C++ (Cpp) PTree::add_child示例

示例#1

文件： SurfaceSample.cpp 项目： dagothar/gripperz

void SurfaceSample::saveToXML(const std::string& filename, const std::vector<SurfaceSample>& samples) {
    PTree tree;

    // save all the samples!

    BOOST_FOREACH(const SurfaceSample& sample, samples) {
        PTree node;

        node.put("Pos", XMLHelpers::QToString(Q(3, sample.transform.P()[0], sample.transform.P()[1], sample.transform.P()[2])));
        RPY<> rpy(sample.transform.R());
        node.put("RPY", XMLHelpers::QToString(Q(3, rpy[0], rpy[1], rpy[2])));
        node.put("GraspW", boost::lexical_cast<std::string>(sample.graspW));

        tree.add_child("SurfaceSamples.Sample", node);
    }