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Support SDF capsule and cylinder.

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This commit is contained in:
Erwin Coumans
2017-09-11 21:49:39 -07:00
parent a2322f7e3e
commit 3d3e391b6a
1 changed files with 46 additions and 16 deletions
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44
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -380,30 +380,60 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
else if (type_name == "cylinder") else if (type_name == "cylinder")
{ {
geom.m_type = URDF_GEOM_CYLINDER; geom.m_type = URDF_GEOM_CYLINDER;
if (!shape->Attribute("length") || geom.m_hasFromTo = false;
!shape->Attribute("radius")) geom.m_capsuleRadius = 0.1;
geom.m_capsuleHeight = 0.1;
if (m_parseSDF)
{
if (TiXmlElement* scale = shape->FirstChildElement("radius"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
if (TiXmlElement* scale = shape->FirstChildElement("length"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
} else
{
if (!shape->Attribute("length") ||!shape->Attribute("radius"))
{ {
logger->reportError("Cylinder shape must have both length and radius attributes"); logger->reportError("Cylinder shape must have both length and radius attributes");
return false; return false;
} }
geom.m_hasFromTo = false;
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius")); geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length")); geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
}
} }
else if (type_name == "capsule") else if (type_name == "capsule")
{ {
geom.m_type = URDF_GEOM_CAPSULE; geom.m_type = URDF_GEOM_CAPSULE;
if (!shape->Attribute("length") || geom.m_hasFromTo = false;
!shape->Attribute("radius")) if (m_parseSDF)
{
if (TiXmlElement* scale = shape->FirstChildElement("radius"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
if (TiXmlElement* scale = shape->FirstChildElement("length"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
} else
{
if (!shape->Attribute("length") || !shape->Attribute("radius"))
{ {
logger->reportError("Capsule shape must have both length and radius attributes"); logger->reportError("Capsule shape must have both length and radius attributes");
return false; return false;
} }
geom.m_hasFromTo = false;
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius")); geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length")); geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
} }
}
else if (type_name == "mesh") else if (type_name == "mesh")
{ {
geom.m_type = URDF_GEOM_MESH; geom.m_type = URDF_GEOM_MESH;