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Update URDF Importer to process sensor elements.

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Update the URDF Importer to add sensors as 0 mass 0 inertia elements
attached by a fixed joint. This way their states can be read as links.
This commit is contained in:
mbennice
2018-09-26 16:35:22 -07:00
parent 180a9f5103
commit f79b04357f
4 changed files with 124 additions and 3 deletions
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8
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -267,6 +267,7 @@ protected:
bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJoint(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
public:
UrdfParser();
@@ -285,7 +286,12 @@ public:
m_urdfScaling = scaling;
}
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase);
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors);
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) {
return loadUrdf(urdfText, logger, forceFixedBase, false);
}
bool loadSDF(const char* sdfText, ErrorLogger* logger);
int getNumModels() const