void load_model_or_robot()

in roboschool/cpp-household/test-tool-qt4.cpp [43:79]

• 33 lines of code
• 10 McCabe index (conditional complexity)

void load_model_or_robot()
{
	try {
		time_t t = mtime(the_filename);
		if (last_reload_time==t)
			return;
		world->clean_everything();
		world->klass_cache_clear();
		btQuaternion quat(0,0,0,1);
		if (the_model_along_y)
			quat.setEuler(0, M_PI/2, 0);
		last_reload_time = t;

		QString test = QString::fromLocal8Bit(the_filename.c_str());
		if (test.endsWith(".urdf")) {
			QElapsedTimer timer;
			timer.start();
			the_robot = world->load_urdf(the_filename, btTransform(quat, btVector3(0,0,0)), false, false);
			double load_ms = timer.nsecsElapsed()/1000000.0;
			fprintf(stderr, "%s loaded in %0.2lfms\n", the_filename.c_str(), load_ms);

		} else if (test.endsWith(".xml") || test.endsWith(".sdl")) {
			the_robot.reset();
			std::list<shared_ptr<Robot>> robots = world->load_sdf_mjcf(the_filename, test.endsWith(".xml"));
			other_robots_keep_reference = robots;
			for (auto r: robots)
				if (!the_robot || the_robot->joints.size() < r->joints.size())
					the_robot = r;

		} else {
			the_model = world->load_thingy(the_filename, btTransform(quat, btVector3(0,0,0)), 1.0, 1.0, 0xFF0000, false);
		}

	} catch (const std::exception& e) {
		fprintf(stderr, "ERROR: %s\n", e.what());
	}
}