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update attribute names in irtcollada.l [euslisp#39]
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@YoheiKakiuchi
YoheiKakiuchi authored and kyouhei committed Aug 15, 2013
1 parent 7a09373 commit 7fc17f3
Showing 1 changed file with 36 additions and 37 deletions.
73 changes: 36 additions & 37 deletions irteus/irtcollada.l
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Original file line number Diff line number Diff line change
Expand Up @@ -437,11 +437,13 @@

(defun eusmodel-description->collada-library-visual-scenes (desc)
`(library_visual_scenes
(@ (id "libvisualscene"))
(@ (id "vscenes"))
(visual_scene
(@ (id "libvisualscenes.scene"))
(@ (id "vscene")
(name "Eus2Collada Visual Scene"))
(node
(@ (id "visual_root")
(@ (id "visual1")
(sid "visual1")
(name "VisualRoot"))
(node
(@ (id "root_node")
Expand Down Expand Up @@ -469,42 +471,43 @@

(defun eusmodel-description->collada-library-kinematics-scenes (name desc)
`(library_kinematics_scenes
(@ (id "libkinscenes"))
(@ (id "kscenes"))
(kinematics_scene
(@ (id "libkinscenes.kinScene"))
(@ (id "kscene")
(name "Eus2Collada Kinematics Scene"))
(instance_articulated_system
(@ (url "#kinsystem_motion")
(sid "inst_kinsystem"))
(newparam
(@ (sid "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel"))
(@ (sid "kscene_kscene_kmodel1_inst"))
"<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst</SIDREF>")
;; joint axis
,@(mapcar #'(lambda (j)
(let ((joint-name (cdr (assoc :name j))))
`(newparam
(@ (sid ,(format nil "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A_axis0" joint-name)))
(@ (sid ,(format nil "kscene_kscene_kmodel1_inst.~A_axis0" joint-name)))
,(format nil "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst.inst_~A_axis0</SIDREF>"
joint-name))))
(eusmodel-joint-description desc))
;; joint axis value
,@(mapcar #'(lambda (j)
(let ((joint-name (cdr (assoc :name j))))
`(newparam
(@ (sid ,(format nil "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A.value" joint-name)))
(@ (sid ,(format nil "kscene_kscene_kmodel1_inst.~A.value" joint-name)))
,(format nil "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst.inst_~A_value</SIDREF>"
joint-name))))
(eusmodel-joint-description desc))))))

(defun eusmodel-description->collada-library-kinematics-models (name desc)
`(library_kinematics_models
(@ (id "libkinmodels"))
(@ (id "kmodels"))
,(eusmodel-description->collada-kinematics-model name desc)))

(defun eusmodel-description->collada-kinematics-model (name desc)
(let ((joints-desc (eusmodel-joint-description desc)))
`(kinematics_model
(@ (id "kinmodel")
(name ,(format nil "~A-kinmodel" name))) ;the name of robot...?
(@ (id "kmodel1")
(name ,(format nil "~A-kmodel1" name))) ;the name of robot...?
(technique_common
,@(joints-description->collada-instance-joints joints-desc)
,@(eusmodel-description->collada-links desc)))))
Expand Down Expand Up @@ -590,53 +593,51 @@
(name ,name))
(kinematics
(instance_kinematics_model
;;(@ (url "#kinmodel")
(@ (url "#kinmodel")
(sid "inst_kinmodel"))
(@ (url "#kmodel1")
(sid "kmodel1_inst"))
(newparam
(@ (sid "libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel"))
"<SIDREF>kinsystem/inst_kinmodel</SIDREF>")

(@ (sid "libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst"))
"<SIDREF>kinsystem/kmodel1_inst</SIDREF>")
;; joint axis
,@(mapcar #'(lambda (j)
(let ((joint-name (cdr (assoc :name j))))
`(newparam
(@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A_axis0" joint-name)))
(@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A_axis0" joint-name)))
,(format nil
"<SIDREF>kinsystem/inst_kinmodel/~A/axis0</SIDREF>~%" joint-name))))
"<SIDREF>kinsystem/kmodel1_inst/~A/axis0</SIDREF>~%" joint-name))))
(eusmodel-joint-description desc))
;; joint axis value
,@(mapcar #'(lambda (j)
(let ((joint-name (cdr (assoc :name j))))
`(newparam
(@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A.value" joint-name)))
(@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A.value" joint-name)))
(float "0"))))
(eusmodel-joint-description desc)))
(technique_common
,@(mapcar
#'(lambda (j)
(let ((joint-name (cdr (assoc :name j))))
`(axis_info
(@ (axis ,(format nil "kinmodel/~A/axis0" joint-name)) ;??
(@ (axis ,(format nil "kmodel1/~A/axis0" joint-name)) ;??
(sid ,(format nil "~A_info" joint-name))))))
(eusmodel-joint-description desc)))))
(articulated_system
(@ (id "kinsystem_motion")
(name "kinsystem_motion"))
(name "kinsystem_motion"))
(motion
(instance_articulated_system
(@ (url "#kinsystem")
(sid "kinsystem_inst"))
(@ (url "#kinsystem")
(sid "kinsystem_inst"))
;; here we bind parameters...
(newparam
(@ (sid "kinsystem_motion.kinsystem_inst"))
"<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel</SIDREF>")
"<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst</SIDREF>")
,@(mapcar
#'(lambda (j)
(let ((joint-name (cdr (assoc :name j))))
`(newparam
(@ (sid ,(format nil "kinsystem_motion.kinsystem_inst.inst_~A_axis0" joint-name)))
,(format nil "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A_axis0</SIDREF>"
,(format nil "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A_axis0</SIDREF>"
joint-name)
)))
(eusmodel-joint-description desc))
Expand All @@ -645,7 +646,7 @@
(let ((joint-name (cdr (assoc :name j))))
`(newparam
(@ (sid ,(format nil "kinsystem_motion.kinsystem_inst.inst_~A_value" joint-name)))
,(format nil "<SIDREF>libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A.value</SIDREF>"
,(format nil "<SIDREF>libarticulated_systems.kinScene_libarticulated_systems.kinScene_kmodel1_inst.~A.value</SIDREF>"
joint-name))))
(eusmodel-joint-description desc)))
(technique_common
Expand All @@ -672,9 +673,9 @@
(technique
(@ (profile "OpenRAVE"))
(frame_origin
(@ (link ,(format nil "kinmodel/~A_link" origin-link-name))))
(@ (link ,(format nil "kmodel1/~A_link" origin-link-name))))
(frame_tip
(@ (link ,(format nil "kinmodel/~A_link" tip-link-name))))))))
(@ (link ,(format nil "kmodel1/~A_link" tip-link-name))))))))

(defun eusmodel-description->collada-links-tree (target links joints)
;; recursive function call!
Expand All @@ -691,7 +692,7 @@
(j (find-joint-from-link-description l joints)))
`((attachment_full
(@ (joint ,(format nil
"kinmodel/~A"
"kmodel1/~A"
(cdr (assoc :name j)))))
(translate
,(float-vector->collada-string
Expand Down Expand Up @@ -766,13 +767,13 @@
(defun eusmodel-description->collada-scene (description)
`(scene
(instance_visual_scene
(@ (url "#libvisualscenes.scene")))
(@ (url "#vscene")))
(instance_kinematics_scene
(@ (url "#libkinscenes.kinScene"))
(@ (url "#kscene"))
(bind_kinematics_model
(@ (node "root_node"))
(param
"libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel"))
"kscene_kscene_kmodel1_inst"))
;; bind_joint_axis
,@(mapcar
#'(lambda (j)
Expand All @@ -785,12 +786,12 @@
(param
,(format
nil
"libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A_axis0"
"kscene_kscene_kmodel1_inst.~A_axis0"
(cdr (assoc :name j)))))
(value
(param
,(format nil
"libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A.value" (cdr (assoc :name j)))))))
"kscene_kscene_kmodel1_inst.~A.value" (cdr (assoc :name j)))))))
(eusmodel-joint-description description)))))

(defun eusmodel-description->collada-library-geometries (description)
Expand Down Expand Up @@ -883,15 +884,13 @@
(normal-count 0))
(format ss "<p>")
(dotimes (fi (length faces))

(let ((f (elt faces fi)))
(let ((vertices-num (length (cdr (send f :vertices)))))
(dotimes (vi vertices-num)
(format ss "~A " vertex-count) ;vertex index
(incf vertex-count) ;increment vertex per vertex
(format ss "~A " normal-count)) ;normal index
(incf normal-count) ;increment normal per faces

)
(format ss "~%")
))
Expand Down

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