XMLSceneImporter.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    MemoryX::XMLSceneImporter
* @author     (kozlov at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/core/rapidxml/rapidxml.hpp>
#include <RobotAPI/libraries/core/Pose.h>
 
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
 
namespace memoryx
{
    enum LengthUnit
    {
        eMETER,
        eCENTIMETER,
        eMILLIMETER
    };
 
    class XMLSceneImporterPropertyDefinitions:
        public armarx::ComponentPropertyDefinitions
    {
    public:
        XMLSceneImporterPropertyDefinitions(std::string prefix):
            ComponentPropertyDefinitions(prefix)
        {
            defineRequiredProperty<std::string>("SceneFile", "Name of scene XML file to import")
            .setCaseInsensitive(true);
            defineRequiredProperty<std::string>("SnapshotName", "Name of snapshot (=MongoDB collection) to load objects to")
            .setCaseInsensitive(true);
            defineOptionalProperty<LengthUnit>("TargetLengthUnit", eMETER, "Length unit to convert into (M, CM or MM)")
            .setCaseInsensitive(false)
            .map("M",  eMETER)
            .map("CM", eCENTIMETER)
            .map("MM", eMILLIMETER);
        }
    };
 
    class ARMARXCOMPONENT_IMPORT_EXPORT XMLSceneImporter :
        virtual public armarx::Component
    {
    public:
        // inherited from Component
        std::string getDefaultName() const override
        {
            return "XMLSceneImporter";
        }
        void onInitComponent() override;
        void onConnectComponent() override;
 
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
        {
            return armarx::PropertyDefinitionsPtr(new XMLSceneImporterPropertyDefinitions(getConfigIdentifier()));
        }
 
    private:
        WorkingMemoryInterfacePrx memoryPrx;
        ObjectInstanceMemorySegmentBasePrx objectInstancesMemoryPrx;
        LongtermMemoryInterfacePrx longtermMemoryPrx;
 
        LengthUnit targetUnit;
 
        void importXMLSnapshot(const std::string& fileName);
        ObjectInstanceBasePtr createObjectInstanceFromXML(rapidxml::xml_node<>* xmlNode);
 
        armarx::FramedPositionBasePtr positionFromXML(rapidxml::xml_node<>* xmlNode);
 
        float scaleFactorFromPositionXML(rapidxml::xml_node<>* positionNode);
 
        armarx::FramedOrientationBasePtr orientationFromXML(rapidxml::xml_node<>* xmlNode);
    };
 
}