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Minor cleanup
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@adnanmunawar
adnanmunawar committed Jun 18, 2021
1 parent 1190dfc commit 33cd526
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Showing 3 changed files with 93 additions and 122 deletions.
29 changes: 0 additions & 29 deletions adf_loader/adf_loader_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,35 +50,6 @@

using namespace ambf;

class ADFUtilsBase{
public:
virtual bool getCartControllerAttribsFromNode(YAML::Node* a_node, afCartesianControllerAttributes* attribs){}

virtual bool getCollisionAttribsFromNode(YAML::Node* a_node, afCollisionAttributes* attribs){}

virtual bool getCommunicationAttribsFromNode(YAML::Node* a_node, afCommunicationAttributes* attribs){}

virtual bool getHierarchyAttribsFromNode(YAML::Node* a_node, afHierarchyAttributes* attribs){}

virtual bool getIdentificationAttribsFromNode(YAML::Node* a_node, afIdentificationAttributes* attribs){}

virtual bool getInertialAttrisFromNode(YAML::Node* a_node, afInertialAttributes* attribs){}

virtual bool getJointControllerAttribsFromNode(YAML::Node* a_node, afJointControllerAttributes* attribs){}

virtual bool getKinematicAttribsFromNode(YAML::Node* a_node, afKinematicAttributes* attribs){}

virtual bool getColorAttribsFromNode(YAML::Node* a_node, afColorAttributes* color){}

virtual bool getShaderAttribsFromNode(YAML::Node* a_node, afShaderAttributes* attribs){}

virtual bool getVisualAttribsFromNode(YAML::Node* a_node, afVisualAttributes* attribs){}

virtual bool getSurfaceAttribsFromNode(YAML::Node* a_node, afSurfaceAttributes* attribs){}

virtual bool getWheelAttribsFromNode(YAML::Node* a_node, afWheelAttributes* attribs){}

};
///
/// \brief The ADFLoader class
///
Expand Down
157 changes: 79 additions & 78 deletions adf_loader/version_1_0/adf_loader_1_0.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1083,13 +1083,11 @@ bool ADFLoader_1_0::loadLightAttribs(YAML::Node *a_node, afLightAttributes *attr
double spot_exponent, cuttoff_angle;
int shadow_quality;

ADFUtils adfUtils;

node["location"]["position"] = node["location"];
adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);

if (directionNode.IsDefined()){
attribs->m_direction = ADFUtils::positionFromNode(&directionNode);
Expand Down Expand Up @@ -1170,13 +1168,11 @@ bool ADFLoader_1_0::loadCameraAttribs(YAML::Node *a_node, afCameraAttributes *at

bool valid = true;

ADFUtils adfUtils;

node["location"]["position"] = node["location"];
adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);

if (lookAtNode.IsDefined()){
attribs->m_lookAt = ADFUtils::positionFromNode(&lookAtNode);
Expand Down Expand Up @@ -1263,12 +1259,12 @@ bool ADFLoader_1_0::loadCameraAttribs(YAML::Node *a_node, afCameraAttributes *at

if (preProcessingShaderNode.IsDefined()){
node["shaders"] = preProcessingShaderNode;
adfUtils.getShaderAttribsFromNode(&node, &attribs->m_preProcessShaderAttribs);
ADFUtils::getShaderAttribsFromNode(&node, &attribs->m_preProcessShaderAttribs);
}

if (depthShaderNode.IsDefined()){
node["shaders"] = depthShaderNode;
adfUtils.getShaderAttribsFromNode(&node, &attribs->m_depthComputeShaderAttribs);
ADFUtils::getShaderAttribsFromNode(&node, &attribs->m_depthComputeShaderAttribs);
}

if (multiPassNode.IsDefined()){
Expand Down Expand Up @@ -1338,17 +1334,15 @@ bool ADFLoader_1_0::loadRigidBodyAttribs(YAML::Node *a_node, afRigidBodyAttribut
YAML::Node publishJointNamesNode = node["publish joint names"];
YAML::Node publishJointPositionsNode = node["publish joint positions"];

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getVisualAttribsFromNode(&node, &attribs->m_visualAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getCollisionAttribsFromNode(&node, &attribs->m_collisionAttribs);
adfUtils.getInertialAttrisFromNode(&node, &attribs->m_inertialAttribs);
adfUtils.getCartControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
adfUtils.getSurfaceAttribsFromNode(&node, &attribs->m_surfaceAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
adfUtils.getShaderAttribsFromNode(&node, &attribs->m_shaderAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getVisualAttribsFromNode(&node, &attribs->m_visualAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getCollisionAttribsFromNode(&node, &attribs->m_collisionAttribs);
ADFUtils::getInertialAttrisFromNode(&node, &attribs->m_inertialAttribs);
ADFUtils::getCartControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
ADFUtils::getSurfaceAttribsFromNode(&node, &attribs->m_surfaceAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getShaderAttribsFromNode(&node, &attribs->m_shaderAttribs);

if (publishChildrenNamesNode.IsDefined()){
attribs->m_publishChildrenNames = publishChildrenNamesNode.as<bool>();
Expand Down Expand Up @@ -1428,15 +1422,13 @@ bool ADFLoader_1_0::loadSoftBodyAttribs(YAML::Node *a_node, afSoftBodyAttributes

YAML::Node randomizeConstraintsNode = node["randomize constraints"];

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getVisualAttribsFromNode(&node, &attribs->m_visualAttribs);
adfUtils.getCollisionAttribsFromNode(&node, &attribs->m_collisionAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getInertialAttrisFromNode(&node, &attribs->m_inertialAttribs);
adfUtils.getCartControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getVisualAttribsFromNode(&node, &attribs->m_visualAttribs);
ADFUtils::getCollisionAttribsFromNode(&node, &attribs->m_collisionAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getInertialAttrisFromNode(&node, &attribs->m_inertialAttribs);
ADFUtils::getCartControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);


if (configDataNode.IsNull()){
Expand Down Expand Up @@ -1597,14 +1589,12 @@ bool ADFLoader_1_0::loadGhostObjectAttribs(YAML::Node *a_node, afGhostObjectAttr
YAML::Node publishFrequencyNode = node["publish frequency"];
YAML::Node passiveNode = node["passive"];

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
adfUtils.getVisualAttribsFromNode(&node, &attribs->m_visualAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getCollisionAttribsFromNode(&node, &attribs->m_collisionAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
ADFUtils::getVisualAttribsFromNode(&node, &attribs->m_visualAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getCollisionAttribsFromNode(&node, &attribs->m_collisionAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);

return true;

Expand Down Expand Up @@ -1643,12 +1633,10 @@ bool ADFLoader_1_0::loadJointAttribs(YAML::Node *a_node, afJointAttributes *attr
YAML::Node equilibriumPointNode = node["equilibrium point"];
YAML::Node passiveNode = node["passive"];

ADFUtils adfUtils;

adfUtils.getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
adfUtils.getJointControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
ADFUtils::getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getJointControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);

attribs->m_parentPivot = ADFUtils::positionFromNode(&parentPivotNode);
attribs->m_childPivot = ADFUtils::positionFromNode(&childPivotNode);
Expand Down Expand Up @@ -1854,12 +1842,10 @@ bool ADFLoader_1_0::loadSensorAttribs(YAML::Node *a_node, afSensorAttributes *at
return 0;
}

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);

switch (attribs->m_sensorType) {
case afSensorType::RAYTRACER:{
Expand Down Expand Up @@ -2079,12 +2065,10 @@ bool ADFLoader_1_0::loadActuatorAttribs(YAML::Node *a_node, afActuatorAttributes
return 0;
}

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getHierarchyAttribsFromNode(&node, &attribs->m_hierarchyAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);

switch (attribs->m_actuatorType) {
case afActuatorType::CONSTRAINT:{
Expand Down Expand Up @@ -2157,10 +2141,8 @@ bool ADFLoader_1_0::loadVehicleAttribs(YAML::Node* a_node, afVehicleAttributes *
YAML::Node meshPathHRNode = node["high resolution path"];
YAML::Node wheelsNode = node["wheels"];

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
adfUtils.getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getCommunicationAttribsFromNode(&node, &attribs->m_communicationAttribs);

if (chassisNode.IsDefined()){
attribs->m_chassisBodyName = chassisNode.as<string>();
Expand All @@ -2173,7 +2155,7 @@ bool ADFLoader_1_0::loadVehicleAttribs(YAML::Node* a_node, afVehicleAttributes *
for (uint i = 0 ; i < wheelsNode.size() ; i++){
afWheelAttributes wheelAttribs;
YAML::Node wheelNode = wheelsNode[i];
if (adfUtils.getWheelAttribsFromNode(&wheelNode, & wheelAttribs)){
if (ADFUtils::getWheelAttribsFromNode(&wheelNode, & wheelAttribs)){
attribs->m_wheelAttribs.push_back( wheelAttribs);
}
}
Expand Down Expand Up @@ -2313,17 +2295,15 @@ bool ADFLoader_1_0::loadSimulatedDeviceAttribs(YAML::Node *a_node, afSimulatedDe
// body in simulation matching that name. Once succesful we shall then be able to control
// that link/body in Position control mode and control all the joints lower in hierarchy.

ADFUtils adfUtils;

if (locationNode.IsDefined()){
adfUtils.getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
ADFUtils::getKinematicAttribsFromNode(&node, &attribs->m_kinematicAttribs);
attribs->m_overrideLocation = true;
}

// set the control gains fields as controller fields.
if (controllerGainNode.IsDefined()){
node["controller"] = controllerGainNode;
adfUtils.getCartControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
ADFUtils::getCartControllerAttribsFromNode(&node, &attribs->m_controllerAttribs);
attribs->m_overrideController = true;
}

Expand Down Expand Up @@ -2458,6 +2438,8 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
YAML::Node jointsNode = node["joints"];
YAML::Node sensorsNode = node["sensors"];
YAML::Node actuatorsNode = node["actuators"];
YAML::Node camerasNode = node["cameras"];
YAML::Node lightsNode = node["lights"];
YAML::Node jointERPNode = node["joint erp"];
YAML::Node jointCFMNode = node["joint cfm"];
YAML::Node ignoreInterCollisionNode = node["ignore inter-collision"];
Expand Down Expand Up @@ -2546,8 +2528,7 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
}

/// Loading Actuators
size_t totalActuators = actuatorsNode.size();
for (size_t i = 0; i < totalActuators; ++i) {
for (size_t i = 0; i < actuatorsNode.size(); ++i) {
string identifier = actuatorsNode[i].as<string>();
YAML::Node actNode = node[identifier];
// Check which type of sensor is this so we can cast appropriately beforehand
Expand Down Expand Up @@ -2577,7 +2558,7 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
// m_jointCFM = jointCFMNode.as<double>();
// }

// Loading Joints
// Load Joints
for (size_t i = 0; i < jointsNode.size(); ++i) {
afJointAttributes jntAttribs;
string identifier = jointsNode[i].as<string>();
Expand All @@ -2588,7 +2569,7 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
}
}


// Load Vehicles
for (size_t i = 0; i < vehiclesNode.size(); ++i) {
afVehicleAttributes vehAttribs;
string identifier = vehiclesNode[i].as<string>();
Expand All @@ -2599,6 +2580,28 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
}
}

// Load Cameras
for (size_t idx = 0 ; idx < camerasNode.size(); idx++){
afCameraAttributes cameraAttribs;
string identifier = camerasNode[idx].as<string>();
YAML::Node cameraNode = node[identifier];
if (loadCameraAttribs(&cameraNode, &cameraAttribs)){
cameraAttribs.m_identifier = identifier;
attribs->m_cameraAttribs.push_back(cameraAttribs);
}
}

// Load Lights
for (size_t i = 0 ; i < lightsNode.size(); i++){
afLightAttributes lightAttribs;
string identifier = lightsNode[i].as<string>();
YAML::Node lightNode = node[identifier];
if (loadLightAttribs(&lightNode, &lightAttribs)){
lightAttribs.m_identifier = identifier;
attribs->m_lightAttribs.push_back(lightAttribs);
}
}

// This flag would ignore collision for all the multibodies in the scene
if (ignoreInterCollisionNode.IsDefined()){
attribs->m_ignoreInterCollision = ignoreInterCollisionNode.as<bool>();
Expand Down Expand Up @@ -2643,9 +2646,7 @@ bool ADFLoader_1_0::loadWorldAttribs(YAML::Node *a_node, afWorldAttributes *attr
// Set the world name
node["name"] = "World";

ADFUtils adfUtils;

adfUtils.getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);
ADFUtils::getIdentificationAttribsFromNode(&node, &attribs->m_identificationAttribs);

if(maxIterationsNode.IsDefined()){
attribs->m_maxIterations = maxIterationsNode.as<uint>();
Expand Down Expand Up @@ -2694,7 +2695,7 @@ bool ADFLoader_1_0::loadWorldAttribs(YAML::Node *a_node, afWorldAttributes *attr
attribs->m_skyBoxAttribs.m_frontImageFilepath = localPath / skyBoxNode["front"].as<string>();
attribs->m_skyBoxAttribs.m_backImageFilepath = localPath / skyBoxNode["back"].as<string>();

adfUtils.getShaderAttribsFromNode(&skyBoxNode, &attribs->m_skyBoxAttribs.m_shaderAttribs);
ADFUtils::getShaderAttribsFromNode(&skyBoxNode, &attribs->m_skyBoxAttribs.m_shaderAttribs);

attribs->m_skyBoxAttribs.m_use = true;
}
Expand Down Expand Up @@ -2727,7 +2728,7 @@ bool ADFLoader_1_0::loadWorldAttribs(YAML::Node *a_node, afWorldAttributes *attr
}
}

adfUtils.getShaderAttribsFromNode(&node, &attribs->m_shaderAttribs);
ADFUtils::getShaderAttribsFromNode(&node, &attribs->m_shaderAttribs);

return true;
}
Expand Down
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