[SOLVED] value assignment of mechanicalState in xml fiels

[shang]

hi,everyone
Does someone know that if we can assign the value of position like the case of array in xml files. For example, we can assign position = “0 0 0 0 0 0 1″, or the other case position=”@GeomagicDevice.positionDevice”, I want to assign position[0]= GeomagicDevice.positionDevice, and the rest elements of position be numerical values like position[1] = “0 0 0 0 0 0 1”,position[2] = “1 0 0 0 0 0 1”,position[3] = “2 0 0 0 0 0 1″position[4] = “3 0 0 0 0 0 1”, as a result, I want values of position to be “GeomagicDevice.positionDevice
0 0 0 0 0 0 1
1 0 0 0 0 0 1
2 0 0 0 0 0 1
3 0 0 0 0 0 1
”
but I cannot find a solution how to achieve this. Does any one have an idea about this? Thank you !

[Hugo]

Hi Xiaojuan,

The data positionDevice of the class GeomagicDriver is not a vector of positions, but just a single Rigid coordinate. So all you can do is to manually define the data positionDevice with one rigid, for instance:

<GeomagicDriver positionDevice="0 0 0 0 0 0 1" />

Cheers,

Hugo

[Hugo]

To answer your other question : how to define manually the vector of positions of the Mechanical Object.

At my best knowledge, this is not feasible as you described in XML using

<MechanicalObject position[i] = ".." />

Three solutions are available (taking the case of a Rigid-templated MechanicalObject):

• give the position manually in the scene:

  
  <MechanicalObject template="Rigid" position="0 0 0 0 0 0 1
  1 0 0 0 0 0 1
  2 0 0 0 0 0 1
  3 0 0 0 0 0 1" />
  

• you can describe your position vector in an obj (e.g. “mesh.obj”) file like

  
  v 0 0 0 0 0 0 1
  v 1 0 0 0 0 0 1
  v 2 0 0 0 0 0 1
  v 3 0 0 0 0 0 1
  

  and load this obj in SOFA, and assign these loaded positions:

  
  <MeshObjLoader name="loadingFile" filename="mesh.obj" />
  ...
  <MechanicalObject position="@loadingFile.position" />
  

• or do it in Python using a PythonScriptController, see examples in the Python plugin.

Does this help ?
Cheers,

Hugo

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