void MasterTestSet_t :: fromXml(TiXmlNode* pNode){
if(pNode == NULL)return;
XML_CHECK("MasterTestSet",pNode->Type() == TiXmlNode::ELEMENT);
TiXmlElement* pEm = pNode->ToElement();
XML_CHECK("MasterTestSet",pEm != 0);
PhysicalLayer = FromString_string(pEm, pEm->Attribute("PhysicalLayer"));
LogFile = FromString_string(pEm, pEm->Attribute("LogFile"));
Log.fromXml(pNode->FirstChildElement("Log"));
Master.fromXml(pNode->FirstChildElement("Master"));
PhysicalLayerList.fromXml(pNode->FirstChildElement("PhysicalLayerList"));
valid=true;
};
void SlaveTestSet_t :: fromXml(TiXmlNode* pNode)
{
if(pNode == NULL)return;
XML_CHECK("SlaveTestSet", pNode->Type() == TiXmlNode::ELEMENT);
TiXmlElement* pEm = pNode->ToElement();
XML_CHECK("SlaveTestSet", pEm != 0);
LogFile = FromString_string(pEm, pEm->Attribute("LogFile"));
PhysicalLayer = FromString_string(pEm, pEm->Attribute("PhysicalLayer"));
Remote = FromString_bool(pEm, pEm->Attribute("Remote"));
RemotePort = FromString_int(pEm, pEm->Attribute("RemotePort"));
LinkCommandStatus = FromString_bool(pEm, pEm->Attribute("LinkCommandStatus"));
StartOnline = FromString_bool(pEm, pEm->Attribute("StartOnline"));
Log.fromXml(pNode->FirstChildElement("Log"));
Slave.fromXml(pNode->FirstChildElement("Slave"));
DeviceTemplate.fromXml(pNode->FirstChildElement("DeviceTemplate"));
PhysicalLayerList.fromXml(pNode->FirstChildElement("PhysicalLayerList"));
valid = true;
};
EReturn AICOProblem::initDerived(tinyxml2::XMLHandle & handle)
{
EReturn ret_value = SUCCESS;
tinyxml2::XMLElement* xmltmp;
bool hastime = false;
XML_CHECK("T");
XML_OK(getInt(*xmltmp, T));
if (T <= 2)
{
INDICATE_FAILURE
;
return PAR_ERR;
}
xmltmp = handle.FirstChildElement("duration").ToElement();
if (xmltmp)
{
XML_OK(getDouble(*xmltmp, tau));
tau = tau / ((double) T);
hastime = true;
}
if (hastime)
{
xmltmp = handle.FirstChildElement("tau").ToElement();
if (xmltmp)
WARNING("Duration has already been specified, tau is ignored.");
}
else
{
XML_CHECK("tau");
XML_OK(getDouble(*xmltmp, tau));
}
XML_CHECK("Qrate");
XML_OK(getDouble(*xmltmp, Q_rate));
XML_CHECK("Hrate");
XML_OK(getDouble(*xmltmp, H_rate));
XML_CHECK("Wrate");
XML_OK(getDouble(*xmltmp, W_rate));
{
Eigen::VectorXd tmp;
XML_CHECK("W");
XML_OK(getVector(*xmltmp, tmp));
W = Eigen::MatrixXd::Identity(tmp.rows(), tmp.rows());
W.diagonal() = tmp;
}
for (TaskDefinition_map::const_iterator it = task_defs_.begin();
it != task_defs_.end() and ok(ret_value); ++it)
{
if (it->second->type().compare(std::string("TaskSqrError")) == 0)
ERROR("Task variable " << it->first << " is not an squared error!");
}
// Set number of time steps
return setTime(T);
}
EReturn OMPLsolver::initDerived(tinyxml2::XMLHandle & handle)
{
tinyxml2::XMLHandle tmp_handle = handle.FirstChildElement(
"TrajectorySmooth");
server_->registerParam<std_msgs::Bool>(ns_, tmp_handle, smooth_);
tmp_handle = handle.FirstChildElement("SaveResults");
server_->registerParam<std_msgs::Bool>(ns_, tmp_handle, saveResults_);
tinyxml2::XMLElement* xmltmp;
std::string txt;
XML_CHECK("algorithm");
{
txt = std::string(xmltmp->GetText());
bool known = false;
std::vector<std::string> nm = getPlannerNames();
for (std::string s : nm)
{
if (txt.compare(s.substr(11)) == 0)
{
selected_planner_ = s;
INFO(
"Using planning algorithm: "<<selected_planner_<<". Trajectory smoother is "<<(smooth_->data?"Enabled":"Disabled"));
known = true;
break;
}
}
if (!known)
{
ERROR("Unknown planning algorithm ["<<txt<<"]");
HIGHLIGHT_NAMED(object_name_, "Available algorithms:");
for (std::string s : nm)
HIGHLIGHT_NAMED(object_name_, s);
return FAILURE;
}
}
XML_CHECK("max_goal_sampling_attempts");
XML_OK(getInt(*xmltmp, goal_ampling_max_attempts_));
projection_components_.clear();
tmp_handle = handle.FirstChildElement("Projection");
if (tmp_handle.ToElement())
{
projector_ = tmp_handle.ToElement()->Attribute("type");
tinyxml2::XMLHandle jnt_handle = tmp_handle.FirstChildElement(
"component");
while (jnt_handle.ToElement())
{
const char* atr = jnt_handle.ToElement()->Attribute("name");
if (atr)
{
projection_components_.push_back(std::string(atr));
}
else
{
INDICATE_FAILURE
;
return FAILURE;
}
jnt_handle = jnt_handle.NextSiblingElement("component");
}
}
tmp_handle = handle.FirstChildElement("Range");
if (tmp_handle.ToElement())
{
server_->registerParam<std_msgs::String>(ns_, tmp_handle, range_);
}
if (saveResults_->data)
{
std::string path = ros::package::getPath("ompl_solver") + "/result/" + txt
+ ".txt";
result_file_.open(path);
if (!result_file_.is_open())
{
ERROR("Error open "<<path);
return FAILURE;
}
}
succ_cnt_ = 0;
return SUCCESS;
}
