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parse root transformation and test loading two robots

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This commit is contained in:
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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21
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -532,11 +532,11 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
TiXmlElement* pose = config->FirstChildElement("pose");
if (0==pose)
{
link.m_parentLinktoLinkTransform.setIdentity();
link.m_linkTransformInWorld.setIdentity();
}
else
{
parseTransform(link.m_parentLinktoLinkTransform, pose,logger,m_parseSDF);
parseTransform(link.m_linkTransformInWorld, pose,logger,m_parseSDF);
}
}
@@ -1017,11 +1017,6 @@ bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
parentLink->m_childJoints.push_back(joint);
parentLink->m_childLinks.push_back(childLink);
parentLinkTree.insert(childLink->m_name.c_str(),parentLink->m_name.c_str());
if (m_parseSDF) {
joint->m_parentLinkToJointTransform = childLink->m_parentLinktoLinkTransform;
}
}
}
@@ -1255,8 +1250,16 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
}
localModel->m_name = name;
TiXmlElement* pose_xml = robot_xml->FirstChildElement("pose");
if (0==pose_xml)
{
localModel->m_rootTransformInWorld.setIdentity();
}
else
{
parseTransform(localModel->m_rootTransformInWorld,pose_xml,logger,m_parseSDF);
}
// Get all Material elements
for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
{