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fix urdf relative path problem (don't use arrays on stack!)

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2015-05-04 14:15:34 -07:00
parent 0f567be549
commit 6ea35aa875
2 changed files with 6 additions and 7 deletions
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2
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -91,7 +91,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
} else } else
{ {
gFileNameArray.clear(); gFileNameArray.clear();
gFileNameArray.push_back("r2d2.urdf"); gFileNameArray.push_back("husky/model.urdf");

11
examples/Importers/ImportURDFDemo/MyURDFImporter.cpp
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@@ -66,7 +66,7 @@ struct MyURDFInternalData
my_shared_ptr<ModelInterface> m_robot; my_shared_ptr<ModelInterface> m_robot;
std::vector<my_shared_ptr<Link> > m_links; std::vector<my_shared_ptr<Link> > m_links;
struct GUIHelperInterface* m_guiHelper; struct GUIHelperInterface* m_guiHelper;
const char* m_pathPrefix; char m_pathPrefix[1024];
}; };
@@ -89,7 +89,7 @@ MyURDFImporter::MyURDFImporter(struct GUIHelperInterface* helper)
m_data = new MyURDFInternalData; m_data = new MyURDFInternalData;
m_data->m_robot = 0; m_data->m_robot = 0;
m_data->m_guiHelper = helper; m_data->m_guiHelper = helper;
m_data->m_pathPrefix=0; m_data->m_pathPrefix[0]=0;
@@ -107,9 +107,8 @@ bool MyURDFImporter::loadURDF(const char* fileName)
bool fileFound = fu.findFile(fileName, relativeFileName, 1024); bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
std::string xml_string; std::string xml_string;
char pathPrefix[1024]; m_data->m_pathPrefix[0] = 0;
pathPrefix[0] = 0;
if (!fileFound){ if (!fileFound){
std::cerr << "URDF file not found" << std::endl; std::cerr << "URDF file not found" << std::endl;
return false; return false;
@@ -117,7 +116,7 @@ bool MyURDFImporter::loadURDF(const char* fileName)
{ {
int maxPathLen = 1024; int maxPathLen = 1024;
fu.extractPath(relativeFileName,pathPrefix,maxPathLen); fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
std::fstream xml_file(relativeFileName, std::fstream::in); std::fstream xml_file(relativeFileName, std::fstream::in);