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MJCF: improve error messages

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This commit is contained in:
Oleg Klimov
2017-03-24 03:43:56 +03:00
parent 634f4cfdbc
commit dcb7e25f34
1 changed files with 13 additions and 17 deletions
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30
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -79,7 +79,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, MJCFErr
} }
if (rgba.size() < 3) if (rgba.size() < 3)
{ {
logger->reportWarning("Couldn't parse vector3"); logger->reportWarning( ("Couldn't parse vector3 '" + vector_str + "'").c_str() );
return false; return false;
} }
if (lastThree) { if (lastThree) {
@@ -113,7 +113,8 @@ static bool parseVector6(btVector3& v0, btVector3& v1, const std::string& vector
} }
if (values.size() < 6) if (values.size() < 6)
{ {
logger->reportWarning("Couldn't parse 6 floats"); logger->reportWarning( ("Couldn't parse 6 floats '" + vector_str + "'").c_str() );
return false; return false;
} }
v0.setValue(values[0],values[1],values[2]); v0.setValue(values[0],values[1],values[2]);
@@ -348,8 +349,7 @@ struct BulletMJCFImporterInternalData
} }
if (!handled) if (!handled)
{ {
logger->reportWarning("Unhandled root element"); logger->reportWarning( (sourceFileLocation(rootxml) + ": unhandled root element '" + n + "'").c_str() );
logger->reportWarning(n.c_str());
} }
} }
return true; return true;
@@ -394,7 +394,7 @@ struct BulletMJCFImporterInternalData
parseVector3(jointAxis,ax,logger); parseVector3(jointAxis,ax,logger);
} else } else
{ {
logger->reportWarning("joint without axis attribute"); logger->reportWarning( (sourceFileLocation(link_xml) + ": joint without axis attribute").c_str() );
} }
bool isLimited = false; bool isLimited = false;
double range[2] = {1,0}; double range[2] = {1,0};
@@ -497,7 +497,7 @@ struct BulletMJCFImporterInternalData
} }
} else } else
{ {
logger->reportWarning("Expected 'type' attribute for joint"); logger->reportWarning( (sourceFileLocation(link_xml) + ": expected 'type' attribute for joint").c_str() );
} }
if (jointHandled) if (jointHandled)
@@ -542,6 +542,7 @@ struct BulletMJCFImporterInternalData
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex); UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
if (linkPtrPtr==0) if (linkPtrPtr==0)
{ {
// XXX: should it be assert?
logger->reportWarning("Invalide linkindex"); logger->reportWarning("Invalide linkindex");
return false; return false;
} }
@@ -635,7 +636,7 @@ struct BulletMJCFImporterInternalData
geom.m_sphereRadius = urdfLexicalCast<double>(sz); geom.m_sphereRadius = urdfLexicalCast<double>(sz);
} else } else
{ {
logger->reportWarning("Expected size field (scalar) in sphere geom"); logger->reportWarning( (sourceFileLocation(link_xml) + ": no size field (scalar) in sphere geom").c_str() );
} }
handledGeomType = true; handledGeomType = true;
} }
@@ -670,7 +671,7 @@ struct BulletMJCFImporterInternalData
} }
} else } else
{ {
logger->reportWarning("couldn't convert 'size' attribute of capsule geom"); logger->reportWarning( (sourceFileLocation(link_xml) + ": couldn't convert 'size' attribute of capsule geom").c_str() );
} }
const char* fromtoStr = link_xml->Attribute("fromto"); const char* fromtoStr = link_xml->Attribute("fromto");
geom.m_hasFromTo = false; geom.m_hasFromTo = false;
@@ -686,7 +687,7 @@ struct BulletMJCFImporterInternalData
{ {
if (sizes.size()<2) if (sizes.size()<2)
{ {
logger->reportWarning("capsule without fromto attribute requires 2 sizes (radius and halfheight)"); logger->reportWarning( (sourceFileLocation(link_xml) + ": capsule without fromto attribute requires 2 sizes (radius and halfheight)").c_str() );
} else } else
{ {
handledGeomType = true; handledGeomType = true;
@@ -747,13 +748,11 @@ struct BulletMJCFImporterInternalData
} else } else
{ {
char warn[1024]; logger->reportWarning( (sourceFileLocation(link_xml) + ": unhandled geom type '" + geomType + "'").c_str() );
sprintf(warn,"Unknown/unhandled geom type: %s", geomType.c_str());
logger->reportWarning(warn);
} }
} else } else
{ {
logger->reportWarning("geom requires type"); logger->reportWarning( (sourceFileLocation(link_xml) + ": geom requires type").c_str() );
} }
return handledGeomType; return handledGeomType;
@@ -1035,10 +1034,7 @@ struct BulletMJCFImporterInternalData
} }
if (!handled) if (!handled)
{ {
char warn[1024]; logger->reportWarning( (sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str() );
std::string n = xml->Value();
sprintf(warn,"Unknown/unhandled field: %s", n.c_str());
logger->reportWarning(warn);
} }
} }