/*virtual*/
void Marker::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
if (versionNumber < XMLDocument::getLatestVersion()){
if (versionNumber < 30501) {
// Parse name of Body under <body>node
SimTK::Xml::element_iterator bIter = aNode.element_begin("body");
SimTK::String bName = bIter->getValue();
// Create nodes for new layout
SimTK::Xml::Element connectorsElement("connectors");
SimTK::Xml::Element frameElement("Connector_PhysicalFrame_");
connectorsElement.insertNodeAfter(connectorsElement.node_end(), frameElement);
frameElement.setAttributeValue("name", "parent_frame");
SimTK::Xml::Element connecteeElement("connectee_name");
// Markers in pre-4.0 models are necessarily 1 level deep
// (model, markers), and Bodies were necessarily 1 level deep;
// here we create the correct relative path (accounting for sets
// being components).
bName = XMLDocument::updateConnecteePath30517("bodyset", bName);
connecteeElement.setValue(bName);
frameElement.insertNodeAfter(frameElement.node_end(), connecteeElement);
aNode.insertNodeAfter(bIter, connectorsElement);
aNode.eraseNode(bIter);
}
}
// Call base class now assuming _node has been corrected for current version
Super::updateFromXMLNode(aNode, versionNumber);
}
void ModelComponent::updateFromXMLNode(SimTK::Xml::Element& aNode,
int versionNumber) {
if (versionNumber < XMLDocument::getLatestVersion()) {
if (versionNumber < 30506) {
// geometry list property removed. Everything that was in this list
// should be moved to the components list property.
SimTK::Xml::element_iterator geometry = aNode.element_begin("geometry");
if (geometry != aNode.element_end()) {
// We found a list property of geometry.
SimTK::Xml::Element componentsNode;
SimTK::Xml::element_iterator componentsIt = aNode.element_begin("components");
if (componentsIt == aNode.element_end()) {
// This component does not yet have a list property of
// components, so we'll create one.
componentsNode = SimTK::Xml::Element("components");
aNode.insertNodeBefore(aNode.element_begin(), componentsNode);
} else {
componentsNode = *componentsIt;
}
// Copy each node under <geometry> into <components>.
for (auto geomIt = geometry->element_begin();
geomIt != geometry->element_end(); ++geomIt) {
componentsNode.appendNode(geomIt->clone());
}
// Now that we moved over the geometry, we can delete the
// <geometry> element.
aNode.eraseNode(geometry);
}
}
}
Super::updateFromXMLNode(aNode, versionNumber);
}
/*virtual*/
void Marker::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
if (versionNumber < XMLDocument::getLatestVersion()){
if (versionNumber < 30501) {
// Parse name of Body under <body>node
SimTK::Xml::element_iterator bIter = aNode.element_begin("body");
SimTK::String bName = bIter->getValue();
// Create nodes for new layout
SimTK::Xml::Element connectorsElement("connectors");
SimTK::Xml::Element frameElement("Connector_PhysicalFrame_");
connectorsElement.insertNodeAfter(connectorsElement.node_end(), frameElement);
frameElement.setAttributeValue("name", "reference_frame");
SimTK::Xml::Element connecteeElement("connectee_name");
connecteeElement.setValue(bName);
frameElement.insertNodeAfter(frameElement.node_end(), connecteeElement);
aNode.insertNodeAfter(bIter, connectorsElement);
aNode.eraseNode(bIter);
}
}
// Call base class now assuming _node has been corrected for current version
Object::updateFromXMLNode(aNode, versionNumber);
}
/** Override of the default implementation to account for versioning. */
void CustomJoint::
updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
int documentVersion = versionNumber;
if ( documentVersion < XMLDocument::getLatestVersion()){
if (Object::getDebugLevel()>=1)
cout << "Updating CustomJoint to latest format..." << endl;
// Version before refactoring spatialTransform
if (documentVersion<10901){
// replace TransformAxisSet with SpatialTransform
/////renameChildNode("TransformAxisSet", "SpatialTransform");
// Check how many TransformAxes are defined
SimTK::Xml::element_iterator spatialTransformNode =
aNode.element_begin("TransformAxisSet");
if (spatialTransformNode == aNode.element_end()) return;
SimTK::Xml::element_iterator axesSetNode =
spatialTransformNode->element_begin("objects");
/////if (axesSetNode != NULL)
///// spatialTransformNode->removeChild(axesSetNode);
/////DOMElement*grpNode = XMLNode::GetFirstChildElementByTagName(spatialTransformNode,"groups");
/////if (grpNode != NULL)
///// spatialTransformNode->removeChild(grpNode);
// (0, 1, 2 rotations & 3, 4, 5 translations then remove the is_rotation node)
SimTK::Array_<SimTK::Xml::Element> list =
axesSetNode->getAllElements();
unsigned int listLength = list.size();
int objectsFound = 0;
Array<int> translationIndices(-1, 0);
Array<int> rotationIndices(-1, 0);
int nextAxis = 0;
std::vector<TransformAxis *> axes;
// Add children for all six axes here
//////_node->removeChild(SpatialTransformNode);
// Create a blank Spatial Transform and use it to populate the
// XML structure
for(int i=0; i<6; i++)
updSpatialTransform()[i].setFunction(new OpenSim::Constant(0));
Array<OpenSim::TransformAxis*> oldAxes;
for(unsigned int j=0;j<listLength;j++) {
// getChildNodes() returns all types of DOMNodes including
// comments, text, etc., but we only want
// to process element nodes
SimTK::Xml::Element objElmt = list[j];
string objectType = objElmt.getElementTag();
// (sherm) this is cleaning up old TransformAxis here but
// that should really be done in TransformAxis instead.
if (objectType == "TransformAxis"){
OpenSim::TransformAxis* readAxis =
new OpenSim::TransformAxis(objElmt);
assert(nextAxis <=5);
bool isRotation = false;
SimTK::Xml::element_iterator rotationNode =
objElmt.element_begin("is_rotation");
if (rotationNode != objElmt.element_end()){
SimTK::String sValue =
rotationNode->getValueAs<SimTK::String>();
bool value = (sValue.toLower() == "true");
isRotation = value;
objElmt.eraseNode(rotationNode);
}
SimTK::Xml::element_iterator coordinateNode =
objElmt.element_begin("coordinate");
SimTK::String coordinateName =
coordinateNode->getValueAs<SimTK::String>();
Array<std::string> names("");
names.append(coordinateName);
readAxis->setCoordinateNames(names);
SimTK::Xml::element_iterator axisNode =
objElmt.element_begin("axis");
SimTK::Vec3 axisVec= axisNode->getValueAs<SimTK::Vec3>();
readAxis->setAxis(axisVec);
if (isRotation){
rotationIndices.append(nextAxis);
}
else {
translationIndices.append(nextAxis);
}
axes.push_back(readAxis);
nextAxis++;
}
}
assert(rotationIndices.getSize() <=3);
assert(translationIndices.getSize() <=3);
//XMLNode::RemoveChildren(SpatialTransformAxesNode);
int nRotations = rotationIndices.getSize();
int nTranslations = translationIndices.getSize();
// Now copy coordinateName, Axis, Function into proper slot
for (int i=0; i<nRotations; i++){
updSpatialTransform()[i] = *axes[rotationIndices[i]];
}
updSpatialTransform().constructIndependentAxes(nRotations, 0);
// Add Translations from old list then pad with default ones,
// make sure no singularity.
for (int i=0; i<nTranslations; i++){
updSpatialTransform()[i+3] = *axes[translationIndices[i]];
}
updSpatialTransform().constructIndependentAxes(nTranslations, 3);
}
}
// Delegate to superclass now.
Super::updateFromXMLNode(aNode, versionNumber);
const CoordinateSet& coordinateSet = get_CoordinateSet();
// Fix coordinate type post deserialization
// Fix coordinate type post deserialization
for (int i=0; i<coordinateSet.getSize(); i++){
OpenSim::Coordinate& nextCoord = coordinateSet.get(i);
// Find TransformAxis for the coordinate and use it to set Coordinate's motionType
for(int axisIndex=0; axisIndex<6; axisIndex++){
const TransformAxis& nextAxis = getSpatialTransform()[axisIndex];
const Property<std::string>& coordNames = nextAxis.getCoordinateNames();
if (coordNames.findIndex(nextCoord.getName())!=-1){
coordinateSet.get(i).setMotionType((axisIndex>2)?
Coordinate::Translational : Coordinate::Rotational);
break;
}
}
}
// Axes should be independent otherwise Simbody throws an exception in addToSystem
double tol = 1e-5;
// Verify that none of the rotation axes are colinear
const std::vector<SimTK::Vec3> axes=getSpatialTransform().getAxes();
for(int startIndex=0; startIndex<=3; startIndex+=3){
if(((axes[startIndex+0]%axes[startIndex+1]).norm() < tol)||
((axes[startIndex+0]%axes[startIndex+2]).norm() < tol)||
((axes[startIndex+1]%axes[startIndex+2]).norm() < tol)){
throw(Exception("CustomJoint " + getName() +
" has colinear axes and so is not well-defined."
" Please fix and retry loading.."));
}
}
updProperty_SpatialTransform().setValueIsDefault(false);
}
void Joint::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
{
int documentVersion = versionNumber;
//bool converting = false;
if (documentVersion < XMLDocument::getLatestVersion()){
if (documentVersion<30500){
XMLDocument::renameChildNode(aNode, "location", "location_in_child");
XMLDocument::renameChildNode(aNode, "orientation", "orientation_in_child");
}
// Version 30501 converted Connector_Body_ to Connector_PhysicalFrame_
if (documentVersion < 30501) {
// Handle any models that have the Joint connecting to Bodies instead
// of PhyscialFrames
XMLDocument::renameChildNode(aNode, "Connector_Body_",
"Connector_PhysicalFrame_");
}
// Version 30505 changed "parent_body" connector name to "parent_frame"
// Convert location and orientation into PhysicalOffsetFrames owned by the Joint
if (documentVersion < 30505) {
// Elements for the parent and child names the joint connects
SimTK::Xml::element_iterator parentNameElt;
SimTK::Xml::element_iterator childNameElt;
// The names of the two PhysicalFrames this joint connects
std::string parentFrameName("");
std::string childFrameName("");
SimTK::Xml::element_iterator connectors_node = aNode.element_begin("connectors");
SimTK::Xml::element_iterator connectorElement =
connectors_node->element_begin("Connector_PhysicalFrame_");
while (connectorElement != aNode.element_end()) {
// If connector name is "parent_body" rename it to "parent_frame"
if (connectorElement->getRequiredAttributeValue("name") == "parent_body") {
connectorElement->setAttributeValue("name", "parent_frame");
}
// If connector name is "parent_frame" get the name of the connectee
if (connectorElement->getRequiredAttributeValue("name") == "parent_frame"){
parentNameElt = connectorElement->element_begin("connectee_name");
parentNameElt->getValueAs<std::string>(parentFrameName);
const auto slashLoc = parentFrameName.rfind('/');
if (slashLoc != std::string::npos)
parentFrameName = parentFrameName.substr(slashLoc + 1);
}
if (connectorElement->getRequiredAttributeValue("name") == "child_body") {
connectorElement->setAttributeValue("name", "child_frame");
}
if (connectorElement->getRequiredAttributeValue("name") == "child_frame") {
childNameElt = connectorElement->element_begin("connectee_name");
childNameElt->getValueAs<std::string>(childFrameName);
const auto slashLoc = childFrameName.rfind('/');
if (slashLoc != std::string::npos)
childFrameName = childFrameName.substr(slashLoc + 1);
}
++connectorElement;
}
SimTK::Xml::element_iterator locParentElt =
aNode.element_begin("location_in_parent");
SimTK::Xml::element_iterator orientParentElt =
aNode.element_begin("orientation_in_parent");
SimTK::Xml::element_iterator locChildElt =
aNode.element_begin("location_in_child");
SimTK::Xml::element_iterator orientChildElt =
aNode.element_begin("orientation_in_child");
Vec3 location_in_parent(0);
Vec3 orientation_in_parent(0);
Vec3 location_in_child(0);
Vec3 orientation_in_child(0);
if (locParentElt != aNode.element_end()){
locParentElt->getValueAs<Vec3>(location_in_parent);
}
if (orientParentElt != aNode.element_end()){
orientParentElt->getValueAs<Vec3>(orientation_in_parent);
}
if (locChildElt != aNode.element_end()){
locChildElt->getValueAs<Vec3>(location_in_child);
}
if (orientChildElt != aNode.element_end()){
orientChildElt->getValueAs<Vec3>(orientation_in_child);
}
// now append updated frames to the property list for
// both parent and child
XMLDocument::addPhysicalOffsetFrame30505_30517(aNode, parentFrameName+"_offset",
parentFrameName, location_in_parent, orientation_in_parent);
parentNameElt->setValue(parentFrameName + "_offset");
XMLDocument::addPhysicalOffsetFrame30505_30517(aNode, childFrameName + "_offset",
childFrameName, location_in_child, orientation_in_child);
childNameElt->setValue(childFrameName + "_offset");
}
// Version 30507 replaced Joint's CoordinateSet with a "coordinates"
// list property.
if (documentVersion < 30507) {
if (aNode.hasElement("CoordinateSet")) {
auto coordSetIter = aNode.element_begin("CoordinateSet");
if (coordSetIter->hasElement("objects")) {
auto coordIter = coordSetIter->getRequiredElement("objects")
.element_begin("Coordinate");
if (coordIter != aNode.element_end()) {
// A "CoordinateSet" element exists, it contains an
// "objects" element, and the "objects" element contains
// at least one "Coordinate" element.
// Create an element for the new layout.
Xml::Element coordinatesElement("coordinates");
// Copy all "Coordinate" elements from the old layout.
while (coordIter != aNode.element_end()) {
coordinatesElement.appendNode(coordIter->clone());
++coordIter;
}
// Insert new "coordinates" element.
aNode.insertNodeAfter(coordSetIter, coordinatesElement);
}
}
// Remove old "CoordinateSet" element.
aNode.eraseNode(coordSetIter);
}
}
// Version 30514 removed the user-facing "reverse" property from Joint.
// The parent and child frames are swapped if a "reverse" element is
// found and its value is "true".
if (documentVersion < 30514) {
auto reverseElt = aNode.element_begin("reverse");
if (reverseElt != aNode.element_end()) {
bool swapFrames = false;
reverseElt->getValue().tryConvertToBool(swapFrames);
if (swapFrames) {
std::string oldParentFrameName = "";
std::string oldChildFrameName = "";
// Find names of parent and child frames. If more than one
// "parent_frame" or "child_frame" element exists, keep the
// first one. The "parent_frame" and "child_frame" elements
// may be listed in either order.
SimTK::Xml::element_iterator connectorsNode =
aNode.element_begin("connectors");
SimTK::Xml::element_iterator connectorElt = connectorsNode->
element_begin("Connector_PhysicalFrame_");
SimTK::Xml::element_iterator connecteeNameElt;
while (connectorElt != connectorsNode->element_end())
{
if (connectorElt->getRequiredAttributeValue("name") ==
"parent_frame" && oldParentFrameName.empty())
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->getValueAs<std::string>(
oldParentFrameName);
}
else if (connectorElt->getRequiredAttributeValue("name")
== "child_frame" && oldChildFrameName.empty())
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->getValueAs<std::string>(
oldChildFrameName);
}
++connectorElt;
}
// Swap parent and child frame names. If more than one
// "parent_frame" or "child_frame" element exists, assign
// the same value to all such elements.
connectorsNode = aNode.element_begin("connectors");
connectorElt = connectorsNode->element_begin(
"Connector_PhysicalFrame_");
while (connectorElt != connectorsNode->element_end())
{
if (connectorElt->getRequiredAttributeValue("name") ==
"parent_frame")
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->setValue(oldChildFrameName);
}
else if (connectorElt->getRequiredAttributeValue("name")
== "child_frame")
{
connecteeNameElt = connectorElt->
element_begin("connectee_name");
connecteeNameElt->setValue(oldParentFrameName);
}
++connectorElt;
}
}
// Remove "reverse" element regardless of its value (it is no
// longer a property of Joint).
aNode.eraseNode(reverseElt);
}
}
}
Super::updateFromXMLNode(aNode, versionNumber);
}