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fix sphere sdf parsing

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This commit is contained in:
erwincoumans
2018-10-22 16:01:58 -07:00
parent 84870739af
commit 707bac9c3d
1 changed files with 17 additions and 4 deletions
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13
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -346,6 +346,18 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
if (type_name == "sphere") if (type_name == "sphere")
{ {
geom.m_type = URDF_GEOM_SPHERE; geom.m_type = URDF_GEOM_SPHERE;
if (m_parseSDF)
{
XMLElement* size = shape->FirstChildElement("radius");
if (0 == size)
{
logger->reportError("sphere requires a radius child element");
return false;
}
geom.m_sphereRadius = urdfLexicalCast<double>(size->GetText());
}
else
{
if (!shape->Attribute("radius")) if (!shape->Attribute("radius"))
{ {
logger->reportError("Sphere shape must have a radius attribute"); logger->reportError("Sphere shape must have a radius attribute");
@@ -356,6 +368,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius")); geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
} }
} }
}
else if (type_name == "box") else if (type_name == "box")
{ {
geom.m_type = URDF_GEOM_BOX; geom.m_type = URDF_GEOM_BOX;