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able to get inner content by utilizing GetJsonValueByPath #115

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able to get inner content by utilizing GetJsonValueByPath #115

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52fe8cb
able to get inner content by utilizing GetJsonValueByPath
Mar 21, 2022
813c258
separate to GetPath method
Nov 2, 2022
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10 changes: 8 additions & 2 deletions include/mujincontrollerclient/mujincontrollerclient.h
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Original file line number Diff line number Diff line change
Expand Up @@ -696,8 +696,14 @@ class MUJINCLIENT_API WebResource
template<class T>
inline T Get(const std::string& field, double timeout = 5.0) {
rapidjson::Document pt(rapidjson::kObjectType);
GetWrap(pt, field, timeout);
return mujinjson_external::GetJsonValueByKey<T>(pt, field.c_str());
std::string path = field;
if(path[0]!='/') {
path = std::string("/")+field;
}
std::string fieldToConstraint = path.substr(1);
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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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well, alternative ideas are:

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

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added GetPath now

fieldToConstraint = fieldToConstraint.substr(0, fieldToConstraint.find('/'));
GetWrap(pt, fieldToConstraint, timeout);
return mujinjson_external::GetJsonValueByPath<T>(pt, path.c_str());
}

/// \brief sets an attribute of this web resource
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