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186 | /**
* @file MotionNetParser.h
*
* @author <a href="mailto:mellmann@informatik.hu-berlin.de">Heinrich Mellmann</a>
* Implementation of class MotionNetParser
*/
#include "MotionNetParser.h"
using namespace naoth;
using namespace std;
void MotionNetParser::eat()
{
scanner.getNextToken();
}//end eat
bool MotionNetParser::isToken(KeyWordID tokenId)
{
return scanner.isToken(getKeyWord(tokenId));
}//end isToken
void MotionNetParser::isTokenAndEat(KeyWordID tokenId)
{
if(isToken(tokenId))
eat();
else
throw_exception(
string("Syntaxerror: found '")+string(scanner.buffer)+
string("' but ")+ getKeyWord(tokenId)+string("' expected."));
}//end isTokenAndEat
MotionNet MotionNetParser::parse()
{
// create new Motion Net
MotionNet motionNet;
eat();
if(!scanner.isToken("nao"))
throw_exception(string("not a 'nao' motion net."));
eat(); // "nao"
parseMotionNet(motionNet);
//isTokenAndEat(EOF);
return motionNet;
}//end parse
void MotionNetParser::parseMotionNet(MotionNet& motionNet)
{
parseJointIndex(motionNet);
while( isToken(keyFrame) )
{
parseKeyFrame(motionNet);
//motionNet->keyFrameArray[motionNet->numberOfKeyFrames-1].print();
}//end while
while( isToken(transition) )
{
parseTransition(motionNet);
//motionNet->transitionArray[motionNet->numberOfTransitions-1].print();
}//end while
}//end parseMotionNet
void MotionNetParser::parseJointIndex(MotionNet& motionNet)
{
while(!isToken(transition) && !isToken(keyFrame))
{
JointData::JointID id = JointData::jointIDFromName(std::string(scanner.buffer));
eat(); // eat the joint name
isTokenAndEat(separator); // ";"
if(id == JointData::numOfJoint)
{
cout << JointData::getJointName(id) << ": " << std::string(scanner.buffer) << endl;
}
else
{
if(motionNet.getNumOfJoints() < JointData::numOfJoint)
{
motionNet.add(id);
}
else
{
throw_exception(string("To many joint indices."));
}
}
}//end while
}//end parseJointIndex
void MotionNetParser::parseTransition(MotionNet& motionNet)
{
MotionNet::Transition result;
// transition;id_from;id_to;duration;condition
isTokenAndEat(transition); // keyword "transition"
isTokenAndEat(separator); // ";"
result.fromKeyFrame = parseInt(); // id from
isTokenAndEat(separator); // ";"
result.toKeyFrame = parseInt(); // id to
isTokenAndEat(separator); // ";"
result.duration = parseFloat(); // duration
isTokenAndEat(separator); // ";"
// get the condition and eat
result.condition = std::string(scanner.buffer);
eat();
motionNet.add(result);
}//end parseTransition
void MotionNetParser::parseKeyFrame(MotionNet& motionNet)
{
MotionNet::KeyFrame result;
isTokenAndEat(keyFrame); // keyword "keyframe"
isTokenAndEat(separator); // ";"
result.id = parseInt(); // id
// skip the coordinates
isTokenAndEat(separator); // ";"
parseInt(); // x
isTokenAndEat(separator); // ";"
parseInt(); // y
// parse joint values
for(int i = 0; i < motionNet.getNumOfJoints(); i++)
{
isTokenAndEat(separator); // ";"
result.jointData[i] = Math::fromDegrees(parseFloat());
}//end for
motionNet.add(result);
}//end parseKeyFrame
// pars a integer (something like "- 20" is not allowed, correct would be "-20")
int MotionNetParser::parseInt()
{
int result = atoi(scanner.buffer);
eat();
return result;
}//end parseInt
// pars a float
float MotionNetParser::parseFloat()
{
float result = (float)atof(scanner.buffer);
eat();
return result;
}//end parseFloat
std::string MotionNetParser::getKeyWord(KeyWordID keyWordID)<--- Technically the member function 'MotionNetParser::getKeyWord' can be static. [+]The member function 'MotionNetParser::getKeyWord' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
{
switch(keyWordID)
{
case endOfLine: return std::string("\n");
case separator: return std::string(";");
case keyFrame: return std::string("keyframe");
case transition: return std::string("transition");
case comment: return std::string("#");
default: return std::string("unknown");
}//end switch
}//end getKeyWord
void MotionNetParser::throw_exception(std::string message)<--- Function parameter 'message' should be passed by reference. [+]Parameter 'message' is passed by value. It could be passed as a (const) reference which is usually faster and recommended in C++.
{
std::stringstream out;
out << "[MotionNetParser](" << scanner.getLineNumber() << ") ERROR : " << message;
throw out.str();
}//end throw_exception
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