Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[10746] pkg/trunk
|
From: <rdi...@us...> - 2009-02-07 04:11:20
|
Revision: 10746
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10746&view=rev
Author: rdiankov
Date: 2009-02-07 04:11:16 +0000 (Sat, 07 Feb 2009)
Log Message:
-----------
fixed openrave_robot_description parsing
Modified Paths:
--------------
pkg/trunk/3rdparty/openrave/Makefile
pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp
Modified: pkg/trunk/3rdparty/openrave/Makefile
===================================================================
--- pkg/trunk/3rdparty/openrave/Makefile 2009-02-07 03:35:24 UTC (rev 10745)
+++ pkg/trunk/3rdparty/openrave/Makefile 2009-02-07 04:11:16 UTC (rev 10746)
@@ -13,7 +13,7 @@
BOOST_LIBRARY_DIRS=$(shell rosboost-cfg --lib_dirs)
installed: $(SVN_DIR) patched
- @cd $(SVN_DIR) && export PATH="$(shell rospack find soqt)/bin:$(shell rospack find opende)/opende/bin:$(PATH)" && export CPATH="$(shell rospack find bullet)/include:$(CPATH)" && export LD_LIBRARY_PATH=$(shell rospack find bullet)/lib:$(LD_LIBRARY_PATH) && mkdir -p build && cd build && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(PWD) -DCMAKE_BUILD_TYPE=Release -DBoost_INCLUDE_DIR=$(BOOST_INCLUDE_DIRS) -DBoost_LIBRARY_DIR=$(BOOST_LIBRARY_DIRS) .. && make $(ROS_PARALLEL_JOBS) install
+ @cd $(SVN_DIR) && export PATH="$(shell rospack find soqt)/bin:$(shell rospack find opende)/opende/bin:$(PATH)" && export CPATH="$(shell rospack find bullet)/include:$(CPATH)" && export LD_LIBRARY_PATH=$(shell rospack find bullet)/lib:$(LD_LIBRARY_PATH) && mkdir -p build && cd build && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(PWD) -DCMAKE_BUILD_TYPE=Release -DBoost_INCLUDE_DIR=$(BOOST_INCLUDE_DIRS) -DBoost_LIBRARY_DIR=$(BOOST_LIBRARY_DIRS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) install
touch installed
clean:
Modified: pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp
===================================================================
--- pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp 2009-02-07 03:35:24 UTC (rev 10745)
+++ pkg/trunk/robot_descriptions/openrave_robot_description/src/urdf2openrave.cpp 2009-02-07 04:11:16 UTC (rev 10746)
@@ -143,92 +143,98 @@
TiXmlElement *geom = new TiXmlElement("geom");
string type;
+ btTransform vis;
- // I'm not at all sure that this is the right thing to do.
- if(!link->visual)
- {
- printf("skipping link without visual tag: %s\n", link->name.c_str());
- return;
+ if(!link->visual) {
+ printf("link without visual tag: %s\n", link->name.c_str());
+ type = "box";
+ double extents[3] = {0.001,0.001,0.001};
+ addKeyValue(geom, "extents", values2str(3,extents));
}
- switch(link->visual->geometry->type) {
- case robot_desc::URDF::Link::Geometry::MESH: {
- robot_desc::URDF::Link::Geometry::Mesh* mesh = static_cast<robot_desc::URDF::Link::Geometry::Mesh*>(link->visual->geometry->shape);
+ else {
+ switch(link->visual->geometry->type) {
+ case robot_desc::URDF::Link::Geometry::MESH: {
+ robot_desc::URDF::Link::Geometry::Mesh* mesh = static_cast<robot_desc::URDF::Link::Geometry::Mesh*>(link->visual->geometry->shape);
- // Trim Both leading and trailing spaces
- size_t startpos = mesh->filename.find_first_not_of(" \t");
- size_t endpos = mesh->filename.find_last_not_of(" \t");
+ // Trim Both leading and trailing spaces
+ size_t startpos = mesh->filename.find_first_not_of(" \t");
+ size_t endpos = mesh->filename.find_last_not_of(" \t");
- if(( string::npos == startpos ) || ( string::npos == endpos))
- mesh->filename = "";
- else
- mesh->filename = mesh->filename.substr( startpos, endpos-startpos+1 );
+ if(( string::npos == startpos ) || ( string::npos == endpos))
+ mesh->filename = "";
+ else
+ mesh->filename = mesh->filename.substr( startpos, endpos-startpos+1 );
- if( mesh->filename.empty() ) {
- cerr << "mesh file is empty for link " << link->name << ", adding box" << endl;
- type = "box";
- double extents[3] = {0.01,0.01,0.01};
- addKeyValue(geom, "extents", values2str(3,extents));
- }
- else {
- type = "trimesh";
- stringstream ss;
+ if( mesh->filename.empty() ) {
+ cerr << "mesh file is empty for link " << link->name << ", adding box" << endl;
+ type = "box";
+ double extents[3] = {0.01,0.01,0.01};
+ addKeyValue(geom, "extents", values2str(3,extents));
+ }
+ else {
+ type = "trimesh";
+ stringstream ss;
- s_listResourceNames.push_back(mesh->filename + ".iv");
+ s_listResourceNames.push_back(mesh->filename + ".iv");
- string collisionfilename;
+ string collisionfilename;
- map<string, string> mcolinfo = link->collision->data.getMapTagValues("collision", "mesh");
- if( mcolinfo["type"] == string("visual"))
- collisionfilename = mesh->filename + string(".iv");
- else
- collisionfilename = string("convex/") + mesh->filename + string("_convex.iv");
+ map<string, string> mcolinfo = link->collision->data.getMapTagValues("collision", "mesh");
+ if( mcolinfo["type"] == string("visual"))
+ collisionfilename = mesh->filename + string(".iv");
+ else
+ collisionfilename = string("convex/") + mesh->filename + string("_convex.iv");
- // check for convex meshes
- ifstream ifile((s_inresdir + collisionfilename).c_str(), ios_base::binary);
- if( !ifile ) {
- cerr << "failed to find convex decomposition file: " << s_inresdir << collisionfilename << endl;
- collisionfilename = mesh->filename + string(".iv");
- }
- else {
- s_listResourceNames.push_back(collisionfilename);
- }
+ // check for convex meshes
+ ifstream ifile((s_inresdir + collisionfilename).c_str(), ios_base::binary);
+ if( !ifile ) {
+ cerr << "failed to find convex decomposition file: " << s_inresdir << collisionfilename << endl;
+ collisionfilename = mesh->filename + string(".iv");
+ }
+ else {
+ s_listResourceNames.push_back(collisionfilename);
+ }
- //s_listResourceNames.push_back(mesh->filename + "_low.iv");
+ //s_listResourceNames.push_back(mesh->filename + "_low.iv");
- ss << mesh->filename << ".iv " << mesh->scale[0];
- addKeyValue(geom, "render", ss.str());
+ ss << mesh->filename << ".iv " << mesh->scale[0];
+ addKeyValue(geom, "render", ss.str());
- ss.str("");
- ss << collisionfilename << " " << mesh->scale[0]; // don't use low!
- addKeyValue(geom, "data", ss.str());
+ ss.str("");
+ ss << collisionfilename << " " << mesh->scale[0]; // don't use low!
+ addKeyValue(geom, "data", ss.str());
+ }
+ break;
}
- break;
+ case robot_desc::URDF::Link::Geometry::BOX: {
+ type = "box";
+ robot_desc::URDF::Link::Geometry::Box* box = static_cast<robot_desc::URDF::Link::Geometry::Box*>(link->visual->geometry->shape);
+ addKeyValue(geom, "extents", values2str(3,box->size));
+ break;
+ }
+ case robot_desc::URDF::Link::Geometry::CYLINDER: {
+ type = "cylinder";
+ robot_desc::URDF::Link::Geometry::Cylinder* cylinder = static_cast<robot_desc::URDF::Link::Geometry::Cylinder*>(link->visual->geometry->shape);
+ addKeyValue(geom,"radius",values2str(1,&cylinder->radius));
+ addKeyValue(geom,"height",values2str(1,&cylinder->length));
+ break;
+ }
+ case robot_desc::URDF::Link::Geometry::SPHERE: {
+ type = "sphere";
+ double radius = static_cast<robot_desc::URDF::Link::Geometry::Sphere*>(link->visual->geometry->shape)->radius;
+ addKeyValue(geom,"radius",values2str(1,&radius));
+ break;
+ }
+ default: {
+ fprintf(stderr,"Unknown body type: %d in geometry '%s'\n", link->visual->geometry->type, link->visual->geometry->name.c_str());
+ exit(-1);
+ }
+ }
+
+ setupTransform(vis, link->visual->xyz, link->visual->rpy);
+ copyOpenraveMap(link->visual->data, geom);
}
- case robot_desc::URDF::Link::Geometry::BOX: {
- type = "box";
- robot_desc::URDF::Link::Geometry::Box* box = static_cast<robot_desc::URDF::Link::Geometry::Box*>(link->visual->geometry->shape);
- addKeyValue(geom, "extents", values2str(3,box->size));
- break;
- }
- case robot_desc::URDF::Link::Geometry::CYLINDER: {
- type = "cylinder";
- robot_desc::URDF::Link::Geometry::Cylinder* cylinder = static_cast<robot_desc::URDF::Link::Geometry::Cylinder*>(link->visual->geometry->shape);
- addKeyValue(geom,"radius",values2str(1,&cylinder->radius));
- addKeyValue(geom,"height",values2str(1,&cylinder->length));
- break;
- }
- case robot_desc::URDF::Link::Geometry::SPHERE: {
- type = "sphere";
- double radius = static_cast<robot_desc::URDF::Link::Geometry::Sphere*>(link->visual->geometry->shape)->radius;
- addKeyValue(geom,"radius",values2str(1,&radius));
- break;
- }
- default: {
- fprintf(stderr,"Unknown body type: %d in geometry '%s'\n", link->visual->geometry->type, link->visual->geometry->name.c_str());
- exit(-1);
- }
- }
-
+
geom->SetAttribute("type", type);
// compute the visualisation transfrom
@@ -236,13 +242,9 @@
// setupTransform(coll, link->collision->xyz, link->collision->rpy);
// coll.inverse();
- btTransform vis;
- setupTransform(vis, link->visual->xyz, link->visual->rpy);
// coll = coll.inverseTimes(vis);
addTransform(geom, vis);
-
- copyOpenraveMap(link->visual->data, geom);
body->LinkEndChild(geom); // end geom
// mass
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
