298 lines
11 KiB
C++
298 lines
11 KiB
C++
#include "ImportURDFSetup.h"
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ImportUrdfDemo::ImportUrdfDemo()
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{
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}
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ImportUrdfDemo::~ImportUrdfDemo()
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{
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}
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#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
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#include <iostream>
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#include <fstream>
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using namespace urdf;
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void printTree(my_shared_ptr<const Link> link,int level = 0)
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{
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level+=2;
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int count = 0;
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for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
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{
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if (*child)
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{
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for(int j=0;j<level;j++) std::cout << " "; //indent
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std::cout << "child(" << (count++)+1 << "): " << (*child)->name << std::endl;
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// first grandchild
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printTree(*child,level);
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}
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else
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{
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for(int j=0;j<level;j++) std::cout << " "; //indent
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std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
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}
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}
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}
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#define MSTRINGIFY(A) #A
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const char* urdf_char2 = MSTRINGIFY(
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<robot name="test_robot">
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<link name="link1" />
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<link name="link2" />
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<link name="link3" />
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<link name="link4" />
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<joint name="joint1" type="continuous">
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<joint name="joint2" type="continuous">
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<parent link="link1"/>
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<child link="link3"/>
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</joint>
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<joint name="joint3" type="continuous">
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<parent link="link3"/>
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<child link="link4"/>
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</joint>
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</robot>);
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const char* urdf_char1 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="myfirst">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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</robot>
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);
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const char* urdf_char3 = MSTRINGIFY(<?xml version="1.0"?>
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<robot name="multipleshapes">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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</joint>
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</robot>);
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const char* urdf_char = MSTRINGIFY(<?xml version="1.0"?>
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<robot name="materials">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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</robot>);
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge)
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{
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btCollisionShape* shape = 0;
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{
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printf("converting link %s",link->name.c_str());
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for (int v=0;v<link->visual_array.size();v++)
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{
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const Visual* visual = link->visual_array[v].get();
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switch (visual->geometry->type)
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{
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// , BOX, CYLINDER, MESH:
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case Geometry::CYLINDER:
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{
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printf("processing a cylinder\n");
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urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
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btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length);
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btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
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shape = cylZShape;
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break;
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}
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case Geometry::BOX:
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{
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printf("processing a box\n");
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urdf::Box* box = (urdf::Box*)visual->geometry.get();
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btVector3 halfExtents(box->dim.x,box->dim.y,box->dim.z);
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btBoxShape* boxShape = new btBoxShape(halfExtents);
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shape = boxShape;
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break;
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}
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case Geometry::SPHERE:
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{
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break;
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}
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case Geometry::MESH:
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{
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break;
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}
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default:
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{
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printf("Error: unknown visual geometry type\n");
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}
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}
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if (shape)
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{
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gfxBridge.createCollisionShapeGraphicsObject(shape);
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btVector3 color(0,0,1);
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if (visual->material.get())
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{
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color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
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}
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// btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
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btScalar mass = 0.f;
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btVector3 localInertia(0,0,0);
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if (mass)
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{
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shape->calculateLocalInertia(mass,localInertia);
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}
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btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
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btRigidBody* body = new btRigidBody(rbci);
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gfxBridge.createRigidBodyGraphicsObject(body,color);
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}
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}
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}
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for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
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{
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if (*child)
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{
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URDFvisual2BulletCollisionShape(*child,gfxBridge);
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}
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else
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{
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std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
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}
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}
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}
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void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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int argc=0;
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char* filename="somefile.urdf";
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std::string xml_string;
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if (argc < 2){
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std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
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xml_string = std::string(urdf_char);
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} else
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{
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std::fstream xml_file(filename, std::fstream::in);
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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my_shared_ptr<ModelInterface> robot = parseURDF(xml_string);
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if (!robot){
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std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
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return ;
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}
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std::cout << "robot name is: " << robot->getName() << std::endl;
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// get info from parser
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std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
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// get root link
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my_shared_ptr<const Link> root_link=robot->getRoot();
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if (!root_link) return ;
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std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl;
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// print entire tree
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printTree(root_link);
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{
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URDFvisual2BulletCollisionShape(root_link, gfxBridge);
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}
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}
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