241 lines
7.3 KiB
C++
241 lines
7.3 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Wim Meeussen */
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//#include <boost/algorithm/string.hpp>
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#include <vector>
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#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
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#ifdef URDF_USE_CONSOLE_BRIDGE
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#include <console_bridge/console.h>
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#else
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#include "urdf/boost_replacement/printf_console.h"
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#endif
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namespace urdf{
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bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_ok);
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bool parseLink(Link &link, TiXmlElement *config);
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bool parseJoint(Joint &joint, TiXmlElement *config);
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my_shared_ptr<ModelInterface> parseURDF(const std::string &xml_string)
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{
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my_shared_ptr<ModelInterface> model(new ModelInterface);
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model->clear();
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TiXmlDocument xml_doc;
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xml_doc.Parse(xml_string.c_str());
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if (xml_doc.Error())
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{
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logError(xml_doc.ErrorDesc());
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xml_doc.ClearError();
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model.reset(0);
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return model;
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}
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TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot");
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if (!robot_xml)
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{
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logError("Could not find the 'robot' element in the xml file");
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model.reset(0);
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return model;
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}
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// Get robot name
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const char *name = robot_xml->Attribute("name");
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if (!name)
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{
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logError("No name given for the robot.");
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model.reset(0);
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return model;
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}
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model->name_ = std::string(name);
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// Get all Material elements
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for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
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{
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my_shared_ptr<Material> material;
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material.reset(new Material);
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try {
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parseMaterial(*material, material_xml, false); // material needs to be fully defined here
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if (model->getMaterial(material->name))
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{
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logError("material '%s' is not unique.", material->name.c_str());
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material.reset(0);
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model.reset(0);
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return model;
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}
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else
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{
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model->materials_.insert(make_pair(material->name,material));
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logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
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}
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}
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catch (ParseError &e) {
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logError("material xml is not initialized correctly");
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material.reset(0);
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model.reset(0);
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return model;
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}
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}
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// Get all Link elements
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for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
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{
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my_shared_ptr<Link> link;
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link.reset(new Link);
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model->m_numLinks++;
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try {
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parseLink(*link, link_xml);
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if (model->getLink(link->name))
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{
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logError("link '%s' is not unique.", link->name.c_str());
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model.reset(0);
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return model;
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}
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else
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{
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// set link visual material
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logDebug("urdfdom: setting link '%s' material", link->name.c_str());
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if (link->visual)
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{
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if (!link->visual->material_name.empty())
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{
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if (model->getMaterial(link->visual->material_name))
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{
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logDebug("urdfdom: setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
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link->visual->material = model->getMaterial( link->visual->material_name.c_str() );
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}
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else
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{
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if (link->visual->material)
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{
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logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
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model->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
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}
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else
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{
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logError("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
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model.reset(0);
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return model;
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}
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}
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}
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}
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model->links_.insert(make_pair(link->name,link));
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logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
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}
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}
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catch (ParseError &e) {
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logError("link xml is not initialized correctly");
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model.reset(0);
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return model;
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}
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}
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if (model->links_.empty()){
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logError("No link elements found in urdf file");
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model.reset(0);
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return model;
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}
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// Get all Joint elements
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for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
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{
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my_shared_ptr<Joint> joint;
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joint.reset(new Joint);
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model->m_numJoints++;
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if (parseJoint(*joint, joint_xml))
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{
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if (model->getJoint(joint->name))
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{
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logError("joint '%s' is not unique.", joint->name.c_str());
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model.reset(0);
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return model;
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}
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else
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{
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model->joints_.insert(make_pair(joint->name,joint));
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logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
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}
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}
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else
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{
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logError("joint xml is not initialized correctly");
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model.reset(0);
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return model;
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}
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}
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// every link has children links and joints, but no parents, so we create a
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// local convenience data structure for keeping child->parent relations
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std::map<std::string, std::string> parent_link_tree;
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parent_link_tree.clear();
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// building tree: name mapping
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try
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{
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model->initTree(parent_link_tree);
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}
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catch(ParseError &e)
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{
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logError("Failed to build tree: %s", e.what());
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model.reset(0);
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return model;
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}
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// find the root link
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try
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{
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model->initRoot(parent_link_tree);
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}
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catch(ParseError &e)
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{
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logError("Failed to find root link: %s", e.what());
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model.reset(0);
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return model;
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}
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return model;
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}
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}
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