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support single-scalar scale values in URDF, even though "officially" it should be a vector3. This will load quadcopter.urdf in Drake:

Browse Source 
https://github.com/RobotLocomotion/drake/blob/master/drake/examples/Quadrotor/quadrotor.urdf
This commit is contained in:
Erwin Coumans
2016-06-22 09:59:25 -07:00
parent a67df7fd03
commit 2b8bd58e1c
1 changed files with 13 additions and 4 deletions
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17
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -393,13 +393,22 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
} }
geom.m_meshFileName = shape->Attribute("filename"); geom.m_meshFileName = shape->Attribute("filename");
geom.m_meshScale.setValue(1,1,1);
if (shape->Attribute("scale"))
if (shape->Attribute("scale"))
{ {
parseVector3(geom.m_meshScale,shape->Attribute("scale"),logger); if (!parseVector3(geom.m_meshScale,shape->Attribute("scale"),logger))
{
logger->reportWarning("scale should be a vector3, not single scalar. Workaround activated.\n");
std::string scalar_str = shape->Attribute("scale");
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
if (scaleFactor)
{
geom.m_meshScale.setValue(scaleFactor,scaleFactor,scaleFactor);
}
}
} else } else
{ {
geom.m_meshScale.setValue(1,1,1);
} }
} }
} }