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test load kuka arm sdf

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yunfeibai
2016-05-11 13:43:50 -07:00
parent 1bebcc6d9a
commit 06a2669b32
7 changed files with 1519 additions and 191 deletions
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2
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -88,6 +88,7 @@ struct UrdfLink
{
std::string m_name;
UrdfInertia m_inertia;
btTransform m_parentLinktoLinkTransform;
btArray<UrdfVisual> m_visualArray;
btArray<UrdfCollision> m_collisionArray;
UrdfLink* m_parentLink;
@@ -155,6 +156,7 @@ protected:
bool initTreeAndRoot(UrdfModel& model, ErrorLogger* logger);
bool parseMaterial(UrdfMaterial& material, class TiXmlElement *config, ErrorLogger* logger);
bool parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger);
bool parseJointDynamics(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger);
bool parseJoint(UrdfJoint& link, TiXmlElement *config, ErrorLogger* logger);
bool parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *config, ErrorLogger* logger);