[Personalrobots-commit] SF.net SVN: personalrobots:[8602] pkg/trunk

[<hsu...@us...>]

Revision: 8602
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8602&view=rev
Author:   hsujohnhsu
Date:     2008-12-27 01:44:57 +0000 (Sat, 27 Dec 2008)

Log Message:
-----------
create [mesh]_convex.stl using convex decomposition package.

Modified Paths:
--------------
    pkg/trunk/3rdparty/convex_decomposition/manifest.xml
    pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt
    pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml

Modified: pkg/trunk/3rdparty/convex_decomposition/manifest.xml
===================================================================
--- pkg/trunk/3rdparty/convex_decomposition/manifest.xml	2008-12-27 01:22:01 UTC (rev 8601)
+++ pkg/trunk/3rdparty/convex_decomposition/manifest.xml	2008-12-27 01:44:57 UTC (rev 8602)
@@ -9,6 +9,6 @@
 <review status="3rdparty" notes=""/>
 <url>http://www.amillionpixels.us/ConvexDecomposition.zip</url>
 <export>
-  <cpp lflags="-L${prefix}/ConvexDecomposition/lib -lconvex_decomposition" cflags="-I${prefix}/ConvexDecomposition/include"/>
+  <cpp lflags="-L${prefix}/ConvexDecomposition/lib " cflags="-I${prefix}/ConvexDecomposition/include"/>
 </export>
 </package>

Modified: pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt	2008-12-27 01:22:01 UTC (rev 8601)
+++ pkg/trunk/robot_descriptions/wg_robot_description/CMakeLists.txt	2008-12-27 01:44:57 UTC (rev 8602)
@@ -11,6 +11,7 @@
 
 # xacro file generation
 find_ros_package(xacro)
+find_ros_package(convex_decomposition)
 
 set(pr2robot "${CMAKE_CURRENT_SOURCE_DIR}/pr2/pr2")
 add_custom_command(
@@ -65,6 +66,34 @@
 
 set(pr2_gen_files ${pr2_gen_files} ${basepath}/${basename}.iv)
 
+#obj files
+add_custom_command(
+  OUTPUT ${basepath}/${basename}.obj
+  COMMAND ivcon
+  ARGS ${it} ${basepath}/${basename}.obj
+  DEPENDS ${it} ivcon)
+
+set(pr2_gen_files ${pr2_gen_files} ${basepath}/${basename}.obj)
+
+#convex decomposition obj files
+add_custom_command(
+  OUTPUT ${basepath}/${basename}_convex.obj
+  COMMAND ${convex_decomposition_PACKAGE_PATH}/convex_decomposition/bin/convex_decomposition
+  ARGS ${basepath}/${basename}.obj
+  DEPENDS ${basepath}/${basename}.obj)
+
+set(pr2_gen_files ${pr2_gen_files} ${basepath}/${basename}_convex.obj)
+
+#convert obj files back to stl
+add_custom_command(
+  OUTPUT ${basepath}/${basename}_convex.stl
+  COMMAND ivcon
+  ARGS ${basepath}/${basename}_convex.obj ${basepath}/${basename}_convex.stl
+  DEPENDS ${it} ivcon)
+
+set(pr2_gen_files ${pr2_gen_files} ${basepath}/${basename}_convex.stl)
+
+
 endforeach(it)
 
 add_custom_target(media_files ALL DEPENDS ${pr2robot}.xml ${pr2prototype1}.xml ${pr2arm}.xml ${pr2gripper}.xml ${pr2_gen_files})

Modified: pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml	2008-12-27 01:22:01 UTC (rev 8601)
+++ pkg/trunk/robot_descriptions/wg_robot_description/manifest.xml	2008-12-27 01:44:57 UTC (rev 8602)
@@ -12,6 +12,7 @@
   
   <depend package="wg_robot_description_parser" />
   <depend package="xacro"/>
+  <depend package="convex_decomposition"/>
   <url>http://pr.willowgarage.com/wiki/RobotDescriptionFormat</url>
 
 </package>


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