assign things to the to
for(OpenRAVE::AttributesList::const_iterator itatt = atts.begin();
itatt != atts.end();
++itatt)
{
if (itatt->first=="link1"){
d->ignorables.back().first = itatt->second;
}else if (itatt->first=="link2"){
d->ignorables.back().second = itatt->second;
}else{
RAVELOG_ERROR("unknown attribute %s=%s!\n",
itatt->first.c_str(),itatt->second.c_str());
}
}
return PE_Support;
}
else if (name == "spheres")
{
if (this->inside_spheres) {
RAVELOG_ERROR("you can't have <spheres> inside <spheres>!\n");
}
if (this->inside_ignorables) {
RAVELOG_ERROR("you can't have <spheres> inside <ignorables>!\n");
}
this->inside_spheres = true;
return PE_Support;
}
else if (name == "sphere")
{
if (!this->inside_spheres) {
RAVELOG_ERROR("you can't have <sphere> not inside <spheres>!\n");
return PE_Pass;
}
if (this->inside_ignorables) {
RAVELOG_ERROR("you can't have <sphere> inside <ignorables>!\n");
return PE_Pass;
}
//increase the size of the vector, add a sphere to the end.
d->spheres.resize( d->spheres.size() + 1 );
Sphere & current_sphere = d->spheres.back();
//iterate through the arguments, and assign things to the to
for(OpenRAVE::AttributesList::const_iterator itatt = atts.begin();
itatt != atts.end();
++itatt)
{
if (itatt->first=="link"){
current_sphere.linkname = itatt->second;
}else if (itatt->first=="radius"){
current_sphere.radius = strtod(itatt->second.c_str(), 0);
}else if (itatt->first=="pos"){
double pose[3];
sscanf(itatt->second.c_str(), "%lf %lf %lf",
&pose[0], &pose[1], &pose[2] );
current_sphere.position = OpenRAVE::Vector( pose );
}else if (itatt->first =="inactive"){
if ( itatt->second =="true" ){
current_sphere.inactive = true;
}
}else{
RAVELOG_ERROR("unknown attribute %s=%s!\n",
itatt->first.c_str(),itatt->second.c_str());
}
}
return PE_Support;
}
return PE_Pass;
}
