Feature/ode joint factory

graphics/src/wrapper/OSGNodeStruct.cpp

@@ -82,51 +82,47 @@ namespace mars {
       }
       if (filename.compare("PRIMITIVE") == 0) {
         Vector vizSize = node.ext;
-        switch(NodeData::typeFromString(origname.c_str())) {
-        case mars::interfaces::NODE_TYPE_BOX: {
+        if (origname == "box") {
           drawObject_ = new CubeDrawObject(g);
-          break;
         }
-        case mars::interfaces::NODE_TYPE_SPHERE: {
+        else if (origname == "sphere"){
           vizSize.x() *= 2;
           vizSize.y() = vizSize.z() = vizSize.x();
           drawObject_ = new SphereDrawObject(g);
-          break;
         }
-        case mars::interfaces::NODE_TYPE_REFERENCE: {
+        else if (origname == "reference"){
 #warning add here an coordinate system item
           //For now until we have an real coordinate system
           drawObject_ = new SphereDrawObject(g);
-          break;
         }
-        case mars::interfaces::NODE_TYPE_MESH:
-        case mars::interfaces::NODE_TYPE_CYLINDER: 
+        else if (origname == "mesh"){
+
+        }
+        else if (origname == "cylinder"){
           vizSize.x() *= 2;
           vizSize.z() = vizSize.y();
           vizSize.y() = vizSize.x();
           drawObject_ = new CylinderDrawObject(g, 1, 1);
-          break;
-        case mars::interfaces::NODE_TYPE_CAPSULE: {
+        }
+        else if (origname == "capsule"){
           vizSize.x() *= 2;
           vizSize.z() = vizSize.y();
           vizSize.y() = vizSize.x();
           drawObject_ = new CapsuleDrawObject(g);
-          break;
         }
-        case mars::interfaces::NODE_TYPE_PLANE: {
+        else if (origname == "plane"){
           drawObject_ = new PlaneDrawObject(g, vizSize);
-          break;
         }
-        case mars::interfaces::NODE_TYPE_EMPTY: {
+        else if (origname == "empty"){
           drawObject_ = new EmptyDrawObject(g);
-          break;
         }
-        default:
-          fprintf(stderr,"Cannot find primitive type: %i(%s), at %s:%i\n",
-                  NodeData::typeFromString(origname.c_str()),
+        else {
+          fprintf(stderr,"Cannot find primitive type: %s(%s), at %s:%i\n",
+                  node.nodeType.c_str(),
                   origname.c_str(), __FILE__, __LINE__);
           throw std::runtime_error("unknown primitive type");
         }
+
         if(map.find("maxNumLights") != map.end()) {
           drawObject_->setMaxNumLights(map["maxNumLights"]);
         }

interfaces/src/NodeData.cpp

@@ -52,7 +52,7 @@ namespace mars {
   namespace interfaces {
 
     using namespace mars::utils;
-
+    
     //access these strings only via toString(const NodeType&) and typeFromString(const std::string&).
     //synchronize this list with the enum NodeType in MARSDefs.h
     static const char* sTypeNames[NUMBER_OF_NODE_TYPES] = {
@@ -149,9 +149,11 @@ namespace mars {
 
       { // handle node type
         if((it = config->find("physicmode")) != config->end()) {
-          std::string typeName = (std::string)it->second;
+          nodeType = trim(config->get("physicmode", nodeType));
           try {
-            physicMode = typeFromString(trim(typeName));
+            //Here we can check whether the node factory has this node type or not
+            //If not then load it dynamically (if available)
+            //else just throw an exception
           } catch(...) {
             //throw SceneParseException("invalid physicmode for node", -1);
             LOG_ERROR("could not get type for node: %s", name.c_str());
@@ -163,7 +165,7 @@ namespace mars {
 
         if(filename == "PRIMITIVE") {
           if(origName.empty()) {
-            origName = toString(physicMode);
+            origName = nodeType;
           }
           /* this is a valid case
           else if(origName != toString(physicMode)) {
@@ -308,17 +310,15 @@ namespace mars {
       SET_VALUE("noPhysical", noPhysical, writeDefaults);
       SET_VALUE("movable", movable, writeDefaults);
 
-      if(writeDefaults || physicMode != defaultNode.physicMode) {
+      if(writeDefaults || nodeType != defaultNode.nodeType) {
         if(noPhysical) {
           try {
-            std::string tmp = toString(physicMode);
-            (*config)["physicmode"] = tmp;
+            (*config)["physicmode"] = nodeType;
           } catch (...) {
           }
         }
-        else {
-          std::string tmp = toString(physicMode);
-          (*config)["physicmode"] = tmp;
+        else {;
+          (*config)["physicmode"] = nodeType;
         }
       }
 

interfaces/src/NodeData.h

@@ -71,7 +71,7 @@ namespace mars {
         groupID = 0;
         index = 0;
         filename = "PRIMITIVE";
-        physicMode = NODE_TYPE_UNDEFINED;
+        nodeType = "";
         pos.setZero();
         pivot.setZero();
         rot.setIdentity();
@@ -133,14 +133,14 @@ namespace mars {
        * @param extents extents of the object
        * @param mass the mass of the object
        */
-      void initPrimitive( NodeType type, const utils::Vector& extents, sReal mass )
+      void initPrimitive(const std::string type, const utils::Vector& extents, sReal mass )
       {
-        physicMode = type;
+        nodeType = type;
         ext = extents;
         this->mass = mass;
         filename = "PRIMITIVE";
 
-        origName = toString(type);
+        origName = type;
       }
 
       bool fromConfigMap(configmaps::ConfigMap *config, std::string filenamePrefix,
@@ -189,18 +189,11 @@ namespace mars {
       unsigned long index;
 
       /**
-       * This value holds the physical representation of a node. Valid values are:
-       * - NODE_TYPE_MESH
-       * - NODE_TYPE_BOX
-       * - NODE_TYPE_SPHERE
-       * - NODE_TYPE_CAPSULE
-       * - NODE_TYPE_CYLINDER
-       * - NODE_TYPE_PLANE
-       * - NODE_TYPE_TERRAIN
-       * .
-       * \verbatim Default value: NODE_TYPE_UNDEFINED \endverbatim
+       * @brief The node type name as string
+       * 
        */
-      NodeType physicMode;
+
+      std::string nodeType;
 
       /**
        * The position of the node.
@@ -249,7 +242,7 @@ namespace mars {
 
       /**
        * The size of the node. The ext vector is interpreted depending of the
-       * physicMode of the node:
+       * type of the node:
        * - mesh: ext defines the bounding box of the mesh
        * - box: ext defines the size in x, y, and z
        * - sphere: ext.x defines the radius
@@ -266,7 +259,7 @@ namespace mars {
       /**
        * The mesh struct stores the poly information for a physical representation
        * of a mesh. This struct is automatically derived from the visual node
-       *  by the simulation if the physicMode is set to NODE_TYPE_MESH.
+       *  by the simulation if the type is set to mesh.
        * \verbatim Default value: see snmesh \endverbatim \sa snmesh
        */
       snmesh mesh;
@@ -307,7 +300,7 @@ namespace mars {
 
 
       /**
-       * If the physicMode is set to NODE_TYPE_TERRAIN, this pointer stores
+       * If the node type is set to terrain, this pointer stores
        * all information to create a physical representation of a height map.
        * \verbatim Default value: 0 \endverbatim \sa terrainStruct
        */
@@ -355,7 +348,7 @@ namespace mars {
       contact_params c_params;
 
       /**
-       * Generally the inertia of the physical body is calculated by the physicMode
+       * Generally the inertia of the physical body is calculated by the node type
        * and the mass of a node. In case of a mesh the inertia is calculated for
        * a box with the size given by NodeData::extent. If this boolean is set to
        * \c true, the inertia array (NodeData::inertia) is used instead.

interfaces/src/sim/ControlCenter.h

@@ -65,6 +65,7 @@ namespace mars {
 
   namespace interfaces {
     class ControlCenter;
+    class StorageManagerInterface;
     class NodeManagerInterface;
     class JointManagerInterface;
     class MotorManagerInterface;
@@ -84,6 +85,7 @@ namespace mars {
       ControlCenter(){
         sim = NULL;
         cfg = NULL;
+        storage = NULL;
         nodes  = NULL;
         joints = NULL;
         motors = NULL;
@@ -95,6 +97,7 @@ namespace mars {
       }
 
       cfg_manager::CFGManagerInterface *cfg;
+      StorageManagerInterface *storage;
       NodeManagerInterface *nodes;
       JointManagerInterface *joints;
       MotorManagerInterface *motors;

interfaces/src/sim/NodeManagerInterface.h

@@ -87,7 +87,7 @@ namespace mars {
 
 
 
-      virtual NodeId createPrimitiveNode(const std::string &name, NodeType type,
+      virtual NodeId createPrimitiveNode(const std::string &name, const std::string &type,
                                          bool movable=false,
                                          const utils::Vector &pos=utils::Vector::Zero(),
                                          const utils::Vector &extension=utils::Vector::Identity(),

interfaces/src/sim/StorageManagerInterface.h

@@ -0,0 +1,54 @@
+/*
+ *  Copyright 2011, 2012, DFKI GmbH Robotics Innovation Center
+ *
+ *  This file is part of the MARS simulation framework.
+ *
+ *  MARS is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU Lesser General Public License
+ *  as published by the Free Software Foundation, either version 3
+ *  of the License, or (at your option) any later version.
+ *
+ *  MARS is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with MARS.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * \file StorageManagerInterface.h
+ * \author  \n
+ * \brief 
+ *
+ * \version
+ * \date 
+ */
+
+#ifndef STORAGE_MANAGER_INTERFACE_H
+#define STORAGE_MANAGER_INTERFACE_H
+
+#ifdef _PRINT_HEADER_
+  #warning "StorageManagerInterface.h"
+#endif
+
+
+namespace mars {
+  namespace interfaces {
+
+    /**
+     * \author  \n
+     * \brief 
+     *
+     */
+    class StorageManagerInterface {
+    public:
+
+    };
+
+  } // end of namespace interfaces
+} // end of namespace mars
+
+#endif  // STORAGE_MANAGER_INTERFACE_H

plugins/obstacle_generator/src/ObstacleGenerator.cpp

@@ -169,7 +169,7 @@ namespace mars {
             Vector boxsize(field_length, field_width, 1.0);
             Vector boxorientation(0, -params["incline_angle"], 0);
             NodeData box("incline", boxposition, eulerToQuaternion(boxorientation));
-            box.initPrimitive(NODE_TYPE_BOX, boxsize, 1.0);
+            box.initPrimitive("box", boxsize, 1.0);
             box.material.texturename = textures["ground"];
             if (textures["ground_bump"] != "") {
               box.material.bumpmap = textures["ground_bump"];
@@ -181,7 +181,7 @@ namespace mars {
             box.material.tex_scale = field_width/2.0;
             control->nodes->addNode(&box, false);
             oldNodeIDs.push_back(box.index);
-            // control->nodes->createPrimitiveNode("incline", NODE_TYPE_BOX,
+            // control->nodes->createPrimitiveNode("incline", "box",
                                            // false, boxposition, boxsize, 1.0, eulerToQuaternion(boxorientation), false));
             platform_length = 2.0 + params["field_distance"];
             platform_x_position = -1.0 + 0.5 * params["field_distance"];
@@ -195,7 +195,7 @@ namespace mars {
           Vector platformposition(platform_x_position, 0.0, -0.5 + params["ground_level"]);
           Vector platformorientation(0.0, 0.0, 0.0);
           NodeData platform("platform", platformposition, eulerToQuaternion(platformorientation));
-          platform.initPrimitive(NODE_TYPE_BOX, platformsize, 1.0);
+          platform.initPrimitive("box", platformsize, 1.0);
           platform.material.texturename = textures["ground"];
           if (textures["ground_bump"] != "") {
             platform.material.bumpmap = textures["ground_bump"];
@@ -315,10 +315,10 @@ namespace mars {
            }
            NodeData obstacle(name, position, orientation);
            if (bool_params["use_boxes"]) {
-               obstacle.initPrimitive(NODE_TYPE_BOX, size, 1.0);
+               obstacle.initPrimitive("box", size, 1.0);
            }
            else {
-               obstacle.initPrimitive(NODE_TYPE_CAPSULE, size, 1.0);
+               obstacle.initPrimitive("capsule", size, 1.0);
            }
            obstacle.material.texturename = textures["obstacle"];
            obstacle.material.diffuseFront = Color(1.0, 1.0, 1.0, 1.0);