예제 #1
0
    void
    loadElementsFromConfigFile( orcaqgemv::GuiElementModel &guiElementModel,
                                const orcaice::Context     &context )
    {
        // create a map of types
        const string typePrefix = context.tag() + ".Config.Element.Type";
        std::map<string,string> typeMap = context.properties()->getPropertiesForPrefix(typePrefix);
        
        // create a map of descriptions
        const string descriptionPrefix = context.tag() + ".Config.Element.Description";
        std::map<string,string> descriptionMap = context.properties()->getPropertiesForPrefix(descriptionPrefix);
        
        // debug output
        for ( map<string,string>::iterator it=typeMap.begin(); it!=typeMap.end(); ++it )
        {
            stringstream ss;
            ss << "it->first: " << it->first << endl;
            ss << "it->second: " << it->second << endl;  
            context.tracer().debug( ss.str(), 5 );
        }
        
        // create elements based on Type entries
        for ( map<string,string>::iterator it = typeMap.begin(); it != typeMap.end(); ++it )
        {
            // extract the key: e.g. for Config.Element.TypeXX the key is XX
            QString elementType( it->second.c_str() );
            string key = it->first.substr( typePrefix.size() );
            stringstream ss; ss << "Extracted key is: " << key;
            context.tracer().debug( ss.str(), 5 );
            
            // find the corresponding entry in the descriptionMap
            map<string,string>::iterator descriptionMapIt = descriptionMap.find( context.tag() + ".Config.Element.Description" + key );
            if ( descriptionMapIt==descriptionMap.end() ) 
            {
                ss.str(""); ss << "'Description' entry with key " << key << " expected. Check your config file!";
                context.tracer().warning( ss.str() );
                continue;
            }
            
            // found an entry
            ss.str(""); ss << "Found Description entry: " << descriptionMapIt->second;
            context.tracer().debug( ss.str(), 5 );
            
            //
            // assemble all pieces to create the GUI element
            //
            QString elementDescription( descriptionMapIt->second.c_str() );
            QString uniqueId = extractUniqueId( elementDescription );
            QString platformName = extractPlatformName( elementDescription );
            
            guiElementModel.createGuiElement( elementType, elementDescription, platformName, uniqueId );
        }

    }
예제 #2
0
void readFromProperties( orcaice::Context context, VfhAlgorithmConfig &c )
{
    Ice::PropertiesPtr prop = context.properties();
    std::string prefix = context.tag();
    prefix += ".Config.Vfh.";

    c.cellSize                  = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"CellSize", 0.1 );
    c.gridWidthInCells          = orcaice::getPropertyAsIntWithDefault(    prop, prefix+"GridWidthInCells", 61 );
    c.sectorAngle               = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"SectorAngle", 5.0 )*M_PI/180.0;
    // c.robotRadius               = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"RobotRadius", 0.3 );
    c.safetyDist0ms             = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"SafetyDist0ms", 0.1 );
    c.safetyDist1ms             = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"SafetyDist1ms", 0.1 );
    c.maxSpeed                  = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MaxSpeed", 0.2 );
    c.maxSpeedNarrowOpening     = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MaxSpeedNarrowOpening", 0.2 );
    c.maxSpeedWideOpening       = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MaxSpeedWideOpening", 0.2 );
    c.maxAcceleration           = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MaxAcceleration", 0.2 );
    c.maxTurnrate0ms            = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MaxTurnrate0ms", 40.0 )*M_PI/180.0;
    c.maxTurnrate1ms            = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MaxTurnrate1ms", 40.0 )*M_PI/180.0;
    c.absoluteMaxTurnrate       = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"AbsoluteMaxTurnrate", 60.0 )*M_PI/180.0;
    c.minTurnRadiusSafetyFactor = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"MinTurnRadiusSafetyFactor", 1.10 );
    c.freeSpaceCutoff0ms        = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"FreeSpaceCutoff0ms", 2e6 );
    c.freeSpaceCutoff1ms        = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"FreeSpaceCutoff1ms", 2e6 );
    c.obsCutoff0ms              = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"ObsCutoff0ms", 2e6 );
    c.obsCutoff1ms              = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"ObsCutoff1ms", 2e6 );
    c.weightDesiredDir          = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"WeightDesiredDir", 5.0 );
    c.weightCurrentDir          = orcaice::getPropertyAsDoubleWithDefault( prop, prefix+"WeightCurrentDir", 3.0 );
}