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kdl_parser
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collada_urdf: fixing bindings

This commit is contained in:
tfield 2010-03-23 18:34:54 +00:00
parent 953a2b17bb
commit 2072a78daf
1 changed files with 72 additions and 39 deletions
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111
collada_urdf/src/urdf_to_collada.cpp
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@ -93,8 +93,11 @@ public:
domLibrary_effectsRef effectsLib_; domLibrary_effectsRef effectsLib_;
//domLibrary_articulated_systemsRef articulatedSystemsLib_; //domLibrary_articulated_systemsRef articulatedSystemsLib_;
domKinematics_modelRef kmodel_;
map<string, string> geometry_ids_; // link.name -> geometry.id map<string, string> geometry_ids_; // link.name -> geometry.id
map<string, string> joint_sids_; // joint.name -> joint.sid map<string, string> joint_sids_; // joint.name -> joint.sid
map<string, string> node_ids_; // joint.name -> node.id
public: public:
ColladaWriter(urdf::Model* robot) : robot_(robot) { ColladaWriter(urdf::Model* robot) : robot_(robot) {
@ -114,7 +117,7 @@ public:
} }
dom_ = daeSafeCast<domCOLLADA>(doc->getDomRoot()); dom_ = daeSafeCast<domCOLLADA>(doc->getDomRoot());
dom_->setAttribute("xmlns:math","http://www.w3.org/1998/Math/MathML"); dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML");
// Create the required asset tag // Create the required asset tag
domAssetRef asset = daeSafeCast<domAsset>(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); domAssetRef asset = daeSafeCast<domAsset>(dom_->createAndPlace(COLLADA_ELEMENT_ASSET));
@ -216,6 +219,7 @@ public:
addKinematics(scene); addKinematics(scene);
addVisuals(scene); addVisuals(scene);
addMaterials(); addMaterials();
addBindings(scene);
collada_->writeAll(); collada_->writeAll();
@ -508,6 +512,16 @@ public:
joint->setName(urdf_joint->name.c_str()); joint->setName(urdf_joint->name.c_str());
joint->setSid(joint_sid.c_str()); joint->setSid(joint_sid.c_str());
joint_sids_[urdf_joint->name] = joint_sid; joint_sids_[urdf_joint->name] = joint_sid;
double axis_x = urdf_joint->axis.x;
double axis_y = urdf_joint->axis.y;
double axis_z = urdf_joint->axis.z;
if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) {
axis_x = 1.0;
axis_y = 0.0;
axis_z = 0.0;
}
switch (urdf_joint->type) switch (urdf_joint->type)
{ {
case urdf::Joint::REVOLUTE: { case urdf::Joint::REVOLUTE: {
@ -519,9 +533,9 @@ public:
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{ {
axis->getValue().setCount(3); axis->getValue().setCount(3);
axis->getValue()[0] = urdf_joint->axis.x; axis->getValue()[0] = axis_x;
axis->getValue()[1] = urdf_joint->axis.y; axis->getValue()[1] = axis_y;
axis->getValue()[2] = urdf_joint->axis.z; axis->getValue()[2] = axis_z;
} }
// </axis> // </axis>
@ -547,9 +561,9 @@ public:
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{ {
axis->getValue().setCount(3); axis->getValue().setCount(3);
axis->getValue()[0] = urdf_joint->axis.x; axis->getValue()[0] = axis_x;
axis->getValue()[1] = urdf_joint->axis.y; axis->getValue()[1] = axis_y;
axis->getValue()[2] = urdf_joint->axis.z; axis->getValue()[2] = axis_z;
} }
// </axis> // </axis>
} }
@ -565,9 +579,9 @@ public:
domAxisRef axis = daeSafeCast<domAxis>(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS)); domAxisRef axis = daeSafeCast<domAxis>(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS));
{ {
axis->getValue().setCount(3); axis->getValue().setCount(3);
axis->getValue()[0] = urdf_joint->axis.x; axis->getValue()[0] = axis_x;
axis->getValue()[1] = urdf_joint->axis.y; axis->getValue()[1] = axis_y;
axis->getValue()[2] = urdf_joint->axis.z; axis->getValue()[2] = axis_z;
} }
// </axis> // </axis>
@ -592,9 +606,9 @@ public:
domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); domAxisRef axis = daeSafeCast<domAxis>(revolute->createAndPlace(COLLADA_ELEMENT_AXIS));
{ {
axis->getValue().setCount(3); axis->getValue().setCount(3);
axis->getValue()[0] = urdf_joint->axis.x; axis->getValue()[0] = axis_x;
axis->getValue()[1] = urdf_joint->axis.y; axis->getValue()[1] = axis_y;
axis->getValue()[2] = urdf_joint->axis.z; axis->getValue()[2] = axis_z;
} }
// </axis> // </axis>
@ -629,8 +643,47 @@ public:
} }
} }
void addKinematics(SCENE scene) void addBindings(SCENE scene) {
{ string model_id = kmodel_->getID();
string inst_model_sid = string("inst_") + model_id;
// <bind_kinematics_scene>
// <bind_kinematics_model node="node0">
domBind_kinematics_modelRef kmodel_bind = daeSafeCast<domBind_kinematics_model>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL));
kmodel_bind->setNode("v1.node0"); // @todo
daeSafeCast<domCommon_param>(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str());
for (map<string, boost::shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
boost::shared_ptr<urdf::Joint> urdf_joint = i->second;
int idof = 0; // @todo assuming 1 dof joints
string joint_sid = joint_sids_[urdf_joint->name];
string axis_name = string("axis") + boost::lexical_cast<string>(idof);
string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name;
string joint_axis_value_sid = joint_axis_sid + string("_value");
// <bind_joint_axis target="node0/joint_1_axis0">
domBind_joint_axisRef joint_bind = daeSafeCast<domBind_joint_axis>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS));
string node_name = node_ids_[urdf_joint->name];
joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str());
{
// <axis>
domCommon_sidref_or_paramRef axis_bind = daeSafeCast<domCommon_sidref_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS));
{
daeSafeCast<domCommon_param>(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str());
}
// </axis>
// <value>
domCommon_float_or_paramRef value_bind = daeSafeCast<domCommon_float_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE));
{
daeSafeCast<domCommon_param>(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str());
}
}
// </bind_joint_axis>
}
}
void addKinematics(SCENE scene) {
// <kinematics_model id="k1" name="pr2"> // <kinematics_model id="k1" name="pr2">
domKinematics_modelRef kmodel = daeSafeCast<domKinematics_model>(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); domKinematics_modelRef kmodel = daeSafeCast<domKinematics_model>(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL));
kmodel->setId("k1"); kmodel->setId("k1");
@ -646,17 +699,12 @@ public:
addKinematicLink(robot_->getRoot(), technique, link_num); addKinematicLink(robot_->getRoot(), technique, link_num);
// </link> // </link>
} }
kmodel_ = kmodel;
// </kinematics_model> // </kinematics_model>
string model_id = kmodel->getID(); string model_id = kmodel->getID();
string inst_model_sid = string("inst_") + model_id; string inst_model_sid = string("inst_") + model_id;
// <bind_kinematics_scene>
// <bind_kinematics_model node="node0">
domBind_kinematics_modelRef kmodel_bind = daeSafeCast<domBind_kinematics_model>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL));
kmodel_bind->setNode(robot_->getName().c_str());
daeSafeCast<domCommon_param>(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str());
// <instance_kinematics_model url="#k1" sid="inst_k1"> // <instance_kinematics_model url="#k1" sid="inst_k1">
domInstance_kinematics_modelRef ikm = daeSafeCast<domInstance_kinematics_model>(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); domInstance_kinematics_modelRef ikm = daeSafeCast<domInstance_kinematics_model>(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL));
ikm->setUrl((string("#") + model_id).c_str()); ikm->setUrl((string("#") + model_id).c_str());
@ -702,24 +750,6 @@ public:
daeSafeCast<domKinematics_newparam::domFloat>(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); daeSafeCast<domKinematics_newparam::domFloat>(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f);
} }
// </newparam> // </newparam>
// <bind_joint_axis target="node0/joint_1_axis0">
domBind_joint_axisRef joint_bind = daeSafeCast<domBind_joint_axis>(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS));
joint_bind->setTarget((string("node_") + joint_sid + string("_") + axis_name).c_str());
{
// <axis>
domCommon_sidref_or_paramRef axis_bind = daeSafeCast<domCommon_sidref_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS));
{
daeSafeCast<domCommon_param>(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(newparam_sid.c_str());
}
// </axis>
// <value>
domCommon_float_or_paramRef value_bind = daeSafeCast<domCommon_float_or_param>(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE));
{
daeSafeCast<domCommon_param>(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(newparam_value_sid.c_str());
}
}
// </bind_joint_axis>
} }
} }
// </instance_kinematics_model> // </instance_kinematics_model>
@ -865,6 +895,9 @@ public:
string joint_sid = joint_sids_[urdf_link->parent_joint->name]; string joint_sid = joint_sids_[urdf_link->parent_joint->name];
string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); string joint_rotate_sid = string("node_") + joint_sid + string("_axis0");
joint_rotate->setSid(joint_rotate_sid.c_str()); joint_rotate->setSid(joint_rotate_sid.c_str());
cout << "setting " << urdf_link->parent_joint->name << " to " << node_id << endl;
node_ids_[urdf_link->parent_joint->name] = node_id;
} }
// <instance_geometry url="#g1.link0.geom"> // <instance_geometry url="#g1.link0.geom">