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add forceFixedBase option for URDF import example

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This commit is contained in:
Erwin Coumans
2015-07-07 15:39:36 -07:00
parent 272ffeb232
commit 7f4beba7ee
7 changed files with 30 additions and 10 deletions
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25
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -715,7 +715,8 @@ bool UrdfParser::initTreeAndRoot(ErrorLogger* logger)
return true;
}
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger)
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase)
{
TiXmlDocument xml_doc;
@@ -840,8 +841,26 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger)
}
}
bool ok(initTreeAndRoot(logger));
if (!ok)
{
return false;
}
return initTreeAndRoot(logger);
if (forceFixedBase)
{
for (int i=0;i<m_model.m_rootLinks.size();i++)
{
UrdfLink* link(m_model.m_rootLinks.at(i));
link->m_inertia.m_mass = 0.0;
link->m_inertia.m_ixx = 0.0;
link->m_inertia.m_ixy = 0.0;
link->m_inertia.m_ixz = 0.0;
link->m_inertia.m_iyy = 0.0;
link->m_inertia.m_iyz = 0.0;
link->m_inertia.m_izz = 0.0;
}
}
return true;
}