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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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12
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -77,6 +77,7 @@ struct UrdfGeometry
struct UrdfVisual
{
std::string m_sourceFileLocation;
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
@@ -90,6 +91,7 @@ struct UrdfVisual
struct UrdfCollision
{
std::string m_sourceFileLocation;
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
@@ -159,6 +161,7 @@ struct UrdfJoint
struct UrdfModel
{
std::string m_name;
std::string m_sourceFile;
btTransform m_rootTransformInWorld;
btHashMap<btHashString, UrdfMaterial*> m_materials;
btHashMap<btHashString, UrdfLink*> m_links;
@@ -204,7 +207,7 @@ public:
UrdfParser();
virtual ~UrdfParser();
void setParseSDF(bool useSDF)
{
m_parseSDF = useSDF;
@@ -263,6 +266,13 @@ public:
}
return m_urdf2Model;
}
std::string sourceFileLocation(TiXmlElement* e);
void setSourceFile(const std::string& sourceFile)
{
m_urdf2Model.m_sourceFile = sourceFile;
}
};
#endif