diff options
Diffstat (limited to 'examples/Importers')
4 files changed, 2 insertions, 217 deletions
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index e24437d7d..cb7607b1a 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -1541,8 +1541,3 @@ const struct UrdfDeformable& BulletURDFImporter::getDeformableModel() const { return m_data->m_urdfParser.getDeformable(); } - -const struct UrdfReducedDeformable& BulletURDFImporter::getReducedDeformableModel() const -{ - return m_data->m_urdfParser.getReducedDeformable(); -} diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h index 5fe7f8c5f..66bb908de 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h @@ -93,7 +93,6 @@ public: virtual void setEnableTinyRenderer(bool enable); void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const; const struct UrdfDeformable& getDeformableModel() const; - const struct UrdfReducedDeformable& getReducedDeformableModel() const; }; #endif //BULLET_URDF_IMPORTER_H diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index aea391592..96f7538a2 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -1282,171 +1282,6 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, return true; } -bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger) -{ - UrdfReducedDeformable& reduced_deformable = model.m_reducedDeformable; - const char* name = config->Attribute("name"); - if (!name) - { - logger->reportError("Reduced deformable with no name"); - return false; - } - reduced_deformable.m_name = name; - - { - XMLElement* numModes_xml = config->FirstChildElement("num_modes"); - if (numModes_xml) - { - if (!numModes_xml->Attribute("value")) - { - logger->reportError("numModes_xml element must have value attribute"); - return false; - } - reduced_deformable.m_numModes = urdfLexicalCast<double>(numModes_xml->Attribute("value")); - } - } - - { - XMLElement* mass_xml = config->FirstChildElement("mass"); - if (mass_xml) - { - if (!mass_xml->Attribute("value")) - { - logger->reportError("mass_xml element must have value attribute"); - return false; - } - reduced_deformable.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value")); - } - } - - { - XMLElement* stiffnessScale_xml = config->FirstChildElement("stiffness_scale"); - if (stiffnessScale_xml) - { - if (!stiffnessScale_xml->Attribute("value")) - { - logger->reportError("stiffnessScale_xml element must have value attribute"); - return false; - } - reduced_deformable.m_stiffnessScale = urdfLexicalCast<double>(stiffnessScale_xml->Attribute("value")); - } - } - - { - XMLElement* collisionMargin_xml = config->FirstChildElement("collision_margin"); - if (collisionMargin_xml) - { - if (!collisionMargin_xml->Attribute("value")) - { - logger->reportError("collision_margin element must have value attribute"); - return false; - } - reduced_deformable.m_collisionMargin = urdfLexicalCast<double>(collisionMargin_xml->Attribute("value")); - } - } - - { - XMLElement* erp_xml = config->FirstChildElement("erp"); - if (erp_xml) - { - if (!erp_xml->Attribute("value")) - { - logger->reportError("friction element must have value attribute"); - return false; - } - reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value")); - } - } - - { - XMLElement* cfm_xml = config->FirstChildElement("cfm"); - if (cfm_xml) - { - if (!cfm_xml->Attribute("value")) - { - logger->reportError("cfm element must have value attribute"); - return false; - } - reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value")); - } - } - - { - XMLElement* damping_xml = config->FirstChildElement("damping_coefficient"); - if (damping_xml) - { - if (!damping_xml->Attribute("value")) - { - logger->reportError("damping_coefficient element must have value attribute"); - return false; - } - reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value")); - } - } - - { - XMLElement* friction_xml = config->FirstChildElement("friction"); - if (friction_xml) - { - if (!friction_xml->Attribute("value")) - { - logger->reportError("friction element must have value attribute"); - return false; - } - reduced_deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value")); - } - } - - XMLElement* vis_xml = config->FirstChildElement("visual"); - if (!vis_xml) - { - logger->reportError("expected an visual element"); - return false; - } - if (!vis_xml->Attribute("filename")) - { - logger->reportError("expected a filename for visual geometry"); - return false; - } - std::string fn = vis_xml->Attribute("filename"); - reduced_deformable.m_visualFileName = fn; - - int out_type(0); - bool success = UrdfFindMeshFile(m_fileIO, - model.m_sourceFile, fn, sourceFileLocation(vis_xml), - &reduced_deformable.m_visualFileName, &out_type); - - if (!success) - { - // warning already printed - return false; - } - - // collision mesh is optional - XMLElement* col_xml = config->FirstChildElement("collision"); - if (col_xml) - { - if (!col_xml->Attribute("filename")) - { - logger->reportError("expected a filename for collision geoemtry"); - return false; - } - fn = col_xml->Attribute("filename"); - success = UrdfFindMeshFile(m_fileIO, - model.m_sourceFile, fn, sourceFileLocation(col_xml), - &reduced_deformable.m_simFileName, &out_type); - - if (!success) - { - // warning already printed - return false; - } - } - - ParseUserData(config, reduced_deformable.m_userData, logger); - return true; -} - bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger) { joint.m_lowerLimit = 0.f; @@ -2291,16 +2126,9 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF // logger->printMessage(msg); - - XMLElement* reduced_deformable_xml = robot_xml->FirstChildElement("reduced_deformable"); - if (reduced_deformable_xml) { - return parseReducedDeformable(m_urdf2Model, reduced_deformable_xml, logger); - } - XMLElement* deformable_xml = robot_xml->FirstChildElement("deformable"); - if (deformable_xml) { + if(deformable_xml) return parseDeformable(m_urdf2Model, deformable_xml, logger); - } for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) { diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 8256099a5..b234fa66b 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -247,37 +247,6 @@ struct UrdfDeformable } }; -struct UrdfReducedDeformable -{ - std::string m_name; - int m_numModes; - - double m_mass; - double m_stiffnessScale; - double m_erp; - double m_cfm; - double m_friction; - double m_collisionMargin; - double m_damping; - - std::string m_visualFileName; - std::string m_simFileName; - btHashMap<btHashString, std::string> m_userData; - - UrdfReducedDeformable() - : m_numModes(1), - m_mass(1), - m_stiffnessScale(100), - m_erp(0.2), // generally, 0.2 is a good value for erp and cfm - m_cfm(0.2), - m_friction(0), - m_collisionMargin(0.02), - m_damping(0), - m_visualFileName(""), - m_simFileName("") - {} -}; - struct UrdfModel { std::string m_name; @@ -287,7 +256,6 @@ struct UrdfModel btHashMap<btHashString, UrdfLink*> m_links; btHashMap<btHashString, UrdfJoint*> m_joints; UrdfDeformable m_deformable; - UrdfReducedDeformable m_reducedDeformable; // Maps user data keys to user data values. btHashMap<btHashString, std::string> m_userData; @@ -365,7 +333,7 @@ protected: bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseLameCoefficients(LameCoefficients& lameCoefficients, tinyxml2::XMLElement* config, ErrorLogger* logger); bool parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger); - bool parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger); + public: UrdfParser(struct CommonFileIOInterface* fileIO); @@ -445,11 +413,6 @@ public: return m_urdf2Model.m_deformable; } - const UrdfReducedDeformable& getReducedDeformable() const - { - return m_urdf2Model.m_reducedDeformable; - } - bool mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger* logger, bool forceFixedBase, int level); bool printTree(UrdfLink* link, ErrorLogger* logger, int level); bool recreateModel(UrdfModel& model, UrdfLink* link, ErrorLogger* logger); |