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;
}
