/// <summary>
/// parse an xml node
/// </summary>
/// <param name="xnod"></param>
/// <param name="level"></param>
public void LoadFromXml(
XmlNode xnod, int level)
{
XmlNode xnodWorking;
if (xnod.Name == "SteersmanGeometry")
{
int cameraIndex = -1;
if (robot_geometry == null)
{
robot_geometry = new robotGeometry();
}
robot_geometry.LoadFromXml(xnod, level + 1, ref cameraIndex);
}
if (xnod.Name == "SteersmanBuffer")
{
if (buffer == null)
{
buffer = new metagridBuffer();
}
int no_of_grid_levels = 0;
int grid_type = 0;
int dimension_mm = 0;
int dimension_vertical_mm = 0;
int cellSize_mm = 0;
int localisationRadius_mm = 0;
int maxMappingRange_mm = 0;
float vacancyWeighting = 0;
buffer.LoadFromXml(xnod, level + 1,
ref no_of_grid_levels,
ref grid_type,
ref dimension_mm,
ref dimension_vertical_mm,
ref cellSize_mm,
ref localisationRadius_mm,
ref maxMappingRange_mm,
ref vacancyWeighting
);
buffer.Initialise(
no_of_grid_levels,
grid_type,
dimension_mm,
dimension_vertical_mm,
cellSize_mm,
localisationRadius_mm,
maxMappingRange_mm,
vacancyWeighting);
}
if (xnod.Name == "SteersmanSensorModels")
{
if (robot_geometry == null)
{
robot_geometry = new robotGeometry();
}
int no_of_stereo_cameras = 0;
int no_of_grid_levels = 0;
int camera_index = 0;
int grid_level = 0;
robot_geometry.LoadFromXmlSensorModels(
xnod, level + 1,
ref no_of_stereo_cameras,
ref no_of_grid_levels,
ref camera_index,
ref grid_level);
}
// call recursively on all children of the current node
if (xnod.HasChildNodes)
{
xnodWorking = xnod.FirstChild;
while (xnodWorking != null)
{
LoadFromXml(xnodWorking, level + 1);
xnodWorking = xnodWorking.NextSibling;
}
}
}
