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Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment.

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This commit is contained in:
yunfeibai
2016-08-30 11:19:23 -07:00
parent c741b17da8
commit d784c61b61
9 changed files with 536 additions and 24 deletions
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21
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -646,6 +646,27 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
}
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
}
}
}