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parse root transformation and test loading two robots

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yunfeibai
2016-05-11 15:52:50 -07:00
parent 06a2669b32
commit 7929bee128
12 changed files with 879 additions and 37 deletions
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4
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -37,7 +37,9 @@ public:
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const =0;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const =0;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;