Euitibot feature

src/base/init.cpp

@@ -46,6 +46,7 @@
 #include "../simulation/puma560sim.h"
 #include "../simulation/aseairb2000sim.h"
 #include "../simulation/quadrotorsim.h"
+#include "../simulation/euitibotsim.h"
 #include "../world/world.h"
 
 namespace mr
@@ -70,6 +71,7 @@ void mrcoreInit()
 	Puma560Sim puma;
 	QuadrotorSim quad;
 	AseaIRB2000Sim asea;
+	EuitiBotSim euito;
 	World world;
 
 

src/base/object.cpp

@@ -49,4 +49,6 @@ namespace mr
 			return (*ptrCreateObject)();
 		return 0;
 	}
+	void Object::writeToXML(XMLElement* parent){}
+	void Object::readFromXML(XMLElement* parent){}
 } //mr

src/base/object.h

@@ -34,13 +34,16 @@
 #include <string>
 #include <map>
 #include <vector>
-#include "stream.h"
+#include "streamstring.h"
+//#include "xml.h"
+
 
 using namespace std;
 using namespace mr;
 
 namespace mr
 {
+	class XMLElement;
 /*!
     \class Object
     \brief Object, the base class that supports RTTI and serialization.
@@ -54,6 +57,8 @@ class Object
 
 	virtual void writeToStream(Stream& stream)=0;
 	virtual void readFromStream(Stream& stream)=0;
+	virtual void writeToXML(XMLElement* parent);
+	virtual void readFromXML(XMLElement* parent);
 
 protected:
 	///The map is a singleton, static accessed by this method

src/base/streamstring.h

@@ -37,6 +37,7 @@
 #include <iostream>
 #include "stream.h"
 
+
 using namespace std;
 
 
@@ -66,7 +67,6 @@ class StreamString: public Stream
 	{
 		return ((stringstream*)stream)->str();
 	}
-
 protected:
 	//non-copyable, non movable
 	StreamString(const StreamString& str);

src/base/xml.cpp

@@ -5625,10 +5625,32 @@ void XMLElement :: RemoveAllContents()
 	contentsnum = 0;
 	}
 
+//unsigned int XMLElement :: GetContents(XMLContent** x)
+//	{
+//	//return contents;
+//		int C = 0;
+//#ifdef XML_USE_STL
+//	for(unsigned int i = 0 ; i < children.size() && deep != 0 ; i++)
+//		{
+//		XMLContent* ch = &contents[i];
+//#else
+//	for(unsigned int i = 0 ; i < contentsnum; i++)
+//		{
+//		if (!contents[i]) 
+//			continue;
+//		XMLContent* ch = contents[i];
+//#endif
+//		C += ch->GetContents(x + C);
+//		x[C++] = ch;
+//		}
+//
+//	return C;
+//	}
+
 XMLContent** XMLElement :: GetContents()
-	{
-	return contents;
-	}
+{
+return contents;
+}
 
 unsigned int XMLElement :: GetContentsNum()
 	{
@@ -5942,8 +5964,20 @@ size_t XMLContent :: GetValue(char* x,int NoDecode) const
 #endif
 	return strlen(x);
 	}
-
-
+/////////////////////////////////////// PROYECTO FRAN ////////////////////////////////////
+//int XMLContent::GetValueCad (char* cad)
+//	{
+//		char t[50] = {0};
+//		GetValue(t);
+//		strcpy(cad,t);
+//		return strlen(cad);
+//	}
+size_t XMLContent ::GetSize ()
+{
+	return strlen(c);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
 void XMLContent :: SetValue(const char* VV,int NoDecode)
 	{
 #ifdef XML_USE_STL
@@ -6581,6 +6615,7 @@ float XMLVariable :: GetValueFloat()
 	return (float)atof(d);
 	}
 
+
 void XMLVariable :: SetFormattedValue(const char* fmt,...)
 	{
 	va_list args;
@@ -6930,6 +6965,8 @@ int XMLElement :: XMLQuery(const char* expression2,XMLElement** rv,unsigned int
 
 
 
+
+
 // Global functions
 Z<char>* XML :: ReadToZ(const char* file,XMLTransform* eclass,class XMLTransformData* edata,bool IsU)
 	{
@@ -7424,6 +7461,7 @@ int XMLGetStringW(const char* section,const char* Tattr,const wchar_t* defv,wcha
 #endif
 
 
+
 };
 
 

src/base/xml.h

@@ -442,6 +442,7 @@ class XMLElement
 		XMLContent& AddContent(const XMLContent&);
 #else
 		XMLContent** GetContents();
+		//unsigned int GetContents(XMLContent**);
 		int AddContent(XMLContent* v,int InsertBeforeElement);
 		int AddContent(const char*,int);
 #endif
@@ -603,6 +604,7 @@ class XMLVariable
 		void SetValueUInt64(unsigned long long);
 		void SetValueFloat(float);
 		void SetFormattedValue(const char* fmt,...);
+
 		template <typename T> T GetFormattedValue(const char* fmt)
 			{
 			size_t p = GetValue(0);
@@ -612,6 +614,8 @@ class XMLVariable
 			sscanf(d,fmt,&x);
 			return x;
 			}
+
+
 		template <typename T> void SetValueX(T t,const char* fmt);
 		template <typename T> T GetValueX(const char* fmt);
 		XMLVariable* Duplicate();
@@ -689,6 +693,11 @@ class XMLContent
 		operator const char*();
 		size_t GetValue(char*,int NoDecode = 0) const; 
 		void SetValue(const char*,int NoDecode = 0);
+///////////////////////////////////////////////// PROYECTO FRAN ///////////////////////
+		//int GetValueCad (char* cad);
+		size_t GetSize ();
+
+/////////////////////////////////////////////////////////////////////////////////////
 		size_t MemoryUsage();
 		void CompressMemory();
 		bool IntegrityTest();