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Clang Format Change

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This commit is contained in:
mbennice
2018-09-27 10:00:39 -07:00
parent 30d4c4136a
commit 7485999254
5 changed files with 69 additions and 67 deletions
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119
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -1438,27 +1438,27 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* l
bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
{
// Sensors are mapped to Links with a Fixed Joints connecting to the parents.
// They has no extent or mass so they will work with the existing
// model without affecting the system.
logger->reportError("Adding Sensor ");
const char* sensorName = config->Attribute("name");
// Sensors are mapped to Links with a Fixed Joints connecting to the parents.
// They has no extent or mass so they will work with the existing
// model without affecting the system.
logger->reportError("Adding Sensor ");
const char* sensorName = config->Attribute("name");
if (!sensorName)
{
logger->reportError("Sensor with no name");
return false;
}
logger->reportError(sensorName);
link.m_name = sensorName;
link.m_linkTransformInWorld.setIdentity();
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;
logger->reportError(sensorName);
link.m_name = sensorName;
link.m_linkTransformInWorld.setIdentity();
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;
// Get Parent Link
// Get Parent Link
XMLElement* parent_xml = config->FirstChildElement("parent");
if (parent_xml)
{
@@ -1482,12 +1482,12 @@ bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint,
}
}
joint.m_name = std::string(sensorName).append("_Joint");
joint.m_childLinkName = sensorName;
joint.m_type = URDFFixedJoint;
joint.m_localJointAxis.setValue(0, 0, 0);
joint.m_name = std::string(sensorName).append("_Joint");
joint.m_childLinkName = sensorName;
joint.m_type = URDFFixedJoint;
joint.m_localJointAxis.setValue(0, 0, 0);
// Get transform from Parent Link to Joint Frame
// Get transform from Parent Link to Joint Frame
XMLElement* origin_xml = config->FirstChildElement("origin");
if (origin_xml)
{
@@ -1499,7 +1499,7 @@ bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint,
}
}
return true;
return true;
}
bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
@@ -1713,46 +1713,47 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
}
}
if (parseSensors) {
// Get all Sensor Elements.
for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor"))
{
UrdfLink* sensor = new UrdfLink;
UrdfJoint* sensor_joint = new UrdfJoint;
if (parseSensors)
{
// Get all Sensor Elements.
for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor"))
{
UrdfLink* sensor = new UrdfLink;
UrdfJoint* sensor_joint = new UrdfJoint;
if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
{
if (m_urdf2Model.m_links.find(sensor->m_name.c_str()))
{
logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique");
logger->reportError(sensor->m_name.c_str());
delete sensor;
delete sensor_joint;
return false;
}
else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str()))
{
logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique");
logger->reportError(sensor_joint->m_name.c_str());
delete sensor;
delete sensor_joint;
return false;
}
else
{
m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
}
}
else
{
logger->reportError("failed to parse sensor");
delete sensor;
delete sensor_joint;
return false;
}
}
}
if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
{
if (m_urdf2Model.m_links.find(sensor->m_name.c_str()))
{
logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique");
logger->reportError(sensor->m_name.c_str());
delete sensor;
delete sensor_joint;
return false;
}
else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str()))
{
logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique");
logger->reportError(sensor_joint->m_name.c_str());
delete sensor;
delete sensor_joint;
return false;
}
else
{
m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
}
}
else
{
logger->reportError("failed to parse sensor");
delete sensor;
delete sensor_joint;
return false;
}
}
}
if (m_urdf2Model.m_links.size() == 0)
{