/// directly sends the quoted text to oss
/// and returns if a quote was found
/// empties the given buffer in to oss if one is given
/// works only if a quote char is found where the iss cursor is.
bool JLDIO::skipOverQuotes(std::ostringstream& oss, std::istringstream& iss, std::list<char> *bufferToEmpty)
{
char charBuffer = iss.peek();
if(charBuffer == '\'' || charBuffer == '\"')
{
if(bufferToEmpty && !bufferToEmpty->empty())
{
oss << listToString(*bufferToEmpty);
bufferToEmpty->clear();
}
// std::cout<<"Skipping: ";
char matchedChar = charBuffer;
iss.get(charBuffer);
assert(matchedChar == charBuffer);
do
{
oss << charBuffer;
// std::cout<<charBuffer;
} while(iss.get(charBuffer) && charBuffer != matchedChar);
if(iss.good())
oss << charBuffer;
// std::cout<<charBuffer<<"\n";
return true;
}
return false;
}
bool ossimWkt::parseObject( std::istringstream& is,
const std::string& prefix,
const std::string& object,
ossimKeywordlist& kwl )
{
bool result = false;
result = parseName( is, prefix, object, kwl );
if ( result && is.good() )
{
char c;
ossim_uint32 myObjectIndex = 0;
ossim_uint32 paramIndex = 0;
while ( is.good() )
{
is.get(c);
if ( is.good() )
{
if ( c == ',' )
{
parseParam( is, prefix, object, myObjectIndex, paramIndex, kwl );
}
else if ( (c == ']') || (c == ')') )
{
break; // End of object.
}
}
}
}
return result;
}
void LoadArray(std::istringstream &buf, pnlVector<Type> &array, char delim = ' ')
{
char ch;
int ich;
Type val;
buf >> ch;
ASSERT(ch == '[' || !buf.good());
array.reserve(16);
array.resize(0);
for(;buf.good();)
{
do
{
ich = buf.peek();
if(ich == ']')
{
buf >> ch;
return;
}
else if(ich == delim || (delim == ' ' && isspace(ich)))
{
buf.get(ch);
}
} while(buf.good() && (ich == delim || (delim == ' ' && isspace(ich))));
if(!buf.good())
{
break;
}
buf >> val;
array.push_back(val);
}
bool ossimWkt::parseName( std::istringstream& is,
const std::string& prefix,
const std::string& object,
ossimKeywordlist& kwl )
{
bool result = false;
char c;
std::string name;
// Find the first quote:
while ( is.good() )
{
is.get(c);
if ( is.good() )
{
if ( c == '"' )
{
break;
}
}
}
// Get the name:
while ( is.good() )
{
is.get(c);
if ( is.good() )
{
if ( c != '"' )
{
name.push_back(c);
}
else
{
break; // End quote:
}
}
}
if ( name.size() )
{
// Add to keyword list.
std::string key;
if ( prefix.size() )
{
key += prefix;
}
key += object;
key += ".name";
kwl.addPair( key, name );
result = true;
}
return result;
}
void MotionPeriod::
commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os )
{
if( cmdLine == "help" )
{
os << "MotionPeriod:"<<endl
<<" - size " <<endl
<<" - period <rank> [<value>]" <<endl
<<" - amplitude <rank> [<value>] " <<endl
<<" - init <rank> [<value>] " <<endl
<<" - type <rank> [const|sin|cos] " <<endl;
}
// else if( cmdLine == "period" )
// {
// unsigned int rank; unsigned int period;
// cmdArgs >> rank >>std::ws;
// if( rank>=this->size ) { os <<"!! Error size too large." << std::endl; }
// if( cmdArgs.good() )
// { cmdArgs>>period; motionParams[rank].period = period; }
// else { os << "period[" << rank << "] = " << motionParams[rank].period << std::endl; }
// }
SOT_PARAMS_CONFIG(period,unsigned int)
SOT_PARAMS_CONFIG(amplitude,double)
SOT_PARAMS_CONFIG(initPeriod,unsigned int)
SOT_PARAMS_CONFIG(initAmplitude,double)
else if( cmdLine == "size" )
{
unsigned int rank(0);
cmdArgs >> std::ws;
if( cmdArgs.good() )
{ cmdArgs>>rank; resize( rank ); }
void TaskConti::
commandLine( const std::string& cmdLine
,std::istringstream& cmdArgs
,std::ostream& os )
{
if( cmdLine=="help" )
{
os << "TaskConti: "<<endl
<< " - touch <sot.control>"<<endl
<< " - timeRef" << endl
<< " - mu [<val>]" << endl;
Task::commandLine( cmdLine,cmdArgs,os );
}
else if( cmdLine=="touch" )
{
Signal<ml::Vector,int> & sig
= dynamic_cast< Signal<ml::Vector,int>& >
(dg::PoolStorage::getInstance()->getSignal(cmdArgs));
timeRef = TIME_REF_TO_BE_SET; //sig.getTime();
q0 = sig.accessCopy();
}
else if( cmdLine=="timeRef" )
{
os << "timeRef = ";
if( timeRef == TIME_REF_TO_BE_SET ) os << "to be set.";
else if( timeRef == TIME_REF_UNSIGNIFICANT ) os << "no signaificant";
else os << timeRef;
os << std::endl;
}
else if( cmdLine=="mu" )
{
cmdArgs >> std::ws; if(! cmdArgs.good() ) os << "mu = " << mu << std::endl;
else { cmdArgs >> mu; }
}
void TimeStamp::
commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os )
{
if( cmdLine=="help" )
{
os << "TimeStamp: "<<std::endl
<< " - offset [{<value>|now}] : set/get the offset for double sig." << std::endl;
Entity::commandLine( cmdLine,cmdArgs,os );
}
else if( cmdLine=="offset" )
{
cmdArgs >> std::ws;
if( cmdArgs.good() )
{
std::string offnow;
cmdArgs >> offnow;
if(offnow=="now")
{
gettimeofday( &val,NULL );
offsetValue = val.tv_sec;
}
else { offsetValue = atoi(offnow.c_str()); }
offsetSet = ( offsetValue>0 );
} else {
/*! \brief Overloading method of SimplePlugin */
void FilteringAnalyticalTrajectoryByPreviewControl::CallMethod(std::string &Method,
std::istringstream &strm)
{
if (Method==":samplingperiod")
{
std::string aws;
if (strm.good())
{
strm >> m_SamplingPeriod;
Resize();
}
inline bool
AsciiXmlParser::loadString( std::string const stringToParse )
/* this loads stringToParse into the internal stringstream for parsing. if
* there was a problem loading the file, false is returned. if there was a
* file open, it is now closed.
*/
{
resetContent();
stringParsingStream.clear();
stringParsingStream.str( stringToParse );
textStream = &stringParsingStream;
return stringParsingStream.good();
}
static void setupEnvVar(std::istringstream& iss, const char** var, const char* varname) {
std::string line;
std::string value;
std::getline(iss, line);
if (!iss.good() || line.find(varname) == std::string::npos) {
INT_FATAL(astr("Parsing ", varname));
}
value = line.substr(line.find('=')+1, std::string::npos);
*var = astr(value.c_str()); // astr call is to canonicalize
parseCmdLineConfig(varname, astr("\"", *var, "\""));
}
void skipCharacter(std::istringstream& is, char char_to_skip)
{
for (;;) {
int c = is.get();
if ( !is.good() ) {
break;
} else {
if (c != char_to_skip) {
is.unget();
break;
}
}
}
}
bool ossimWkt::parseWktGroup( std::istringstream& is, ossimKeywordlist& kwl )
{
bool result = false;
if ( is.good() )
{
char c;
// Get the wkt group name up to '[', e.g. "PROJCS[".
std::string prefix = "";
std::string object;
// std::string v;
while ( is.good() )
{
is.get(c);
if ( is.good() )
{
// Look for parens or square brackets.
if ( (c != '[') && (c != '(') )
{
object.push_back(c);
}
else
{
result = parseObject( is, prefix, object, kwl );
}
}
else
{
break;
}
}
}
return result;
}
void SotH::
commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
std::ostream& os )
{
sotDEBUGIN(15);
if( cmdLine == "help")
{
os << "Stack of Tasks Inequality: "<<endl
<< " - fillMemorySignal [boolean] "<<endl;
Sot::commandLine( cmdLine,cmdArgs,os );
}
else if( cmdLine == "fillMemorySignal")
{
cmdArgs >> std::ws;
if( cmdArgs.good() )
{ cmdArgs >> fillMemorySignal; }
void FeatureGeneric::
commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os )
{
if( cmdLine == "help" )
{
os << "FeatureGeneric: "
<< " - dimDefault [<int>]: get/set the dimension value. " << std::endl;
}
else if( cmdLine == "dimDefault" )
{
cmdArgs >>std::ws;
if( cmdArgs.good() )
{
unsigned int val; cmdArgs>>val;
dimensionDefault = val;
}
void FeaturePoint6d::
commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os )
{
if( cmdLine=="help" )
{
os << "FeaturePoint: "<<endl
<< " - frame [{desired|current}]: get/set the computation frame."<<endl
<< " - keep: modify the desired position to servo at current pos."<<endl;
Entity::commandLine( cmdLine,cmdArgs,os );
}
else if( cmdLine=="frame" )
{
cmdArgs>>std::ws;
if(cmdArgs.good())
{
std::string frameStr; cmdArgs >> frameStr;
if( frameStr =="current" ) { computationFrame_ = FRAME_CURRENT; }
else { computationFrame_ = FRAME_DESIRED; }
}
void NeckLimitation::
commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os )
{
sotDEBUG(25) << "Cmd " << cmdLine <<std::endl;
if( cmdLine == "help" )
{
os << "NeckLimitation: " << std::endl
<< " - rank [<pan> <tilt>]: get/set the rank of "
<< "the angles in the joint vector." << std::endl
<< " - coeff [<linear> <affine>]: get/set the coefficient of "
<< "the affine limit. " << std::endl
<< " - sign [{+1|-1}]: if -1, the tilt is check to be"
<< " above the limit. " << std::endl;
}
else if( cmdLine == "rank" )
{
cmdArgs >> std::ws; if(! cmdArgs.good() )
{ os << "rank = [pan=" << panRank
<< ", tilt=" << tiltRank << "]" << std::endl; }
else { cmdArgs >> panRank >> tiltRank; }
}
/// gets the next char from iss and places it in output
/// bypasses characters in quotes
/// empties the given buffer in to oss before hand if possible
/// returns false upon failure (i.e. returns iss.good())
bool JLDIO::getNextChar(char& output, std::ostringstream& oss, std::istringstream& iss, std::list<char> *bufferToEmpty)
{
skipOverQuotes(oss, iss, bufferToEmpty);
iss.get(output);
return iss.good();
}
bool ossimWkt::parseParam( std::istringstream& is,
const std::string& prefix,
const std::string& object,
ossim_uint32& objectIndex,
ossim_uint32& paramIndex,
ossimKeywordlist& kwl )
{
bool result = false;
char c;
std::string name;
// Get the name:
while ( is.good() )
{
int i = is.peek(); // Don't gobble the trailing comma or bracket.
if ( (i == ',') || (i == ']') || (i == ')') )
{
// End of param.
if ( name.size() )
{
// Add to keyword list.
std::string key;
if ( prefix.size() )
{
key += prefix;
}
key += object;
key += ".param";
key += ossimString::toString(paramIndex).string();
kwl.addPair( key, name );
name = "";
++paramIndex;
result = true;
}
break; // Next param or at end of object.
}
is.get(c);
if ( is.good() )
{
// Look nexted object.
if ( (c == '[') || (c == '(') )
{
std::string myPrefix;
if ( prefix.size() )
{
myPrefix += prefix;
}
myPrefix += object;
myPrefix += ".";
//---
// Special hack for duplicated keyword "PARAMETER"
//---
if ( name == "PARAMETER" )
{
name += ossimString::toString(objectIndex).string();
++objectIndex;
}
result = parseObject( is, myPrefix, name, kwl );
name = "";
}
else
{
name.push_back(c);
}
}
}
return result;
}