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kdl_parser
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This commit is contained in:
davidlu 2012-06-09 18:39:51 -05:00
parent 3970d34724 833c38a5ab
commit 4195e88320
2 changed files with 0 additions and 91 deletions
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21
srdf/include/srdf/model.h
View File

@ -136,25 +136,6 @@ public:
std::string component_group_;
};
/// Representation of a visual sensor
struct VisualSensor
{
/// The name of the sensor
std::string name_;
/// The reference frame for the data produced by the sensor, such that the sensor looks in the direction of the z axis and the optical centre is at the origin of the sensor frame
std::string frame_;
/// The field of view angle with respect to the z axis (radians)
double fov_angle_;
/// The minimum distance along the z axis for sensor data to be considered valid
double min_range_;
/// The maximum distance along the z axis for sensor data to be considered valid
double max_range_;
};
/// A named state for a particular group
struct GroupState
{
@ -230,7 +211,6 @@ private:
void loadGroups(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
void loadGroupStates(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
void loadEndEffectors(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
void loadVisualSensors(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
void loadDisabledCollisions(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml);
std::string name_;
@ -238,7 +218,6 @@ private:
std::vector<GroupState> group_states_;
std::vector<VirtualJoint> virtual_joints_;
std::vector<EndEffector> end_effectors_;
std::vector<VisualSensor> visual_sensors_;
std::vector<DisabledCollision> disabled_collisions_;
};

70
srdf/src/model.cpp
View File

@ -351,74 +351,6 @@ void srdf::Model::loadGroupStates(const urdf::ModelInterface &urdf_model, TiXmlE
}
}
void srdf::Model::loadVisualSensors(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)
{
for (TiXmlElement* s_xml = robot_xml->FirstChildElement("visual_sensor"); s_xml; s_xml = s_xml->NextSiblingElement("visual_sensor"))
{
const char *sname = s_xml->Attribute("name");
const char *frame = s_xml->Attribute("frame");
const char *fov_angle = s_xml->Attribute("fov_angle");
const char *min_range = s_xml->Attribute("min_range");
const char *max_range = s_xml->Attribute("max_range");
if (!sname)
{
ROS_ERROR("Name of visual sensor is not specified");
continue;
}
if (!frame)
{
ROS_ERROR("No frame specified for visual sensor '%s'", sname);
continue;
}
if (!fov_angle)
{
ROS_ERROR("No field of view angle specified for visual sensor '%s'", sname);
continue;
}
if (!min_range)
{
ROS_ERROR("No minimum range along Z axis specified for visual sensor '%s'", sname);
continue;
}
if (!max_range)
{
ROS_ERROR("No maximum range along Z axis specified for visual sensor '%s'", sname);
continue;
}
VisualSensor s;
s.name_ = std::string(sname); boost::trim(s.name_);
s.frame_ = std::string(frame); boost::trim(s.frame_);
try
{
s.fov_angle_ = boost::lexical_cast<double>(std::string(fov_angle));
}
catch (boost::bad_lexical_cast &e)
{
ROS_ERROR("Unable to parse field of view angle ('%s') for sensor '%s'", fov_angle, sname);
continue;
}
try
{
s.min_range_ = boost::lexical_cast<double>(std::string(min_range));
}
catch (boost::bad_lexical_cast &e)
{
ROS_ERROR("Unable to parse minimum range ('%s') for sensor '%s'", min_range, sname);
continue;
}
try
{
s.max_range_ = boost::lexical_cast<double>(std::string(max_range));
}
catch (boost::bad_lexical_cast &e)
{
ROS_ERROR("Unable to parse maximum range ('%s') for sensor '%s'", max_range, sname);
continue;
}
visual_sensors_.push_back(s);
}
}
void srdf::Model::loadEndEffectors(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)
{
for (TiXmlElement* eef_xml = robot_xml->FirstChildElement("end_effector"); eef_xml; eef_xml = eef_xml->NextSiblingElement("end_effector"))
@ -521,7 +453,6 @@ bool srdf::Model::initXml(const urdf::ModelInterface &urdf_model, TiXmlElement *
loadGroups(urdf_model, robot_xml);
loadGroupStates(urdf_model, robot_xml);
loadEndEffectors(urdf_model, robot_xml);
loadVisualSensors(urdf_model, robot_xml);
loadDisabledCollisions(urdf_model, robot_xml);
return true;
@ -577,7 +508,6 @@ void srdf::Model::clear(void)
group_states_.clear();
virtual_joints_.clear();
end_effectors_.clear();
visual_sensors_.clear();
disabled_collisions_.clear();
}