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URDF loader: resources path, "package://" removal, error messages, zero material path in .obj loader

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This commit is contained in:
Oleg Klimov
2017-03-08 14:49:39 +03:00
parent 7ffbd35d42
commit 5b2a9d1a01
4 changed files with 389 additions and 422 deletions
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13
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -8,9 +8,9 @@ UrdfParser::UrdfParser()
:m_parseSDF(false),
m_activeSdfModel(-1)
{
m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING"; // if loadUrdf() called later, source file name will be replaced with real
}
UrdfParser::~UrdfParser()
{
cleanModel(&m_urdf2Model);
@@ -845,7 +845,8 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
{
UrdfVisual visual;
visual.m_sourceFileLocation = sourceFileLocation(vis_xml);
if (parseVisual(model, visual, vis_xml,logger))
{
link.m_visualArray.push_back(visual);
@@ -864,6 +865,8 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
{
UrdfCollision col;
col.m_sourceFileLocation = sourceFileLocation(col_xml);
if (parseCollision(col, col_xml,logger))
{
link.m_collisionArray.push_back(col);
@@ -1657,3 +1660,9 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
return true;
}
std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
{
char buf[1024];
snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
return buf;
}