dmc manipulator #128
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dmc manipulator #128
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yufansong
commented
May 18, 2022
…l into feature/dmc_manipulator
yufansong
commented
May 19, 2022
|
file to test the GetManipulatorXML function. Need to create #include <bits/stdc++.h>
std::string GetFileContent(const std::string &base_path,
const std::string &asset_name)
{
// hardcode path here :(
std::string filename = base_path + "/" + asset_name;
std::ifstream ifs(filename);
std::stringstream ss;
ss << ifs.rdbuf();
return ss.str();
}
std::string ReplaceRegex(const std::string &content, const std::string &unused_prop)
{
std::ostringstream pattern_ss;
pattern_ss << "<body name=\"" << unused_prop
<< R"("((?!</body>)[\s\S])+</body>)";
std::regex pattern(pattern_ss.str());
std::stringstream ss;
ss << regex_replace(content, pattern, "");
return ss.str();
}
std::string GetManipulatorXML(const std::string &base_path,
const std::string &task_name)
{
std::vector<std::string> unused_props;
if (task_name == "bring_ball") {
unused_props = {"slot", "target_peg", "cup", "peg"};
} else if (task_name == "bring_peg") {
unused_props = {"slot", "target_ball", "cup", "ball"};
} else if (task_name == "insert_ball") {
unused_props = {"slot", "target_peg", "peg"};
} else if (task_name == "insert_peg") {
unused_props = {"target_ball", "cup", "ball"};
}
std::string content = GetFileContent(base_path, "manipulator.xml");
for (const auto &prop : unused_props) {
content = ReplaceRegex(content, prop);
}
std::cout << content.c_str() << std::endl;
return content;
}
int main(int argc, char **argv) {
GetManipulatorXML("dmc", argv[1]);
} |
#include <bits/stdc++.h>
#include "pugixml.hpp"
std::string GetFileContent(const std::string& base_path,
const std::string& asset_name) {
// hardcode path here :(
std::string filename = base_path + "/" + asset_name;
std::ifstream ifs(filename);
std::stringstream ss;
ss << ifs.rdbuf();
return ss.str();
}
struct xml_string_writer: pugi::xml_writer
{
std::string result;
virtual void write(const void* data, size_t size)
{
result.append(static_cast<const char*>(data), size);
}
};
std::string GetManipulatorXML(const std::string &base_path,
const std::string &task_name)
{
std::vector<std::string> unused_props;
if (task_name == "bring_ball") {
unused_props = {"slot", "target_peg", "cup", "peg"};
} else if (task_name == "bring_peg") {
unused_props = {"slot", "target_ball", "cup", "ball"};
} else if (task_name == "insert_ball") {
unused_props = {"slot", "target_peg", "peg"};
} else if (task_name == "insert_peg") {
unused_props = {"target_ball", "cup", "ball"};
}
std::string content = GetFileContent(base_path, "manipulator.xml");
pugi::xml_document doc;
doc.load_string(content.c_str());
for (auto prop : unused_props) {
std::string xpath = "//body[@name='" + prop + "']";
pugi::xml_node node = doc.select_node(xpath.c_str()).node();
auto parent = node.parent();
parent.remove_child(node);
}
xml_string_writer writer;
doc.print(writer);
return writer.result;
}
int main(int argc, char **argv) {
std::cout << GetManipulatorXML("dmc", argv[1]) << std::endl;
} |
Trinkle23897
approved these changes
May 20, 2022
This pull request was closed.
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#103