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parse plane geom for URDF files (not just SDF)

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This commit is contained in:
erwincoumans
2018-01-13 13:41:46 -08:00
parent 1b569c0701
commit e961800278
1 changed files with 35 additions and 22 deletions
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21
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -492,13 +492,12 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
} }
} }
else else
{
if (this->m_parseSDF)
{ {
if (type_name == "plane") if (type_name == "plane")
{ {
geom.m_type = URDF_GEOM_PLANE; geom.m_type = URDF_GEOM_PLANE;
if (this->m_parseSDF)
{
TiXmlElement *n = shape->FirstChildElement("normal"); TiXmlElement *n = shape->FirstChildElement("normal");
TiXmlElement *s = shape->FirstChildElement("size"); TiXmlElement *s = shape->FirstChildElement("size");
@@ -509,8 +508,22 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
} }
parseVector3(geom.m_planeNormal,n->GetText(),logger); parseVector3(geom.m_planeNormal,n->GetText(),logger);
}
} else } else
{
if (!shape->Attribute("normal"))
{
logger->reportError("plane requires a normal attribute");
return false;
} else
{
parseVector3(geom.m_planeNormal,shape->Attribute("normal"),logger);
}
}
}
else
{ {
logger->reportError("Unknown geometry type:"); logger->reportError("Unknown geometry type:");
logger->reportError(type_name.c_str()); logger->reportError(type_name.c_str());