Loading the mass of the body from the xml wthout getting confused by the

sub-nodes

Author: madhephaestus

carlRobot.xml

@@ -876,7 +876,7 @@
 	<roty>0.0</roty>
 	<rotz>0.0</rotz>
 </baseToZframe>
-	<mass>0.01</mass>
+	<mass>99</mass>
 	<centerOfMassFromCentroid>	<x>0.0</x>
 	<y>0.0</y>
 	<z>0.0</z>

src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java

@@ -187,7 +187,7 @@ private void loadConfigs(Element doc) {
 		loadLimb(doc, "steerable", steerable);
 		loadLimb(doc, "appendage", appendages);
 		try {
-			String massString = XmlFactory.getTagValue("mass", doc);
+			String massString =getTag(doc,"mass");
 			setMassKg(Double.parseDouble(massString));
 		} catch (Exception e) {
 			e.printStackTrace();
@@ -263,7 +263,7 @@ private String getname(Element e) {
 	 * @param tag
 	 *            the tag
 	 * @return the name
-	 */
+	 */ 
 	private String getParallelGroup(Element e) {
 		return getTag(e,  "parallelGroup");
 	}
@@ -279,12 +279,18 @@ private String getParallelGroup(Element e) {
 	 */
 	private String getTag(Element e, String tagname) {
 		try {
-			NodeList nodListofLinks = e.getChildNodes();
+			NodeList nodListofLinks = e.getElementsByTagName(tagname);
 
 			for (int i = 0; i < nodListofLinks.getLength(); i++) {
 				Node linkNode = nodListofLinks.item(i);
-				if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) {
-					return XmlFactory.getTagValue(tagname, e);
+				String nameParent = linkNode.getParentNode().getNodeName();
+				boolean isMobileBase = nameParent.contains("mobilebase");
+				if (linkNode.getNodeType() == Node.ELEMENT_NODE && 
+						linkNode.getNodeName().contentEquals(tagname)
+						&& isMobileBase) {
+					String value = linkNode.getChildNodes().item(0).getNodeValue();
+					System.out.println("Loading tag "+tagname+" from "+nameParent+" value "+value);
+					return value;
 				}
 			}
 		} catch (Exception ex) {
@@ -769,6 +775,7 @@ public double getMassKg() {
 	}
 
 	public void setMassKg(double mass) {
+		System.out.println("Mass of device "+getScriptingName()+" is "+mass);
 		this.mass = mass;
 	}
 

src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java

@@ -75,6 +75,7 @@ public static NodeList getAllNodesFromTag(String sTag, InputStream config){
 	 * @return the tag value
 	 */
 	public static String getTagValue(String sTag, Element eElement){
+		
 	    NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes();
 	    Node nValue = (Node) nlList.item(0); 
 	   // System.out.println("\t\t"+sTag+" = "+nValue.getNodeValue());

test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java

@@ -0,0 +1,26 @@
+package junit.test.neuronrobotics.utilities;
+
+import static org.junit.Assert.*;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+
+import org.junit.Test;
+
+import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
+
+public class LoadMassTest {
+
+	@Test
+	public void test() throws FileNotFoundException {
+
+		File f = new File("carlRobot.xml");
+		if (f.exists()) {
+			MobileBase pArm = new MobileBase(new FileInputStream(f));
+			System.out.println("Mass = "+pArm.getMassKg());
+			assertEquals(99, pArm.getMassKg(),0.1);
+		}
+	}
+
+}