protected override void ParseElements()
{
always_on = GetValue <bool>("always_on");
update_rate = GetValue <double>("update_rate");
visualize = GetValue <bool>("visualize");
// Console.WriteLine("[{0}] P:{1} C:{2}", GetType().Name, parent, child);
switch (Type)
{
case "gpu_ray":
case "ray":
case "lidar":
if (IsValidNode("ray"))
{
sensor = ParseRay();
}
break;
case "multicamera":
if (IsValidNode("camera"))
{
var cameras = new Cameras();
cameras.name = "multiple_camera";
var nodes = GetNodes("camera");
// Console.WriteLine("totalCamera: " + nodes.Count);
for (var index = 1; index <= nodes.Count; index++)
{
cameras.list.Add(ParseCamera(index));
}
sensor = cameras;
}
break;
case "camera":
case "depth":
case "wideanglecamera":
if (IsValidNode("camera"))
{
sensor = ParseCamera();
}
break;
case "sonar":
if (IsValidNode("sonar"))
{
sensor = ParseSonar();
}
break;
case "imu":
if (IsValidNode("imu"))
{
sensor = ParseIMU();
}
break;
case "gps":
if (IsValidNode("gps"))
{
sensor = ParseGPS();
}
break;
case "contact":
if (IsValidNode("contact"))
{
sensor = ParseContact();
}
break;
default:
Console.WriteLine("Not supported sensor type!!!!! => " + Type);
break;
}
// Set common
try
{
sensor.name = Name;
sensor.type = Type;
// Console.WriteLine("Sensor {0}::{1} was created!", Name, Type);
}
catch
{
Console.WriteLine("sensor was not created!");
}
plugins = new Plugins(root);
}
protected override void ParseElements()
{
always_on = GetValue <bool>("always_on");
update_rate = GetValue <double>("update_rate");
visualize = GetValue <bool>("visualize");
topic = GetValue <string>("topic");
// Console.WriteLine("[{0}] P:{1} C:{2}", GetType().Name, parent, child);
switch (Type)
{
case "ray":
case "gpu_ray":
case "lidar":
case "gpu_lidar":
if (IsValidNode("lidar"))
{
sensor = ParseLidar();
}
else if (IsValidNode("ray"))
{
sensor = ParseLidar("ray");
}
break;
case "rgbd_camera":
case "rgbd":
case "multicamera":
if (IsValidNode("camera"))
{
var cameras = new Cameras();
cameras.name = Type;
cameras.type = Type;
var nodes = GetNodes("camera");
// Console.WriteLine("totalCamera: " + nodes.Count);
for (var index = 1; index <= nodes.Count; index++)
{
cameras.Add(ParseCamera(index));
}
sensor = cameras;
}
break;
case "camera":
case "depth_camera":
case "depth":
if (IsValidNode("camera"))
{
sensor = ParseCamera();
}
break;
case "sonar":
if (IsValidNode("sonar"))
{
sensor = ParseSonar();
}
break;
case "imu":
sensor = ParseIMU();
break;
case "gps":
case "navsat":
sensor = ParseNavSat(Type);
break;
case "contact":
sensor = ParseContact();
break;
case "air_pressure":
case "altimeter":
case "force_torque":
case "logical_camera":
case "boundingbox_camera":
case "segmentation_camera":
case "magnetometer":
case "rfid":
case "rfidtag":
case "thermal_camera":
case "thermal":
case "wireless_receiver":
case "wireless_transmitter":
case "custom":
Console.WriteLine("Not supported sensor type!!!!! => " + Type);
break;
default:
Console.WriteLine("Invalid sensor type!!!!! => " + Type);
break;
}
// Set common
try
{
sensor.name = Name;
sensor.type = Type;
// Console.WriteLine("Sensor {0}::{1} was created!", Name, Type);
}
catch
{
Console.WriteLine("Sensor {0}::{1} was NOT created!", Name, Type);
}
plugins = new Plugins(root);
}
