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kdl_parser
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use new urdfdom_headers API

This commit is contained in:
Ioan Sucan 2014-03-22 13:08:49 -07:00
parent 30199f4164
commit 3d1243d1ce
1 changed files with 27 additions and 33 deletions
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14
collada_urdf/src/collada_urdf.cpp
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@ -1159,19 +1159,15 @@ protected:
if( !!geometry ) { if( !!geometry ) {
bool write_visual = false; bool write_visual = false;
if ( !!plink->visual ) { if ( !!plink->visual ) {
if (plink->visual_groups.size() > 0) { if (plink->visual_array.size() > 1) {
std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Visual > > > >::const_iterator def_group
= plink->visual_groups.find("default");
if (def_group != plink->visual_groups.end()) {
if (def_group->second->size() > 1) {
int igeom = 0; int igeom = 0;
for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = def_group->second->begin(); for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
it != def_group->second->end(); it++) { it != plink->visual_array.end(); it++) {
// geom // geom
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom)); string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
igeom++; igeom++;
domGeometryRef pdomgeom; domGeometryRef pdomgeom;
if ( it != def_group->second->begin() ) { if ( it != plink->visual_array.begin() ) {
urdf::Pose org_trans = _poseMult(geometry_origin_inv, (*it)->origin); urdf::Pose org_trans = _poseMult(geometry_origin_inv, (*it)->origin);
pdomgeom = _WriteGeometry((*it)->geometry, geomid, &org_trans); pdomgeom = _WriteGeometry((*it)->geometry, geomid, &org_trans);
} else { } else {
@ -1190,8 +1186,6 @@ protected:
} }
} }
} }
}
}
if (!write_visual) { if (!write_visual) {
// just 1 visual // just 1 visual
int igeom = 0; int igeom = 0;