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kdl_parser
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collada exporter minor change: made all links dynamic

This commit is contained in:
rdiankov 2011-07-15 15:16:17 +09:00
parent 3ce4c70c5b
commit 34cb8a5af5
1 changed files with 1 additions and 1 deletions
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2
collada_urdf/src/collada_urdf.cpp
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@ -1300,8 +1300,8 @@ protected:
rigid_body->setName(itlink->second->name.c_str()); rigid_body->setName(itlink->second->name.c_str());
domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial; boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(!!inertial));
if( !!inertial ) { if( !!inertial ) {
daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS)); domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
mass->setValue(inertial->mass); mass->setValue(inertial->mass);
double fCovariance[9] = { inertial->ixx, inertial->ixy, inertial->ixz, inertial->ixy, inertial->iyy, inertial->iyz, inertial->ixz, inertial->iyz, inertial->izz}; double fCovariance[9] = { inertial->ixx, inertial->ixy, inertial->ixz, inertial->ixy, inertial->iyy, inertial->iyz, inertial->ixz, inertial->iyz, inertial->izz};