C++ (Cpp) Joint::initXml示例

bool Robot::initXml(TiXmlElement *root)
{
  assert(hw_);
  TiXmlElement *xit = NULL;

  // Constructs the joints.
  for (xit = root->FirstChildElement("joint"); xit;
       xit = xit->NextSiblingElement("joint"))
  {
    Joint *j = new Joint;
    if (j->initXml(xit))
      joints_.push_back(j);
    else
      delete j;
  }

  // Constructs the transmissions.
  for (xit = root->FirstChildElement("transmission"); xit;
       xit = xit->NextSiblingElement("transmission"))
  {
    const char *type = xit->Attribute("type");
    Transmission *t = type ? TransmissionFactory::instance().create(type) : NULL;
    if (!t)
      fprintf(stderr, "Unknown transmission type: \"%s\"\n", type);
    else if (!t->initXml(xit, this))
      delete t;
    else // Success!
      transmissions_.push_back(t);
  }

  // Constructs the links.
  for (xit = root->FirstChildElement("link"); xit;
       xit = xit->NextSiblingElement("link"))
  {
    Link *link = new Link;
    if (link->initXml(xit, this))
      links_.push_back(link);
    else
      delete link;
  }

  // For now, we only care about the sensors as links.
  for (xit = root->FirstChildElement("sensor"); xit;
       xit = xit->NextSiblingElement("sensor"))
  {
    Link *link = new Link;
    if (link->initXml(xit, this))
      links_.push_back(link);
    else
      delete link;
  }

  return true;
}