Fixed the loading of sensors/actuators and changed logic of adding sc…

…ene objects
cshreyastech · Feb 4, 2021 · f6fa550 · f6fa550
1 parent 2004363
commit f6fa550
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Showing 4 changed files with 170 additions and 74 deletions.
diff --git a/adf_loader/version_1_0/adf_loader_1_0.cpp b/adf_loader/version_1_0/adf_loader_1_0.cpp
@@ -1561,6 +1561,8 @@ bool ADFLoader_1_0::loadRayTracerSensorAttribs(YAML::Node *a_node, afRayTracerSe
         return 0;
     }
 
+    attribs->m_sensorType = afSensorType::RAYTRACER;
+
     bool result = true;
     // Declare all the yaml parameters that we want to look for
     YAML::Node parentNameNode = node["parent"];
@@ -1695,6 +1697,8 @@ bool ADFLoader_1_0::loadResistanceSensorAttribs(YAML::Node *a_node, afResistance
     bool result = false;
         result = loadRayTracerSensorAttribs(a_node, attribs);
 
+        attribs->m_sensorType = afSensorType::RESISTANCE;
+
         if (result){
 
             YAML::Node resistiveFrictionNode = node["friction"];
@@ -2146,14 +2150,14 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
             afSensorType senType = ADFUtils::getSensorTypeFromString(senNode["type"].as<string>());
             switch (senType) {
             case afSensorType::RAYTRACER:{
-                afRayTracerSensorAttributes senAttribs;
-                loadRayTracerSensorAttribs(&senNode, &senAttribs);
+                afRayTracerSensorAttributes* senAttribs = new afRayTracerSensorAttributes();
+                loadRayTracerSensorAttribs(&senNode, senAttribs);
                 attribs->m_sensorAttribs.push_back(senAttribs);
                 break;
             }
             case afSensorType::RESISTANCE:{
-                afResistanceSensorAttributes senAttribs;
-                loadResistanceSensorAttribs(&senNode, &senAttribs);
+                afResistanceSensorAttributes* senAttribs = new afResistanceSensorAttributes();
+                loadResistanceSensorAttribs(&senNode, senAttribs);
                 attribs->m_sensorAttribs.push_back(senAttribs);
                 break;
             }
@@ -2174,8 +2178,8 @@ bool ADFLoader_1_0::loadModelAttribs(YAML::Node *a_node, afModelAttributes *attr
             // Check if this is a constraint sensor
             switch (actType) {
             case afActuatorType::CONSTRAINT:{
-                afConstraintActuatorAttributes acAttribs;
-                loadConstraintActuatorAttribs(&actNode, &acAttribs);
+                afConstraintActuatorAttributes* acAttribs = new afConstraintActuatorAttributes();
+                loadConstraintActuatorAttribs(&actNode, acAttribs);
                 attribs->m_actuatorAttribs.push_back(acAttribs);
                 break;
             }

diff --git a/ambf_framework/afAttributes.h b/ambf_framework/afAttributes.h
@@ -822,8 +822,8 @@ struct afModelAttributes: public afBaseObjectAttributes, public afFileObjectAttr
     std::vector <afSoftBodyAttributes> m_softBodyAttribs;
     std::vector <afVehicleAttributes> m_vehicleAttribs;
     std::vector <afJointAttributes> m_jointAttribs;
-    std::vector <afSensorAttributes> m_sensorAttribs;
-    std::vector <afActuatorAttributes> m_actuatorAttribs;
+    std::vector <afSensorAttributes*> m_sensorAttribs;
+    std::vector <afActuatorAttributes*> m_actuatorAttribs;
 
     bool m_ignoreInterCollision;
 
@@ -848,11 +848,11 @@ struct afModelAttributes: public afBaseObjectAttributes, public afFileObjectAttr
             }
 
             for (int i = 0 ; i < m_sensorAttribs.size() ; i++){
-                m_sensorAttribs[i].resolveRelativeNamespace(a_parentNamespace);
+                m_sensorAttribs[i]->resolveRelativeNamespace(a_parentNamespace);
             }
 
             for (int i = 0 ; i < m_actuatorAttribs.size() ; i++){
-                m_actuatorAttribs[i].resolveRelativeNamespace(a_parentNamespace);
+                m_actuatorAttribs[i]->resolveRelativeNamespace(a_parentNamespace);
             }
 
             m_namespaceResolved = true;
@@ -877,11 +877,11 @@ struct afModelAttributes: public afBaseObjectAttributes, public afFileObjectAttr
             }
 
             for (int i = 0 ; i < m_sensorAttribs.size() ; i++){
-                m_sensorAttribs[i].resolveRelativePathAttribs(a_parentPath);
+                m_sensorAttribs[i]->resolveRelativePathAttribs(a_parentPath);
             }
 
             for (int i = 0 ; i < m_actuatorAttribs.size() ; i++){
-                m_actuatorAttribs[i].resolveRelativePathAttribs(a_parentPath);
+                m_actuatorAttribs[i]->resolveRelativePathAttribs(a_parentPath);
             }
 
             m_pathsResolved = true;