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GeezerVison is showing github.com — able to get inner content by utilizing GetJsonValueByPath by cielavenir · Pull Request #115 · mujin/controllerclientcpp

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@cielavenir

@cielavenir cielavenir commented Oct 18, 2022

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these will be possible

double max_tool_speed_rot = object->Get<double>("robot_motion_parameters/max_tool_speed_rot");
string ikTypeName = object->Get<string>("robot_motion_parameters/ikTypeName");
map<string, vector<int>> params = object->Get<map<string, vector<int>>>("robot_motion_parameters/int_parameters");

note that we cannot do object->Get<map<string, map<string, vector<int>>>>("robot_motion_parameters");. This is C++ limitation.

We will use GetJsonValueByPath, so we add leading / to field variable (after copying to temporary variable).

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@cielavenir
able to get inner content by utilizing GetJsonValueByPath
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@cielavenir
cielavenir requested review from kanbouchou, rdiankov and ziyan October 18, 2022 03:27
@cielavenir cielavenir assigned rdiankov Oct 18, 2022
@ziyan

ziyan commented Oct 18, 2022

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  1. who is the user of this?
  2. so much small std::string copy and creation
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rdiankov
rdiankov reviewed Nov 2, 2022
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Comment thread include/mujincontrollerclient/mujincontrollerclient.h Outdated
if(path[0]!='/') {
path = std::string("/")+field;
}
std::string fieldToConstraint = path.substr(1);

@rdiankov rdiankov Nov 2, 2022

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@cielavenir looks pretty inefficient with creating all these strings on the heap, especially when rapidjson doesn't require std::string

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@cielavenir cielavenir Nov 2, 2022

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well, alternative ideas are:

  1. use GetJsonValueByPath only when field contains "/"
  2. add a new API named GetPath

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@cielavenir cielavenir Nov 2, 2022

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added GetPath now

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@cielavenir

cielavenir commented Nov 2, 2022

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@ziyan could you check https://github.com/mujin/controllerclientcpp/blob/savebackup/samples/mujinupdatepulseoffset.cpp#L204 ? /cc @kanbouchou

Should I add GetPath()?
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@cielavenir
separate to GetPath method
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@cielavenir
cielavenir requested a review from lazydroid November 2, 2022 06:42
@cielavenir

cielavenir commented Nov 2, 2022

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btw I realized std::string fieldToConstraintForCallGet = path.substr(1, path.find('/', 1)); is better, please tell me such matter(s) /cc @lazydroid
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Reviewers

@rdiankov rdiankov rdiankov left review comments
@ziyan ziyan Awaiting requested review from ziyan
@kanbouchou kanbouchou Awaiting requested review from kanbouchou
@lazydroid lazydroid Awaiting requested review from lazydroid

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3 participants

@cielavenir @ziyan @rdiankov
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