void RobotNode::updateVisualizationPose( const Eigen::Matrix4f &globalPose, bool updateChildren ) { // check if we are a root node SceneObjectPtr parent = getParent(); RobotPtr rob = getRobot(); if (!parent || parent == rob) { if (rob && rob->getRootNode() == static_pointer_cast<RobotNode>(shared_from_this())) { Eigen::Matrix4f gpPre = getLocalTransformation().inverse() * globalPose; rob->setGlobalPose(gpPre, false); } else VR_WARNING << "INTERNAL ERROR: getParent==robot but getRoot!=this ?! " << endl; } this->globalPose = globalPose; // update collision and visualization model and children SceneObject::updatePose(updateChildren); }
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; }