From 47864e32e0a66de823af2c2a13d852e26a0c838d Mon Sep 17 00:00:00 2001
From: wim <devnull@localhost>
Date: Fri, 11 Dec 2009 17:16:24 +0000
Subject: [PATCH] add optional rising and falling attributes to the calibration
 element. Ticket #3141

---
 urdf/include/urdf/joint.h |  2 +-
 urdf/src/joint.cpp        | 20 ++++++++++++++++++++
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h
index cbe9f67..6151527 100644
--- a/urdf/include/urdf/joint.h
+++ b/urdf/include/urdf/joint.h
@@ -106,7 +106,7 @@ class JointCalibration
 {
 public:
   JointCalibration() { this->clear(); };
-  double reference_position;
+  double reference_position, rising, falling;
 
   void clear()
   {
diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp
index 345ad49..0f2fecc 100644
--- a/urdf/src/joint.cpp
+++ b/urdf/src/joint.cpp
@@ -175,6 +175,26 @@ bool JointCalibration::initXml(TiXmlElement* config)
   else
     this->reference_position = atof(reference_position_str);
 
+  // Get rising edge position
+  const char* rising_position_str = config->Attribute("rising");
+  if (rising_position_str == NULL)
+  {
+    ROS_DEBUG("joint calibration: no rising, using default value");
+    this->rising = 0;
+  }
+  else
+    this->rising = atof(rising_position_str);
+
+  // Get falling edge position
+  const char* falling_position_str = config->Attribute("falling");
+  if (falling_position_str == NULL)
+  {
+    ROS_DEBUG("joint calibration: no falling, using default value");
+    this->falling = 0;
+  }
+  else
+    this->falling = atof(falling_position_str);
+
   return true;
 }