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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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4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -93,7 +93,7 @@ struct BulletErrorLogger : public ErrorLogger
} }
}; };
bool BulletURDFImporter::loadURDF(const char* fileName) bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{ {
@@ -129,7 +129,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName)
} }
BulletErrorLogger loggie; BulletErrorLogger loggie;
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(),&loggie); bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase);
return result; return result;
} }

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -16,7 +16,7 @@ public:
virtual ~BulletURDFImporter(); virtual ~BulletURDFImporter();
virtual bool loadURDF(const char* fileName); virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
const char* getPathPrefix(); const char* getPathPrefix();

2
examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp
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@@ -95,7 +95,7 @@ ROSURDFImporter::ROSURDFImporter(struct GUIHelperInterface* helper)
} }
bool ROSURDFImporter::loadURDF(const char* fileName) bool ROSURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{ {

3
examples/Importers/ImportURDFDemo/ROSURDFImporter.h
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@@ -16,7 +16,8 @@ public:
virtual ~ROSURDFImporter(); virtual ~ROSURDFImporter();
virtual bool loadURDF(const char* fileName); // Note that forceFixedBase is ignored in this implementation.
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
virtual const char* getPathPrefix(); virtual const char* getPathPrefix();

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -15,7 +15,7 @@ public:
virtual ~URDFImporterInterface() {} virtual ~URDFImporterInterface() {}
virtual bool loadURDF(const char* fileName)=0; virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
virtual const char* getPathPrefix()=0; virtual const char* getPathPrefix()=0;

25
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -715,7 +715,8 @@ bool UrdfParser::initTreeAndRoot(ErrorLogger* logger)
return true; return true;
} }
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger)
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase)
{ {
TiXmlDocument xml_doc; TiXmlDocument xml_doc;
@@ -840,8 +841,26 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger)
} }
} }
bool ok(initTreeAndRoot(logger));
if (!ok)
{
return false;
}
if (forceFixedBase)
return initTreeAndRoot(logger); {
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;
} }

2
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -150,7 +150,7 @@ public:
UrdfParser(); UrdfParser();
virtual ~UrdfParser(); virtual ~UrdfParser();
bool loadUrdf(const char* urdfText, ErrorLogger* logger); bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase);
const UrdfModel& getModel() const const UrdfModel& getModel() const
{ {