int GraphicProducer::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QObject::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: strikePath((*reinterpret_cast< const VectorPath(*)>(_a[1])),(*reinterpret_cast< const GraphicContext(*)>(_a[2]))); break;
case 1: fillPath((*reinterpret_cast< const VectorPath(*)>(_a[1])),(*reinterpret_cast< const GraphicContext(*)>(_a[2])),(*reinterpret_cast< Qt::FillRule(*)>(_a[3]))); break;
case 2: parsingDone((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 3: { bool _r = parseStream((*reinterpret_cast< const char*(*)>(_a[1])),(*reinterpret_cast< ulong(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 4: { bool _r = parsePDF((*reinterpret_cast< const QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
default: ;
}
_id -= 5;
}
return _id;
}
bool ObjectModelParser::parseStateEstimator(ClassModel* obj_model, const TiXmlElement* elem, std::stringstream& error) {
// check behavior model's attribute and model type
string attribute_name, model_type;
if (!getAttributeValue(elem, "attribute", attribute_name, error)
| !getAttributeValue(elem, "model", model_type, error)) {
return false;
}
Attribute attribute = AttributeConv::attribute(attribute_name);
if (!object_model_loader_->isClassAvailable(model_type)){
std::vector<std::string> classes = object_model_loader_->getDeclaredClasses();
for(unsigned int i = 0; i < classes.size(); ++i){
if(model_type == object_model_loader_->getName(classes[i])){
//if we've found a match... we'll get the fully qualified name and break out of the loop
ROS_WARN("Planner specifications should now include the package name. You are using a deprecated API. Please switch from %s to %s in your yaml file.",
model_type.c_str(), classes[i].c_str());
model_type = classes[i];
break;
}
}
}
IStateEstimator* estimator;
if (object_model_loader_->isClassAvailable(model_type)) {
estimator = object_model_loader_->createClassInstance(model_type)->clone();
} else {
error << "Unknown model: " << model_type << endl;
return false;
}
// set estimator parameters
const TiXmlElement* param = elem->FirstChildElement("param");
while (param) {
const char* param_name = param->Attribute("name");
if (param_name) {
bool v_bool;
int v_int;
double v_double;
bool set_param_ok = true;
if (param->QueryDoubleAttribute("value", &v_double) == TIXML_SUCCESS) {
set_param_ok = estimator->setParameter(string(param_name), v_double);
} else if (param->QueryIntAttribute("value", &v_int) == TIXML_SUCCESS) {
set_param_ok = estimator->setParameter(string(param_name), (double)v_int);
} else if (param->QueryBoolAttribute("value", &v_bool) == TIXML_SUCCESS) {
set_param_ok = estimator->setParameter(string(param_name), v_bool);
} else {
const char* v_str = param->Attribute("value");
if (v_str) {
set_param_ok = estimator->setParameter(string(param_name), string(v_str));
} else {
error << "State estimator parameters should always have a 'name' and 'value' attribute." << endl;
}
}
if (!set_param_ok) {
error << "Unknown parameter for estimator '" << model_type << "': " << param_name << endl;
}
} else {
error << "State estimator parameters should always have a 'name' and 'value' attribute." << endl;
}
param = param->NextSiblingElement("param");
}
const TiXmlElement* pnew = elem->FirstChildElement("pnew");
if (pnew) {
pbl::PDF* pdf_new = parsePDF(pnew, error);
if (pdf_new) {
obj_model->setNewPDF(attribute, *pdf_new);
estimator->update(*pdf_new, 0);
delete pdf_new;
} else {
return false;
}
} else {
error << "Estimator specification does not contain 'pnew'." << endl;
return false;
}
const TiXmlElement* pclutter = elem->FirstChildElement("pclutter");
if (pnew) {
pbl::PDF* pdf_clutter = parsePDF(pclutter, error);
if (pdf_clutter) {
obj_model->setClutterPDF(attribute, *pdf_clutter);
delete pdf_clutter;
} else {
return false;
}
} else {
error << "Estimator specification does not contain 'pclutter'." << endl;
return false;
}
obj_model->setEstimator(attribute, *estimator);
return true;
}
