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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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2
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -31,7 +31,7 @@ enum ConvertURDFFlags
CUF_ENABLE_SLEEPING = 2048, CUF_ENABLE_SLEEPING = 2048,
CUF_INITIALIZE_SAT_FEATURES = 4096, CUF_INITIALIZE_SAT_FEATURES = 4096,
CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
CUF_PARSE_SENSORS = 16384, CUF_PARSE_SENSORS = 16384,
}; };
struct UrdfVisualShapeCache struct UrdfVisualShapeCache

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) 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. // 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 // They has no extent or mass so they will work with the existing
// model without affecting the system. // model without affecting the system.
logger->reportError("Adding Sensor "); logger->reportError("Adding Sensor ");
const char* sensorName = config->Attribute("name"); const char* sensorName = config->Attribute("name");
if (!sensorName) if (!sensorName)
{ {
logger->reportError("Sensor with no name"); logger->reportError("Sensor with no name");
return false; return false;
} }
logger->reportError(sensorName); logger->reportError(sensorName);
link.m_name = sensorName; link.m_name = sensorName;
link.m_linkTransformInWorld.setIdentity(); link.m_linkTransformInWorld.setIdentity();
link.m_inertia.m_mass = 0.f; link.m_inertia.m_mass = 0.f;
link.m_inertia.m_linkLocalFrame.setIdentity(); link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 0.f; link.m_inertia.m_ixx = 0.f;
link.m_inertia.m_iyy = 0.f; link.m_inertia.m_iyy = 0.f;
link.m_inertia.m_izz = 0.f; link.m_inertia.m_izz = 0.f;
// Get Parent Link // Get Parent Link
XMLElement* parent_xml = config->FirstChildElement("parent"); XMLElement* parent_xml = config->FirstChildElement("parent");
if (parent_xml) 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_name = std::string(sensorName).append("_Joint");
joint.m_childLinkName = sensorName; joint.m_childLinkName = sensorName;
joint.m_type = URDFFixedJoint; joint.m_type = URDFFixedJoint;
joint.m_localJointAxis.setValue(0, 0, 0); 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"); XMLElement* origin_xml = config->FirstChildElement("origin");
if (origin_xml) 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) bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
@@ -1713,46 +1713,47 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
} }
} }
if (parseSensors) { if (parseSensors)
// Get all Sensor Elements. {
for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor")) // 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; UrdfLink* sensor = new UrdfLink;
UrdfJoint* sensor_joint = new UrdfJoint;
if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger)) if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
{ {
if (m_urdf2Model.m_links.find(sensor->m_name.c_str())) 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 name is not unique, sensor and link names in the same model have to be unique");
logger->reportError(sensor->m_name.c_str()); logger->reportError(sensor->m_name.c_str());
delete sensor; delete sensor;
delete sensor_joint; delete sensor_joint;
return false; return false;
} }
else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str())) 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 name is not unique, joint names in the same model have to be unique");
logger->reportError(sensor_joint->m_name.c_str()); logger->reportError(sensor_joint->m_name.c_str());
delete sensor; delete sensor;
delete sensor_joint; delete sensor_joint;
return false; return false;
} }
else else
{ {
m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor); m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint); m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
} }
} }
else else
{ {
logger->reportError("failed to parse sensor"); logger->reportError("failed to parse sensor");
delete sensor; delete sensor;
delete sensor_joint; delete sensor_joint;
return false; return false;
} }
} }
} }
if (m_urdf2Model.m_links.size() == 0) if (m_urdf2Model.m_links.size() == 0)
{ {

11
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -267,7 +267,7 @@ protected:
bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
public: public:
UrdfParser(); UrdfParser();
@@ -286,11 +286,12 @@ public:
m_urdfScaling = scaling; m_urdfScaling = scaling;
} }
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors); bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors);
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) { bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase)
return loadUrdf(urdfText, logger, forceFixedBase, false); {
} return loadUrdf(urdfText, logger, forceFixedBase, false);
}
bool loadSDF(const char* sdfText, ErrorLogger* logger); bool loadSDF(const char* sdfText, ErrorLogger* logger);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5676,7 +5676,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
} }
} }
} //fi } //fi
//break; //break;
} }
} }
} //if (body && body->m_rigidBody) } //if (body && body->m_rigidBody)

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -820,7 +820,7 @@ enum eURDF_Flags
URDF_ENABLE_SLEEPING = 2048, URDF_ENABLE_SLEEPING = 2048,
URDF_INITIALIZE_SAT_FEATURES = 4096, URDF_INITIALIZE_SAT_FEATURES = 4096,
URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
URDF_PARSE_SENSORS = 16384, URDF_PARSE_SENSORS = 16384,
}; };
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes