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Merge pull request #1025 from olegklimov/master

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URDF loader improvement 2
This commit is contained in:
erwincoumans
2017-03-21 17:12:22 -07:00
committed by GitHub
parent 2b698688f4 80a0b51a1d
commit a30b887595
62 changed files with 398 additions and 331 deletions
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23
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -401,8 +401,9 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
logger->reportError("Cylinder shape must have both length and radius attributes");
return false;
}
geom.m_cylinderRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_cylinderLength = urdfLexicalCast<double>(shape->Attribute("length"));
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "capsule")
@@ -575,7 +576,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
if (name_char)
visual.m_name = name_char;
visual.m_hasLocalMaterial = false;
visual.m_geometry.m_hasLocalMaterial = false;
// Material
TiXmlElement *mat = config->FirstChildElement("material");
@@ -597,7 +598,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
matPtr->m_rgbaColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_hasLocalMaterial = true;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
else
@@ -616,11 +617,11 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
{
if (parseMaterial(visual.m_localMaterial, mat,logger))
if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial);
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_geometry.m_localMaterial);
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_hasLocalMaterial = true;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
}
@@ -1415,12 +1416,12 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
for (int i=0;i<link->m_visualArray.size();i++)
{
UrdfVisual& vis = link->m_visualArray.at(i);
if (!vis.m_hasLocalMaterial && vis.m_materialName.c_str())
if (!vis.m_geometry.m_hasLocalMaterial && vis.m_materialName.c_str())
{
UrdfMaterial** mat = m_urdf2Model.m_materials.find(vis.m_materialName.c_str());
if (mat && *mat)
{
vis.m_localMaterial = **mat;
vis.m_geometry.m_localMaterial = **mat;
} else
{
//logger->reportError("Cannot find material with name:");
@@ -1610,12 +1611,12 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
for (int i=0;i<link->m_visualArray.size();i++)
{
UrdfVisual& vis = link->m_visualArray.at(i);
if (!vis.m_hasLocalMaterial && vis.m_materialName.c_str())
if (!vis.m_geometry.m_hasLocalMaterial && vis.m_materialName.c_str())
{
UrdfMaterial** mat = localModel->m_materials.find(vis.m_materialName.c_str());
if (mat && *mat)
{
vis.m_localMaterial = **mat;
vis.m_geometry.m_localMaterial = **mat;
} else
{
//logger->reportError("Cannot find material with name:");