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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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60
collada_urdf/src/collada_urdf.cpp
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@ -1159,39 +1159,33 @@ protected:
if( !!geometry ) {
bool write_visual = false;
if ( !!plink->visual ) {
if (plink->visual_groups.size() > 0) {
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;
for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = def_group->second->begin();
it != def_group->second->end(); it++) {
// geom
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
igeom++;
domGeometryRef pdomgeom;
if ( it != def_group->second->begin() ) {
urdf::Pose org_trans = _poseMult(geometry_origin_inv, (*it)->origin);
pdomgeom = _WriteGeometry((*it)->geometry, geomid, &org_trans);
} else {
pdomgeom = _WriteGeometry((*it)->geometry, geomid);
}
domInstance_geometryRef pinstgeom = daeSafeCast<domInstance_geometry>(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
pinstgeom->setUrl((string("#") + geomid).c_str());
// material
_WriteMaterial(pdomgeom->getID(), (*it)->material);
domBind_materialRef pmat = daeSafeCast<domBind_material>(pinstgeom->add(COLLADA_ELEMENT_BIND_MATERIAL));
domBind_material::domTechnique_commonRef pmattec = daeSafeCast<domBind_material::domTechnique_common>(pmat->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
domInstance_materialRef pinstmat = daeSafeCast<domInstance_material>(pmattec->add(COLLADA_ELEMENT_INSTANCE_MATERIAL));
pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string("_mat")));
pinstmat->setSymbol("mat0");
write_visual = true;
}
}
}
}
}
if (plink->visual_array.size() > 1) {
int igeom = 0;
for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
it != plink->visual_array.end(); it++) {
// geom
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
igeom++;
domGeometryRef pdomgeom;
if ( it != plink->visual_array.begin() ) {
urdf::Pose org_trans = _poseMult(geometry_origin_inv, (*it)->origin);
pdomgeom = _WriteGeometry((*it)->geometry, geomid, &org_trans);
} else {
pdomgeom = _WriteGeometry((*it)->geometry, geomid);
}
domInstance_geometryRef pinstgeom = daeSafeCast<domInstance_geometry>(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
pinstgeom->setUrl((string("#") + geomid).c_str());
// material
_WriteMaterial(pdomgeom->getID(), (*it)->material);
domBind_materialRef pmat = daeSafeCast<domBind_material>(pinstgeom->add(COLLADA_ELEMENT_BIND_MATERIAL));
domBind_material::domTechnique_commonRef pmattec = daeSafeCast<domBind_material::domTechnique_common>(pmat->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
domInstance_materialRef pinstmat = daeSafeCast<domInstance_material>(pmattec->add(COLLADA_ELEMENT_INSTANCE_MATERIAL));
pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string("_mat")));
pinstmat->setSymbol("mat0");
write_visual = true;
}
}
}
if (!write_visual) {
// just 1 visual
int igeom = 0;