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support 'world' tag for fixed objects in URDF

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This commit is contained in:
Erwin Coumans
2016-03-30 14:43:59 -07:00
parent 84a136534a
commit 5c1eb2ec07
1 changed files with 19 additions and 8 deletions
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13
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -379,15 +379,26 @@ bool UrdfParser::parseLink(UrdfLink& link, TiXmlElement *config, ErrorLogger* lo
} }
} else } else
{ {
if ((strlen(linkName)==5) && (strncmp(linkName, "world", 5))==0)
{
link.m_inertia.m_mass = 0.f;
link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 0.f;
link.m_inertia.m_iyy = 0.f;
link.m_inertia.m_izz= 0.f;
} else
{
logger->reportWarning("No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame"); logger->reportWarning("No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame");
link.m_inertia.m_mass = 1.f; link.m_inertia.m_mass = 1.f;
link.m_inertia.m_linkLocalFrame.setIdentity(); link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 1.f; link.m_inertia.m_ixx = 1.f;
link.m_inertia.m_iyy = 1.f; link.m_inertia.m_iyy = 1.f;
link.m_inertia.m_izz= 1.f; link.m_inertia.m_izz= 1.f;
logger->reportWarning(link.m_name.c_str()); logger->reportWarning(link.m_name.c_str());
} }
}
// Multiple Visuals (optional) // Multiple Visuals (optional)
for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual")) for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))