[Personalrobots-commit] SF.net SVN: personalrobots:[11069] pkg/trunk

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

Revision: 11069
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=11069&view=rev
Author:   hsujohnhsu
Date:     2009-02-13 00:06:04 +0000 (Fri, 13 Feb 2009)

Log Message:
-----------
correct cg location is relative to geom, not body, so subtrace collision origin from com-xyz.

Modified Paths:
--------------
    pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
    pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp	2009-02-12 23:58:06 UTC (rev 11068)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/urdf2factory.cpp	2009-02-13 00:06:04 UTC (rev 11069)
@@ -225,7 +225,11 @@
             
             static const char tagList2[3][3] = {"cx", "cy", "cz"};
             for (int j = 0 ; j < 3 ; ++j)
-                addKeyValue(geom, tagList2[j], values2str(1, link->inertial->com + j));
+            {
+                // by doing this we support only 1 geom
+                double tmp_value = (link->inertial->com)[j] - (link->collision->xyz)[j];
+                addKeyValue(geom, tagList2[j], values2str(1, &tmp_value));
+            }
             
             if (link->collision->geometry->type == robot_desc::URDF::Link::Geometry::MESH)
             {  

Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp	2009-02-12 23:58:06 UTC (rev 11068)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/src/urdf2gazebo.cpp	2009-02-13 00:06:04 UTC (rev 11069)
@@ -213,7 +213,11 @@
             
             static const char tagList2[3][3] = {"cx", "cy", "cz"};
             for (int j = 0 ; j < 3 ; ++j)
-                addKeyValue(geom, tagList2[j], values2str(1, link->inertial->com + j));
+            {
+                // by doing this we support only 1 geom
+                double tmp_value = (link->inertial->com)[j] - (link->collision->xyz)[j];
+                addKeyValue(geom, tagList2[j], values2str(1, &tmp_value));
+            }
             
             if (link->collision->geometry->type == robot_desc::URDF::Link::Geometry::MESH)
             {  


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