modelfactory.cc

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: Factory for creating models
 * Author: Andrew Howard
 * Date: 18 May 2003
 * CVS info: $Id: ModelFactory.cc,v 1.27 2004/11/16 19:22:54 inspectorg Exp $
 */

#if HAVE_CONFIG_H
  #include <config.h>
#endif

#include <string.h>
#include "Error.hh"
#include "Model.hh"
#include "ModelFactory.hh"

// Declare static models (macro generated by autoconf)
FACTORY_DECLARE_STATIC

// All static initializers
int ModelFactory::modelCount;
int ModelFactory::modelMaxCount;
ModelFactory::ModelClass *ModelFactory::models;


// Register all known models.
void ModelFactory::RegisterAll()
{
  // Register static models (macro generated by autoconf)
  FACTORY_REGISTER_STATIC
}


// Register a model class.  Use by dynamically loaded modules
void ModelFactory::RegisterModel(const char *type, const char *classname,
                                 ModelFactoryFn factoryfn)
{
  PRINT_MSG2(2, "registered %s (%s)", classname, type);
  
  // Resize (or initialize) array as necessary
  if (modelCount >= modelMaxCount)
  {
    modelMaxCount += 10;
    models = (ModelClass*) realloc(models, modelMaxCount * sizeof(Model));
  }

  // Add model class to list
  models[modelCount].classname = classname;
  models[modelCount].factoryfn = factoryfn;
  modelCount++;
  
  return;
}


// Create a new instance of a model.  Used by the world when reading
// the world file.
Model *ModelFactory::NewModel(World *world, const char *classname)
{  
  // Check list of models for named model
  int i;
  for (i = 0; i < modelCount; i++)
  {
    if (strcmp(classname, models[i].classname) == 0)
      return (*models[i].factoryfn) (world);
  }
  
  return NULL;
}