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add alternative URDF parser that doens't use ROS urdf

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This commit is contained in:
Erwin Coumans
2015-06-28 14:09:21 -07:00
parent bc8b95dd9d
commit 039174a809
14 changed files with 2309 additions and 37 deletions
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10
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -9,7 +9,8 @@
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "MyURDFImporter.h"
#include "ROSURDFImporter.h"
//#include "BulletURDFImporter.h"
#include "URDF2Bullet.h"
@@ -124,7 +125,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
if (gFileNameArray.size()==0)
{
gFileNameArray.push_back("r2d2.urdf");
gFileNameArray.push_back("r2d2.urdf");//husky/husky.urdf");
}
@@ -194,7 +195,10 @@ void ImportUrdfSetup::initPhysics()
//now print the tree using the new interface
MyURDFImporter u2b(m_guiHelper);
//BulletURDFImporter u2b(m_guiHelper);
ROSURDFImporter u2b(m_guiHelper);
bool loadOk = u2b.loadURDF(m_fileName);
if (loadOk)