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kdl_parser
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Default axis field is (1,0,0) and not (0,0,0)

This commit is contained in:
wim 2010-06-22 21:42:35 +00:00
parent 6c67fc7b04
commit 2ee00304a3
1 changed files with 13 additions and 15 deletions
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28
urdf/src/joint.cpp
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@ -471,26 +471,24 @@ bool Joint::initXml(TiXmlElement* config)
} }
// Get Joint Axis // Get Joint Axis
if (this->type != FLOATING) if (this->type != FLOATING && this->type != FIXED)
{ {
// axis // axis
TiXmlElement *axis_xml = config->FirstChildElement("axis"); TiXmlElement *axis_xml = config->FirstChildElement("axis");
if (axis_xml) if (!axis_xml){
{ ROS_DEBUG("no axis elemement for Joint link '%s', defaulting to (1,0,0) axis", this->name.c_str());
if (!axis_xml->Attribute("xyz")) this->axis = Vector3(1.0, 0.0, 0.0);
ROS_INFO("no xyz attribute for axis element for Joint link '%s', using default values", this->name.c_str()); }
else else{
{ if (!axis_xml->Attribute("xyz")){
ROS_ERROR("no xyz attribute for axis element for Joint link '%s'", this->name.c_str());
}
else {
if (!this->axis.init(axis_xml->Attribute("xyz"))) if (!this->axis.init(axis_xml->Attribute("xyz")))
{ {
if (this->type == PLANAR) ROS_ERROR("Malformed axis element for joint '%s'", this->name.c_str());
ROS_DEBUG("PLANAR Joint '%s' will require an axis tag in the future which indicates the surface normal of the plane.", this->name.c_str()); this->axis.clear();
else return false;
{
ROS_ERROR("Malformed axis element for joint '%s'", this->name.c_str());
this->axis.clear();
return false;
}
} }
} }
} }