prototype_link_entity.cpp

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#include "prototype_link_entity.h"
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/robots/prototype/simulator/prototype_entity.h>
 
namespace argos {
 
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   CPrototypeLinkEntity::CPrototypeLinkEntity(CComposableEntity* pc_parent) :
      CEntity(pc_parent),
                m_eGeometry(EGeometry::BOX),
                m_cExtents(0.0f, 0.0f, 0.0f),
                m_fMass(0.0f),
      m_psAnchor(nullptr) {}
 
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   void CPrototypeLinkEntity::Init(TConfigurationNode& t_tree) {
      try {
         /* Init parent */
         CEntity::Init(t_tree);
         /* Parse link geometry and dimensions */
         std::string strLinkGeometry;
         GetNodeAttribute(t_tree, "geometry", strLinkGeometry);
         if(strLinkGeometry == "box") {
            m_eGeometry = BOX; 
            GetNodeAttribute(t_tree, "size", m_cExtents);
         } else if(strLinkGeometry == "cylinder") {
            m_eGeometry = CYLINDER;
            Real fRadius;
            Real fHeight;
            GetNodeAttribute(t_tree, "height", fHeight);
            GetNodeAttribute(t_tree, "radius", fRadius);
            m_cExtents.Set(fRadius * 2.0f, fRadius * 2.0f, fHeight);
         } else if(strLinkGeometry == "sphere") {
            m_eGeometry = SPHERE;
            Real fRadius;
            GetNodeAttribute(t_tree, "radius", fRadius);
            m_cExtents.Set(fRadius * 2.0f, fRadius * 2.0f, fRadius * 2.0f);
         } else if(strLinkGeometry == "convex_hull") {
            std::string strPoints;
            std::vector<std::string> vecPoints;
            CVector3 cPoint;
            m_eGeometry = CONVEX_HULL;
            m_cExtents.Set(0.0f, 0.0f, 0.0f);
            /* Parse the points of the convex hull */
            GetNodeText(t_tree, strPoints);
            /* Remove any whitespace characters */
            std::string::iterator itEraseBegin = 
               std::remove_if(std::begin(strPoints), std::end(strPoints), ::isspace);
            strPoints.erase(itEraseBegin, std::end(strPoints));
            /* Split into individual points */
            Tokenize(strPoints, vecPoints, "()");
            for(const std::string& str_point : vecPoints) {
               std::istringstream(str_point) >> cPoint;
               m_vecConvexHullPoints.push_back(cPoint);
            }
            CConvexHull cConvexHull(m_vecConvexHullPoints);
            /* store the faces in this object */
            m_vecConvexHullFaces = cConvexHull.GetFaces();
         } else {
            /* unknown geometry requested */
            THROW_ARGOSEXCEPTION("Geometry \"" << strLinkGeometry << "\" is not implemented");
         }
         /* Parse link geometry and dimensions */
         GetNodeAttribute(t_tree, "mass", m_fMass);
         /* Get the offset position of the link */
         CVector3 cOffsetPosition;
         GetNodeAttributeOrDefault(t_tree, "position", cOffsetPosition, cOffsetPosition);
         /* Get the offset orientation of the link */
         CQuaternion cOffsetOrientation;
         GetNodeAttributeOrDefault(t_tree, "orientation", cOffsetOrientation, cOffsetOrientation);
         /* Create an anchor for this link */
         auto& cBody = GetParent().GetParent().GetComponent<CEmbodiedEntity>("body");
         m_psAnchor = &(cBody.AddAnchor(GetId(), cOffsetPosition, cOffsetOrientation));
         /* Enable the anchor */
         m_psAnchor->Enable();
      }
      catch(CARGoSException& ex) {
         THROW_ARGOSEXCEPTION_NESTED("Error while initializing link entity", ex);
      }
   }
 
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   REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CPrototypeLinkEntity);
 
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}