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add 'fixed' joint for btMultiBody

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improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
This commit is contained in:
erwin coumans
2014-08-28 18:42:08 -07:00
parent 3c558ec995
commit 89addd438e
19 changed files with 1276 additions and 304 deletions
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4
btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
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@@ -223,6 +223,8 @@ public:
std::vector<my_shared_ptr<Joint> > child_joints;
std::vector<my_shared_ptr<Link> > child_links;
mutable int m_link_index;
const Link* getParent() const
{return parent_link_;}
@@ -242,6 +244,8 @@ public:
this->child_links.clear();
this->collision_array.clear();
this->visual_array.clear();
this->m_link_index=-1;
this->parent_link_ = NULL;
};
private:

5
btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
View File

@@ -82,6 +82,8 @@ public:
void clear()
{
m_numLinks=0;
m_numJoints = 0;
name_.clear();
this->links_.clear();
this->joints_.clear();
@@ -132,6 +134,7 @@ public:
this->getLink(child_link_name, child_link);
if (!child_link)
{
printf("Error: child link [%s] of joint [%s] not found\n", child_link_name,joint->first );
assert(0);
// throw ParseError("child link [" + child_link_name + "] of joint [" + joint->first + "] not found");
}
@@ -206,6 +209,8 @@ public:
/// \brief The root is always a link (the parent of the tree describing the robot)
my_shared_ptr<Link> root_link_;
int m_numLinks;//includes parent
int m_numJoints;
};