Use URI in tests if applicable

dartsim · Jan 31, 2017 · 162b7a8 · 162b7a8
1 parent 4363ec8
commit 162b7a8
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Showing 29 changed files with 286 additions and 271 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -29,12 +29,9 @@ set(INCLUDE_INSTALL_DIR "include")
 set(LIBRARY_INSTALL_DIR "lib")
 set(CONFIG_INSTALL_DIR "share/${PROJECT_NAME}/cmake")
 
-if(WIN32)
-    set()
-else()
-endif()
-
-set(DART_DATA_INSTALL_REL_PATH "share/doc/${PROJECT_NAME}")
+# Set relative location to install additional documentation (sample data,
+# examples, and tutorials)
+set(DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH "share/doc/${PROJECT_NAME}")
 
 set(CMAKE_DEBUG_POSTFIX "d")
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
@@ -52,8 +49,6 @@ if(WIN32)
   set(CMAKE_INSTALL_PREFIX "C:/Golems" CACHE PATH "Install prefix" FORCE)
 endif()
 
-message(STATUS "CMAKE_INSTALL_DOCDIR: ${CMAKE_INSTALL_DOCDIR}")
-
 #===============================================================================
 # Project settings
 #===============================================================================
@@ -388,11 +383,20 @@ install(FILES ${PC_CONFIG_OUT} DESTINATION lib/pkgconfig)
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
 #===============================================================================
-# Install Misc.
+# Install sample data, examples, and tutorials
 #===============================================================================
 
+# Sample data
 install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/data"
-  DESTINATION ${DART_DATA_INSTALL_REL_PATH})
+  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
+
+# Examples source
+install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples"
+  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
+
+# Tutorials source
+install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/tutorials"
+  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
 
 #===============================================================================
 # Uninstall

diff --git a/dart/config.hpp.in b/dart/config.hpp.in
@@ -65,7 +65,7 @@
 #define DART_DATA_PATH "@CMAKE_SOURCE_DIR@/data/"
 
 #define DART_DATA_LOCAL_PATH "@CMAKE_SOURCE_DIR@/data/"
-#define DART_DATA_GLOBAL_PATH "@CMAKE_INSTALL_PREFIX@/@DART_DATA_INSTALL_REL_PATH@/data/"
+#define DART_DATA_GLOBAL_PATH "@CMAKE_INSTALL_PREFIX@/@DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH@/data/"
 
 // See #451
 #cmakedefine01 ASSIMP_AISCENE_CTOR_DTOR_DEFINED

diff --git a/dart/utils/urdf/DartLoader.cpp b/dart/utils/urdf/DartLoader.cpp
@@ -151,7 +151,7 @@ simulation::WorldPtr DartLoader::parseWorldString(
   }
 
   std::shared_ptr<urdf_parsing::World> worldInterface =
-      urdf_parsing::parseWorldURDF(_urdfString, _baseUri);
+      urdf_parsing::parseWorldURDF(_urdfString, _baseUri, resourceRetriever);
 
   if(!worldInterface)
   {

diff --git a/dart/utils/urdf/urdf_world_parser.cpp b/dart/utils/urdf/urdf_world_parser.cpp
@@ -69,7 +69,8 @@ Entity::Entity(const urdf::Entity& urdfEntity)
  */
 std::shared_ptr<World> parseWorldURDF(
     const std::string& _xml_string,
-    const dart::common::Uri& _baseUri)
+    const dart::common::Uri& _baseUri,
+    const common::ResourceRetrieverPtr& retriever)
 {
   TiXmlDocument xml_doc;
   xml_doc.Parse( _xml_string.c_str() );
@@ -145,32 +146,34 @@ std::shared_ptr<World> parseWorldURDF(
           return nullptr;
         }
 
-        const std::string fileFullName = absoluteUri.getFilesystemPath();
         entity.uri = absoluteUri;
-        // Parse model
-        std::string xml_model_string;
-        std::fstream xml_file( fileFullName.c_str(), std::fstream::in );
 
-        if(!xml_file.is_open())
+        // Parse model
+        const common::ResourcePtr resource = retriever->retrieve(absoluteUri);
+        if(!resource)
         {
-          dtwarn << "[parseWorldURDF] Could not open the file [" << fileFullName
-                 << "]. Returning a nullptr.\n";
-          return nullptr;
+          dtwarn << "[openXMLFile] Failed opening URI '"
+                 << absoluteUri.toString() << "'.\n";
+          throw std::runtime_error("Failed opening URI.");
         }
 
-        while( xml_file.good() )
+        // C++11 guarantees that std::string has contiguous storage.
+        const std::size_t size = resource->getSize();
+        std::string xml_model_string;
+        xml_model_string.resize(size);
+        if(resource->read(&xml_model_string.front(), size, 1) != 1)
         {
-          std::string line;
-          std::getline( xml_file, line );
-          xml_model_string += (line + "\n");
+          dtwarn << "[openXMLFile] Failed reading from URI '"
+                 << absoluteUri.toString() << "'.\n";
+          throw std::runtime_error("Failed reading from URI.");
         }
-        xml_file.close();
+
         entity.model = urdf::parseURDF( xml_model_string );
 
         if( !entity.model )
         {
           dtwarn << "[parseWorldURDF] Could not find a model named ["
-                 << xml_model_string << "] in file [" <<  fileFullName
+                 << xml_model_string << "] from [" <<  absoluteUri.toString()
                  << "]. We will return a nullptr.\n";
           return nullptr;
         }

diff --git a/dart/utils/urdf/urdf_world_parser.hpp b/dart/utils/urdf/urdf_world_parser.hpp
@@ -80,7 +80,7 @@ class World
 };
 
 std::shared_ptr<World> parseWorldURDF(const std::string &xml_string,
-    const dart::common::Uri& _baseUri);
+    const dart::common::Uri& _baseUri, const common::ResourceRetrieverPtr& retriever);
 
 } // namespace urdf_parsing
 } // namespace utils

diff --git a/examples/atlasSimbicon/Main.cpp b/examples/atlasSimbicon/Main.cpp
@@ -54,7 +54,7 @@ int main(int argc, char* argv[])
   SkeletonPtr ground = urdfLoader.parseSkeleton(
         "file://sample/sdf/atlas/ground.urdf");
   SkeletonPtr atlas = SdfParser::readSkeleton(
-        DART_DATA_PATH"sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
+        "file://sample/sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
   myWorld->addSkeleton(atlas);
   myWorld->addSkeleton(ground);
 

diff --git a/examples/bipedStand/Main.cpp b/examples/bipedStand/Main.cpp
@@ -39,7 +39,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld(DART_DATA_PATH"skel/fullbody1.skel");
+      = dart::utils::SkelParser::readWorld("file://sample/skel/fullbody1.skel");
   assert(myWorld != nullptr);
 
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);

diff --git a/examples/jointConstraints/Main.cpp b/examples/jointConstraints/Main.cpp
@@ -45,7 +45,7 @@ int main(int argc, char* argv[])
   // load a skeleton file
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = utils::SkelParser::readWorld(DART_DATA_PATH"skel/fullbody1.skel");
+      = utils::SkelParser::readWorld("file://sample/skel/fullbody1.skel");
   assert(myWorld != nullptr);
 
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);

diff --git a/examples/mixedChain/Main.cpp b/examples/mixedChain/Main.cpp
@@ -47,7 +47,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-          DART_DATA_PATH"skel/test/test_articulated_bodies_10bodies.skel");
+          "file://sample/skel/test/test_articulated_bodies_10bodies.skel");
   assert(myWorld != nullptr);
 
   int dof = myWorld->getSkeleton(1)->getNumDofs();

diff --git a/examples/operationalSpaceControl/Main.cpp b/examples/operationalSpaceControl/Main.cpp
@@ -42,9 +42,9 @@ int main(int argc, char* argv[])
   // load skeletons
   dart::utils::DartLoader dl;
   dart::dynamics::SkeletonPtr ground
-      = dl.parseSkeleton(DART_DATA_PATH"urdf/KR5/ground.urdf");
+      = dl.parseSkeleton("file://sample/urdf/KR5/ground.urdf");
   dart::dynamics::SkeletonPtr robot
-      = dl.parseSkeleton(DART_DATA_PATH"urdf/KR5/KR5 sixx R650.urdf");
+      = dl.parseSkeleton("file://sample/urdf/KR5/KR5 sixx R650.urdf");
   world->addSkeleton(ground);
   world->addSkeleton(robot);
 

diff --git a/examples/osgExamples/osgOperationalSpaceControl/osgOperationalSpaceControl.cpp b/examples/osgExamples/osgOperationalSpaceControl/osgOperationalSpaceControl.cpp
@@ -253,7 +253,7 @@ int main()
 
   // Load the robot
   dart::dynamics::SkeletonPtr robot =
-      loader.parseSkeleton(DART_DATA_PATH"urdf/KR5/KR5 sixx R650.urdf");
+      loader.parseSkeleton("file://sample/urdf/KR5/KR5 sixx R650.urdf");
   world->addSkeleton(robot);
 
   // Set the colors of the models to obey the shape's color specification
@@ -275,7 +275,7 @@ int main()
 
   // Load the ground
   dart::dynamics::SkeletonPtr ground =
-      loader.parseSkeleton(DART_DATA_PATH"urdf/KR5/ground.urdf");
+      loader.parseSkeleton("file://sample/urdf/KR5/ground.urdf");
   world->addSkeleton(ground);
 
   // Rotate and move the ground so that z is upwards

diff --git a/examples/osgExamples/osgSoftBodies/osgSoftBodies.cpp b/examples/osgExamples/osgSoftBodies/osgSoftBodies.cpp
@@ -212,7 +212,7 @@ int main()
   using namespace dart::dynamics;
 
   dart::simulation::WorldPtr world =
-      dart::utils::SkelParser::readWorld(DART_DATA_PATH"skel/softBodies.skel");
+      dart::utils::SkelParser::readWorld("file://sample/skel/softBodies.skel");
 
   osg::ref_ptr<RecordingWorld> node = new RecordingWorld(world);
 

diff --git a/examples/rigidShapes/Main.cpp b/examples/rigidShapes/Main.cpp
@@ -46,7 +46,7 @@ int main(int argc, char* argv[])
   // load a skeleton file
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld(DART_DATA_PATH"skel/shapes.skel");
+      = dart::utils::SkelParser::readWorld("file://sample/skel/shapes.skel");
   assert(myWorld != NULL);
 
   // create a window and link it to the world

diff --git a/examples/softBodies/Main.cpp b/examples/softBodies/Main.cpp
@@ -47,7 +47,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-        DART_DATA_PATH"skel/softBodies.skel");
+        "file://sample/skel/softBodies.skel");
   assert(myWorld != nullptr);
 
   for(std::size_t i=0; i<myWorld->getNumSkeletons(); ++i)

diff --git a/examples/speedTest/Main.cpp b/examples/speedTest/Main.cpp
@@ -164,25 +164,25 @@ void print_results(const std::vector<double>& result)
 std::vector<std::string> getSceneFiles()
 {
   std::vector<std::string> scenes;
-  scenes.push_back(DART_DATA_PATH"skel/test/chainwhipa.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/single_pendulum.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/single_pendulum_euler_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/single_pendulum_ball_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/double_pendulum.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/double_pendulum_euler_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/double_pendulum_ball_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/serial_chain_revolute_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/serial_chain_eulerxyz_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/serial_chain_ball_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/serial_chain_ball_joint_20.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/serial_chain_ball_joint_40.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/simple_tree_structure.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/simple_tree_structure_euler_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/simple_tree_structure_ball_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/tree_structure.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/tree_structure_euler_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/test/tree_structure_ball_joint.skel");
-  scenes.push_back(DART_DATA_PATH"skel/fullbody1.skel");
+  scenes.push_back("file://sample/skel/test/chainwhipa.skel");
+  scenes.push_back("file://sample/skel/test/single_pendulum.skel");
+  scenes.push_back("file://sample/skel/test/single_pendulum_euler_joint.skel");
+  scenes.push_back("file://sample/skel/test/single_pendulum_ball_joint.skel");
+  scenes.push_back("file://sample/skel/test/double_pendulum.skel");
+  scenes.push_back("file://sample/skel/test/double_pendulum_euler_joint.skel");
+  scenes.push_back("file://sample/skel/test/double_pendulum_ball_joint.skel");
+  scenes.push_back("file://sample/skel/test/serial_chain_revolute_joint.skel");
+  scenes.push_back("file://sample/skel/test/serial_chain_eulerxyz_joint.skel");
+  scenes.push_back("file://sample/skel/test/serial_chain_ball_joint.skel");
+  scenes.push_back("file://sample/skel/test/serial_chain_ball_joint_20.skel");
+  scenes.push_back("file://sample/skel/test/serial_chain_ball_joint_40.skel");
+  scenes.push_back("file://sample/skel/test/simple_tree_structure.skel");
+  scenes.push_back("file://sample/skel/test/simple_tree_structure_euler_joint.skel");
+  scenes.push_back("file://sample/skel/test/simple_tree_structure_ball_joint.skel");
+  scenes.push_back("file://sample/skel/test/tree_structure.skel");
+  scenes.push_back("file://sample/skel/test/tree_structure_euler_joint.skel");
+  scenes.push_back("file://sample/skel/test/tree_structure_ball_joint.skel");
+  scenes.push_back("file://sample/skel/fullbody1.skel");
 
   return scenes;
 }

diff --git a/tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp b/tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp
@@ -299,7 +299,7 @@ class MyWindow : public SimWindow
 SkeletonPtr loadBiped()
 {
   // Create the world with a skeleton
-  WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/biped.skel");
+  WorldPtr world = SkelParser::readWorld("file://sample/skel/biped.skel");
   assert(world != nullptr);
 
   SkeletonPtr biped = world->getSkeleton("biped");
@@ -337,7 +337,7 @@ void setInitialPose(SkeletonPtr biped)
 void modifyBipedWithSkateboard(SkeletonPtr biped)
 {
   // Load the Skeleton from a file
-  WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/skateboard.skel");
+  WorldPtr world = SkelParser::readWorld("file://sample/skel/skateboard.skel");
 
   SkeletonPtr skateboard = world->getSkeleton(0);
 

diff --git a/tutorials/tutorialBiped/tutorialBiped.cpp b/tutorials/tutorialBiped/tutorialBiped.cpp
@@ -234,7 +234,7 @@ SkeletonPtr loadBiped()
   // Lesson 1
 
   // Create the world with a skeleton
-  WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/biped.skel");
+  WorldPtr world = SkelParser::readWorld("file://sample/skel/biped.skel");
   assert(world != nullptr);
 
   SkeletonPtr biped = world->getSkeleton("biped");

diff --git a/tutorials/tutorialDominoes-Finished/tutorialDominoes-Finished.cpp b/tutorials/tutorialDominoes-Finished/tutorialDominoes-Finished.cpp
@@ -467,7 +467,7 @@ SkeletonPtr createManipulator()
   // Load the Skeleton from a file
   dart::utils::DartLoader loader;
   SkeletonPtr manipulator =
-      loader.parseSkeleton(DART_DATA_PATH"urdf/KR5/KR5 sixx R650.urdf");
+      loader.parseSkeleton("file://sample/urdf/KR5/KR5 sixx R650.urdf");
   manipulator->setName("manipulator");
 
   // Position its base in a reasonable way

diff --git a/unittests/comprehensive/test_Constraint.cpp b/unittests/comprehensive/test_Constraint.cpp
@@ -66,25 +66,25 @@ class ConstraintTest : public ::testing::Test
 //==============================================================================
 void ConstraintTest::SetUp()
 {
-  list.push_back(DART_DATA_PATH"skel/test/chainwhipa.skel");
-  list.push_back(DART_DATA_PATH"skel/test/single_pendulum.skel");
-  list.push_back(DART_DATA_PATH"skel/test/single_pendulum_euler_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/single_pendulum_ball_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/double_pendulum.skel");
-  list.push_back(DART_DATA_PATH"skel/test/double_pendulum_euler_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/double_pendulum_ball_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/serial_chain_revolute_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/serial_chain_eulerxyz_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/serial_chain_ball_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/serial_chain_ball_joint_20.skel");
-  list.push_back(DART_DATA_PATH"skel/test/serial_chain_ball_joint_40.skel");
-  list.push_back(DART_DATA_PATH"skel/test/simple_tree_structure.skel");
-  list.push_back(DART_DATA_PATH"skel/test/simple_tree_structure_euler_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/simple_tree_structure_ball_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/tree_structure.skel");
-  list.push_back(DART_DATA_PATH"skel/test/tree_structure_euler_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/test/tree_structure_ball_joint.skel");
-  list.push_back(DART_DATA_PATH"skel/fullbody1.skel");
+  list.push_back("file://sample/skel/test/chainwhipa.skel");
+  list.push_back("file://sample/skel/test/single_pendulum.skel");
+  list.push_back("file://sample/skel/test/single_pendulum_euler_joint.skel");
+  list.push_back("file://sample/skel/test/single_pendulum_ball_joint.skel");
+  list.push_back("file://sample/skel/test/double_pendulum.skel");
+  list.push_back("file://sample/skel/test/double_pendulum_euler_joint.skel");
+  list.push_back("file://sample/skel/test/double_pendulum_ball_joint.skel");
+  list.push_back("file://sample/skel/test/serial_chain_revolute_joint.skel");
+  list.push_back("file://sample/skel/test/serial_chain_eulerxyz_joint.skel");
+  list.push_back("file://sample/skel/test/serial_chain_ball_joint.skel");
+  list.push_back("file://sample/skel/test/serial_chain_ball_joint_20.skel");
+  list.push_back("file://sample/skel/test/serial_chain_ball_joint_40.skel");
+  list.push_back("file://sample/skel/test/simple_tree_structure.skel");
+  list.push_back("file://sample/skel/test/simple_tree_structure_euler_joint.skel");
+  list.push_back("file://sample/skel/test/simple_tree_structure_ball_joint.skel");
+  list.push_back("file://sample/skel/test/tree_structure.skel");
+  list.push_back("file://sample/skel/test/tree_structure_euler_joint.skel");
+  list.push_back("file://sample/skel/test/tree_structure_ball_joint.skel");
+  list.push_back("file://sample/skel/fullbody1.skel");
 }
 
 //==============================================================================