/*! read server cababilities
*/
void SortLastWindow::clientInit( void )
{
getNetwork()->getAspect()->addFieldFilter(Node::getClassType().getId(),
Node::VolumeFieldMask);
getNetwork()->getAspect()->addFieldFilter(Node::getClassType().getId(),
Node::TravMaskFieldMask);
// create default composer
if(getComposer() == NULL)
{
/*
FieldContainerPtr fcPtr =
FieldContainerFactory::the()->createFieldContainer("BinarySwapComposer");
setComposer(ImageComposerPtr::dcast(fcPtr));
*/
}
if(getComposer() != NULL)
{
SortLastWindow *clusterWindow(this);
getComposer()->setup(true,
getMFServers()->size32(),
getClientWindow(),
clusterWindow);
getComposer()->open();
// build node groups
buildGroups();
}
}
/* ------------------------ KinematicModel ------------------------ */
planning_models::KinematicModel::KinematicModel(const urdf::Model &model,
const std::vector<GroupConfig>& group_configs,
const std::vector<MultiDofConfig>& multi_dof_configs)
{
model_name_ = model.getName();
if (model.getRoot())
{
const urdf::Link *root = model.getRoot().get();
root_ = buildRecursive(NULL, root, multi_dof_configs);
buildGroups(group_configs);
}
else
{
root_ = NULL;
ROS_WARN("No root link found");
}
}
void OUILookup::buildLookupTable(const std::string &ouiListFile)
{
lookup_.clear();
std::vector< std::vector< std::string > > groups = buildGroups(
readFile( ouiListFile ) );
for( uint32_t i = 1; i < groups.size(); ++i ) //0 group is informational
{
std::vector< std::string > group = groups[i];
uint32_t oui = parseOUI( group[1] );
std::string company = parseCompany( group[1] );
std::string address = "";
for( uint32_t i = 2; i < (group.size() - 1); ++i )
{
address += group[i];
}
std::string country = group[ group.size() - 1 ];
lookup_[ oui ].company = company;
lookup_[ oui ].address = address;
lookup_[ oui ].country = country;
}
}
/*! client frame init
*/
void SortLastWindow::clientPreSync( void )
{
if(getClientWindow() != NULL)
{
UInt32 width =getClientWindow()->getWidth();
UInt32 height=getClientWindow()->getHeight();
if(width == 0)
width = 2;
if(height == 0)
height = 2;
if(width != getWidth() ||
height != getHeight())
{
setSize(width,height);
}
}
Inherited::clientPreSync();
// rebuild node groups
buildGroups();
}
void planning_models::KinematicModel::copyFrom(const KinematicModel &source)
{
model_name_ = source.model_name_;
if (source.root_)
{
root_ = copyRecursive(NULL, source.root_->child_link_model_);
const std::map<std::string, JointModelGroup*>& source_group_map = source.getJointModelGroupMap();
std::map< std::string, std::vector<std::string> > groupContent;
std::vector<GroupConfig> group_configs;
std::vector<std::string> empty_strings;
for(std::map<std::string, JointModelGroup*>::const_iterator it = source_group_map.begin();
it != source_group_map.end();
it++) {
group_configs.push_back(GroupConfig(it->first, it->second->getJointModelNames(), empty_strings));
}
buildGroups(group_configs);
} else
{
root_ = NULL;
}
}
