[Personalrobots-commit] SF.net SVN: personalrobots:[2414] pkg/trunk

[<is...@us...>]

Revision: 2414
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2414&view=rev
Author:   isucan
Date:     2008-08-01 00:19:57 +0000 (Fri, 01 Aug 2008)

Log Message:
-----------
using the new parser data in the kinematic model

Modified Paths:
--------------
    pkg/trunk/robot_descriptions/wg_robot_description_parser/src/urdf/URDF.cpp
    pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp
    pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp

Modified: pkg/trunk/robot_descriptions/wg_robot_description_parser/src/urdf/URDF.cpp
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description_parser/src/urdf/URDF.cpp	2008-08-01 00:13:53 UTC (rev 2413)
+++ pkg/trunk/robot_descriptions/wg_robot_description_parser/src/urdf/URDF.cpp	2008-08-01 00:19:57 UTC (rev 2414)
@@ -1551,7 +1551,7 @@
 	    {
 		if (joint->axis[0] == 0.0 && joint->axis[1] == 0.0 && joint->axis[2] == 0.0)
 		    fprintf(stderr, "Joint '%s' in link '%s' does not seem to have its axis properly set\n", joint->name.c_str(), links[i]->name.c_str());
-		if (joint->isSet["limit"] && joint->limit[0] == 0.0 && joint->limit[1] == 0.0)
+		if ((joint->isSet["limit"] || joint->type == Link::Joint::PRISMATIC) && joint->limit[0] == 0.0 && joint->limit[1] == 0.0)
 		    fprintf(stderr, "Joint '%s' in link '%s' does not seem to have its limits properly set\n", joint->name.c_str(), links[i]->name.c_str());
 	    }
 	    

Modified: pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp
===================================================================
--- pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp	2008-08-01 00:13:53 UTC (rev 2413)
+++ pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp	2008-08-01 00:19:57 UTC (rev 2414)
@@ -278,6 +278,12 @@
 	break;
     }
     
+    if (!urdfLink->joint->isSet["limit"] && joint->type == Joint::REVOLUTE)
+    {
+	joint->limit[0] = -M_PI;
+	joint->limit[1] =  M_PI;
+    }
+
     /** construct the inGroup bitvector */
     std::vector<std::string> gnames;
     model.getGroupNames(gnames);

Modified: pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp
===================================================================
--- pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp	2008-08-01 00:13:53 UTC (rev 2413)
+++ pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp	2008-08-01 00:19:57 UTC (rev 2414)
@@ -79,12 +79,12 @@
     m->computeTransforms(param);
     km->updateRobotModel(0);
     
-
+    /*
     for (unsigned int i = 0 ; i < m->stateDimension ; ++i)
 	param[i] = +0.3;
     m->computeTransforms(param, m->getGroupID("pr2::base+rightArm"));
     km->updateRobotModel(0);
-    
+    */
     EnvironmentModelODE* okm = dynamic_cast<EnvironmentModelODE*>(km);
     spaces.addSpace(okm->getODESpace(), 1.0f, 0.3f, 0.0f);
     for (unsigned int i = 0 ; i < okm->getModelCount() ; ++i)


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