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Merge pull request #1948 from erwincoumans/master

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fix sphere sdf parsing
This commit is contained in:
erwincoumans
2018-10-22 16:02:44 -07:00
committed by GitHub
parent 9090442f83 707bac9c3d
commit 9c1db5fb34
1 changed files with 17 additions and 4 deletions
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21
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -346,14 +346,27 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
if (type_name == "sphere")
{
geom.m_type = URDF_GEOM_SPHERE;
if (!shape->Attribute("radius"))
if (m_parseSDF)
{
logger->reportError("Sphere shape must have a radius attribute");
return false;
XMLElement* size = shape->FirstChildElement("radius");
if (0 == size)
{
logger->reportError("sphere requires a radius child element");
return false;
}
geom.m_sphereRadius = urdfLexicalCast<double>(size->GetText());
}
else
{
geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
if (!shape->Attribute("radius"))
{
logger->reportError("Sphere shape must have a radius attribute");
return false;
}
else
{
geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
}
}
}
else if (type_name == "box")