bool hormodular::ModularRobot::attachModules ( ) [private]

Function that performs the connections between the different connectors of the different modules.

These connections are based on the configuration from the ConfigParser.

Returns:: True if completed successfully, false otherwise

{
    //-- Attach the modules to the other modules
    for(int i = 0; i < (int) modules.size(); i++)
    {
        std::vector< std::vector<int> > connectorConfig = configParser.getConnectorInfo(i);

        if (connectorConfig.size() == 0)
        {
            std::cerr << "[ModularRobot] Error: no connector info was found!" << std::endl;
            return false;
        }

        for (int j = 0; j < (int) connectorConfig.size(); j++)
        {
            if ( connectorConfig[j].size() != 0 )
            {
                int moduleConnectedTo = connectorConfig[j][0];
                int connectorConnectedTo = connectorConfig[j][1];
                int orientation = connectorConfig[j][2];
                modules[i]->attach( j,
                                    modules[moduleConnectedTo]->getConnector(connectorConnectedTo),
                                    orientation);
            }
            else
                modules[i]->attach(j, NULL);
        }
    }
    return true;
}