From 6285603c53616733fec062619094516d5e8fc838 Mon Sep 17 00:00:00 2001 From: kwc Date: Fri, 4 Sep 2009 23:10:08 +0000 Subject: [PATCH 001/245] migration part 1 --- CMakeLists.txt | 19 + Makefile | 1 + .../ConvexDecomposition.cpp | 1065 + .../ConvexDecomposition/ConvexDecomposition.h | 249 + .../ConvexDecomposition/bestfit.cpp | 483 + .../ConvexDecomposition/bestfit.h | 90 + .../ConvexDecomposition/bestfitobb.cpp | 368 + .../ConvexDecomposition/bestfitobb.h | 100 + .../ConvexDecomposition/cd_hull.cpp | 3650 ++++ .../ConvexDecomposition/cd_hull.h | 250 + .../ConvexDecomposition/cd_vector.h | 1209 ++ .../ConvexDecomposition/cd_wavefront.cpp | 858 + .../ConvexDecomposition/cd_wavefront.h | 82 + .../ConvexDecomposition/concavity.cpp | 821 + .../ConvexDecomposition/concavity.h | 81 + .../ConvexDecomposition/fitsphere.cpp | 378 + .../ConvexDecomposition/fitsphere.h | 70 + .../ConvexDecomposition/float_math.cpp | 463 + .../ConvexDecomposition/float_math.h | 112 + .../ConvexDecomposition/meshvolume.cpp | 251 + .../ConvexDecomposition/meshvolume.h | 70 + .../ConvexDecomposition/planetri.cpp | 314 + .../ConvexDecomposition/planetri.h | 82 + .../ConvexDecomposition/raytri.cpp | 160 + .../ConvexDecomposition/raytri.h | 69 + .../ConvexDecomposition/splitplane.cpp | 339 + .../ConvexDecomposition/splitplane.h | 76 + .../ConvexDecomposition/triangulate.cpp | 410 + .../ConvexDecomposition/triangulate.h | 85 + .../ConvexDecomposition/vlookup.cpp | 340 + .../ConvexDecomposition/vlookup.h | 143 + .../ConvexDecomposition/DecomposeSample.cpp | 668 + .../ConvexDecomposition/DecomposeSample.exe | Bin 0 -> 151552 bytes .../ConvexDecomposition/DecomposeSample.sln | 21 + .../ConvexDecomposition/DecomposeSample.suo | Bin 0 -> 8704 bytes .../DecomposeSample.vcproj | 240 + .../ConvexDecomposition/Makefile | 93 + .../ConvexDecomposition/chair.obj | 3083 +++ .../ConvexDecomposition/readme.txt | 75 + convex_decomposition/Makefile | 33 + .../convex_decomposition.patch | 429 + convex_decomposition/manifest.xml | 14 + ivcon/CMakeLists.txt | 9 + ivcon/Makefile | 1 + ivcon/manifest.xml | 14 + ivcon/src/ivcon.c | 16707 ++++++++++++++++ kdl_parser/CMakeLists.txt | 38 + kdl_parser/Makefile | 1 + kdl_parser/include/kdl_parser/dom_parser.hpp | 54 + kdl_parser/include/kdl_parser/xml_parser.hpp | 53 + kdl_parser/manifest.xml | 23 + kdl_parser/pr2.urdf | 2542 +++ kdl_parser/src/dom_parser.cpp | 173 + kdl_parser/src/xml_parser.cpp | 365 + kdl_parser/test/example_dom.cpp | 105 + kdl_parser/test/example_xml.cpp | 99 + kdl_parser/test/pr2_desc.xml | 3541 ++++ kdl_parser/test/pr2_desc_bracket.xml | 22 + kdl_parser/test/pr2_desc_bracket2.xml | 22 + kdl_parser/test/pr2_desc_vector.xml | 22 + kdl_parser/test/test_kdl_parser.cpp | 93 + kdl_parser/test/test_kdl_parser.launch | 6 + resource_retriever/CMakeLists.txt | 35 + resource_retriever/Makefile | 1 + .../include/resource_retriever/retriever.h | 85 + resource_retriever/mainpage.dox | 14 + resource_retriever/manifest.xml | 21 + resource_retriever/src/retriever.cpp | 147 + resource_retriever/test/CMakeLists.txt | 4 + resource_retriever/test/test.cpp | 140 + resource_retriever/test/test.txt | 1 + robot_state_publisher/CMakeLists.txt | 38 + robot_state_publisher/Makefile | 1 + .../joint_state_listener.h | 69 + .../robot_state_publisher.h | 76 + .../treefksolverposfull_recursive.hpp | 48 + robot_state_publisher/manifest.xml | 27 + .../src/joint_state_listener.cpp | 86 + .../src/robot_state_publisher.cpp | 106 + robot_state_publisher/src/state_publisher.cpp | 77 + .../src/treefksolverposfull_recursive.cpp | 76 + robot_state_publisher/test/pr2.urdf | 3117 +++ robot_state_publisher/test/test_publisher.cpp | 136 + .../test/test_publisher.launch | 5 + stack.xml | 15 + urdf/CMakeLists.txt | 36 + urdf/Makefile | 1 + urdf/include/urdf/color.h | 96 + urdf/include/urdf/joint.h | 204 + urdf/include/urdf/link.h | 238 + urdf/include/urdf/model.h | 111 + urdf/include/urdf/pose.h | 232 + urdf/mainpage.dox | 209 + urdf/manifest.xml | 19 + urdf/src/joint.cpp | 387 + urdf/src/link.cpp | 434 + urdf/src/model.cpp | 409 + urdf/test/parse_test.cpp | 104 + urdf/test/pr2_desc.xml | 2542 +++ urdf/test/pr2_desc_bracket.xml | 20 + urdf/test/pr2_desc_double.xml | 39 + urdf/test/pr2_desc_double_joint.xml | 38 + urdf/test/pr2_desc_loop.xml | 39 + urdf/test/pr2_desc_no_joint.xml | 12 + urdf/test/pr2_desc_no_joint2.xml | 20 + urdf/test/pr2_desc_parent_itself.xml | 20 + urdf/test/pr2_desc_two_trees.xml | 39 + urdf/test/test_robot_model_parser.cpp | 98 + urdf/test/test_robot_model_parser.launch | 3 + 109 files changed, 50909 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 Makefile create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfit.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfit.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_vector.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/concavity.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/concavity.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/fitsphere.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/fitsphere.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/meshvolume.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/meshvolume.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/planetri.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/planetri.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/raytri.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/raytri.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/triangulate.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/triangulate.h create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/vlookup.cpp create mode 100644 convex_decomposition/ConvexDecomposition/ConvexDecomposition/vlookup.h create mode 100644 convex_decomposition/ConvexDecomposition/DecomposeSample.cpp create mode 100644 convex_decomposition/ConvexDecomposition/DecomposeSample.exe create mode 100644 convex_decomposition/ConvexDecomposition/DecomposeSample.sln create mode 100644 convex_decomposition/ConvexDecomposition/DecomposeSample.suo create mode 100644 convex_decomposition/ConvexDecomposition/DecomposeSample.vcproj create mode 100644 convex_decomposition/ConvexDecomposition/Makefile create mode 100644 convex_decomposition/ConvexDecomposition/chair.obj create mode 100644 convex_decomposition/ConvexDecomposition/readme.txt create mode 100644 convex_decomposition/Makefile create mode 100644 convex_decomposition/convex_decomposition.patch create mode 100644 convex_decomposition/manifest.xml create mode 100644 ivcon/CMakeLists.txt create mode 100644 ivcon/Makefile create mode 100644 ivcon/manifest.xml create mode 100644 ivcon/src/ivcon.c create mode 100644 kdl_parser/CMakeLists.txt create mode 100644 kdl_parser/Makefile create mode 100644 kdl_parser/include/kdl_parser/dom_parser.hpp create mode 100644 kdl_parser/include/kdl_parser/xml_parser.hpp create mode 100644 kdl_parser/manifest.xml create mode 100644 kdl_parser/pr2.urdf create mode 100644 kdl_parser/src/dom_parser.cpp create mode 100644 kdl_parser/src/xml_parser.cpp create mode 100644 kdl_parser/test/example_dom.cpp create mode 100644 kdl_parser/test/example_xml.cpp create mode 100644 kdl_parser/test/pr2_desc.xml create mode 100644 kdl_parser/test/pr2_desc_bracket.xml create mode 100644 kdl_parser/test/pr2_desc_bracket2.xml create mode 100644 kdl_parser/test/pr2_desc_vector.xml create mode 100644 kdl_parser/test/test_kdl_parser.cpp create mode 100644 kdl_parser/test/test_kdl_parser.launch create mode 100644 resource_retriever/CMakeLists.txt create mode 100644 resource_retriever/Makefile create mode 100644 resource_retriever/include/resource_retriever/retriever.h create mode 100644 resource_retriever/mainpage.dox create mode 100644 resource_retriever/manifest.xml create mode 100644 resource_retriever/src/retriever.cpp create mode 100644 resource_retriever/test/CMakeLists.txt create mode 100644 resource_retriever/test/test.cpp create mode 100644 resource_retriever/test/test.txt create mode 100644 robot_state_publisher/CMakeLists.txt create mode 100644 robot_state_publisher/Makefile create mode 100644 robot_state_publisher/include/robot_state_publisher/joint_state_listener.h create mode 100644 robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h create mode 100644 robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp create mode 100644 robot_state_publisher/manifest.xml create mode 100644 robot_state_publisher/src/joint_state_listener.cpp create mode 100644 robot_state_publisher/src/robot_state_publisher.cpp create mode 100644 robot_state_publisher/src/state_publisher.cpp create mode 100644 robot_state_publisher/src/treefksolverposfull_recursive.cpp create mode 100644 robot_state_publisher/test/pr2.urdf create mode 100644 robot_state_publisher/test/test_publisher.cpp create mode 100644 robot_state_publisher/test/test_publisher.launch create mode 100644 stack.xml create mode 100644 urdf/CMakeLists.txt create mode 100644 urdf/Makefile create mode 100644 urdf/include/urdf/color.h create mode 100644 urdf/include/urdf/joint.h create mode 100644 urdf/include/urdf/link.h create mode 100644 urdf/include/urdf/model.h create mode 100644 urdf/include/urdf/pose.h create mode 100644 urdf/mainpage.dox create mode 100644 urdf/manifest.xml create mode 100644 urdf/src/joint.cpp create mode 100644 urdf/src/link.cpp create mode 100644 urdf/src/model.cpp create mode 100644 urdf/test/parse_test.cpp create mode 100644 urdf/test/pr2_desc.xml create mode 100644 urdf/test/pr2_desc_bracket.xml create mode 100644 urdf/test/pr2_desc_double.xml create mode 100644 urdf/test/pr2_desc_double_joint.xml create mode 100644 urdf/test/pr2_desc_loop.xml create mode 100644 urdf/test/pr2_desc_no_joint.xml create mode 100644 urdf/test/pr2_desc_no_joint2.xml create mode 100644 urdf/test/pr2_desc_parent_itself.xml create mode 100644 urdf/test/pr2_desc_two_trees.xml create mode 100644 urdf/test/test_robot_model_parser.cpp create mode 100644 urdf/test/test_robot_model_parser.launch diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..84534d8 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +set(ROSPACK_MAKEDIST true) + +# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of +# directories (or patterns, but directories should suffice) that should +# be excluded from the distro. This is not the place to put things that +# should be ignored everywhere, like "build" directories; that happens in +# rosbuild/rosbuild.cmake. Here should be listed packages that aren't +# ready for inclusion in a distro. +# +# This list is combined with the list in rosbuild/rosbuild.cmake. Note +# that CMake 2.6 may be required to ensure that the two lists are combined +# properly. CMake 2.4 seems to have unpredictable scoping rules for such +# variables. +#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) + +rosbuild_make_distribution(0.1.0) diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..a818cca --- /dev/null +++ b/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake_stack.mk \ No newline at end of file diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.cpp new file mode 100644 index 0000000..4198082 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.cpp @@ -0,0 +1,1065 @@ +#include +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include +#include + +#include "ConvexDecomposition.h" +#include "cd_vector.h" +#include "cd_hull.h" +#include "bestfit.h" +#include "planetri.h" +#include "vlookup.h" +#include "splitplane.h" +#include "meshvolume.h" +#include "concavity.h" +#include "bestfitobb.h" +#include "fitsphere.h" +#include "triangulate.h" +#include "float_math.h" + +#define MAKE_MESH 1 +#define CLOSE_FACE 0 + +static unsigned int MAXDEPTH=8; +static double CONCAVE_PERCENT=1.0f; +static double MERGE_PERCENT=2.0f; + + +using namespace ConvexDecomposition; + +typedef std::vector< unsigned int > UintVector; + +namespace ConvexDecomposition +{ + +class Edge +{ +public: + + Edge(unsigned int i1,unsigned int i2) + { + mE1 = i1; + mE2 = i2; + mUsed = false; + } + + unsigned int mE1; + unsigned int mE2; + bool mUsed; +}; + +typedef std::vector< Edge > EdgeVector; + +class FaceTri +{ +public: + FaceTri(void) { }; + + FaceTri(const double *vertices,unsigned int i1,unsigned int i2,unsigned int i3) + { + mP1.Set( &vertices[i1*3] ); + mP2.Set( &vertices[i2*3] ); + mP3.Set( &vertices[i3*3] ); + } + + Vector3d mP1; + Vector3d mP2; + Vector3d mP3; + Vector3d mNormal; + +}; + + + +class CHull +{ +public: + CHull(const ConvexResult &result) + { + mResult = new ConvexResult(result); + mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices ); + + mDiagonal = getBoundingRegion( result.mHullVcount, result.mHullVertices, sizeof(double)*3, mMin, mMax ); + + double dx = mMax[0] - mMin[0]; + double dy = mMax[1] - mMin[1]; + double dz = mMax[2] - mMin[2]; + + dx*=0.1f; // inflate 1/10th on each edge + dy*=0.1f; // inflate 1/10th on each edge + dz*=0.1f; // inflate 1/10th on each edge + + mMin[0]-=dx; + mMin[1]-=dy; + mMin[2]-=dz; + + mMax[0]+=dx; + mMax[1]+=dy; + mMax[2]+=dz; + + + } + + ~CHull(void) + { + delete mResult; + } + + bool overlap(const CHull &h) const + { + return overlapAABB(mMin,mMax, h.mMin, h.mMax ); + } + + double mMin[3]; + double mMax[3]; + double mVolume; + double mDiagonal; // long edge.. + ConvexResult *mResult; +}; + +// Usage: std::sort( list.begin(), list.end(), StringSortRef() ); +class CHullSort +{ + public: + + bool operator()(const CHull *a,const CHull *b) const + { + return a->mVolume < b->mVolume; + } +}; + + +typedef std::vector< CHull * > CHullVector; + + +class ConvexBuilder : public ConvexDecompInterface +{ +public: + ConvexBuilder(ConvexDecompInterface *callback) + { + mCallback = callback; + }; + + ~ConvexBuilder(void) + { + CHullVector::iterator i; + for (i=mChulls.begin(); i!=mChulls.end(); ++i) + { + CHull *cr = (*i); + delete cr; + } + } + + bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3, + unsigned int ci1,unsigned int ci2,unsigned int ci3) + { + unsigned int dcount = 0; + + assert( i1 != i2 && i1 != i3 && i2 != i3 ); + assert( ci1 != ci2 && ci1 != ci3 && ci2 != ci3 ); + + if ( i1 == ci1 || i1 == ci2 || i1 == ci3 ) dcount++; + if ( i2 == ci1 || i2 == ci2 || i2 == ci3 ) dcount++; + if ( i3 == ci1 || i3 == ci2 || i3 == ci3 ) dcount++; + + return dcount == 3; + } + + void getMesh(const ConvexResult &cr,VertexLookup vc) + { + unsigned int *src = cr.mHullIndices; + + for (unsigned int i=0; ioverlap(*b) ) return 0; // if their AABB's (with a little slop) don't overlap, then return. + + if ( MERGE_PERCENT < 0 ) return 0; + + assert( a->mVolume > 0 ); + assert( b->mVolume > 0 ); + + CHull *ret = 0; + + // ok..we are going to combine both meshes into a single mesh + // and then we are going to compute the concavity... + + VertexLookup vc = Vl_createVertexLookup(); + + getMesh( *a->mResult, vc); + getMesh( *b->mResult, vc); + + unsigned int vcount = Vl_getVcount(vc); + const double *vertices = Vl_getVertices(vc); + + HullResult hresult; + HullLibrary hl; + HullDesc desc; + + desc.SetHullFlag(QF_TRIANGLES); + + desc.mVcount = vcount; + desc.mVertices = vertices; + desc.mVertexStride = sizeof(double)*3; + + HullError hret = hl.CreateConvexHull(desc,hresult); + + if ( hret == QE_OK ) + { + + double combineVolume = computeMeshVolume( hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices ); + double sumVolume = a->mVolume + b->mVolume; + + double percent = (sumVolume*100) / combineVolume; + + if ( percent >= (100.0f-MERGE_PERCENT) ) + { + ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices); + ret = new CHull(cr); + } + } + + + Vl_releaseVertexLookup(vc); + + return ret; + } + + bool combineHulls(void) + { + + bool combine = false; + + sortChulls(mChulls); // sort the convex hulls, largest volume to least... + + CHullVector output; // the output hulls... + + + CHullVector::iterator i; + + for (i=mChulls.begin(); i!=mChulls.end() && !combine; ++i) + { + CHull *cr = (*i); + + CHullVector::iterator j; + for (j=mChulls.begin(); j!=mChulls.end(); ++j) + { + CHull *match = (*j); + + if ( cr != match ) // don't try to merge a hull with itself, that be stoopid + { + + CHull *merge = canMerge(cr,match); // if we can merge these two.... + + if ( merge ) + { + + output.push_back(merge); + + + ++i; + while ( i != mChulls.end() ) + { + CHull *cr = (*i); + if ( cr != match ) + { + output.push_back(cr); + } + i++; + } + + delete cr; + delete match; + combine = true; + break; + } + } + } + + if ( combine ) + { + break; + } + else + { + output.push_back(cr); + } + + } + + if ( combine ) + { + mChulls.clear(); + mChulls = output; + output.clear(); + } + + + return combine; + } + + unsigned int process(const DecompDesc &desc) + { + + unsigned int ret = 0; + + MAXDEPTH = desc.mDepth; + CONCAVE_PERCENT = desc.mCpercent; + MERGE_PERCENT = desc.mPpercent; + + + doConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices,this,0,0); + + + while ( combineHulls() ); // keep combinging hulls until I can't combine any more... + + CHullVector::iterator i; + for (i=mChulls.begin(); i!=mChulls.end(); ++i) + { + CHull *cr = (*i); + + // before we hand it back to the application, we need to regenerate the hull based on the + // limits given by the user. + + const ConvexResult &c = *cr->mResult; // the high resolution hull... + + HullResult result; + HullLibrary hl; + HullDesc hdesc; + + hdesc.SetHullFlag(QF_TRIANGLES); + + hdesc.mVcount = c.mHullVcount; + hdesc.mVertices = c.mHullVertices; + hdesc.mVertexStride = sizeof(double)*3; + hdesc.mMaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output + + if ( desc.mSkinWidth > 0 ) + { + hdesc.mSkinWidth = desc.mSkinWidth; + hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation. + } + + HullError ret = hl.CreateConvexHull(hdesc,result); + + if ( ret == QE_OK ) + { + ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices); + + r.mHullVolume = computeMeshVolume( result.mOutputVertices, result.mNumFaces, result.mIndices ); // the volume of the hull. + + mCallback->ConvexDecompResult(r); + } + + + delete cr; + } + + ret = mChulls.size(); + + mChulls.clear(); + + return ret; + } + + + virtual void ConvexDebugTri(const double *p1,const double *p2,const double *p3,unsigned int color) + { + mCallback->ConvexDebugTri(p1,p2,p3,color); + } + + virtual void ConvexDebugOBB(const double *sides, const double *matrix,unsigned int color) + { + mCallback->ConvexDebugOBB(sides,matrix,color); + } + virtual void ConvexDebugPoint(const double *p,double dist,unsigned int color) + { + mCallback->ConvexDebugPoint(p,dist,color); + } + + virtual void ConvexDebugBound(const double *bmin,const double *bmax,unsigned int color) + { + mCallback->ConvexDebugBound(bmin,bmax,color); + } + + virtual void ConvexDecompResult(ConvexResult &result) + { + CHull *ch = new CHull(result); + mChulls.push_back(ch); + } + + void sortChulls(CHullVector &hulls) + { + std::sort( hulls.begin(), hulls.end(), CHullSort() ); + } + +#define EPSILON 0.001f + + bool isEdge(const Vector3d &p,const double *plane) + { + bool ret = false; + + double dist = fabs(fm_distToPlane(plane,p.Ptr())); + + if ( dist < EPSILON ) + { + ret = true; + } + + + return ret; + } + + void addEdge(const Vector3d &p1,const Vector3d &p2,EdgeVector &edges,VertexLookup split,const double *plane) + { + if ( isEdge(p1,plane) && isEdge(p2,plane) ) + { + unsigned int i1 = Vl_getIndex(split,p1.Ptr()); + unsigned int i2 = Vl_getIndex(split,p2.Ptr()); + + bool found = false; + + for (unsigned int i=0; i &p1, + const Vector3d &p2, + const Vector3d &p3, + EdgeVector &edges, + VertexLookup split, + const double *plane) + { + bool ret = false; + + unsigned int i1 = Vl_getIndex(vl, p1.Ptr() ); + unsigned int i2 = Vl_getIndex(vl, p2.Ptr() ); + unsigned int i3 = Vl_getIndex(vl, p3.Ptr() ); + + // do *not* process degenerate triangles! + + if ( i1 != i2 && i1 != i3 && i2 != i3 ) + { + + list.push_back(i1); + list.push_back(i2); + list.push_back(i3); +#if CLOSE_FACE + addEdge(p1,p2,edges,split,plane); + addEdge(p2,p3,edges,split,plane); + addEdge(p3,p1,edges,split,plane); +#endif + ret = true; + } + return ret; + } + + void saveEdges(VertexLookup vl,const EdgeVector &edges,bool front) + { + char scratch[512]; + if ( front ) + { + static int fcount=1; + sprintf(scratch,"CD_Front%d.obj", fcount++); + } + else + { + static int bcount=1; + sprintf(scratch,"CD_Back%d.obj", bcount++); + } + + FILE *fph = fopen(scratch,"wb"); + if (fph) + { + unsigned int vcount = Vl_getVcount(vl); + const double *vertices = Vl_getVertices(vl); + fprintf(fph,"v 10 10 0\r\n"); + for (unsigned int i=0; i= 0 ) + { + double volume; + + double c = computeConcavity( vcount, vertices, tcount, indices, callback, plane, volume ); + + if ( depth == 0 ) + { + masterVolume = volume; + } + + double percent = (c*100.0f)/masterVolume; + + if ( percent > CONCAVE_PERCENT ) // if great than 5% of the total volume is concave, go ahead and keep splitting. + { + split = true; + } + } + else + { + split = computeSplitPlane(vcount,vertices,tcount,indices,callback,plane); + } + + } + + if ( depth >= MAXDEPTH || !split ) + { + + HullResult result; + HullLibrary hl; + HullDesc desc; + + desc.SetHullFlag(QF_TRIANGLES); + + desc.mVcount = vcount; + desc.mVertices = vertices; + desc.mVertexStride = sizeof(double)*3; + + HullError ret = hl.CreateConvexHull(desc,result); + + if ( ret == QE_OK ) + { + + ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices); + + + callback->ConvexDecompResult(r); + } + + + return; + } + + UintVector ifront; + UintVector iback; + + EdgeVector frontEdges; + EdgeVector backEdges; + + VertexLookup vfront = Vl_createVertexLookup(); + VertexLookup vback = Vl_createVertexLookup(); + + VertexLookup splitFront = Vl_createVertexLookup(); + VertexLookup splitBack = Vl_createVertexLookup(); + + + + if ( 1 ) + { + + // ok..now we are going to 'split' all of the input triangles against this plane! + + const unsigned int *source = indices; + + for (unsigned int i=0; i front[4]; + Vector3d back[4]; + + unsigned int fcount=0; + unsigned int bcount=0; + + PlaneTriResult result; + + result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount ); + + if( fcount > 4 || bcount > 4 ) + { + result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount ); + } + + switch ( result ) + { + case PTR_FRONT: + + assert( fcount == 3 ); + + #if MAKE_MESH + addTri( vfront, ifront, front[0], front[1], front[2], frontEdges, splitFront, plane ); + #endif + + break; + case PTR_BACK: + assert( bcount == 3 ); + + #if MAKE_MESH + addTri( vback, iback, back[0], back[1], back[2], backEdges, splitBack, plane ); + #endif + + break; + case PTR_SPLIT: + + assert( fcount >= 3 && fcount <= 4); + assert( bcount >= 3 && bcount <= 4); + + #if MAKE_MESH + addTri( vfront, ifront, front[0], front[1], front[2], frontEdges, splitFront, plane ); + addTri( vback, iback, back[0], back[1], back[2], backEdges, splitBack, plane ); + + if ( fcount == 4 ) + { + addTri( vfront, ifront, front[0], front[2], front[3], frontEdges, splitFront, plane ); + } + + if ( bcount == 4 ) + { + addTri( vback, iback, back[0], back[2], back[3], backEdges, splitBack, plane ); + } + #endif + + break; + } + } + + +// saveEdges(vfront,frontEdges,true); +// saveEdges(vback,backEdges,false); + + // Triangulate the front surface... + if ( frontEdges.size() ) // extract polygons for the front + { + UintVector polygon; + + bool ok = extractPolygon(frontEdges,polygon,splitFront); + + while ( ok ) + { + + const double *vertices = Vl_getVertices(splitFront); + unsigned int pcount = polygon.size(); + unsigned int maxTri = pcount*3; + double *tris = new double[maxTri*9]; + + unsigned int tcount = triangulate3d(pcount,(const unsigned int *) &polygon[0], vertices, tris, maxTri, plane ); + + if ( tcount ) + { + // cool! now add these triangles to the frong.. + const double *source = tris; + for (unsigned int i=0; i= 0 ) + { + Edge &e = edges[root]; + polygon.push_back(e.mE1); + int link; + + do + { + link = findEdge(edges,e.mE2); + if ( link < 0 ) + link = findNearestEdge(edges,e.mE2,split); + + if ( link >= 0 ) + { + e = edges[link]; + polygon.push_back(e.mE1 ); + } + } while ( link >= 0 ); + + + if ( polygon.size() >= 3 ) + { + ret = true; + } + + } + + return ret; + } + +CHullVector mChulls; +ConvexDecompInterface *mCallback; + +}; + +unsigned int performConvexDecomposition(const DecompDesc &desc) +{ + unsigned int ret = 0; + + if ( desc.mCallback ) + { + ConvexBuilder cb(desc.mCallback); + + ret = cb.process(desc); + } + + return ret; +} + + + +}; diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.h new file mode 100644 index 0000000..b590e2d --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/ConvexDecomposition.h @@ -0,0 +1,249 @@ +#ifndef CONVEX_DECOMPOSITION_H + +#define CONVEX_DECOMPOSITION_H + +namespace ConvexDecomposition +{ + + /*! + ** + ** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net + ** + ** Portions of this source has been released with the PhysXViewer application, as well as + ** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. + ** + ** If you find this code useful or you are feeling particularily generous I would + ** ask that you please go to http://www.amillionpixels.us and make a donation + ** to Troy DeMolay. + ** + ** DeMolay is a youth group for young men between the ages of 12 and 21. + ** It teaches strong moral principles, as well as leadership skills and + ** public speaking. The donations page uses the 'pay for pixels' paradigm + ** where, in this case, a pixel is only a single penny. Donations can be + ** made for as small as $4 or as high as a $100 block. Each person who donates + ** will get a link to their own site as well as acknowledgement on the + ** donations blog located here http://www.amillionpixels.blogspot.com/ + ** + ** If you wish to contact me you can use the following methods: + ** + ** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) + ** Skype ID: jratcliff63367 + ** Yahoo: jratcliff63367 + ** AOL: jratcliff1961 + ** email: jratcliff@infiniplex.net + ** Personal website: http://jratcliffscarab.blogspot.com + ** Coding Website: http://codesuppository.blogspot.com + ** FundRaising Blog: http://amillionpixels.blogspot.com + ** Fundraising site: http://www.amillionpixels.us + ** New Temple Site: http://newtemple.blogspot.com + ** + ** + ** The MIT license: + ** + ** Permission is hereby granted, free of charge, to any person obtaining a copy + ** of this software and associated documentation files (the "Software"), to deal + ** in the Software without restriction, including without limitation the rights + ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + ** copies of the Software, and to permit persons to whom the Software is furnished + ** to do so, subject to the following conditions: + ** + ** The above copyright notice and this permission notice shall be included in all + ** copies or substantial portions of the Software. + + ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + ** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + ** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + ** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + ** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + ** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + */ + + + +class ConvexResult +{ +public: + ConvexResult(void) + { + mHullVcount = 0; + mHullVertices = 0; + mHullTcount = 0; + mHullIndices = 0; + } + + ConvexResult(unsigned int hvcount,const double *hvertices,unsigned int htcount,const unsigned int *hindices) + { + mHullVcount = hvcount; + if ( mHullVcount ) + { + mHullVertices = new double[mHullVcount*sizeof(double)*3]; + memcpy(mHullVertices, hvertices, sizeof(double)*3*mHullVcount ); + } + else + { + mHullVertices = 0; + } + + mHullTcount = htcount; + + if ( mHullTcount ) + { + mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3]; + memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 ); + } + else + { + mHullIndices = 0; + } + + } + + ConvexResult(const ConvexResult &r) // copy constructor, perform a deep copy of the data. + { + mHullVcount = r.mHullVcount; + if ( mHullVcount ) + { + mHullVertices = new double[mHullVcount*sizeof(double)*3]; + memcpy(mHullVertices, r.mHullVertices, sizeof(double)*3*mHullVcount ); + } + else + { + mHullVertices = 0; + } + mHullTcount = r.mHullTcount; + if ( mHullTcount ) + { + mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3]; + memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 ); + } + else + { + mHullIndices = 0; + } + } + + ~ConvexResult(void) + { + delete mHullVertices; + delete mHullIndices; + } + +// the convex hull. + unsigned int mHullVcount; + double * mHullVertices; + unsigned int mHullTcount; + unsigned int *mHullIndices; + + double mHullVolume; // the volume of the convex hull. + +}; + +// convert from doubles back down to floats. +class FConvexResult +{ +public: + FConvexResult(const ConvexResult &r) + { + mHullVcount = r.mHullVcount; + mHullVertices = 0; + if ( mHullVcount ) + { + mHullVertices = new float[mHullVcount*3]; + + const double *src = r.mHullVertices; + float * dest = mHullVertices; + for (unsigned int i=0; i +#include +#include +#include +#include + +// Geometric Tools, Inc. +// http://www.geometrictools.com +// Copyright (c) 1998-2006. All Rights Reserved +// +// The Wild Magic Library (WM3) source code is supplied under the terms of +// the license agreement +// http://www.geometrictools.com/License/WildMagic3License.pdf +// and may not be copied or disclosed except in accordance with the terms +// of that agreement. + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include "bestfit.h" + +namespace ConvexDecomposition +{ + +class Vec3 +{ +public: + Vec3(void) { }; + Vec3(double _x,double _y,double _z) { x = _x; y = _y; z = _z; }; + + + double dot(const Vec3 &v) + { + return x*v.x + y*v.y + z*v.z; // the dot product + } + + double x; + double y; + double z; +}; + + +class Eigen +{ +public: + + + void DecrSortEigenStuff(void) + { + Tridiagonal(); //diagonalize the matrix. + QLAlgorithm(); // + DecreasingSort(); + GuaranteeRotation(); + } + + void Tridiagonal(void) + { + double fM00 = mElement[0][0]; + double fM01 = mElement[0][1]; + double fM02 = mElement[0][2]; + double fM11 = mElement[1][1]; + double fM12 = mElement[1][2]; + double fM22 = mElement[2][2]; + + m_afDiag[0] = fM00; + m_afSubd[2] = 0; + if (fM02 != (double)0.0) + { + double fLength = sqrt(fM01*fM01+fM02*fM02); + double fInvLength = ((double)1.0)/fLength; + fM01 *= fInvLength; + fM02 *= fInvLength; + double fQ = ((double)2.0)*fM01*fM12+fM02*(fM22-fM11); + m_afDiag[1] = fM11+fM02*fQ; + m_afDiag[2] = fM22-fM02*fQ; + m_afSubd[0] = fLength; + m_afSubd[1] = fM12-fM01*fQ; + mElement[0][0] = (double)1.0; + mElement[0][1] = (double)0.0; + mElement[0][2] = (double)0.0; + mElement[1][0] = (double)0.0; + mElement[1][1] = fM01; + mElement[1][2] = fM02; + mElement[2][0] = (double)0.0; + mElement[2][1] = fM02; + mElement[2][2] = -fM01; + m_bIsRotation = false; + } + else + { + m_afDiag[1] = fM11; + m_afDiag[2] = fM22; + m_afSubd[0] = fM01; + m_afSubd[1] = fM12; + mElement[0][0] = (double)1.0; + mElement[0][1] = (double)0.0; + mElement[0][2] = (double)0.0; + mElement[1][0] = (double)0.0; + mElement[1][1] = (double)1.0; + mElement[1][2] = (double)0.0; + mElement[2][0] = (double)0.0; + mElement[2][1] = (double)0.0; + mElement[2][2] = (double)1.0; + m_bIsRotation = true; + } + } + + bool QLAlgorithm(void) + { + const int iMaxIter = 32; + + for (int i0 = 0; i0 <3; i0++) + { + int i1; + for (i1 = 0; i1 < iMaxIter; i1++) + { + int i2; + for (i2 = i0; i2 <= (3-2); i2++) + { + double fTmp = fabs(m_afDiag[i2]) + fabs(m_afDiag[i2+1]); + if ( fabs(m_afSubd[i2]) + fTmp == fTmp ) + break; + } + if (i2 == i0) + { + break; + } + + double fG = (m_afDiag[i0+1] - m_afDiag[i0])/(((double)2.0) * m_afSubd[i0]); + double fR = sqrt(fG*fG+(double)1.0); + if (fG < (double)0.0) + { + fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG-fR); + } + else + { + fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG+fR); + } + double fSin = (double)1.0, fCos = (double)1.0, fP = (double)0.0; + for (int i3 = i2-1; i3 >= i0; i3--) + { + double fF = fSin*m_afSubd[i3]; + double fB = fCos*m_afSubd[i3]; + if (fabs(fF) >= fabs(fG)) + { + fCos = fG/fF; + fR = sqrt(fCos*fCos+(double)1.0); + m_afSubd[i3+1] = fF*fR; + fSin = ((double)1.0)/fR; + fCos *= fSin; + } + else + { + fSin = fF/fG; + fR = sqrt(fSin*fSin+(double)1.0); + m_afSubd[i3+1] = fG*fR; + fCos = ((double)1.0)/fR; + fSin *= fCos; + } + fG = m_afDiag[i3+1]-fP; + fR = (m_afDiag[i3]-fG)*fSin+((double)2.0)*fB*fCos; + fP = fSin*fR; + m_afDiag[i3+1] = fG+fP; + fG = fCos*fR-fB; + for (int i4 = 0; i4 < 3; i4++) + { + fF = mElement[i4][i3+1]; + mElement[i4][i3+1] = fSin*mElement[i4][i3]+fCos*fF; + mElement[i4][i3] = fCos*mElement[i4][i3]-fSin*fF; + } + } + m_afDiag[i0] -= fP; + m_afSubd[i0] = fG; + m_afSubd[i2] = (double)0.0; + } + if (i1 == iMaxIter) + { + return false; + } + } + return true; + } + + void DecreasingSort(void) + { + //sort eigenvalues in decreasing order, e[0] >= ... >= e[iSize-1] + for (int i0 = 0, i1; i0 <= 3-2; i0++) + { + // locate maximum eigenvalue + i1 = i0; + double fMax = m_afDiag[i1]; + int i2; + for (i2 = i0+1; i2 < 3; i2++) + { + if (m_afDiag[i2] > fMax) + { + i1 = i2; + fMax = m_afDiag[i1]; + } + } + + if (i1 != i0) + { + // swap eigenvalues + m_afDiag[i1] = m_afDiag[i0]; + m_afDiag[i0] = fMax; + // swap eigenvectors + for (i2 = 0; i2 < 3; i2++) + { + double fTmp = mElement[i2][i0]; + mElement[i2][i0] = mElement[i2][i1]; + mElement[i2][i1] = fTmp; + m_bIsRotation = !m_bIsRotation; + } + } + } + } + + + void GuaranteeRotation(void) + { + if (!m_bIsRotation) + { + // change sign on the first column + for (int iRow = 0; iRow <3; iRow++) + { + mElement[iRow][0] = -mElement[iRow][0]; + } + } + } + + double mElement[3][3]; + double m_afDiag[3]; + double m_afSubd[3]; + bool m_bIsRotation; +}; + + +bool getBestFitPlane(unsigned int vcount, + const double *points, + unsigned int vstride, + const double *weights, + unsigned int wstride, + double *plane) +{ + bool ret = false; + + Vec3 kOrigin(0,0,0); + + double wtotal = 0; + + if ( 1 ) + { + const char *source = (const char *) points; + const char *wsource = (const char *) weights; + + for (unsigned int i=0; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + } + + double dx = bmax[0] - bmin[0]; + double dy = bmax[1] - bmin[1]; + double dz = bmax[2] - bmin[2]; + + return sqrt( dx*dx + dy*dy + dz*dz ); + +} + + +bool overlapAABB(const double *bmin1,const double *bmax1,const double *bmin2,const double *bmax2) // return true if the two AABB's overlap. +{ + if ( bmax2[0] < bmin1[0] ) return false; // if the maximum is less than our minimum on any axis + if ( bmax2[1] < bmin1[1] ) return false; + if ( bmax2[2] < bmin1[2] ) return false; + + if ( bmin2[0] > bmax1[0] ) return false; // if the minimum is greater than our maximum on any axis + if ( bmin2[1] > bmax1[1] ) return false; // if the minimum is greater than our maximum on any axis + if ( bmin2[2] > bmax1[2] ) return false; // if the minimum is greater than our maximum on any axis + + + return true; // the extents overlap +} + +}; // end of namespace diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfit.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfit.h new file mode 100644 index 0000000..2cd05dc --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfit.h @@ -0,0 +1,90 @@ +#ifndef BEST_FIT_H + +#define BEST_FIT_H + +// This routine was released in 'snippet' form +// by John W. Ratcliff mailto:jratcliff@infiniplex.net +// on March 22, 2006. +// +// This routine computes the 'best fit' plane equation to +// a set of input data points with an optional per vertex +// weighting component. +// +// The implementation for this was lifted directly from +// David Eberly's Magic Software implementation. + +// computes the best fit plane to a collection of data points. +// returns the plane equation as A,B,C,D format. (Ax+By+Cz+D) + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + +namespace ConvexDecomposition +{ + + +bool getBestFitPlane(unsigned int vcount, // number of input data points + const double *points, // starting address of points array. + unsigned int vstride, // stride between input points. + const double *weights, // *optional point weighting values. + unsigned int wstride, // weight stride for each vertex. + double *plane); + + +double getBoundingRegion(unsigned int vcount,const double *points,unsigned int pstride,double *bmin,double *bmax); // returns the diagonal distance +bool overlapAABB(const double *bmin1,const double *bmax1,const double *bmin2,const double *bmax2); // return true if the two AABB's overlap. + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.cpp new file mode 100644 index 0000000..d84dd6d --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.cpp @@ -0,0 +1,368 @@ +#include +#include +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +// compute the 'best fit' oriented bounding box of an input point cloud by doing an exhaustive search. +// it spins the point cloud around searching for the minimal volume. It keeps narrowing down until +// it fails to find a better fit. The only dependency is on 'double_math' +// +// The inputs are: +// +// vcount : number of input vertices in the point cloud. +// points : a pointer to the first vertex. +// pstride : The stride between each point measured in bytes. +// +// The outputs are: +// +// sides : The length of the sides of the OBB as X, Y, Z distance. +// matrix : A pointer to a 4x4 matrix. This will contain the 3x3 rotation and the translation component. +// pos : The center of the OBB +// quat : The orientation of the OBB expressed as quaternion in the form of X,Y,Z,W +// +// +// Please email bug fixes or improvements to John W. Ratcliff at mailto:jratcliff@infiniplex.net +// +// If you find this source code useful donate a couple of bucks to my kid's fund raising website at +// www.amillionpixels.us +// +// More snippets at: www.codesuppository.com +// + + +#include "bestfitobb.h" +#include "float_math.h" + +namespace ConvexDecomposition +{ + +// computes the OBB for this set of points relative to this transform matrix. +void computeOBB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *matrix) +{ + const char *src = (const char *) points; + + double bmin[3] = { 1e9, 1e9, 1e9 }; + double bmax[3] = { -1e9, -1e9, -1e9 }; + + for (unsigned int i=0; i bmax[0] ) bmax[0] = t[0]; + if ( t[1] > bmax[1] ) bmax[1] = t[1]; + if ( t[2] > bmax[2] ) bmax[2] = t[2]; + + src+=pstride; + } + + double center[3]; + + sides[0] = bmax[0]-bmin[0]; + sides[1] = bmax[1]-bmin[1]; + sides[2] = bmax[2]-bmin[2]; + + center[0] = sides[0]*0.5f+bmin[0]; + center[1] = sides[1]*0.5f+bmin[1]; + center[2] = sides[2]*0.5f+bmin[2]; + + double ocenter[3]; + + fm_rotate(matrix,center,ocenter); + + matrix[12]+=ocenter[0]; + matrix[13]+=ocenter[1]; + matrix[14]+=ocenter[2]; + +} + +void computeBestFitOBB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *matrix) +{ + + double bmin[3]; + double bmax[3]; + + fm_getAABB(vcount,points,pstride,bmin,bmax); + + double center[3]; + + center[0] = (bmax[0]-bmin[0])*0.5f + bmin[0]; + center[1] = (bmax[1]-bmin[1])*0.5f + bmin[1]; + center[2] = (bmax[2]-bmin[2])*0.5f + bmin[2]; + + double ax = 0; + double ay = 0; + double az = 0; + + double sweep = 45.0f; // 180 degree sweep on all three axes. + double steps = 7.0f; // 7 steps on each axis) + + double bestVolume = 1e9; + double angle[3]; + + while ( sweep >= 1 ) + { + + bool found = false; + + double stepsize = sweep / steps; + + for (double x=ax-sweep; x<=ax+sweep; x+=stepsize) + { + for (double y=ay-sweep; y<=ay+sweep; y+=stepsize) + { + for (double z=az-sweep; z<=az+sweep; z+=stepsize) + { + double pmatrix[16]; + + fm_eulerMatrix( x*FM_DEG_TO_RAD, y*FM_DEG_TO_RAD, z*FM_DEG_TO_RAD, pmatrix ); + + pmatrix[3*4+0] = center[0]; + pmatrix[3*4+1] = center[1]; + pmatrix[3*4+2] = center[2]; + + double psides[3]; + + computeOBB( vcount, points, pstride, psides, pmatrix ); + + double volume = psides[0]*psides[1]*psides[2]; // the volume of the cube + + if ( volume < bestVolume ) + { + bestVolume = volume; + + sides[0] = psides[0]; + sides[1] = psides[1]; + sides[2] = psides[2]; + + angle[0] = ax; + angle[1] = ay; + angle[2] = az; + + memcpy(matrix,pmatrix,sizeof(double)*16); + found = true; // yes, we found an improvement. + } + } + } + } + + if ( found ) + { + + ax = angle[0]; + ay = angle[1]; + az = angle[2]; + + sweep*=0.5f; // sweep 1/2 the distance as the last time. + } + else + { + break; // no improvement, so just + } + + } + +} + + +void computeBestFitOBB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *pos,double *quat) +{ + double matrix[16]; + + computeBestFitOBB(vcount,points,pstride,sides,matrix); + fm_getTranslation(matrix,pos); + fm_matrixToQuat(matrix,quat); + +} + + +void computeBestFitABB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *pos) +{ + double bmin[3]; + double bmax[3]; + + bmin[0] = points[0]; + bmin[1] = points[1]; + bmin[2] = points[2]; + + bmax[0] = points[0]; + bmax[1] = points[1]; + bmax[2] = points[2]; + + const char *cp = (const char *) points; + for (unsigned int i=0; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + cp+=pstride; + } + + + sides[0] = bmax[0] - bmin[0]; + sides[1] = bmax[1] - bmin[1]; + sides[2] = bmax[2] - bmin[2]; + + pos[0] = bmin[0]+sides[0]*0.5f; + pos[1] = bmin[1]+sides[1]*0.5f; + pos[2] = bmin[2]+sides[2]*0.5f; + +} + + +void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *pos,float *quat) // the float version of the routine. +{ + double *temp = new double[vcount*3]; + const char *src = (const char *)points; + double *dest = temp; + for (unsigned int i=0; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + cp+=pstride; + } + + + sides[0] = bmax[0] - bmin[0]; + sides[1] = bmax[1] - bmin[1]; + sides[2] = bmax[2] - bmin[2]; + + pos[0] = bmin[0]+sides[0]*0.5f; + pos[1] = bmin[1]+sides[1]*0.5f; + pos[2] = bmin[2]+sides[2]*0.5f; + +} + +}; diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.h new file mode 100644 index 0000000..720c717 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/bestfitobb.h @@ -0,0 +1,100 @@ +#ifndef BEST_FIT_OBB_H + +#define BEST_FIT_OBB_H + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +// compute the 'best fit' oriented bounding box of an input point cloud by doing an exhaustive search. +// it spins the point cloud around searching for the minimal volume. It keeps narrowing down until +// it fails to find a better fit. The only dependency is on 'double_math' +// +// The inputs are: +// +// vcount : number of input vertices in the point cloud. +// points : a pointer to the first vertex. +// pstride : The stride between each point measured in bytes. +// +// The outputs are: +// +// sides : The length of the sides of the OBB as X, Y, Z distance. +// matrix : A pointer to a 4x4 matrix. This will contain the 3x3 rotation and the translation component. +// pos : The center of the OBB +// quat : The orientation of the OBB expressed as quaternion in the form of X,Y,Z,W +// +// +// Please email bug fixes or improvements to John W. Ratcliff at mailto:jratcliff@infiniplex.net +// +// If you find this source code useful donate a couple of bucks to my kid's fund raising website at +// www.amillionpixels.us +// +// More snippets at: www.codesuppository.com +// + +namespace ConvexDecomposition +{ + +void computeBestFitOBB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *matrix); +void computeBestFitOBB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *pos,double *quat); +void computeBestFitABB(unsigned int vcount,const double *points,unsigned int pstride,double *sides,double *pos); + + +void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *pos,float *quat); // the float version of the routine. +void computeBestFitABB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *pos); + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.cpp new file mode 100644 index 0000000..74cec01 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.cpp @@ -0,0 +1,3650 @@ +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + +#include +#include +#include +#include +#include +#include + + +#include +#include + +#include "cd_hull.h" + +#define STANDALONE 1 // This #define is used when tranferring this source code to other projects + +#if STANDALONE + +#undef NX_ALLOC +#undef NX_FREE + +#define NX_ALLOC(x,y) malloc(x) +#define NX_FREE(x) free(x) + +#else +#include "Allocateable.h" +#endif + +namespace ConvexDecomposition +{ + +//***************************************************** +//*** DARRAY.H +//***************************************************** + +template class ArrayRet; +template class Array +{ + public: + Array(int s=0); + Array(Array &array); + Array(ArrayRet &array); + ~Array(); + void allocate(int s); + void SetSize(int s); + void Pack(); + Type& Add(Type); + void AddUnique(Type); + int Contains(Type); + void Insert(Type,int); + int IndexOf(Type); + void Remove(Type); + void DelIndex(int i); + Type * element; + int count; + int array_size; + const Type &operator[](int i) const { assert(i>=0 && i=0 && i &operator=(Array &array); + Array &operator=(ArrayRet &array); + // operator ArrayRet &() { return *(ArrayRet *)this;} // this worked but i suspect could be dangerous +}; + +template class ArrayRet:public Array +{ +}; + +template Array::Array(int s) +{ + count=0; + array_size = 0; + element = NULL; + if(s) + { + allocate(s); + } +} + + +template Array::Array(Array &array) +{ + count=0; + array_size = 0; + element = NULL; + for(int i=0;i Array::Array(ArrayRet &array) +{ + *this = array; +} +template Array &Array::operator=(ArrayRet &array) +{ + count=array.count; + array_size = array.array_size; + element = array.element; + array.element=NULL; + array.count=0; + array.array_size=0; + return *this; +} + + +template Array &Array::operator=(Array &array) +{ + count=0; + for(int i=0;i Array::~Array() +{ + if (element != NULL) + { + NX_FREE(element); + } + count=0;array_size=0;element=NULL; +} + +template void Array::allocate(int s) +{ + assert(s>0); + assert(s>=count); + Type *old = element; + array_size =s; + element = (Type *) NX_ALLOC( sizeof(Type)*array_size, CONVEX_TEMP ); + assert(element); + for(int i=0;i void Array::SetSize(int s) +{ + if(s==0) + { + if(element) + { + NX_FREE(element); + element = NULL; + } + array_size = s; + } + else + { + allocate(s); + } + count=s; +} + +template void Array::Pack() +{ + allocate(count); +} + +template Type& Array::Add(Type t) +{ + assert(count<=array_size); + if(count==array_size) + { + allocate((array_size)?array_size *2:16); + } + element[count++] = t; + return element[count-1]; +} + +template int Array::Contains(Type t) +{ + int i; + int found=0; + for(i=0;i void Array::AddUnique(Type t) +{ + if(!Contains(t)) Add(t); +} + + +template void Array::DelIndex(int i) +{ + assert(i void Array::Remove(Type t) +{ + int i; + for(i=0;i void Array::Insert(Type t,int k) +{ + int i=count; + Add(t); // to allocate space + while(i>k) + { + element[i]=element[i-1]; + i--; + } + assert(i==k); + element[k]=t; +} + + +template int Array::IndexOf(Type t) +{ + int i; + for(i=0;i Member )))- ((char*)NULL)) + + + +int argmin(double a[],int n); +double sqr(double a); +double clampf(double a) ; +double Round(double a,double precision); +double Interpolate(const double &f0,const double &f1,double alpha) ; + +template +void Swap(T &a,T &b) +{ + T tmp = a; + a=b; + b=tmp; +} + + + +template +T Max(const T &a,const T &b) +{ + return (a>b)?a:b; +} + +template +T Min(const T &a,const T &b) +{ + return (a=0&&i<2);return ((double*)this)[i];} + const double& operator[](int i) const {assert(i>=0&&i<2);return ((double*)this)[i];} +}; +inline double2 operator-( const double2& a, const double2& b ){return double2(a.x-b.x,a.y-b.y);} +inline double2 operator+( const double2& a, const double2& b ){return double2(a.x+b.x,a.y+b.y);} + +//--------- 3D --------- + +class double3 // 3D +{ + public: + double x,y,z; + double3(){x=0;y=0;z=0;}; + double3(double _x,double _y,double _z){x=_x;y=_y;z=_z;}; + //operator double *() { return &x;}; + double& operator[](int i) {assert(i>=0&&i<3);return ((double*)this)[i];} + const double& operator[](int i) const {assert(i>=0&&i<3);return ((double*)this)[i];} +# ifdef PLUGIN_3DSMAX + double3(const Point3 &p):x(p.x),y(p.y),z(p.z){} + operator Point3(){return *((Point3*)this);} +# endif +}; + + +double3& operator+=( double3 &a, const double3& b ); +double3& operator-=( double3 &a ,const double3& b ); +double3& operator*=( double3 &v ,const double s ); +double3& operator/=( double3 &v, const double s ); + +double magnitude( const double3& v ); +double3 normalize( const double3& v ); +double3 safenormalize(const double3 &v); +double3 vabs(const double3 &v); +double3 operator+( const double3& a, const double3& b ); +double3 operator-( const double3& a, const double3& b ); +double3 operator-( const double3& v ); +double3 operator*( const double3& v, const double s ); +double3 operator*( const double s, const double3& v ); +double3 operator/( const double3& v, const double s ); +inline int operator==( const double3 &a, const double3 &b ) { return (a.x==b.x && a.y==b.y && a.z==b.z); } +inline int operator!=( const double3 &a, const double3 &b ) { return (a.x!=b.x || a.y!=b.y || a.z!=b.z); } +// due to ambiguity and inconsistent standards ther are no overloaded operators for mult such as va*vb. +double dot( const double3& a, const double3& b ); +double3 cmul( const double3 &a, const double3 &b); +double3 cross( const double3& a, const double3& b ); +double3 Interpolate(const double3 &v0,const double3 &v1,double alpha); +double3 Round(const double3& a,double precision); +double3 VectorMax(const double3 &a, const double3 &b); +double3 VectorMin(const double3 &a, const double3 &b); + + + +class double3x3 +{ + public: + double3 x,y,z; // the 3 rows of the Matrix + double3x3(){} + double3x3(double xx,double xy,double xz,double yx,double yy,double yz,double zx,double zy,double zz):x(xx,xy,xz),y(yx,yy,yz),z(zx,zy,zz){} + double3x3(double3 _x,double3 _y,double3 _z):x(_x),y(_y),z(_z){} + double3& operator[](int i) {assert(i>=0&&i<3);return (&x)[i];} + const double3& operator[](int i) const {assert(i>=0&&i<3);return (&x)[i];} + double& operator()(int r, int c) {assert(r>=0&&r<3&&c>=0&&c<3);return ((&x)[r])[c];} + const double& operator()(int r, int c) const {assert(r>=0&&r<3&&c>=0&&c<3);return ((&x)[r])[c];} +}; +double3x3 Transpose( const double3x3& m ); +double3 operator*( const double3& v , const double3x3& m ); +double3 operator*( const double3x3& m , const double3& v ); +double3x3 operator*( const double3x3& m , const double& s ); +double3x3 operator*( const double3x3& ma, const double3x3& mb ); +double3x3 operator/( const double3x3& a, const double& s ) ; +double3x3 operator+( const double3x3& a, const double3x3& b ); +double3x3 operator-( const double3x3& a, const double3x3& b ); +double3x3 &operator+=( double3x3& a, const double3x3& b ); +double3x3 &operator-=( double3x3& a, const double3x3& b ); +double3x3 &operator*=( double3x3& a, const double& s ); +double Determinant(const double3x3& m ); +double3x3 Inverse(const double3x3& a); // its just 3x3 so we simply do that cofactor method + + +//-------- 4D Math -------- + +class double4 +{ +public: + double x,y,z,w; + double4(){x=0;y=0;z=0;w=0;}; + double4(double _x,double _y,double _z,double _w){x=_x;y=_y;z=_z;w=_w;} + double4(const double3 &v,double _w){x=v.x;y=v.y;z=v.z;w=_w;} + //operator double *() { return &x;}; + double& operator[](int i) {assert(i>=0&&i<4);return ((double*)this)[i];} + const double& operator[](int i) const {assert(i>=0&&i<4);return ((double*)this)[i];} + const double3& xyz() const { return *((double3*)this);} + double3& xyz() { return *((double3*)this);} +}; + + +struct D3DXMATRIX; + +class double4x4 +{ + public: + double4 x,y,z,w; // the 4 rows + double4x4(){} + double4x4(const double4 &_x, const double4 &_y, const double4 &_z, const double4 &_w):x(_x),y(_y),z(_z),w(_w){} + double4x4(double m00, double m01, double m02, double m03, + double m10, double m11, double m12, double m13, + double m20, double m21, double m22, double m23, + double m30, double m31, double m32, double m33 ) + :x(m00,m01,m02,m03),y(m10,m11,m12,m13),z(m20,m21,m22,m23),w(m30,m31,m32,m33){} + double& operator()(int r, int c) {assert(r>=0&&r<4&&c>=0&&c<4);return ((&x)[r])[c];} + const double& operator()(int r, int c) const {assert(r>=0&&r<4&&c>=0&&c<4);return ((&x)[r])[c];} + operator double* () {return &x.x;} + operator const double* () const {return &x.x;} + operator struct D3DXMATRIX* () { return (struct D3DXMATRIX*) this;} + operator const struct D3DXMATRIX* () const { return (struct D3DXMATRIX*) this;} +}; + + +int operator==( const double4 &a, const double4 &b ); +double4 Homogenize(const double3 &v3,const double &w=1.0f); // Turns a 3D double3 4D vector4 by appending w +double4 cmul( const double4 &a, const double4 &b); +double4 operator*( const double4 &v, double s); +double4 operator*( double s, const double4 &v); +double4 operator+( const double4 &a, const double4 &b); +double4 operator-( const double4 &a, const double4 &b); +double4x4 operator*( const double4x4& a, const double4x4& b ); +double4 operator*( const double4& v, const double4x4& m ); +double4x4 Inverse(const double4x4 &m); +double4x4 MatrixRigidInverse(const double4x4 &m); +double4x4 MatrixTranspose(const double4x4 &m); +double4x4 MatrixPerspectiveFov(double fovy, double Aspect, double zn, double zf ); +double4x4 MatrixTranslation(const double3 &t); +double4x4 MatrixRotationZ(const double angle_radians); +double4x4 MatrixLookAt(const double3& eye, const double3& at, const double3& up); +int operator==( const double4x4 &a, const double4x4 &b ); + + +//-------- Quaternion ------------ + +class Quaternion :public double4 +{ + public: + Quaternion() { x = y = z = 0.0f; w = 1.0f; } + Quaternion( double3 v, double t ) { v = normalize(v); w = cos(t/2.0f); v = v*sin(t/2.0f); x = v.x; y = v.y; z = v.z; } + Quaternion(double _x, double _y, double _z, double _w){x=_x;y=_y;z=_z;w=_w;} + double angle() const { return acos(w)*2.0f; } + double3 axis() const { double3 a(x,y,z); if(fabs(angle())<0.0000001f) return double3(1,0,0); return a*(1/sin(angle()/2.0f)); } + double3 xdir() const { return double3( 1-2*(y*y+z*z), 2*(x*y+w*z), 2*(x*z-w*y) ); } + double3 ydir() const { return double3( 2*(x*y-w*z),1-2*(x*x+z*z), 2*(y*z+w*x) ); } + double3 zdir() const { return double3( 2*(x*z+w*y), 2*(y*z-w*x),1-2*(x*x+y*y) ); } + double3x3 getmatrix() const { return double3x3( xdir(), ydir(), zdir() ); } + operator double3x3() { return getmatrix(); } + void Normalize(); +}; + +Quaternion& operator*=(Quaternion& a, double s ); +Quaternion operator*( const Quaternion& a, double s ); +Quaternion operator*( const Quaternion& a, const Quaternion& b); +Quaternion operator+( const Quaternion& a, const Quaternion& b ); +Quaternion normalize( Quaternion a ); +double dot( const Quaternion &a, const Quaternion &b ); +double3 operator*( const Quaternion& q, const double3& v ); +double3 operator*( const double3& v, const Quaternion& q ); +Quaternion slerp( Quaternion a, const Quaternion& b, double interp ); +Quaternion Interpolate(const Quaternion &q0,const Quaternion &q1,double alpha); +Quaternion RotationArc(double3 v0, double3 v1 ); // returns quat q where q*v0=v1 +Quaternion Inverse(const Quaternion &q); +double4x4 MatrixFromQuatVec(const Quaternion &q, const double3 &v); + + +//------ Euler Angle ----- + +Quaternion YawPitchRoll( double yaw, double pitch, double roll ); +double Yaw( const Quaternion& q ); +double Pitch( const Quaternion& q ); +double Roll( Quaternion q ); +double Yaw( const double3& v ); +double Pitch( const double3& v ); + + +//------- Plane ---------- + +class Plane +{ + public: + double3 normal; + double dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 + Plane(const double3 &n,double d):normal(n),dist(d){} + Plane():normal(),dist(0){} + void Transform(const double3 &position, const Quaternion &orientation); +}; + +inline Plane PlaneFlip(const Plane &plane){return Plane(-plane.normal,-plane.dist);} +inline int operator==( const Plane &a, const Plane &b ) { return (a.normal==b.normal && a.dist==b.dist); } +inline int coplanar( const Plane &a, const Plane &b ) { return (a==b || a==PlaneFlip(b)); } + + +//--------- Utility Functions ------ + +double3 PlaneLineIntersection(const Plane &plane, const double3 &p0, const double3 &p1); +double3 PlaneProject(const Plane &plane, const double3 &point); +double3 LineProject(const double3 &p0, const double3 &p1, const double3 &a); // projects a onto infinite line p0p1 +double LineProjectTime(const double3 &p0, const double3 &p1, const double3 &a); +double3 ThreePlaneIntersection(const Plane &p0,const Plane &p1, const Plane &p2); +int PolyHit(const double3 *vert,const int n,const double3 &v0, const double3 &v1, double3 *impact=NULL, double3 *normal=NULL); +int BoxInside(const double3 &p,const double3 &bmin, const double3 &bmax) ; +int BoxIntersect(const double3 &v0, const double3 &v1, const double3 &bmin, const double3 &bmax, double3 *impact); +double DistanceBetweenLines(const double3 &ustart, const double3 &udir, const double3 &vstart, const double3 &vdir, double3 *upoint=NULL, double3 *vpoint=NULL); +double3 TriNormal(const double3 &v0, const double3 &v1, const double3 &v2); +double3 NormalOf(const double3 *vert, const int n); +Quaternion VirtualTrackBall(const double3 &cop, const double3 &cor, const double3 &dir0, const double3 &dir1); + + + + +//***************************************************** +// ** VECMATH.CPP +//***************************************************** + + +double sqr(double a) {return a*a;} +double clampf(double a) {return Min(1.0,Max(0.0,a));} + + +double Round(double a,double precision) +{ + return floor(0.5f+a/precision)*precision; +} + + +double Interpolate(const double &f0,const double &f1,double alpha) +{ + return f0*(1-alpha) + f1*alpha; +} + + +int argmin(double a[],int n) +{ + int r=0; + for(int i=1;i=1.0) { + return a; + } + double theta = acos(d); + if(theta==0.0f) { return(a);} + return a*(sin(theta-interp*theta)/sin(theta)) + b*(sin(interp*theta)/sin(theta)); +} + + +Quaternion Interpolate(const Quaternion &q0,const Quaternion &q1,double alpha) { + return slerp(q0,q1,alpha); +} + + +Quaternion YawPitchRoll( double yaw, double pitch, double roll ) +{ + roll *= DEG2RAD; + yaw *= DEG2RAD; + pitch *= DEG2RAD; + return Quaternion(double3(0.0f,0.0f,1.0f),yaw)*Quaternion(double3(1.0f,0.0f,0.0f),pitch)*Quaternion(double3(0.0f,1.0f,0.0f),roll); +} + +double Yaw( const Quaternion& q ) +{ + static double3 v; + v=q.ydir(); + return (v.y==0.0&&v.x==0.0) ? 0.0: atan2(-v.x,v.y)*RAD2DEG; +} + +double Pitch( const Quaternion& q ) +{ + static double3 v; + v=q.ydir(); + return atan2(v.z,sqrt(sqr(v.x)+sqr(v.y)))*RAD2DEG; +} + +double Roll( Quaternion q ) +{ + q = Quaternion(double3(0.0f,0.0f,1.0f),-Yaw(q)*DEG2RAD) *q; + q = Quaternion(double3(1.0f,0.0f,0.0f),-Pitch(q)*DEG2RAD) *q; + return atan2(-q.xdir().z,q.xdir().x)*RAD2DEG; +} + +double Yaw( const double3& v ) +{ + return (v.y==0.0&&v.x==0.0) ? 0.0f: atan2(-v.x,v.y)*RAD2DEG; +} + +double Pitch( const double3& v ) +{ + return atan2(v.z,sqrt(sqr(v.x)+sqr(v.y)))*RAD2DEG; +} + + +//------------- Plane -------------- + + +void Plane::Transform(const double3 &position, const Quaternion &orientation) { + // Transforms the plane to the space defined by the + // given position/orientation. + static double3 newnormal; + static double3 origin; + + newnormal = Inverse(orientation)*normal; + origin = Inverse(orientation)*(-normal*dist - position); + + normal = newnormal; + dist = -dot(newnormal, origin); +} + + + + +//--------- utility functions ------------- + +// RotationArc() +// Given two vectors v0 and v1 this function +// returns quaternion q where q*v0==v1. +// Routine taken from game programming gems. +Quaternion RotationArc(double3 v0,double3 v1){ + static Quaternion q; + v0 = normalize(v0); // Comment these two lines out if you know its not needed. + v1 = normalize(v1); // If vector is already unit length then why do it again? + double3 c = cross(v0,v1); + double d = dot(v0,v1); + if(d<=-1.0f) { return Quaternion(1,0,0,0);} // 180 about x axis + double s = sqrt((1+d)*2); + q.x = c.x / s; + q.y = c.y / s; + q.z = c.z / s; + q.w = s /2.0f; + return q; +} + + +double4x4 MatrixFromQuatVec(const Quaternion &q, const double3 &v) +{ + // builds a 4x4 transformation matrix based on orientation q and translation v + double qx2 = q.x*q.x; + double qy2 = q.y*q.y; + double qz2 = q.z*q.z; + + double qxqy = q.x*q.y; + double qxqz = q.x*q.z; + double qxqw = q.x*q.w; + double qyqz = q.y*q.z; + double qyqw = q.y*q.w; + double qzqw = q.z*q.w; + + return double4x4( + 1-2*(qy2+qz2), + 2*(qxqy+qzqw), + 2*(qxqz-qyqw), + 0 , + 2*(qxqy-qzqw), + 1-2*(qx2+qz2), + 2*(qyqz+qxqw), + 0 , + 2*(qxqz+qyqw), + 2*(qyqz-qxqw), + 1-2*(qx2+qy2), + 0 , + v.x , + v.y , + v.z , + 1.0f ); +} + + +double3 PlaneLineIntersection(const Plane &plane, const double3 &p0, const double3 &p1) +{ + // returns the point where the line p0-p1 intersects the plane n&d + static double3 dif; + dif = p1-p0; + double dn= dot(plane.normal,dif); + double t = -(plane.dist+dot(plane.normal,p0) )/dn; + return p0 + (dif*t); +} + +double3 PlaneProject(const Plane &plane, const double3 &point) +{ + return point - plane.normal * (dot(point,plane.normal)+plane.dist); +} + +double3 LineProject(const double3 &p0, const double3 &p1, const double3 &a) +{ + double3 w; + w = p1-p0; + double t= dot(w,(a-p0)) / (sqr(w.x)+sqr(w.y)+sqr(w.z)); + return p0+ w*t; +} + + +double LineProjectTime(const double3 &p0, const double3 &p1, const double3 &a) +{ + double3 w; + w = p1-p0; + double t= dot(w,(a-p0)) / (sqr(w.x)+sqr(w.y)+sqr(w.z)); + return t; +} + + + +double3 TriNormal(const double3 &v0, const double3 &v1, const double3 &v2) +{ + // return the normal of the triangle + // inscribed by v0, v1, and v2 + double3 cp=cross(v1-v0,v2-v1); + double m=magnitude(cp); + if(m==0) return double3(1,0,0); + return cp*(1.0f/m); +} + + + +int BoxInside(const double3 &p, const double3 &bmin, const double3 &bmax) +{ + return (p.x >= bmin.x && p.x <=bmax.x && + p.y >= bmin.y && p.y <=bmax.y && + p.z >= bmin.z && p.z <=bmax.z ); +} + + +int BoxIntersect(const double3 &v0, const double3 &v1, const double3 &bmin, const double3 &bmax,double3 *impact) +{ + if(BoxInside(v0,bmin,bmax)) + { + *impact=v0; + return 1; + } + if(v0.x<=bmin.x && v1.x>=bmin.x) + { + double a = (bmin.x-v0.x)/(v1.x-v0.x); + //v.x = bmin.x; + double vy = (1-a) *v0.y + a*v1.y; + double vz = (1-a) *v0.z + a*v1.z; + if(vy>=bmin.y && vy<=bmax.y && vz>=bmin.z && vz<=bmax.z) + { + impact->x = bmin.x; + impact->y = vy; + impact->z = vz; + return 1; + } + } + else if(v0.x >= bmax.x && v1.x <= bmax.x) + { + double a = (bmax.x-v0.x)/(v1.x-v0.x); + //v.x = bmax.x; + double vy = (1-a) *v0.y + a*v1.y; + double vz = (1-a) *v0.z + a*v1.z; + if(vy>=bmin.y && vy<=bmax.y && vz>=bmin.z && vz<=bmax.z) + { + impact->x = bmax.x; + impact->y = vy; + impact->z = vz; + return 1; + } + } + if(v0.y<=bmin.y && v1.y>=bmin.y) + { + double a = (bmin.y-v0.y)/(v1.y-v0.y); + double vx = (1-a) *v0.x + a*v1.x; + //v.y = bmin.y; + double vz = (1-a) *v0.z + a*v1.z; + if(vx>=bmin.x && vx<=bmax.x && vz>=bmin.z && vz<=bmax.z) + { + impact->x = vx; + impact->y = bmin.y; + impact->z = vz; + return 1; + } + } + else if(v0.y >= bmax.y && v1.y <= bmax.y) + { + double a = (bmax.y-v0.y)/(v1.y-v0.y); + double vx = (1-a) *v0.x + a*v1.x; + // vy = bmax.y; + double vz = (1-a) *v0.z + a*v1.z; + if(vx>=bmin.x && vx<=bmax.x && vz>=bmin.z && vz<=bmax.z) + { + impact->x = vx; + impact->y = bmax.y; + impact->z = vz; + return 1; + } + } + if(v0.z<=bmin.z && v1.z>=bmin.z) + { + double a = (bmin.z-v0.z)/(v1.z-v0.z); + double vx = (1-a) *v0.x + a*v1.x; + double vy = (1-a) *v0.y + a*v1.y; + // v.z = bmin.z; + if(vy>=bmin.y && vy<=bmax.y && vx>=bmin.x && vx<=bmax.x) + { + impact->x = vx; + impact->y = vy; + impact->z = bmin.z; + return 1; + } + } + else if(v0.z >= bmax.z && v1.z <= bmax.z) + { + double a = (bmax.z-v0.z)/(v1.z-v0.z); + double vx = (1-a) *v0.x + a*v1.x; + double vy = (1-a) *v0.y + a*v1.y; + // v.z = bmax.z; + if(vy>=bmin.y && vy<=bmax.y && vx>=bmin.x && vx<=bmax.x) + { + impact->x = vx; + impact->y = vy; + impact->z = bmax.z; + return 1; + } + } + return 0; +} + + +double DistanceBetweenLines(const double3 &ustart, const double3 &udir, const double3 &vstart, const double3 &vdir, double3 *upoint, double3 *vpoint) +{ + static double3 cp; + cp = normalize(cross(udir,vdir)); + + double distu = -dot(cp,ustart); + double distv = -dot(cp,vstart); + double dist = (double)fabs(distu-distv); + if(upoint) + { + Plane plane; + plane.normal = normalize(cross(vdir,cp)); + plane.dist = -dot(plane.normal,vstart); + *upoint = PlaneLineIntersection(plane,ustart,ustart+udir); + } + if(vpoint) + { + Plane plane; + plane.normal = normalize(cross(udir,cp)); + plane.dist = -dot(plane.normal,ustart); + *vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir); + } + return dist; +} + + +Quaternion VirtualTrackBall(const double3 &cop, const double3 &cor, const double3 &dir1, const double3 &dir2) +{ + // routine taken from game programming gems. + // Implement track ball functionality to spin stuf on the screen + // cop center of projection + // cor center of rotation + // dir1 old mouse direction + // dir2 new mouse direction + // pretend there is a sphere around cor. Then find the points + // where dir1 and dir2 intersect that sphere. Find the + // rotation that takes the first point to the second. + double m; + // compute plane + double3 nrml = cor - cop; + double fudgefactor = 1.0f/(magnitude(nrml) * 0.25f); // since trackball proportional to distance from cop + nrml = normalize(nrml); + double dist = -dot(nrml,cor); + double3 u= PlaneLineIntersection(Plane(nrml,dist),cop,cop+dir1); + u=u-cor; + u=u*fudgefactor; + m= magnitude(u); + if(m>1) + { + u/=m; + } + else + { + u=u - (nrml * sqrt(1-m*m)); + } + double3 v= PlaneLineIntersection(Plane(nrml,dist),cop,cop+dir2); + v=v-cor; + v=v*fudgefactor; + m= magnitude(v); + if(m>1) + { + v/=m; + } + else + { + v=v - (nrml * sqrt(1-m*m)); + } + return RotationArc(u,v); +} + + +int countpolyhit=0; +int PolyHit(const double3 *vert, const int n, const double3 &v0, const double3 &v1, double3 *impact, double3 *normal) +{ + countpolyhit++; + int i; + double3 nrml(0,0,0); + for(i=0;i0) + { + return 0; + } + + static double3 the_point; + // By using the cached plane distances d0 and d1 + // we can optimize the following: + // the_point = planelineintersection(nrml,dist,v0,v1); + double a = d0/(d0-d1); + the_point = v0*(1-a) + v1*a; + + + int inside=1; + for(int j=0;inside && j= 0.0); + } + if(inside) + { + if(normal){*normal=nrml;} + if(impact){*impact=the_point;} + } + return inside; +} + +//**************************************************** +// HULL.H source code goes here +//**************************************************** +class PHullResult +{ +public: + + PHullResult(void) + { + mVcount = 0; + mIndexCount = 0; + mFaceCount = 0; + mVertices = 0; + mIndices = 0; + } + + unsigned int mVcount; + unsigned int mIndexCount; + unsigned int mFaceCount; + double *mVertices; + unsigned int *mIndices; +}; + +bool ComputeHull(unsigned int vcount,const double *vertices,PHullResult &result,unsigned int maxverts,double inflate); +void ReleaseHull(PHullResult &result); + +//***************************************************** +// HULL.cpp source code goes here +//***************************************************** + + +#define REAL3 double3 +#define REAL double + +#define COPLANAR (0) +#define UNDER (1) +#define OVER (2) +#define SPLIT (OVER|UNDER) +#define PAPERWIDTH (0.001f) +#define VOLUME_EPSILON (1e-20f) + +double planetestepsilon = PAPERWIDTH; + +#if STANDALONE +class ConvexH +#else +class ConvexH : public NxFoundation::NxAllocateable +#endif +{ + public: + class HalfEdge + { + public: + short ea; // the other half of the edge (index into edges list) + unsigned char v; // the vertex at the start of this edge (index into vertices list) + unsigned char p; // the facet on which this edge lies (index into facets list) + HalfEdge(){} + HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){} + }; + Array vertices; + Array edges; + Array facets; + ConvexH(int vertices_size,int edges_size,int facets_size); +}; + +typedef ConvexH::HalfEdge HalfEdge; + +ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size) + :vertices(vertices_size) + ,edges(edges_size) + ,facets(facets_size) +{ + vertices.count=vertices_size; + edges.count = edges_size; + facets.count = facets_size; +} + +ConvexH *ConvexHDup(ConvexH *src) +{ +#if STANDALONE + ConvexH *dst = new ConvexH(src->vertices.count,src->edges.count,src->facets.count); +#else + ConvexH *dst = NX_NEW_MEM(ConvexH(src->vertices.count,src->edges.count,src->facets.count), CONVEX_TEMP); +#endif + + memcpy(dst->vertices.element,src->vertices.element,sizeof(double3)*src->vertices.count); + memcpy(dst->edges.element,src->edges.element,sizeof(HalfEdge)*src->edges.count); + memcpy(dst->facets.element,src->facets.element,sizeof(Plane)*src->facets.count); + return dst; +} + + +int PlaneTest(const Plane &p, const REAL3 &v) { + REAL a = dot(v,p.normal)+p.dist; + int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR); + return flag; +} + +int SplitTest(ConvexH &convex,const Plane &plane) { + int flag=0; + for(int i=0;i= convex.edges.count || convex.edges[inext].p != convex.edges[i].p) { + inext = estart; + } + assert(convex.edges[inext].p == convex.edges[i].p); + HalfEdge &edge = convex.edges[i]; + int nb = convex.edges[i].ea; + assert(nb!=255); + if(nb==255 || nb==-1) return 0; + assert(nb!=-1); + assert(i== convex.edges[nb].ea); + } + for(i=0;i= convex.edges.count || convex.edges[i1].p != convex.edges[i].p) { + i1 = estart; + } + int i2 = i1+1; + if(i2>= convex.edges.count || convex.edges[i2].p != convex.edges[i].p) { + i2 = estart; + } + if(i==i2) continue; // i sliced tangent to an edge and created 2 meaningless edges + REAL3 localnormal = TriNormal(convex.vertices[convex.edges[i ].v], + convex.vertices[convex.edges[i1].v], + convex.vertices[convex.edges[i2].v]); + //assert(dot(localnormal,convex.facets[convex.edges[i].p].normal)>0);//Commented out on Stan Melax' advice + if(dot(localnormal,convex.facets[convex.edges[i].p].normal)<=0)return 0; + } + return 1; +} + +// back to back quads +ConvexH *test_btbq() +{ + +#if STANDALONE + ConvexH *convex = new ConvexH(4,8,2); +#else + ConvexH *convex = NX_NEW_MEM(ConvexH(4,8,2), CONVEX_TEMP); +#endif + + convex->vertices[0] = REAL3(0,0,0); + convex->vertices[1] = REAL3(1,0,0); + convex->vertices[2] = REAL3(1,1,0); + convex->vertices[3] = REAL3(0,1,0); + convex->facets[0] = Plane(REAL3(0,0,1),0); + convex->facets[1] = Plane(REAL3(0,0,-1),0); + convex->edges[0] = HalfEdge(7,0,0); + convex->edges[1] = HalfEdge(6,1,0); + convex->edges[2] = HalfEdge(5,2,0); + convex->edges[3] = HalfEdge(4,3,0); + + convex->edges[4] = HalfEdge(3,0,1); + convex->edges[5] = HalfEdge(2,3,1); + convex->edges[6] = HalfEdge(1,2,1); + convex->edges[7] = HalfEdge(0,1,1); + AssertIntact(*convex); + return convex; +} + +ConvexH *test_cube() +{ +#if STANDALONE + ConvexH *convex = new ConvexH(8,24,6); +#else + ConvexH *convex = NX_NEW_MEM(ConvexH(8,24,6), CONVEX_TEMP); +#endif + convex->vertices[0] = REAL3(0,0,0); + convex->vertices[1] = REAL3(0,0,1); + convex->vertices[2] = REAL3(0,1,0); + convex->vertices[3] = REAL3(0,1,1); + convex->vertices[4] = REAL3(1,0,0); + convex->vertices[5] = REAL3(1,0,1); + convex->vertices[6] = REAL3(1,1,0); + convex->vertices[7] = REAL3(1,1,1); + + convex->facets[0] = Plane(REAL3(-1,0,0),0); + convex->facets[1] = Plane(REAL3(1,0,0),-1); + convex->facets[2] = Plane(REAL3(0,-1,0),0); + convex->facets[3] = Plane(REAL3(0,1,0),-1); + convex->facets[4] = Plane(REAL3(0,0,-1),0); + convex->facets[5] = Plane(REAL3(0,0,1),-1); + + convex->edges[0 ] = HalfEdge(11,0,0); + convex->edges[1 ] = HalfEdge(23,1,0); + convex->edges[2 ] = HalfEdge(15,3,0); + convex->edges[3 ] = HalfEdge(16,2,0); + + convex->edges[4 ] = HalfEdge(13,6,1); + convex->edges[5 ] = HalfEdge(21,7,1); + convex->edges[6 ] = HalfEdge( 9,5,1); + convex->edges[7 ] = HalfEdge(18,4,1); + + convex->edges[8 ] = HalfEdge(19,0,2); + convex->edges[9 ] = HalfEdge( 6,4,2); + convex->edges[10] = HalfEdge(20,5,2); + convex->edges[11] = HalfEdge( 0,1,2); + + convex->edges[12] = HalfEdge(22,3,3); + convex->edges[13] = HalfEdge( 4,7,3); + convex->edges[14] = HalfEdge(17,6,3); + convex->edges[15] = HalfEdge( 2,2,3); + + convex->edges[16] = HalfEdge( 3,0,4); + convex->edges[17] = HalfEdge(14,2,4); + convex->edges[18] = HalfEdge( 7,6,4); + convex->edges[19] = HalfEdge( 8,4,4); + + convex->edges[20] = HalfEdge(10,1,5); + convex->edges[21] = HalfEdge( 5,5,5); + convex->edges[22] = HalfEdge(12,7,5); + convex->edges[23] = HalfEdge( 1,3,5); + + + return convex; +} +ConvexH *ConvexHMakeCube(const REAL3 &bmin, const REAL3 &bmax) { + ConvexH *convex = test_cube(); + convex->vertices[0] = REAL3(bmin.x,bmin.y,bmin.z); + convex->vertices[1] = REAL3(bmin.x,bmin.y,bmax.z); + convex->vertices[2] = REAL3(bmin.x,bmax.y,bmin.z); + convex->vertices[3] = REAL3(bmin.x,bmax.y,bmax.z); + convex->vertices[4] = REAL3(bmax.x,bmin.y,bmin.z); + convex->vertices[5] = REAL3(bmax.x,bmin.y,bmax.z); + convex->vertices[6] = REAL3(bmax.x,bmax.y,bmin.z); + convex->vertices[7] = REAL3(bmax.x,bmax.y,bmax.z); + + convex->facets[0] = Plane(REAL3(-1,0,0), bmin.x); + convex->facets[1] = Plane(REAL3(1,0,0), -bmax.x); + convex->facets[2] = Plane(REAL3(0,-1,0), bmin.y); + convex->facets[3] = Plane(REAL3(0,1,0), -bmax.y); + convex->facets[4] = Plane(REAL3(0,0,-1), bmin.z); + convex->facets[5] = Plane(REAL3(0,0,1), -bmax.z); + return convex; +} +ConvexH *ConvexHCrop(ConvexH &convex,const Plane &slice) +{ + int i; + int vertcountunder=0; + int vertcountover =0; + int edgecountunder=0; + int edgecountover =0; + int planecountunder=0; + int planecountover =0; + static Array vertscoplanar; // existing vertex members of convex that are coplanar + vertscoplanar.count=0; + static Array edgesplit; // existing edges that members of convex that cross the splitplane + edgesplit.count=0; + + assert(convex.edges.count<480); + + EdgeFlag edgeflag[512]; + VertFlag vertflag[256]; + PlaneFlag planeflag[128]; + HalfEdge tmpunderedges[512]; + Plane tmpunderplanes[128]; + Coplanar coplanaredges[512]; + int coplanaredges_num=0; + + Array createdverts; + // do the side-of-plane tests + for(i=0;i= convex.edges.count || convex.edges[e1].p!=currentplane) { + enextface = e1; + e1=estart; + } + HalfEdge &edge0 = convex.edges[e0]; + HalfEdge &edge1 = convex.edges[e1]; + HalfEdge &edgea = convex.edges[edge0.ea]; + + + planeside |= vertflag[edge0.v].planetest; + //if((vertflag[edge0.v].planetest & vertflag[edge1.v].planetest) == COPLANAR) { + // assert(ecop==-1); + // ecop=e; + //} + + + if(vertflag[edge0.v].planetest == OVER && vertflag[edge1.v].planetest == OVER){ + // both endpoints over plane + edgeflag[e0].undermap = -1; + } + else if((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == UNDER) { + // at least one endpoint under, the other coplanar or under + + edgeflag[e0].undermap = under_edge_count; + tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap; + tmpunderedges[under_edge_count].p = underplanescount; + if(edge0.ea < e0) { + // connect the neighbors + assert(edgeflag[edge0.ea].undermap !=-1); + tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap; + tmpunderedges[edgeflag[edge0.ea].undermap].ea = under_edge_count; + } + under_edge_count++; + } + else if((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == COPLANAR) { + // both endpoints coplanar + // must check a 3rd point to see if UNDER + int e2 = e1+1; + if(e2>=convex.edges.count || convex.edges[e2].p!=currentplane) { + e2 = estart; + } + assert(convex.edges[e2].p==currentplane); + HalfEdge &edge2 = convex.edges[e2]; + if(vertflag[edge2.v].planetest==UNDER) { + + edgeflag[e0].undermap = under_edge_count; + tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap; + tmpunderedges[under_edge_count].p = underplanescount; + tmpunderedges[under_edge_count].ea = -1; + // make sure this edge is added to the "coplanar" list + coplanaredge = under_edge_count; + vout = vertflag[edge0.v].undermap; + vin = vertflag[edge1.v].undermap; + under_edge_count++; + } + else { + edgeflag[e0].undermap = -1; + } + } + else if(vertflag[edge0.v].planetest == UNDER && vertflag[edge1.v].planetest == OVER) { + // first is under 2nd is over + + edgeflag[e0].undermap = under_edge_count; + tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap; + tmpunderedges[under_edge_count].p = underplanescount; + if(edge0.ea < e0) { + assert(edgeflag[edge0.ea].undermap !=-1); + // connect the neighbors + tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap; + tmpunderedges[edgeflag[edge0.ea].undermap].ea = under_edge_count; + vout = tmpunderedges[edgeflag[edge0.ea].undermap].v; + } + else { + Plane &p0 = convex.facets[edge0.p]; + Plane &pa = convex.facets[edgea.p]; + createdverts.Add(ThreePlaneIntersection(p0,pa,slice)); + //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]))); + //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])); + vout = vertcountunder++; + } + under_edge_count++; + /// hmmm something to think about: i might be able to output this edge regarless of + // wheter or not we know v-in yet. ok i;ll try this now: + tmpunderedges[under_edge_count].v = vout; + tmpunderedges[under_edge_count].p = underplanescount; + tmpunderedges[under_edge_count].ea = -1; + coplanaredge = under_edge_count; + under_edge_count++; + + if(vin!=-1) { + // we previously processed an edge where we came under + // now we know about vout as well + + // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!! + } + + } + else if(vertflag[edge0.v].planetest == COPLANAR && vertflag[edge1.v].planetest == OVER) { + // first is coplanar 2nd is over + + edgeflag[e0].undermap = -1; + vout = vertflag[edge0.v].undermap; + // I hate this but i have to make sure part of this face is UNDER before ouputting this vert + int k=estart; + assert(edge0.p == currentplane); + while(!(planeside&UNDER) && k= vertcountunderold); // for debugging only + } + if(vout!=-1) { + // we previously processed an edge where we went over + // now we know vin too + // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!! + } + // output edge + tmpunderedges[under_edge_count].v = vin; + tmpunderedges[under_edge_count].p = underplanescount; + edgeflag[e0].undermap = under_edge_count; + if(e0>edge0.ea) { + assert(edgeflag[edge0.ea].undermap !=-1); + // connect the neighbors + tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap; + tmpunderedges[edgeflag[edge0.ea].undermap].ea = under_edge_count; + } + assert(edgeflag[e0].undermap == under_edge_count); + under_edge_count++; + } + else if(vertflag[edge0.v].planetest == OVER && vertflag[edge1.v].planetest == COPLANAR) { + // first is over next is coplanar + + edgeflag[e0].undermap = -1; + vin = vertflag[edge1.v].undermap; + if (vin==-1) return NULL; + if(vout!=-1) { + // we previously processed an edge where we came under + // now we know both endpoints + // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!! + } + + } + else { + assert(0); + } + + + e0=e1; + e1++; // do the modulo at the beginning of the loop + + } while(e0!=estart) ; + e0 = enextface; + if(planeside&UNDER) { + planeflag[currentplane].undermap = underplanescount; + tmpunderplanes[underplanescount] = convex.facets[currentplane]; + underplanescount++; + } + else { + planeflag[currentplane].undermap = 0; + } + if(vout>=0 && (planeside&UNDER)) { + assert(vin>=0); + assert(coplanaredge>=0); + assert(coplanaredge!=511); + coplanaredges[coplanaredges_num].ea = coplanaredge; + coplanaredges[coplanaredges_num].v0 = vin; + coplanaredges[coplanaredges_num].v1 = vout; + coplanaredges_num++; + } + } + + // add the new plane to the mix: + if(coplanaredges_num>0) { + tmpunderplanes[underplanescount++]=slice; + } + for(i=0;i=coplanaredges_num) + { + // assert(jvertices.count;j++) + { + dmax = Max(dmax,dot(convex->vertices[j],planes[i].normal)+planes[i].dist); + dmin = Min(dmin,dot(convex->vertices[j],planes[i].normal)+planes[i].dist); + } + double dr = dmax-dmin; + if(drfacets.count;j++) + { + if(planes[i]==convex->facets[j]) + { + d=0;continue; + } + if(dot(planes[i].normal,convex->facets[j].normal)>maxdot_minang) + { + for(int k=0;kedges.count;k++) + { + if(convex->edges[k].p!=j) continue; + if(dot(convex->vertices[convex->edges[k].v],planes[i].normal)+planes[i].dist<0) + { + d=0; // so this plane wont get selected. + break; + } + } + } + } + if(d>md) + { + p=i; + md=d; + } + } + return (md>epsilon)?p:-1; +} + + + +template +inline int maxdir(const T *p,int count,const T &dir) +{ + assert(count); + int m=0; + for(int i=1;idot(p[m],dir)) m=i; + } + return m; +} + + +template +int maxdirfiltered(const T *p,int count,const T &dir,Array &allow) +{ + assert(count); + int m=-1; + for(int i=0;idot(p[m],dir)) m=i; + } + assert(m!=-1); + return m; +} + +double3 orth(const double3 &v) +{ + double3 a=cross(v,double3(0,0,1)); + double3 b=cross(v,double3(0,1,0)); + return normalize((magnitude(a)>magnitude(b))?a:b); +} + + +template +int maxdirsterid(const T *p,int count,const T &dir,Array &allow) +{ + int m=-1; + while(m==-1) + { + m = maxdirfiltered(p,count,dir,allow); + if(allow[m]==3) return m; + T u = orth(dir); + T v = cross(u,dir); + int ma=-1; + for(double x = 0.0f ; x<= 360.0f ; x+= 45.0f) + { + double s = sin(DEG2RAD*(x)); + double c = cos(DEG2RAD*(x)); + int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*0.025f,allow); + if(ma==m && mb==m) + { + allow[m]=3; + return m; + } + if(ma!=-1 && ma!=mb) // Yuck - this is really ugly + { + int mc = ma; + for(double xx = x-40.0f ; xx <= x ; xx+= 5.0f) + { + double s = sin(DEG2RAD*(xx)); + double c = cos(DEG2RAD*(xx)); + int md = maxdirfiltered(p,count,dir+(u*s+v*c)*0.025f,allow); + if(mc==m && md==m) + { + allow[m]=3; + return m; + } + mc=md; + } + } + ma=mb; + } + allow[m]=0; + m=-1; + } + assert(0); + return m; +} + + + + +int operator ==(const int3 &a,const int3 &b) +{ + for(int i=0;i<3;i++) + { + if(a[i]!=b[i]) return 0; + } + return 1; +} + +int3 roll3(int3 a) +{ + int tmp=a[0]; + a[0]=a[1]; + a[1]=a[2]; + a[2]=tmp; + return a; +} +int isa(const int3 &a,const int3 &b) +{ + return ( a==b || roll3(a)==b || a==roll3(b) ); +} +int b2b(const int3 &a,const int3 &b) +{ + return isa(a,int3(b[2],b[1],b[0])); +} +int above(double3* vertices,const int3& t, const double3 &p, double epsilon) +{ + double3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]); + return (dot(n,p-vertices[t[0]]) > epsilon); // EPSILON??? +} +int hasedge(const int3 &t, int a,int b) +{ + for(int i=0;i<3;i++) + { + int i1= (i+1)%3; + if(t[i]==a && t[i1]==b) return 1; + } + return 0; +} +int hasvert(const int3 &t, int v) +{ + return (t[0]==v || t[1]==v || t[2]==v) ; +} +int shareedge(const int3 &a,const int3 &b) +{ + int i; + for(i=0;i<3;i++) + { + int i1= (i+1)%3; + if(hasedge(a,b[i1],b[i])) return 1; + } + return 0; +} + +class Tri; + +static Array tris; // djs: For heaven's sake!!!! + +#if STANDALONE +class Tri : public int3 +#else +class Tri : public int3, public NxFoundation::NxAllocateable +#endif +{ +public: + int3 n; + int id; + int vmax; + double rise; + Tri(int a,int b,int c):int3(a,b,c),n(-1,-1,-1) + { + id = tris.count; + tris.Add(this); + vmax=-1; + rise = 0.0f; + } + ~Tri() + { + assert(tris[id]==this); + tris[id]=NULL; + } + int &neib(int a,int b); +}; + + +int &Tri::neib(int a,int b) +{ + static int er=-1; + int i; + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + if((*this)[i]==a && (*this)[i1]==b) return n[i2]; + if((*this)[i]==b && (*this)[i1]==a) return n[i2]; + } + assert(0); + return er; +} +void b2bfix(Tri* s,Tri*t) +{ + int i; + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + int a = (*s)[i1]; + int b = (*s)[i2]; + assert(tris[s->neib(a,b)]->neib(b,a) == s->id); + assert(tris[t->neib(a,b)]->neib(b,a) == t->id); + tris[s->neib(a,b)]->neib(b,a) = t->neib(b,a); + tris[t->neib(b,a)]->neib(a,b) = s->neib(a,b); + } +} + +void removeb2b(Tri* s,Tri*t) +{ + b2bfix(s,t); + delete s; + delete t; +} + +void checkit(Tri *t) +{ + int i; + assert(tris[t->id]==t); + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + int a = (*t)[i1]; + int b = (*t)[i2]; + assert(a!=b); + assert( tris[t->n[i]]->neib(b,a) == t->id); + } +} +void extrude(Tri *t0,int v) +{ + int3 t= *t0; + int n = tris.count; +#if STANDALONE + Tri* ta = new Tri(v,t[1],t[2]); +#else + Tri* ta = NX_NEW_MEM(Tri(v,t[1],t[2]), CONVEX_TEMP); +#endif + ta->n = int3(t0->n[0],n+1,n+2); + tris[t0->n[0]]->neib(t[1],t[2]) = n+0; +#if STANDALONE + Tri* tb = new Tri(v,t[2],t[0]); +#else + Tri* tb = NX_NEW_MEM(Tri(v,t[2],t[0]), CONVEX_TEMP); +#endif + tb->n = int3(t0->n[1],n+2,n+0); + tris[t0->n[1]]->neib(t[2],t[0]) = n+1; +#if STANDALONE + Tri* tc = new Tri(v,t[0],t[1]); +#else + Tri* tc = NX_NEW_MEM(Tri(v,t[0],t[1]), CONVEX_TEMP); +#endif + tc->n = int3(t0->n[2],n+0,n+1); + tris[t0->n[2]]->neib(t[0],t[1]) = n+2; + checkit(ta); + checkit(tb); + checkit(tc); + if(hasvert(*tris[ta->n[0]],v)) removeb2b(ta,tris[ta->n[0]]); + if(hasvert(*tris[tb->n[0]],v)) removeb2b(tb,tris[tb->n[0]]); + if(hasvert(*tris[tc->n[0]],v)) removeb2b(tc,tris[tc->n[0]]); + delete t0; + +} + +Tri *extrudable(double epsilon) +{ + int i; + Tri *t=NULL; + for(i=0;iriserise)) + { + t = tris[i]; + } + } + return (t->rise >epsilon)?t:NULL ; +} + +class int4 +{ +public: + int x,y,z,w; + int4(){}; + int4(int _x,int _y, int _z,int _w){x=_x;y=_y;z=_z;w=_w;} + const int& operator[](int i) const {return (&x)[i];} + int& operator[](int i) {return (&x)[i];} +}; + + + +bool hasVolume(double3 *verts, int p0, int p1, int p2, int p3) +{ + double3 result3 = cross(verts[p1]-verts[p0], verts[p2]-verts[p0]); + if (magnitude(result3) < VOLUME_EPSILON && magnitude(result3) > -VOLUME_EPSILON) // Almost collinear or otherwise very close to each other + return false; + double result = dot(normalize(result3), verts[p3]-verts[p0]); + return (result > VOLUME_EPSILON || result < -VOLUME_EPSILON); // Returns true iff volume is significantly non-zero +} + +int4 FindSimplex(double3 *verts,int verts_count,Array &allow) +{ + double3 basis[3]; + basis[0] = double3( 0.01f, 0.02f, 1.0f ); + int p0 = maxdirsterid(verts,verts_count, basis[0],allow); + int p1 = maxdirsterid(verts,verts_count,-basis[0],allow); + basis[0] = verts[p0]-verts[p1]; + if(p0==p1 || basis[0]==double3(0,0,0)) + return int4(-1,-1,-1,-1); + basis[1] = cross(double3( 1, 0.02f, 0),basis[0]); + basis[2] = cross(double3(-0.02f, 1, 0),basis[0]); + basis[1] = normalize( (magnitude(basis[1])>magnitude(basis[2])) ? basis[1]:basis[2]); + int p2 = maxdirsterid(verts,verts_count,basis[1],allow); + if(p2 == p0 || p2 == p1) + { + p2 = maxdirsterid(verts,verts_count,-basis[1],allow); + } + if(p2 == p0 || p2 == p1) + return int4(-1,-1,-1,-1); + basis[1] = verts[p2] - verts[p0]; + basis[2] = normalize(cross(basis[1],basis[0])); + int p3 = maxdirsterid(verts,verts_count,basis[2],allow); + if(p3==p0||p3==p1||p3==p2||!hasVolume(verts, p0, p1, p2, p3)) p3 = maxdirsterid(verts,verts_count,-basis[2],allow); + if(p3==p0||p3==p1||p3==p2) + return int4(-1,-1,-1,-1); + assert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3)); + if(dot(verts[p3]-verts[p0],cross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);} + return int4(p0,p1,p2,p3); +} + +int calchullgen(double3 *verts,int verts_count, int vlimit) +{ + if(verts_count <4) return 0; + if(vlimit==0) vlimit=1000000000; + int j; + double3 bmin(*verts),bmax(*verts); + Array isextreme(verts_count); + Array allow(verts_count); + for(j=0;jn=int3(2,3,1); + Tri *t1 = new Tri(p[3],p[2],p[0]); t1->n=int3(3,2,0); + Tri *t2 = new Tri(p[0],p[1],p[3]); t2->n=int3(0,1,3); + Tri *t3 = new Tri(p[1],p[0],p[2]); t3->n=int3(1,0,2); +#else + Tri *t0 = NX_NEW_MEM(Tri(p[2],p[3],p[1]); t0->n=int3(2,3,1), CONVEX_TEMP); + Tri *t1 = NX_NEW_MEM(Tri(p[3],p[2],p[0]); t1->n=int3(3,2,0), CONVEX_TEMP); + Tri *t2 = NX_NEW_MEM(Tri(p[0],p[1],p[3]); t2->n=int3(0,1,3), CONVEX_TEMP); + Tri *t3 = NX_NEW_MEM(Tri(p[1],p[0],p[2]); t3->n=int3(1,0,2), CONVEX_TEMP); +#endif + isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1; + checkit(t0);checkit(t1);checkit(t2);checkit(t3); + + for(j=0;jvmax<0); + double3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); + t->vmax = maxdirsterid(verts,verts_count,n,allow); + t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]); + } + Tri *te; + vlimit-=4; + while(vlimit >0 && (te=extrudable(epsilon))) + { + int3 ti=*te; + int v=te->vmax; + assert(!isextreme[v]); // wtf we've already done this vertex + isextreme[v]=1; + //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already + j=tris.count; + int newstart=j; + while(j--) { + if(!tris[j]) continue; + int3 t=*tris[j]; + if(above(verts,t,verts[v],0.01f*epsilon)) + { + extrude(tris[j],v); + } + } + // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle + j=tris.count; + while(j--) + { + if(!tris[j]) continue; + if(!hasvert(*tris[j],v)) break; + int3 nt=*tris[j]; + if(above(verts,nt,center,0.01f*epsilon) || magnitude(cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]))< epsilon*epsilon*0.1f ) + { + Tri *nb = tris[tris[j]->n[0]]; + assert(nb);assert(!hasvert(*nb,v));assert(nb->idvmax>=0) break; + double3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); + t->vmax = maxdirsterid(verts,verts_count,n,allow); + if(isextreme[t->vmax]) + { + t->vmax=-1; // already done that vertex - algorithm needs to be able to terminate. + } + else + { + t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]); + } + } + vlimit --; + } + return 1; +} + +int calchull(double3 *verts,int verts_count, int *&tris_out, int &tris_count,int vlimit) +{ + int rc=calchullgen(verts,verts_count, vlimit) ; + if(!rc) return 0; + Array ts; + for(int i=0;i &planes,double bevangle) +{ + int i,j; + Array bplanes; + planes.count=0; + int rc = calchullgen(verts,verts_count,vlimit); + if(!rc) return 0; + extern double minadjangle; // default is 3.0f; // in degrees - result wont have two adjacent facets within this angle of each other. + double maxdot_minang = cos(DEG2RAD*minadjangle); + for(i=0;in[j]id) continue; + Tri *s = tris[t->n[j]]; + REAL3 snormal = TriNormal(verts[(*s)[0]],verts[(*s)[1]],verts[(*s)[2]]); + if(dot(snormal,p.normal)>=cos(bevangle*DEG2RAD)) continue; + REAL3 e = verts[(*t)[(j+2)%3]] - verts[(*t)[(j+1)%3]]; + REAL3 n = (e!=REAL3(0,0,0))? cross(snormal,e)+cross(e,p.normal) : snormal+p.normal; + assert(n!=REAL3(0,0,0)); + if(n==REAL3(0,0,0)) return 0; + n=normalize(n); + bplanes.Add(Plane(n,-dot(n,verts[maxdir(verts,verts_count,n)]))); + } + } + for(i=0;imaxdot_minang) + { + // somebody has to die, keep the biggest triangle + if( area2(verts[(*ti)[0]],verts[(*ti)[1]],verts[(*ti)[2]]) < area2(verts[(*tj)[0]],verts[(*tj)[1]],verts[(*tj)[2]])) + { + delete tris[i]; tris[i]=NULL; + } + else + { + delete tris[j]; tris[j]=NULL; + } + } + } + for(i=0;imaxdot_minang) break; + } + if(j==planes.count) + { + planes.Add(bplanes[i]); + } + } + for(i=0;i maxdot_minang) + { + (*((j%2)?&bmax:&bmin)) += n * (diameter*0.5f); + break; + } + } + } + ConvexH *c = ConvexHMakeCube(REAL3(bmin),REAL3(bmax)); + int k; + while(maxplanes-- && (k=candidateplane(planes,planes_count,c,epsilon))>=0) + { + ConvexH *tmp = c; + c = ConvexHCrop(*tmp,planes[k]); + if(c==NULL) {c=tmp; break;} // might want to debug this case better!!! + if(!AssertIntact(*c)) {c=tmp; break;} // might want to debug this case better too!!! + delete tmp; + } + + assert(AssertIntact(*c)); + //return c; + faces_out = (int*)NX_ALLOC(sizeof(int)*(1+c->facets.count+c->edges.count), CONVEX_TEMP); // new int[1+c->facets.count+c->edges.count]; + faces_count_out=0; + i=0; + faces_out[faces_count_out++]=-1; + k=0; + while(iedges.count) + { + j=1; + while(j+iedges.count && c->edges[i].p==c->edges[i+j].p) { j++; } + faces_out[faces_count_out++]=j; + while(j--) + { + faces_out[faces_count_out++] = c->edges[i].v; + i++; + } + k++; + } + faces_out[0]=k; // number of faces. + assert(k==c->facets.count); + assert(faces_count_out == 1+c->facets.count+c->edges.count); + verts_out = c->vertices.element; // new double3[c->vertices.count]; + verts_count_out = c->vertices.count; + for(i=0;ivertices.count;i++) + { + verts_out[i] = double3(c->vertices[i]); + } + c->vertices.count=c->vertices.array_size=0; c->vertices.element=NULL; + delete c; + return 1; +} + +static int overhullv(double3 *verts, int verts_count,int maxplanes, + double3 *&verts_out, int &verts_count_out, int *&faces_out, int &faces_count_out ,double inflate,double bevangle,int vlimit) +{ + if(!verts_count) return 0; + extern int calchullpbev(double3 *verts,int verts_count,int vlimit, Array &planes,double bevangle) ; + Array planes; + int rc=calchullpbev(verts,verts_count,vlimit,planes,bevangle) ; + if(!rc) return 0; + return overhull(planes.element,planes.count,verts,verts_count,maxplanes,verts_out,verts_count_out,faces_out,faces_count_out,inflate); +} + + +//***************************************************** +//***************************************************** + + +bool ComputeHull(unsigned int vcount,const double *vertices,PHullResult &result,unsigned int vlimit,double inflate) +{ + + int index_count; + int *faces; + double3 *verts_out; + int verts_count_out; + + if(inflate==0.0f) + { + int *tris_out; + int tris_count; + int ret = calchull( (double3 *) vertices, (int) vcount, tris_out, tris_count, vlimit ); + if(!ret) return false; + result.mIndexCount = (unsigned int) (tris_count*3); + result.mFaceCount = (unsigned int) tris_count; + result.mVertices = (double*) vertices; + result.mVcount = (unsigned int) vcount; + result.mIndices = (unsigned int *) tris_out; + return true; + } + + int ret = overhullv((double3*)vertices,vcount,35,verts_out,verts_count_out,faces,index_count,inflate,120.0f,vlimit); + if(!ret) { + tris.SetSize(0); //have to set the size to 0 in order to protect from a "pure virtual function call" problem + return false; + } + + Array tris; + int n=faces[0]; + int k=1; + for(int i=0;i bmax[0] ) bmax[0] = v[0]; + if ( v[1] > bmax[1] ) bmax[1] = v[1]; + if ( v[2] > bmax[2] ) bmax[2] = v[2]; + } + + } + } + + double skinwidth = 0; + + if ( desc.HasHullFlag(QF_SKIN_WIDTH) ) + { + skinwidth = desc.mSkinWidth; + if ( skinwidth < 0 ) // if it is a negative skinwidth we shrink the hull points relative to the center. + { + double center[3]; + + center[0] = (bmax[0] - bmin[0])*0.5f + bmin[0]; + center[1] = (bmax[1] - bmin[1])*0.5f + bmin[1]; + center[2] = (bmax[2] - bmin[2])*0.5f + bmin[2]; + + double dx = (bmax[0]-bmin[0])*0.5f; + double dy = (bmax[1]-bmin[1])*0.5f; + double dz = (bmax[2]-bmin[2])*0.5f; + double dist = sqrt(dx*dx+dy*dy+dz*dz); + + skinwidth*=-1; // make it positive... + + double scale = 1.0f - (skinwidth/dist); + if ( scale < 0.3f ) scale = 0.3f; + for (unsigned int i=0; i bmax[j] ) bmax[j] = p[j]; + } + } + } + + double dx = bmax[0] - bmin[0]; + double dy = bmax[1] - bmin[1]; + double dz = bmax[2] - bmin[2]; + + double center[3]; + + center[0] = dx*0.5f + bmin[0]; + center[1] = dy*0.5f + bmin[1]; + center[2] = dz*0.5f + bmin[2]; + + if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3 ) + { + + double len = FLT_MAX; + + if ( dx > EPSILON && dx < len ) len = dx; + if ( dy > EPSILON && dy < len ) len = dy; + if ( dz > EPSILON && dz < len ) len = dz; + + if ( len == FLT_MAX ) + { + dx = dy = dz = 0.01f; // one centimeter + } + else + { + if ( dx < EPSILON ) dx = len * 0.05f; // 1/5th the shortest non-zero edge. + if ( dy < EPSILON ) dy = len * 0.05f; + if ( dz < EPSILON ) dz = len * 0.05f; + } + + double x1 = center[0] - dx; + double x2 = center[0] + dx; + + double y1 = center[1] - dy; + double y2 = center[1] + dy; + + double z1 = center[2] - dz; + double z2 = center[2] + dz; + + AddPoint(vcount,vertices,x1,y1,z1); + AddPoint(vcount,vertices,x2,y1,z1); + AddPoint(vcount,vertices,x2,y2,z1); + AddPoint(vcount,vertices,x1,y2,z1); + AddPoint(vcount,vertices,x1,y1,z2); + AddPoint(vcount,vertices,x2,y1,z2); + AddPoint(vcount,vertices,x2,y2,z2); + AddPoint(vcount,vertices,x1,y2,z2); + + return true; // return cube + + + } + else + { + if ( scale ) + { + scale[0] = dx; + scale[1] = dy; + scale[2] = dz; + + recip[0] = 1 / dx; + recip[1] = 1 / dy; + recip[2] = 1 / dz; + + center[0]*=recip[0]; + center[1]*=recip[1]; + center[2]*=recip[2]; + + } + + } + + + + vtx = (const char *) svertices; + + for (unsigned int i=0; i dist2 ) + { + v[0] = px; + v[1] = py; + v[2] = pz; + } + + break; + } + } + + if ( j == vcount ) + { + double *dest = &vertices[vcount*3]; + dest[0] = px; + dest[1] = py; + dest[2] = pz; + vcount++; + } + } + } + + // ok..now make sure we didn't prune so many vertices it is now invalid. + if ( 1 ) + { + double bmin[3] = { FLT_MAX, FLT_MAX, FLT_MAX }; + double bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX }; + + for (unsigned int i=0; i bmax[j] ) bmax[j] = p[j]; + } + } + + double dx = bmax[0] - bmin[0]; + double dy = bmax[1] - bmin[1]; + double dz = bmax[2] - bmin[2]; + + if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3) + { + double cx = dx*0.5f + bmin[0]; + double cy = dy*0.5f + bmin[1]; + double cz = dz*0.5f + bmin[2]; + + double len = FLT_MAX; + + if ( dx >= EPSILON && dx < len ) len = dx; + if ( dy >= EPSILON && dy < len ) len = dy; + if ( dz >= EPSILON && dz < len ) len = dz; + + if ( len == FLT_MAX ) + { + dx = dy = dz = 0.01f; // one centimeter + } + else + { + if ( dx < EPSILON ) dx = len * 0.05f; // 1/5th the shortest non-zero edge. + if ( dy < EPSILON ) dy = len * 0.05f; + if ( dz < EPSILON ) dz = len * 0.05f; + } + + double x1 = cx - dx; + double x2 = cx + dx; + + double y1 = cy - dy; + double y2 = cy + dy; + + double z1 = cz - dz; + double z2 = cz + dz; + + vcount = 0; // add box + + AddPoint(vcount,vertices,x1,y1,z1); + AddPoint(vcount,vertices,x2,y1,z1); + AddPoint(vcount,vertices,x2,y2,z1); + AddPoint(vcount,vertices,x1,y2,z1); + AddPoint(vcount,vertices,x1,y1,z2); + AddPoint(vcount,vertices,x2,y1,z2); + AddPoint(vcount,vertices,x2,y2,z2); + AddPoint(vcount,vertices,x1,y2,z2); + + return true; + } + } + + return true; +} + +void HullLibrary::BringOutYourDead(const double *verts,unsigned int vcount, double *overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount) +{ + unsigned int *used = (unsigned int *)NX_ALLOC(sizeof(unsigned int)*vcount, CONVEX_TEMP ); + memset(used,0,sizeof(unsigned int)*vcount); + + ocount = 0; + + for (unsigned int i=0; i= 0 && v < vcount ); + + if ( used[v] ) // if already remapped + { + indices[i] = used[v]-1; // index to new array + } + else + { + + indices[i] = ocount; // new index mapping + + overts[ocount*3+0] = verts[v*3+0]; // copy old vert to new vert array + overts[ocount*3+1] = verts[v*3+1]; + overts[ocount*3+2] = verts[v*3+2]; + + ocount++; // increment output vert count + + assert( ocount >=0 && ocount <= vcount ); + + used[v] = ocount; // assign new index remapping + } + } + + NX_FREE(used); +} + + +//================================================================================== +HullError HullLibrary::CreateTriangleMesh(HullResult &answer,ConvexHullTriangleInterface *iface) +{ + HullError ret = QE_FAIL; + + + const double *p = answer.mOutputVertices; + const unsigned int *idx = answer.mIndices; + unsigned int fcount = answer.mNumFaces; + + if ( p && idx && fcount ) + { + ret = QE_OK; + + for (unsigned int i=0; iConvexHullTriangle(v3,v2,v1); +} + +//================================================================================== +double HullLibrary::ComputeNormal(double *n,const double *A,const double *B,const double *C) +{ + double vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag; + + vx = (B[0] - C[0]); + vy = (B[1] - C[1]); + vz = (B[2] - C[2]); + + wx = (A[0] - B[0]); + wy = (A[1] - B[1]); + wz = (A[2] - B[2]); + + vw_x = vy * wz - vz * wy; + vw_y = vz * wx - vx * wz; + vw_z = vx * wy - vy * wx; + + mag = sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if ( mag < 0.000001f ) + { + mag = 0; + } + else + { + mag = 1.0f/mag; + } + + n[0] = vw_x * mag; + n[1] = vw_y * mag; + n[2] = vw_z * mag; + + return mag; +} + + + +}; diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.h new file mode 100644 index 0000000..68fb72a --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_hull.h @@ -0,0 +1,250 @@ +#ifndef HULL_LIB_H + +#define HULL_LIB_H + + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +namespace ConvexDecomposition +{ + +class HullResult +{ +public: + HullResult(void) + { + mPolygons = true; + mNumOutputVertices = 0; + mOutputVertices = 0; + mNumFaces = 0; + mNumIndices = 0; + mIndices = 0; + } + bool mPolygons; // true if indices represents polygons, false indices are triangles + unsigned int mNumOutputVertices; // number of vertices in the output hull + double *mOutputVertices; // array of vertices, 3 doubles each x,y,z + unsigned int mNumFaces; // the number of faces produced + unsigned int mNumIndices; // the total number of indices + unsigned int *mIndices; // pointer to indices. + +// If triangles, then indices are array indexes into the vertex list. +// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc.. +}; + +class FHullResult +{ +public: + FHullResult(const HullResult &r) + { + mPolygons = r.mPolygons; + mNumOutputVertices = r.mNumOutputVertices; + mNumFaces = r.mNumFaces; + mNumIndices = r.mNumIndices; + mIndices = 0; + mOutputVertices = 0; + if ( mNumIndices ) + { + mIndices = new unsigned int[mNumIndices]; + memcpy(mIndices,r.mIndices,sizeof(unsigned int)*mNumIndices); + } + if ( mNumOutputVertices ) + { + mOutputVertices = new float[mNumOutputVertices*3]; + const double *src = r.mOutputVertices; + float *dst = mOutputVertices; + for (unsigned int i=0; i +#include +#include + +namespace ConvexDecomposition +{ + + +const double DEG_TO_RAD = ((2.0f * 3.14152654f) / 360.0f); +const double RAD_TO_DEG = (360.0f / (2.0f * 3.141592654f)); + +template class Vector3d +{ +public: + Vector3d(void) { }; // null constructor, does not inialize point. + + Vector3d(const Vector3d &a) // constructor copies existing vector. + { + x = a.x; + y = a.y; + z = a.z; + }; + + Vector3d(Type a,Type b,Type c) // construct with initial point. + { + x = a; + y = b; + z = c; + }; + + Vector3d(const double *t) + { + x = t[0]; + y = t[1]; + z = t[2]; + }; + + Vector3d(const int *t) + { + x = t[0]; + y = t[1]; + z = t[2]; + }; + + bool operator==(const Vector3d &a) const + { + return( a.x == x && a.y == y && a.z == z ); + }; + + bool operator!=(const Vector3d &a) const + { + return( a.x != x || a.y != y || a.z != z ); + }; + +// Operators + Vector3d& operator = (const Vector3d& A) // ASSIGNMENT (=) + { x=A.x; y=A.y; z=A.z; + return(*this); }; + + Vector3d operator + (const Vector3d& A) const // ADDITION (+) + { Vector3d Sum(x+A.x, y+A.y, z+A.z); + return(Sum); }; + + Vector3d operator - (const Vector3d& A) const // SUBTRACTION (-) + { Vector3d Diff(x-A.x, y-A.y, z-A.z); + return(Diff); }; + + Vector3d operator * (const double s) const // MULTIPLY BY SCALAR (*) + { Vector3d Scaled(x*s, y*s, z*s); + return(Scaled); }; + + + Vector3d operator + (const double s) const // ADD CONSTANT TO ALL 3 COMPONENTS (*) + { Vector3d Scaled(x+s, y+s, z+s); + return(Scaled); }; + + + + + Vector3d operator / (const double s) const // DIVIDE BY SCALAR (/) + { + double r = 1.0f / s; + Vector3d Scaled(x*r, y*r, z*r); + return(Scaled); + }; + + void operator /= (Type A) // ACCUMULATED VECTOR ADDITION (/=) + { x/=A; y/=A; z/=A; }; + + void operator += (const Vector3d A) // ACCUMULATED VECTOR ADDITION (+=) + { x+=A.x; y+=A.y; z+=A.z; }; + void operator -= (const Vector3d A) // ACCUMULATED VECTOR SUBTRACTION (+=) + { x-=A.x; y-=A.y; z-=A.z; }; + void operator *= (const double s) // ACCUMULATED SCALAR MULTIPLICATION (*=) (bpc 4/24/2000) + {x*=s; y*=s; z*=s;} + + void operator += (const double A) // ACCUMULATED VECTOR ADDITION (+=) + { x+=A; y+=A; z+=A; }; + + + Vector3d operator - (void) const // NEGATION (-) + { Vector3d Negated(-x, -y, -z); + return(Negated); }; + + Type operator [] (const int i) const // ALLOWS VECTOR ACCESS AS AN ARRAY. + { return( (i==0)?x:((i==1)?y:z) ); }; + Type & operator [] (const int i) + { return( (i==0)?x:((i==1)?y:z) ); }; +// + + // accessor methods. + Type GetX(void) const { return x; }; + Type GetY(void) const { return y; }; + Type GetZ(void) const { return z; }; + + Type X(void) const { return x; }; + Type Y(void) const { return y; }; + Type Z(void) const { return z; }; + + void SetX(Type t) { x = t; }; + void SetY(Type t) { y = t; }; + void SetZ(Type t) { z = t; }; + + bool IsSame(const Vector3d &v,double epsilon) const + { + double dx = fabsf( x - v.x ); + if ( dx > epsilon ) return false; + double dy = fabsf( y - v.y ); + if ( dy > epsilon ) return false; + double dz = fabsf( z - v.z ); + if ( dz > epsilon ) return false; + return true; + } + + + double ComputeNormal(const Vector3d &A, + const Vector3d &B, + const Vector3d &C) + { + double vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag; + + vx = (B.x - C.x); + vy = (B.y - C.y); + vz = (B.z - C.z); + + wx = (A.x - B.x); + wy = (A.y - B.y); + wz = (A.z - B.z); + + vw_x = vy * wz - vz * wy; + vw_y = vz * wx - vx * wz; + vw_z = vx * wy - vy * wx; + + mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if ( mag < 0.000001f ) + { + mag = 0; + } + else + { + mag = 1.0f/mag; + } + + x = vw_x * mag; + y = vw_y * mag; + z = vw_z * mag; + + return mag; + } + + + void ScaleSumScale(double c0,double c1,const Vector3d &pos) + { + x = (x*c0) + (pos.x*c1); + y = (y*c0) + (pos.y*c1); + z = (z*c0) + (pos.z*c1); + } + + void SwapYZ(void) + { + double t = y; + y = z; + z = t; + }; + + void Get(Type *v) const + { + v[0] = x; + v[1] = y; + v[2] = z; + }; + + void Set(const int *p) + { + x = (Type) p[0]; + y = (Type) p[1]; + z = (Type) p[2]; + } + + void Set(const double *p) + { + x = (Type) p[0]; + y = (Type) p[1]; + z = (Type) p[2]; + } + + + void Set(Type a,Type b,Type c) + { + x = a; + y = b; + z = c; + }; + + void Zero(void) + { + x = y = z = 0; + }; + + const Type* Ptr() const { return &x; } + Type* Ptr() { return &x; } + + +// return -(*this). + Vector3d negative(void) const + { + Vector3d result; + result.x = -x; + result.y = -y; + result.z = -z; + return result; + } + + Type Magnitude(void) const + { + return Type(sqrt(x * x + y * y + z * z)); + }; + + Type FastMagnitude(void) const + { + return Type(sqrt(x * x + y * y + z * z)); + }; + + Type FasterMagnitude(void) const + { + return Type(sqrt(x * x + y * y + z * z)); + }; + + void Lerp(const Vector3d& from,const Vector3d& to,double slerp) + { + x = ((to.x - from.x) * slerp) + from.x; + y = ((to.y - from.y) * slerp) + from.y; + z = ((to.z - from.z) * slerp) + from.z; + }; + + // Highly specialized interpolate routine. Will compute the interpolated position + // shifted forward or backwards along the ray defined between (from) and (to). + // Reason for existance is so that when a bullet collides with a wall, for + // example, you can generate a graphic effect slightly *before* it hit the + // wall so that the effect doesn't sort into the wall itself. + void Interpolate(const Vector3d &from,const Vector3d &to,double offset) + { + x = to.x-from.x; + y = to.y-from.y; + z = to.z-from.z; + double d = sqrtf( x*x + y*y + z*z ); + double recip = 1.0f / d; + x*=recip; + y*=recip; + z*=recip; // normalize vector + d+=offset; // shift along ray + x = x*d + from.x; + y = y*d + from.y; + z = z*d + from.z; + }; + + bool BinaryEqual(const Vector3d &p) const + { + const int *source = (const int *) &x; + const int *dest = (const int *) &p.x; + + if ( source[0] == dest[0] && + source[1] == dest[1] && + source[2] == dest[2] ) return true; + + return false; + }; + + bool BinaryEqual(const Vector3d &p) const + { + if ( x == p.x && y == p.y && z == p.z ) return true; + return false; + } + + +/** Computes the reflection vector between two vectors.*/ + void Reflection(const Vector3d &a,const Vector3d &b)// compute reflection vector. + { + Vector3d c; + Vector3d d; + + double dot = a.Dot(b) * 2.0f; + + c = b * dot; + + d = c - a; + + x = -d.x; + y = -d.y; + z = -d.z; + }; + + void AngleAxis(Type angle,const Vector3d& axis) + { + x = axis.x*angle; + y = axis.y*angle; + z = axis.z*angle; + }; + + Type Length(void) const // length of vector. + { + return Type(sqrt( x*x + y*y + z*z )); + }; + + + double ComputePlane(const Vector3d &A, + const Vector3d &B, + const Vector3d &C) + { + double vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag; + + vx = (B.x - C.x); + vy = (B.y - C.y); + vz = (B.z - C.z); + + wx = (A.x - B.x); + wy = (A.y - B.y); + wz = (A.z - B.z); + + vw_x = vy * wz - vz * wy; + vw_y = vz * wx - vx * wz; + vw_z = vx * wy - vy * wx; + + mag = sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if ( mag < 0.000001f ) + { + mag = 0; + } + else + { + mag = 1.0f/mag; + } + + x = vw_x * mag; + y = vw_y * mag; + z = vw_z * mag; + + + double D = 0.0f - ((x*A.x)+(y*A.y)+(z*A.z)); + + return D; + } + + + Type FastLength(void) const // length of vector. + { + return Type(sqrt( x*x + y*y + z*z )); + }; + + + Type FasterLength(void) const // length of vector. + { + return Type(sqrt( x*x + y*y + z*z )); + }; + + Type Length2(void) const // squared distance, prior to square root. + { + Type l2 = x*x+y*y+z*z; + return l2; + }; + + Type Distance(const Vector3d &a) const // distance between two points. + { + Vector3d d(a.x-x,a.y-y,a.z-z); + return d.Length(); + } + + Type FastDistance(const Vector3d &a) const // distance between two points. + { + Vector3d d(a.x-x,a.y-y,a.z-z); + return d.FastLength(); + } + + Type FasterDistance(const Vector3d &a) const // distance between two points. + { + Vector3d d(a.x-x,a.y-y,a.z-z); + return d.FasterLength(); + } + + + Type DistanceXY(const Vector3d &a) const + { + double dx = a.x - x; + double dy = a.y - y; + double dist = dx*dx + dy*dy; + return dist; + } + + Type Distance2(const Vector3d &a) const // squared distance. + { + double dx = a.x - x; + double dy = a.y - y; + double dz = a.z - z; + return dx*dx + dy*dy + dz*dz; + }; + + Type Partial(const Vector3d &p) const + { + return (x*p.y) - (p.x*y); + } + + Type Area(const Vector3d &p1,const Vector3d &p2) const + { + Type A = Partial(p1); + A+= p1.Partial(p2); + A+= p2.Partial(*this); + return A*0.5f; + } + + inline double Normalize(void) // normalize to a unit vector, returns distance. + { + double d = sqrtf( static_cast< double >( x*x + y*y + z*z ) ); + if ( d > 0 ) + { + double r = 1.0f / d; + x *= r; + y *= r; + z *= r; + } + else + { + x = y = z = 1; + } + return d; + }; + + inline double FastNormalize(void) // normalize to a unit vector, returns distance. + { + double d = sqrt( static_cast< double >( x*x + y*y + z*z ) ); + if ( d > 0 ) + { + double r = 1.0f / d; + x *= r; + y *= r; + z *= r; + } + else + { + x = y = z = 1; + } + return d; + }; + + inline double FasterNormalize(void) // normalize to a unit vector, returns distance. + { + double d = sqrt( static_cast< double >( x*x + y*y + z*z ) ); + if ( d > 0 ) + { + double r = 1.0f / d; + x *= r; + y *= r; + z *= r; + } + else + { + x = y = z = 1; + } + return d; + }; + + + + + Type Dot(const Vector3d &a) const // computes dot product. + { + return (x * a.x + y * a.y + z * a.z ); + }; + + + Vector3d Cross( const Vector3d& other ) const + { + Vector3d result( y*other.z - z*other.y, z*other.x - x*other.z, x*other.y - y*other.x ); + + return result; + } + + void Cross(const Vector3d &a,const Vector3d &b) // cross two vectors result in this one. + { + x = a.y*b.z - a.z*b.y; + y = a.z*b.x - a.x*b.z; + z = a.x*b.y - a.y*b.x; + }; + + /******************************************/ + // Check if next edge (b to c) turns inward + // + // Edge from a to b is already in face + // Edge from b to c is being considered for addition to face + /******************************************/ + bool Concave(const Vector3d& a,const Vector3d& b) + { + double vx,vy,vz,wx,wy,wz,vw_x,vw_y,vw_z,mag,nx,ny,nz,mag_a,mag_b; + + wx = b.x - a.x; + wy = b.y - a.y; + wz = b.z - a.z; + + mag_a = (double) sqrtf((wx * wx) + (wy * wy) + (wz * wz)); + + vx = x - b.x; + vy = y - b.y; + vz = z - b.z; + + mag_b = (double) sqrtf((vx * vx) + (vy * vy) + (vz * vz)); + + vw_x = (vy * wz) - (vz * wy); + vw_y = (vz * wx) - (vx * wz); + vw_z = (vx * wy) - (vy * wx); + + mag = (double) sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + // Check magnitude of cross product, which is a sine function + // i.e., mag (a x b) = mag (a) * mag (b) * sin (theta); + // If sin (theta) small, then angle between edges is very close to + // 180, which we may want to call a concavity. Setting the + // CONCAVITY_TOLERANCE value greater than about 0.01 MAY cause + // face consolidation to get stuck on particular face. Most meshes + // convert properly with a value of 0.0 + + if (mag/(mag_a*mag_b) <= 0.0f ) return true; + + mag = 1.0f / mag; + + nx = vw_x * mag; + ny = vw_y * mag; + nz = vw_z * mag; + + // Dot product of tri normal with cross product result will + // yield positive number if edges are convex (+1.0 if two tris + // are coplanar), negative number if edges are concave (-1.0 if + // two tris are coplanar.) + + mag = ( x * nx) + ( y * ny) + ( z * nz); + + if (mag > 0.0f ) return false; + + return(true); + }; + + bool PointTestXY(const Vector3d &i,const Vector3d &j) const + { + if (((( i.y <= y ) && ( y < j.y )) || + (( j.y <= y ) && ( y < i.y ))) && + ( x < (j.x - i.x) * (y - i.y) / (j.y - i.y) + i.x)) return true; + return false; + } + + // test to see if this point is inside the triangle specified by + // these three points on the X/Y plane. + bool PointInTriXY(const Vector3d &p1, + const Vector3d &p2, + const Vector3d &p3) const + { + double ax = p3.x - p2.x; + double ay = p3.y - p2.y; + double bx = p1.x - p3.x; + double by = p1.y - p3.y; + double cx = p2.x - p1.x; + double cy = p2.y - p1.y; + double apx = x - p1.x; + double apy = y - p1.y; + double bpx = x - p2.x; + double bpy = y - p2.y; + double cpx = x - p3.x; + double cpy = y - p3.y; + + double aCROSSbp = ax*bpy - ay*bpx; + double cCROSSap = cx*apy - cy*apx; + double bCROSScp = bx*cpy - by*cpx; + + return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); + }; + + // test to see if this point is inside the triangle specified by + // these three points on the X/Y plane. + bool PointInTriYZ(const Vector3d &p1, + const Vector3d &p2, + const Vector3d &p3) const + { + double ay = p3.y - p2.y; + double az = p3.z - p2.z; + double by = p1.y - p3.y; + double bz = p1.z - p3.z; + double cy = p2.y - p1.y; + double cz = p2.z - p1.z; + double apy = y - p1.y; + double apz = z - p1.z; + double bpy = y - p2.y; + double bpz = z - p2.z; + double cpy = y - p3.y; + double cpz = z - p3.z; + + double aCROSSbp = ay*bpz - az*bpy; + double cCROSSap = cy*apz - cz*apy; + double bCROSScp = by*cpz - bz*cpy; + + return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); + }; + + + // test to see if this point is inside the triangle specified by + // these three points on the X/Y plane. + bool PointInTriXZ(const Vector3d &p1, + const Vector3d &p2, + const Vector3d &p3) const + { + double az = p3.z - p2.z; + double ax = p3.x - p2.x; + double bz = p1.z - p3.z; + double bx = p1.x - p3.x; + double cz = p2.z - p1.z; + double cx = p2.x - p1.x; + double apz = z - p1.z; + double apx = x - p1.x; + double bpz = z - p2.z; + double bpx = x - p2.x; + double cpz = z - p3.z; + double cpx = x - p3.x; + + double aCROSSbp = az*bpx - ax*bpz; + double cCROSSap = cz*apx - cx*apz; + double bCROSScp = bz*cpx - bx*cpz; + + return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); + }; + + // Given a point and a line (defined by two points), compute the closest point + // in the line. (The line is treated as infinitely long.) + void NearestPointInLine(const Vector3d &point, + const Vector3d &line0, + const Vector3d &line1) + { + Vector3d &nearestPoint = *this; + Vector3d lineDelta = line1 - line0; + + // Handle degenerate lines + if ( lineDelta == Vector3d(0, 0, 0) ) + { + nearestPoint = line0; + } + else + { + double delta = (point-line0).Dot(lineDelta) / (lineDelta).Dot(lineDelta); + nearestPoint = line0 + delta*lineDelta; + } + } + + // Given a point and a line segment (defined by two points), compute the closest point + // in the line. Cap the point at the endpoints of the line segment. + void NearestPointInLineSegment(const Vector3d &point, + const Vector3d &line0, + const Vector3d &line1) + { + Vector3d &nearestPoint = *this; + Vector3d lineDelta = line1 - line0; + + // Handle degenerate lines + if ( lineDelta == Vector3d(0, 0, 0) ) + { + nearestPoint = line0; + } + else + { + double delta = (point-line0).Dot(lineDelta) / (lineDelta).Dot(lineDelta); + + // Clamp the point to conform to the segment's endpoints + if ( delta < 0 ) + delta = 0; + else if ( delta > 1 ) + delta = 1; + + nearestPoint = line0 + delta*lineDelta; + } + } + + // Given a point and a plane (defined by three points), compute the closest point + // in the plane. (The plane is unbounded.) + void NearestPointInPlane(const Vector3d &point, + const Vector3d &triangle0, + const Vector3d &triangle1, + const Vector3d &triangle2) + { + Vector3d &nearestPoint = *this; + Vector3d lineDelta0 = triangle1 - triangle0; + Vector3d lineDelta1 = triangle2 - triangle0; + Vector3d pointDelta = point - triangle0; + Vector3d normal; + + // Get the normal of the polygon (doesn't have to be a unit vector) + normal.Cross(lineDelta0, lineDelta1); + + double delta = normal.Dot(pointDelta) / normal.Dot(normal); + nearestPoint = point - delta*normal; + } + + // Given a point and a plane (defined by a coplanar point and a normal), compute the closest point + // in the plane. (The plane is unbounded.) + void NearestPointInPlane(const Vector3d &point, + const Vector3d &planePoint, + const Vector3d &planeNormal) + { + Vector3d &nearestPoint = *this; + Vector3d pointDelta = point - planePoint; + + double delta = planeNormal.Dot(pointDelta) / planeNormal.Dot(planeNormal); + nearestPoint = point - delta*planeNormal; + } + + // Given a point and a triangle (defined by three points), compute the closest point + // in the triangle. Clamp the point so it's confined to the area of the triangle. + void NearestPointInTriangle(const Vector3d &point, + const Vector3d &triangle0, + const Vector3d &triangle1, + const Vector3d &triangle2) + { + static const Vector3d zeroVector(0, 0, 0); + + Vector3d &nearestPoint = *this; + + Vector3d lineDelta0 = triangle1 - triangle0; + Vector3d lineDelta1 = triangle2 - triangle0; + + // Handle degenerate triangles + if ( (lineDelta0 == zeroVector) || (lineDelta1 == zeroVector) ) + { + nearestPoint.NearestPointInLineSegment(point, triangle1, triangle2); + } + else if ( lineDelta0 == lineDelta1 ) + { + nearestPoint.NearestPointInLineSegment(point, triangle0, triangle1); + } + + else + { + static Vector3d axis[3]; + axis[0].NearestPointInLine(triangle0, triangle1, triangle2); + axis[1].NearestPointInLine(triangle1, triangle0, triangle2); + axis[2].NearestPointInLine(triangle2, triangle0, triangle1); + + Type axisDot[3]; + axisDot[0] = (triangle0-axis[0]).Dot(point-axis[0]); + axisDot[1] = (triangle1-axis[1]).Dot(point-axis[1]); + axisDot[2] = (triangle2-axis[2]).Dot(point-axis[2]); + + bool bForce = true; + Type bestMagnitude2 = 0; + Type closeMagnitude2; + Vector3d closePoint; + + if ( axisDot[0] < 0 ) + { + closePoint.NearestPointInLineSegment(point, triangle1, triangle2); + closeMagnitude2 = point.Distance2(closePoint); + if ( bForce || (bestMagnitude2 > closeMagnitude2) ) + { + bForce = false; + bestMagnitude2 = closeMagnitude2; + nearestPoint = closePoint; + } + } + if ( axisDot[1] < 0 ) + { + closePoint.NearestPointInLineSegment(point, triangle0, triangle2); + closeMagnitude2 = point.Distance2(closePoint); + if ( bForce || (bestMagnitude2 > closeMagnitude2) ) + { + bForce = false; + bestMagnitude2 = closeMagnitude2; + nearestPoint = closePoint; + } + } + if ( axisDot[2] < 0 ) + { + closePoint.NearestPointInLineSegment(point, triangle0, triangle1); + closeMagnitude2 = point.Distance2(closePoint); + if ( bForce || (bestMagnitude2 > closeMagnitude2) ) + { + bForce = false; + bestMagnitude2 = closeMagnitude2; + nearestPoint = closePoint; + } + } + + // If bForce is true at this point, it means the nearest point lies + // inside the triangle; use the nearest-point-on-a-plane equation + if ( bForce ) + { + Vector3d normal; + + // Get the normal of the polygon (doesn't have to be a unit vector) + normal.Cross(lineDelta0, lineDelta1); + + Vector3d pointDelta = point - triangle0; + double delta = normal.Dot(pointDelta) / normal.Dot(normal); + + nearestPoint = point - delta*normal; + } + } + } + + +//private: + + Type x; + Type y; + Type z; +}; + + +template class Vector2d +{ +public: + Vector2d(void) { }; // null constructor, does not inialize point. + + Vector2d(const Vector2d &a) // constructor copies existing vector. + { + x = a.x; + y = a.y; + }; + + Vector2d(const double *t) + { + x = t[0]; + y = t[1]; + }; + + + Vector2d(Type a,Type b) // construct with initial point. + { + x = a; + y = b; + }; + + const Type* Ptr() const { return &x; } + Type* Ptr() { return &x; } + + Vector2d & operator+=(const Vector2d &a) // += operator. + { + x+=a.x; + y+=a.y; + return *this; + }; + + Vector2d & operator-=(const Vector2d &a) + { + x-=a.x; + y-=a.y; + return *this; + }; + + Vector2d & operator*=(const Vector2d &a) + { + x*=a.x; + y*=a.y; + return *this; + }; + + Vector2d & operator/=(const Vector2d &a) + { + x/=a.x; + y/=a.y; + return *this; + }; + + bool operator==(const Vector2d &a) const + { + if ( a.x == x && a.y == y ) return true; + return false; + }; + + bool operator!=(const Vector2d &a) const + { + if ( a.x != x || a.y != y ) return true; + return false; + }; + + Vector2d operator+(Vector2d a) const + { + a.x+=x; + a.y+=y; + return a; + }; + + Vector2d operator-(Vector2d a) const + { + a.x = x-a.x; + a.y = y-a.y; + return a; + }; + + Vector2d operator - (void) const + { + return negative(); + }; + + Vector2d operator*(Vector2d a) const + { + a.x*=x; + a.y*=y; + return a; + }; + + Vector2d operator*(Type c) const + { + Vector2d a; + + a.x = x * c; + a.y = y * c; + + return a; + }; + + Vector2d operator/(Vector2d a) const + { + a.x = x/a.x; + a.y = y/a.y; + return a; + }; + + + Type Dot(const Vector2d &a) const // computes dot product. + { + return (x * a.x + y * a.y ); + }; + + Type GetX(void) const { return x; }; + Type GetY(void) const { return y; }; + + void SetX(Type t) { x = t; }; + void SetY(Type t) { y = t; }; + + void Set(Type a,Type b) + { + x = a; + y = b; + }; + + void Zero(void) + { + x = 0; + y = 0; + }; + + Vector2d negative(void) const + { + Vector2d result; + result.x = -x; + result.y = -y; + return result; + } + + Type magnitude(void) const + { + return (Type) sqrtf(x * x + y * y ); + } + + Type fastmagnitude(void) const + { + return (Type) sqrt(x * x + y * y ); + } + + Type fastermagnitude(void) const + { + return (Type) sqrt( x * x + y * y ); + } + + void Reflection(Vector2d &a,Vector2d &b); // compute reflection vector. + + Type Length(void) const // length of vector. + { + return Type(sqrtf( x*x + y*y )); + }; + + Type FastLength(void) const // length of vector. + { + return Type(sqrt( x*x + y*y )); + }; + + Type FasterLength(void) const // length of vector. + { + return Type(sqrt( x*x + y*y )); + }; + + Type Length2(void) // squared distance, prior to square root. + { + return x*x+y*y; + } + + Type Distance(const Vector2d &a) const // distance between two points. + { + Type dx = a.x - x; + Type dy = a.y - y; + Type d = dx*dx+dy*dy; + return sqrtf(d); + }; + + Type FastDistance(const Vector2d &a) const // distance between two points. + { + Type dx = a.x - x; + Type dy = a.y - y; + Type d = dx*dx+dy*dy; + return sqrt(d); + }; + + Type FasterDistance(const Vector2d &a) const // distance between two points. + { + Type dx = a.x - x; + Type dy = a.y - y; + Type d = dx*dx+dy*dy; + return sqrt(d); + }; + + Type Distance2(Vector2d &a) // squared distance. + { + Type dx = a.x - x; + Type dy = a.y - y; + return dx*dx + dy *dy; + }; + + void Lerp(const Vector2d& from,const Vector2d& to,double slerp) + { + x = ((to.x - from.x)*slerp) + from.x; + y = ((to.y - from.y)*slerp) + from.y; + }; + + + void Cross(const Vector2d &a,const Vector2d &b) // cross two vectors result in this one. + { + x = a.y*b.x - a.x*b.y; + y = a.x*b.x - a.x*b.x; + }; + + Type Normalize(void) // normalize to a unit vector, returns distance. + { + Type l = Length(); + if ( l != 0 ) + { + l = Type( 1 ) / l; + x*=l; + y*=l; + } + else + { + x = y = 0; + } + return l; + }; + + Type FastNormalize(void) // normalize to a unit vector, returns distance. + { + Type l = FastLength(); + if ( l != 0 ) + { + l = Type( 1 ) / l; + x*=l; + y*=l; + } + else + { + x = y = 0; + } + return l; + }; + + Type FasterNormalize(void) // normalize to a unit vector, returns distance. + { + Type l = FasterLength(); + if ( l != 0 ) + { + l = Type( 1 ) / l; + x*=l; + y*=l; + } + else + { + x = y = 0; + } + return l; + }; + + + Type x; + Type y; +}; + +class Line +{ +public: + Line(const Vector3d &from,const Vector3d &to) + { + mP1 = from; + mP2 = to; + }; + // JWR Test for the intersection of two lines. + + bool Intersect(const Line& src,Vector3d §); +private: + Vector3d mP1; + Vector3d mP2; + +}; + + +typedef std::vector< Vector3d > Vector3dVector; +typedef std::vector< Vector2d > Vector2dVector; + +template Vector3d operator * (Type s, const Vector3d &v ) + { Vector3d Scaled(v.x*s, v.y*s, v.z*s); + return(Scaled); }; + +template Vector2d operator * (Type s, const Vector2d &v ) + { Vector2d Scaled(v.x*s, v.y*s); + return(Scaled); }; + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.cpp new file mode 100644 index 0000000..04b7b8c --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.cpp @@ -0,0 +1,858 @@ +#include +#include +#include +#include +#include + +#pragma warning(disable:4996) + +#include "cd_wavefront.h" + + +using namespace ConvexDecomposition; + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include + +namespace ConvexDecomposition +{ + +typedef std::vector< int > IntVector; +typedef std::vector< double > FloatVector; + +#if defined(__APPLE__) || defined(__CELLOS_LV2__) +#define stricmp(a, b) strcasecmp((a), (b)) +#endif + +/*******************************************************************/ +/******************** InParser.h ********************************/ +/*******************************************************************/ +class InPlaceParserInterface +{ +public: + virtual int ParseLine(int lineno,int argc,const char **argv) =0; // return TRUE to continue parsing, return FALSE to abort parsing process +}; + +enum SeparatorType +{ + ST_DATA, // is data + ST_HARD, // is a hard separator + ST_SOFT, // is a soft separator + ST_EOS // is a comment symbol, and everything past this character should be ignored +}; + +class InPlaceParser +{ +public: + InPlaceParser(void) + { + Init(); + } + + InPlaceParser(char *data,int len) + { + Init(); + SetSourceData(data,len); + } + + InPlaceParser(const char *fname) + { + Init(); + SetFile(fname); + } + + ~InPlaceParser(void); + + void Init(void) + { + mQuoteChar = 34; + mData = 0; + mLen = 0; + mMyAlloc = false; + for (int i=0; i<256; i++) + { + mHard[i] = ST_DATA; + mHardString[i*2] = i; + mHardString[i*2+1] = 0; + } + mHard[0] = ST_EOS; + mHard[32] = ST_SOFT; + mHard[9] = ST_SOFT; + mHard[13] = ST_SOFT; + mHard[10] = ST_SOFT; + } + + void SetFile(const char *fname); // use this file as source data to parse. + + void SetSourceData(char *data,int len) + { + mData = data; + mLen = len; + mMyAlloc = false; + }; + + int Parse(InPlaceParserInterface *callback); // returns true if entire file was parsed, false if it aborted for some reason + + int ProcessLine(int lineno,char *line,InPlaceParserInterface *callback); + + const char ** GetArglist(char *source,int &count); // convert source string into an arg list, this is a destructive parse. + + void SetHardSeparator(char c) // add a hard separator + { + mHard[c] = ST_HARD; + } + + void SetHard(char c) // add a hard separator + { + mHard[c] = ST_HARD; + } + + + void SetCommentSymbol(char c) // comment character, treated as 'end of string' + { + mHard[c] = ST_EOS; + } + + void ClearHardSeparator(char c) + { + mHard[c] = ST_DATA; + } + + + void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character. + + bool EOS(char c) + { + if ( mHard[c] == ST_EOS ) + { + return true; + } + return false; + } + + void SetQuoteChar(char c) + { + mQuoteChar = c; + } + +private: + + + inline char * AddHard(int &argc,const char **argv,char *foo); + inline bool IsHard(char c); + inline char * SkipSpaces(char *foo); + inline bool IsWhiteSpace(char c); + inline bool IsNonSeparator(char c); // non seperator,neither hard nor soft + + bool mMyAlloc; // whether or not *I* allocated the buffer and am responsible for deleting it. + char *mData; // ascii data to parse. + int mLen; // length of data + SeparatorType mHard[256]; + char mHardString[256*2]; + char mQuoteChar; +}; + +/*******************************************************************/ +/******************** InParser.cpp ********************************/ +/*******************************************************************/ +void InPlaceParser::SetFile(const char *fname) +{ + if ( mMyAlloc ) + { + free(mData); + } + mData = 0; + mLen = 0; + mMyAlloc = false; + + + FILE *fph = fopen(fname,"rb"); + if ( fph ) + { + fseek(fph,0L,SEEK_END); + mLen = ftell(fph); + fseek(fph,0L,SEEK_SET); + if ( mLen ) + { + mData = (char *) malloc(sizeof(char)*(mLen+1)); + int ok = fread(mData, mLen, 1, fph); + if ( !ok ) + { + free(mData); + mData = 0; + } + else + { + mData[mLen] = 0; // zero byte terminate end of file marker. + mMyAlloc = true; + } + } + fclose(fph); + } +} + +InPlaceParser::~InPlaceParser(void) +{ + if ( mMyAlloc ) + { + free(mData); + } +} + +#define MAXARGS 512 + +bool InPlaceParser::IsHard(char c) +{ + return mHard[c] == ST_HARD; +} + +char * InPlaceParser::AddHard(int &argc,const char **argv,char *foo) +{ + while ( IsHard(*foo) ) + { + const char *hard = &mHardString[*foo*2]; + if ( argc < MAXARGS ) + { + argv[argc++] = hard; + } + foo++; + } + return foo; +} + +bool InPlaceParser::IsWhiteSpace(char c) +{ + return mHard[c] == ST_SOFT; +} + +char * InPlaceParser::SkipSpaces(char *foo) +{ + while ( !EOS(*foo) && IsWhiteSpace(*foo) ) foo++; + return foo; +} + +bool InPlaceParser::IsNonSeparator(char c) +{ + if ( !IsHard(c) && !IsWhiteSpace(c) && c != 0 ) return true; + return false; +} + + +int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *callback) +{ + int ret = 0; + + const char *argv[MAXARGS]; + int argc = 0; + + char *foo = line; + + while ( !EOS(*foo) && argc < MAXARGS ) + { + + foo = SkipSpaces(foo); // skip any leading spaces + + if ( EOS(*foo) ) break; + + if ( *foo == mQuoteChar ) // if it is an open quote + { + foo++; + if ( argc < MAXARGS ) + { + argv[argc++] = foo; + } + while ( !EOS(*foo) && *foo != mQuoteChar ) foo++; + if ( !EOS(*foo) ) + { + *foo = 0; // replace close quote with zero byte EOS + foo++; + } + } + else + { + + foo = AddHard(argc,argv,foo); // add any hard separators, skip any spaces + + if ( IsNonSeparator(*foo) ) // add non-hard argument. + { + bool quote = false; + if ( *foo == mQuoteChar ) + { + foo++; + quote = true; + } + + if ( argc < MAXARGS ) + { + argv[argc++] = foo; + } + + if ( quote ) + { + while (*foo && *foo != mQuoteChar ) foo++; + if ( *foo ) *foo = 32; + } + + // continue..until we hit an eos .. + while ( !EOS(*foo) ) // until we hit EOS + { + if ( IsWhiteSpace(*foo) ) // if we hit a space, stomp a zero byte, and exit + { + *foo = 0; + foo++; + break; + } + else if ( IsHard(*foo) ) // if we hit a hard separator, stomp a zero byte and store the hard separator argument + { + const char *hard = &mHardString[*foo*2]; + *foo = 0; + if ( argc < MAXARGS ) + { + argv[argc++] = hard; + } + foo++; + break; + } + foo++; + } // end of while loop... + } + } + } + + if ( argc ) + { + ret = callback->ParseLine(lineno, argc, argv ); + } + + return ret; +} + +int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if entire file was parsed, false if it aborted for some reason +{ + assert( callback ); + if ( !mData ) return 0; + + int ret = 0; + + int lineno = 0; + + char *foo = mData; + char *begin = foo; + + + while ( *foo ) + { + if ( *foo == 10 || *foo == 13 ) + { + lineno++; + *foo = 0; + + if ( *begin ) // if there is any data to parse at all... + { + int v = ProcessLine(lineno,begin,callback); + if ( v ) ret = v; + } + + foo++; + if ( *foo == 10 ) foo++; // skip line feed, if it is in the carraige-return line-feed format... + begin = foo; + } + else + { + foo++; + } + } + + lineno++; // lasst line. + + int v = ProcessLine(lineno,begin,callback); + if ( v ) ret = v; + return ret; +} + + +void InPlaceParser::DefaultSymbols(void) +{ + SetHardSeparator(','); + SetHardSeparator('('); + SetHardSeparator(')'); + SetHardSeparator('='); + SetHardSeparator('['); + SetHardSeparator(']'); + SetHardSeparator('{'); + SetHardSeparator('}'); + SetCommentSymbol('#'); +} + + +const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source string into an arg list, this is a destructive parse. +{ + const char **ret = 0; + + static const char *argv[MAXARGS]; + int argc = 0; + + char *foo = line; + + while ( !EOS(*foo) && argc < MAXARGS ) + { + + foo = SkipSpaces(foo); // skip any leading spaces + + if ( EOS(*foo) ) break; + + if ( *foo == mQuoteChar ) // if it is an open quote + { + foo++; + if ( argc < MAXARGS ) + { + argv[argc++] = foo; + } + while ( !EOS(*foo) && *foo != mQuoteChar ) foo++; + if ( !EOS(*foo) ) + { + *foo = 0; // replace close quote with zero byte EOS + foo++; + } + } + else + { + + foo = AddHard(argc,argv,foo); // add any hard separators, skip any spaces + + if ( IsNonSeparator(*foo) ) // add non-hard argument. + { + bool quote = false; + if ( *foo == mQuoteChar ) + { + foo++; + quote = true; + } + + if ( argc < MAXARGS ) + { + argv[argc++] = foo; + } + + if ( quote ) + { + while (*foo && *foo != mQuoteChar ) foo++; + if ( *foo ) *foo = 32; + } + + // continue..until we hit an eos .. + while ( !EOS(*foo) ) // until we hit EOS + { + if ( IsWhiteSpace(*foo) ) // if we hit a space, stomp a zero byte, and exit + { + *foo = 0; + foo++; + break; + } + else if ( IsHard(*foo) ) // if we hit a hard separator, stomp a zero byte and store the hard separator argument + { + const char *hard = &mHardString[*foo*2]; + *foo = 0; + if ( argc < MAXARGS ) + { + argv[argc++] = hard; + } + foo++; + break; + } + foo++; + } // end of while loop... + } + } + } + + count = argc; + if ( argc ) + { + ret = argv; + } + + return ret; +} + +/*******************************************************************/ +/******************** Geometry.h ********************************/ +/*******************************************************************/ + +class GeometryVertex +{ +public: + double mPos[3]; + double mNormal[3]; + double mTexel[2]; +}; + + +class GeometryInterface +{ +public: + + virtual void NodeTriangle(const GeometryVertex *v1,const GeometryVertex *v2,const GeometryVertex *v3) + { + } + +}; + + +/*******************************************************************/ +/******************** Obj.h ********************************/ +/*******************************************************************/ + + +class OBJ : public InPlaceParserInterface +{ +public: + int LoadMesh(const char *fname,GeometryInterface *callback); + int ParseLine(int lineno,int argc,const char **argv); // return TRUE to continue parsing, return FALSE to abort parsing process +private: + + void GetVertex(GeometryVertex &v,const char *face) const; + + FloatVector mVerts; + FloatVector mTexels; + FloatVector mNormals; + + GeometryInterface *mCallback; + friend class WavefrontObj; +}; + + +/*******************************************************************/ +/******************** Obj.cpp ********************************/ +/*******************************************************************/ + +int OBJ::LoadMesh(const char *fname,GeometryInterface *iface) +{ + int ret = 0; + + mVerts.clear(); + mTexels.clear(); + mNormals.clear(); + + mCallback = iface; + + InPlaceParser ipp(fname); + + ipp.Parse(this); + + + return ret; +} + +static const char * GetArg(const char **argv,int i,int argc) +{ + const char * ret = 0; + if ( i < argc ) ret = argv[i]; + return ret; +} + +void OBJ::GetVertex(GeometryVertex &v,const char *face) const +{ + v.mPos[0] = 0; + v.mPos[1] = 0; + v.mPos[2] = 0; + + v.mTexel[0] = 0; + v.mTexel[1] = 0; + + v.mNormal[0] = 0; + v.mNormal[1] = 1; + v.mNormal[2] = 0; + + int index = atoi( face )-1; + + const char *texel = strstr(face,"/"); + + if ( texel ) + { + int tindex = atoi( texel+1) - 1; + + if ( tindex >=0 && tindex < (int)(mTexels.size()/2) ) + { + const double *t = &mTexels[tindex*2]; + + v.mTexel[0] = t[0]; + v.mTexel[1] = t[1]; + + } + + const char *normal = strstr(texel+1,"/"); + if ( normal ) + { + int nindex = atoi( normal+1 ) - 1; + + if (nindex >= 0 && nindex < (int)(mNormals.size()/3) ) + { + const double *n = &mNormals[nindex*3]; + + v.mNormal[0] = n[0]; + v.mNormal[1] = n[1]; + v.mNormal[2] = n[2]; + } + } + } + + if ( index >= 0 && index < (int)(mVerts.size()/3) ) + { + + const double *p = &mVerts[index*3]; + + v.mPos[0] = p[0]; + v.mPos[1] = p[1]; + v.mPos[2] = p[2]; + } + +} + +int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to continue parsing, return FALSE to abort parsing process +{ + int ret = 0; + + if ( argc >= 1 ) + { + const char *foo = argv[0]; + if ( *foo != '#' ) + { + if ( strcmp(argv[0],"v") == 0 && argc == 4 ) + { + double vx = (double) atof( argv[1] ); + double vy = (double) atof( argv[2] ); + double vz = (double) atof( argv[3] ); + mVerts.push_back(vx); + mVerts.push_back(vy); + mVerts.push_back(vz); + } + else if ( strcmp(argv[0],"vt") == 0 && argc == 3 ) + { + double tx = (double) atof( argv[1] ); + double ty = (double) atof( argv[2] ); + mTexels.push_back(tx); + mTexels.push_back(ty); + } + else if ( strcmp(argv[0],"vn") == 0 && argc == 4 ) + { + double normalx = (double) atof(argv[1]); + double normaly = (double) atof(argv[2]); + double normalz = (double) atof(argv[3]); + mNormals.push_back(normalx); + mNormals.push_back(normaly); + mNormals.push_back(normalz); + } + else if ( strcmp(argv[0],"f") == 0 && argc >= 4 ) + { + GeometryVertex v[32]; + + int vcount = argc-1; + + for (int i=1; i p1( v[0].mPos ); + Vector3d p2( v[1].mPos ); + Vector3d p3( v[2].mPos ); + + Vector3d n; + n.ComputeNormal(p3,p2,p1); + + for (int i=0; iNodeTriangle(&v[0],&v[1],&v[2]); + + if ( vcount >=3 ) // do the fan + { + for (int i=2; i<(vcount-1); i++) + { + mCallback->NodeTriangle(&v[0],&v[i],&v[i+1]); + } + } + + } + } + } + + return ret; +} + + + + +class BuildMesh : public GeometryInterface +{ +public: + + int GetIndex(const double *p) + { + + int vcount = mVertices.size()/3; + + if(vcount>0) + { + //New MS STL library checks indices in debug build, so zero causes an assert if it is empty. + const double *v = &mVertices[0]; + + for (int i=0; imPos) ); + mIndices.push_back( GetIndex(v2->mPos) ); + mIndices.push_back( GetIndex(v3->mPos) ); + } + + const FloatVector& GetVertices(void) const { return mVertices; }; + const IntVector& GetIndices(void) const { return mIndices; }; + +private: + FloatVector mVertices; + IntVector mIndices; +}; + + +WavefrontObj::WavefrontObj(void) +{ + mVertexCount = 0; + mTriCount = 0; + mIndices = 0; + mVertices = 0; +} + +WavefrontObj::~WavefrontObj(void) +{ + delete mIndices; + delete mVertices; +} + +unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed. +{ + + unsigned int ret = 0; + + delete mVertices; + mVertices = 0; + delete mIndices; + mIndices = 0; + mVertexCount = 0; + mTriCount = 0; + + + BuildMesh bm; + + OBJ obj; + + obj.LoadMesh(fname,&bm); + + + const FloatVector &vlist = bm.GetVertices(); + const IntVector &indices = bm.GetIndices(); + if ( vlist.size() ) + { + mVertexCount = vlist.size()/3; + mVertices = new double[mVertexCount*3]; + memcpy( mVertices, &vlist[0], sizeof(double)*mVertexCount*3 ); + mTriCount = indices.size()/3; + mIndices = new int[mTriCount*3*sizeof(int)]; + memcpy(mIndices, &indices[0], sizeof(int)*mTriCount*3); + ret = mTriCount; + } + else if( obj.mVerts.size() > 0 ) { + // take consecutive vertices + mVertexCount = obj.mVerts.size()/3; + mVertices = new double[mVertexCount*3]; + memcpy( mVertices, &obj.mVerts[0], sizeof(double)*mVertexCount*3 ); + mTriCount = mVertexCount/3; + mIndices = new int[mTriCount*3*sizeof(int)]; + for(int i = 0; i < mVertexCount; ++i) + mIndices[i] = i; + ret = mTriCount; + } + + return ret; +} + +}; diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.h new file mode 100644 index 0000000..4eff55c --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/cd_wavefront.h @@ -0,0 +1,82 @@ +#ifndef CD_WAVEFRONT_OBJ_H + + +#define CD_WAVEFRONT_OBJ_H + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +namespace ConvexDecomposition +{ + +class WavefrontObj +{ +public: + + WavefrontObj(void); + ~WavefrontObj(void); + + unsigned int loadObj(const char *fname); // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed. + + int mVertexCount; + int mTriCount; + int *mIndices; + double *mVertices; +}; + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/concavity.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/concavity.cpp new file mode 100644 index 0000000..77cbd7b --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/concavity.cpp @@ -0,0 +1,821 @@ +#include +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include + +#include "concavity.h" +#include "raytri.h" +#include "bestfit.h" +#include "cd_hull.h" +#include "meshvolume.h" +#include "cd_vector.h" +#include "splitplane.h" +#include "ConvexDecomposition.h" + + +#define WSCALE 4 +#define CONCAVE_THRESH 0.05f + +namespace ConvexDecomposition +{ + +unsigned int getDebugColor(void) +{ + static unsigned int colors[8] = + { + 0xFF0000, + 0x00FF00, + 0x0000FF, + 0xFFFF00, + 0x00FFFF, + 0xFF00FF, + 0xFFFFFF, + 0xFF8040 + }; + + static int count = 0; + + count++; + + if ( count == 8 ) count = 0; + + assert( count >= 0 && count < 8 ); + + unsigned int color = colors[count]; + + return color; + +} + +class Wpoint +{ +public: + Wpoint(const Vector3d &p,double w) + { + mPoint = p; + mWeight = w; + } + + Vector3d mPoint; + double mWeight; +}; + +typedef std::vector< Wpoint > WpointVector; + + +static inline double DistToPt(const double *p,const double *plane) +{ + double x = p[0]; + double y = p[1]; + double z = p[2]; + double d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3]; + return d; +} + + +static void intersect(const double *p1,const double *p2,double *split,const double *plane) +{ + + double dp1 = DistToPt(p1,plane); + double dp2 = DistToPt(p2,plane); + + double dir[3]; + + dir[0] = p2[0] - p1[0]; + dir[1] = p2[1] - p1[1]; + dir[2] = p2[2] - p1[2]; + + double dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2]; + double dot2 = dp1 - plane[3]; + + double t = -(plane[3] + dot2 ) / dot1; + + split[0] = (dir[0]*t)+p1[0]; + split[1] = (dir[1]*t)+p1[1]; + split[2] = (dir[2]*t)+p1[2]; + +} + + +class CTri +{ +public: + CTri(void) { }; + + CTri(const double *p1,const double *p2,const double *p3,unsigned int i1,unsigned int i2,unsigned int i3) + { + mProcessed = 0; + mI1 = i1; + mI2 = i2; + mI3 = i3; + + mP1.Set(p1); + mP2.Set(p2); + mP3.Set(p3); + + mPlaneD = mNormal.ComputePlane(mP1,mP2,mP3); + } + + double Facing(const CTri &t) + { + double d = mNormal.Dot(t.mNormal); + return d; + } + + // clip this line segment against this triangle. + bool clip(const Vector3d &start,Vector3d &end) const + { + Vector3d sect; + + bool hit = lineIntersectsTriangle(start.Ptr(), end.Ptr(), mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), sect.Ptr() ); + + if ( hit ) + { + end = sect; + } + return hit; + } + + bool Concave(const Vector3d &p,double &distance,Vector3d &n) const + { + n.NearestPointInTriangle(p,mP1,mP2,mP3); + distance = p.Distance(n); + return true; + } + + void addTri(unsigned int *indices,unsigned int i1,unsigned int i2,unsigned int i3,unsigned int &tcount) const + { + indices[tcount*3+0] = i1; + indices[tcount*3+1] = i2; + indices[tcount*3+2] = i3; + tcount++; + } + + double getVolume(ConvexDecompInterface *callback) const + { + unsigned int indices[8*3]; + + + unsigned int tcount = 0; + + addTri(indices,0,1,2,tcount); + addTri(indices,3,4,5,tcount); + + addTri(indices,0,3,4,tcount); + addTri(indices,0,4,1,tcount); + + addTri(indices,1,4,5,tcount); + addTri(indices,1,5,2,tcount); + + addTri(indices,0,3,5,tcount); + addTri(indices,0,5,2,tcount); + + const double *vertices = mP1.Ptr(); + + if ( callback ) + { + unsigned int color = getDebugColor(); + +#if 0 + Vector3d d1 = mNear1; + Vector3d d2 = mNear2; + Vector3d d3 = mNear3; + + callback->ConvexDebugPoint(mP1.Ptr(),0.01f,0x00FF00); + callback->ConvexDebugPoint(mP2.Ptr(),0.01f,0x00FF00); + callback->ConvexDebugPoint(mP3.Ptr(),0.01f,0x00FF00); + callback->ConvexDebugPoint(d1.Ptr(),0.01f,0xFF0000); + callback->ConvexDebugPoint(d2.Ptr(),0.01f,0xFF0000); + callback->ConvexDebugPoint(d3.Ptr(),0.01f,0xFF0000); + + callback->ConvexDebugTri(mP1.Ptr(), d1.Ptr(), d1.Ptr(),0x00FF00); + callback->ConvexDebugTri(mP2.Ptr(), d2.Ptr(), d2.Ptr(),0x00FF00); + callback->ConvexDebugTri(mP3.Ptr(), d3.Ptr(), d3.Ptr(),0x00FF00); + +#else + for (unsigned int i=0; iConvexDebugTri(p1,p2,p3,color); + + } +#endif + } + + double v = computeMeshVolume(mP1.Ptr(), tcount, indices ); + + return v; + + } + + double raySect(const Vector3d &p,const Vector3d &dir,Vector3d §) const + { + double plane[4]; + + plane[0] = mNormal.x; + plane[1] = mNormal.y; + plane[2] = mNormal.z; + plane[3] = mPlaneD; + + Vector3d dest = p+dir*100000; + + intersect( p.Ptr(), dest.Ptr(), sect.Ptr(), plane ); + + return sect.Distance(p); // return the intersection distance. + + } + + double planeDistance(const Vector3d &p) const + { + double plane[4]; + + plane[0] = mNormal.x; + plane[1] = mNormal.y; + plane[2] = mNormal.z; + plane[3] = mPlaneD; + + return DistToPt( p.Ptr(), plane ); + + } + + bool samePlane(const CTri &t) const + { + const double THRESH = 0.001f; + double dd = fabs( t.mPlaneD - mPlaneD ); + if ( dd > THRESH ) return false; + dd = fabs( t.mNormal.x - mNormal.x ); + if ( dd > THRESH ) return false; + dd = fabs( t.mNormal.y - mNormal.y ); + if ( dd > THRESH ) return false; + dd = fabs( t.mNormal.z - mNormal.z ); + if ( dd > THRESH ) return false; + return true; + } + + bool hasIndex(unsigned int i) const + { + if ( i == mI1 || i == mI2 || i == mI3 ) return true; + return false; + } + + bool sharesEdge(const CTri &t) const + { + bool ret = false; + unsigned int count = 0; + + if ( t.hasIndex(mI1) ) count++; + if ( t.hasIndex(mI2) ) count++; + if ( t.hasIndex(mI3) ) count++; + + if ( count >= 2 ) ret = true; + + return ret; + } + + void debug(unsigned int color,ConvexDecompInterface *callback) + { + callback->ConvexDebugTri( mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), color ); + callback->ConvexDebugTri( mP1.Ptr(), mP1.Ptr(), mNear1.Ptr(), 0xFF0000 ); + callback->ConvexDebugTri( mP2.Ptr(), mP2.Ptr(), mNear2.Ptr(), 0xFF0000 ); + callback->ConvexDebugTri( mP2.Ptr(), mP3.Ptr(), mNear3.Ptr(), 0xFF0000 ); + callback->ConvexDebugPoint( mNear1.Ptr(), 0.01f, 0xFF0000 ); + callback->ConvexDebugPoint( mNear2.Ptr(), 0.01f, 0xFF0000 ); + callback->ConvexDebugPoint( mNear3.Ptr(), 0.01f, 0xFF0000 ); + } + + double area(void) + { + double a = mConcavity*mP1.Area(mP2,mP3); + return a; + } + + void addWeighted(WpointVector &list,ConvexDecompInterface *callback) + { + + Wpoint p1(mP1,mC1); + Wpoint p2(mP2,mC2); + Wpoint p3(mP3,mC3); + + Vector3d d1 = mNear1 - mP1; + Vector3d d2 = mNear2 - mP2; + Vector3d d3 = mNear3 - mP3; + + d1*=WSCALE; + d2*=WSCALE; + d3*=WSCALE; + + d1 = d1 + mP1; + d2 = d2 + mP2; + d3 = d3 + mP3; + + Wpoint p4(d1,mC1); + Wpoint p5(d2,mC2); + Wpoint p6(d3,mC3); + + list.push_back(p1); + list.push_back(p2); + list.push_back(p3); + + list.push_back(p4); + list.push_back(p5); + list.push_back(p6); + +#if 0 + callback->ConvexDebugPoint(mP1.Ptr(),0.01f,0x00FF00); + callback->ConvexDebugPoint(mP2.Ptr(),0.01f,0x00FF00); + callback->ConvexDebugPoint(mP3.Ptr(),0.01f,0x00FF00); + callback->ConvexDebugPoint(d1.Ptr(),0.01f,0xFF0000); + callback->ConvexDebugPoint(d2.Ptr(),0.01f,0xFF0000); + callback->ConvexDebugPoint(d3.Ptr(),0.01f,0xFF0000); + + callback->ConvexDebugTri(mP1.Ptr(), d1.Ptr(), d1.Ptr(),0x00FF00); + callback->ConvexDebugTri(mP2.Ptr(), d2.Ptr(), d2.Ptr(),0x00FF00); + callback->ConvexDebugTri(mP3.Ptr(), d3.Ptr(), d3.Ptr(),0x00FF00); + + Vector3d np1 = mP1 + mNormal*0.05f; + Vector3d np2 = mP2 + mNormal*0.05f; + Vector3d np3 = mP3 + mNormal*0.05f; + + callback->ConvexDebugTri(mP1.Ptr(), np1.Ptr(), np1.Ptr(), 0xFF00FF ); + callback->ConvexDebugTri(mP2.Ptr(), np2.Ptr(), np2.Ptr(), 0xFF00FF ); + callback->ConvexDebugTri(mP3.Ptr(), np3.Ptr(), np3.Ptr(), 0xFF00FF ); + + callback->ConvexDebugPoint( np1.Ptr(), 0.01F, 0XFF00FF ); + callback->ConvexDebugPoint( np2.Ptr(), 0.01F, 0XFF00FF ); + callback->ConvexDebugPoint( np3.Ptr(), 0.01F, 0XFF00FF ); + +#endif + + + + } + + Vector3d mP1; + Vector3d mP2; + Vector3d mP3; + Vector3d mNear1; + Vector3d mNear2; + Vector3d mNear3; + Vector3d mNormal; + double mPlaneD; + double mConcavity; + double mC1; + double mC2; + double mC3; + unsigned int mI1; + unsigned int mI2; + unsigned int mI3; + int mProcessed; // already been added... +}; + +typedef std::vector< CTri > CTriVector; + +bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback,const CTriVector &input_mesh) +{ + + bool ret = false; + + double neardot = 0.707f; + + m.mConcavity = 0; + + //gLog->Display("*********** FEATURE MATCH *************\r\n"); + //gLog->Display("Plane: %0.4f,%0.4f,%0.4f %0.4f\r\n", m.mNormal.x, m.mNormal.y, m.mNormal.z, m.mPlaneD ); + //gLog->Display("*********************************************\r\n"); + + CTriVector::const_iterator i; + + CTri nearest; + + double near[3] = { 1e9, 1e9, 1e9 }; + + for (i=tris.begin(); i!=tris.end(); ++i) + { + const CTri &t = (*i); + + + //gLog->Display(" HullPlane: %0.4f,%0.4f,%0.4f %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD ); + + if ( t.samePlane(m) ) + { + //gLog->Display("*** PLANE MATCH!!!\r\n"); + ret = false; + break; + } + + double dot = t.mNormal.Dot(m.mNormal); + + if ( dot > neardot ) + { + + double d1 = t.planeDistance( m.mP1 ); + double d2 = t.planeDistance( m.mP2 ); + double d3 = t.planeDistance( m.mP3 ); + + if ( d1 > 0.001f || d2 > 0.001f || d3 > 0.001f ) // can't be near coplaner! + { + + neardot = dot; + + Vector3d n1,n2,n3; + + t.raySect( m.mP1, m.mNormal, m.mNear1 ); + t.raySect( m.mP2, m.mNormal, m.mNear2 ); + t.raySect( m.mP3, m.mNormal, m.mNear3 ); + + nearest = t; + + ret = true; + } + + } + } + + if ( ret ) + { + if ( 0 ) + { + CTriVector::const_iterator i; + for (i=input_mesh.begin(); i!=input_mesh.end(); ++i) + { + const CTri &c = (*i); + if ( c.mI1 != m.mI1 && c.mI2 != m.mI2 && c.mI3 != m.mI3 ) + { + c.clip( m.mP1, m.mNear1 ); + c.clip( m.mP2, m.mNear2 ); + c.clip( m.mP3, m.mNear3 ); + } + } + } + + //gLog->Display("*********************************************\r\n"); + //gLog->Display(" HullPlaneNearest: %0.4f,%0.4f,%0.4f %0.4f\r\n", nearest.mNormal.x, nearest.mNormal.y, nearest.mNormal.z, nearest.mPlaneD ); + + m.mC1 = m.mP1.Distance( m.mNear1 ); + m.mC2 = m.mP2.Distance( m.mNear2 ); + m.mC3 = m.mP3.Distance( m.mNear3 ); + + m.mConcavity = m.mC1; + + if ( m.mC2 > m.mConcavity ) m.mConcavity = m.mC2; + if ( m.mC3 > m.mConcavity ) m.mConcavity = m.mC3; + + #if 0 + callback->ConvexDebugTri( m.mP1.Ptr(), m.mP2.Ptr(), m.mP3.Ptr(), 0x00FF00 ); + callback->ConvexDebugTri( m.mNear1.Ptr(), m.mNear2.Ptr(), m.mNear3.Ptr(), 0xFF0000 ); + + callback->ConvexDebugTri( m.mP1.Ptr(), m.mP1.Ptr(), m.mNear1.Ptr(), 0xFFFF00 ); + callback->ConvexDebugTri( m.mP2.Ptr(), m.mP2.Ptr(), m.mNear2.Ptr(), 0xFFFF00 ); + callback->ConvexDebugTri( m.mP3.Ptr(), m.mP3.Ptr(), m.mNear3.Ptr(), 0xFFFF00 ); + #endif + + } + else + { + //gLog->Display("No match\r\n"); + } + + //gLog->Display("*********************************************\r\n"); + return ret; +} + +bool isFeatureTri(CTri &t,CTriVector &flist,double fc,ConvexDecompInterface *callback,unsigned int color) +{ + bool ret = false; + + if ( t.mProcessed == 0 ) // if not already processed + { + + double c = t.mConcavity / fc; // must be within 80% of the concavity of the parent. + + if ( c > 0.85f ) + { + // see if this triangle is a 'feature' triangle. Meaning it shares an + // edge with any existing feature triangle and is within roughly the same + // concavity of the parent. + if ( flist.size() ) + { + CTriVector::iterator i; + for (i=flist.begin(); i!=flist.end(); ++i) + { + CTri &ftri = (*i); + if ( ftri.sharesEdge(t) ) + { + t.mProcessed = 2; // it is now part of a feature. + flist.push_back(t); // add it to the feature list. +// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color ); + ret = true; + break; + } + } + } + else + { + t.mProcessed = 2; + flist.push_back(t); // add it to the feature list. +// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color ); + ret = true; + } + } + else + { + t.mProcessed = 1; // eliminated for this feature, but might be valid for the next one.. + } + + } + return ret; +} + +double computeConcavity(unsigned int vcount, + const double *vertices, + unsigned int tcount, + const unsigned int *indices, + ConvexDecompInterface *callback, + double *plane, // plane equation to split on + double &volume) +{ + + + double cret = 0; + volume = 1; + + HullResult result; + HullLibrary hl; + HullDesc desc; + + desc.mMaxVertices = 256; + desc.SetHullFlag(QF_TRIANGLES); + + + desc.mVcount = vcount; + desc.mVertices = vertices; + desc.mVertexStride = sizeof(double)*3; + + HullError ret = hl.CreateConvexHull(desc,result); + + if ( ret == QE_OK ) + { + + double bmin[3]; + double bmax[3]; + + double diagonal = getBoundingRegion( result.mNumOutputVertices, result.mOutputVertices, sizeof(double)*3, bmin, bmax ); + + double dx = bmax[0] - bmin[0]; + double dy = bmax[1] - bmin[1]; + double dz = bmax[2] - bmin[2]; + + Vector3d center; + + center.x = bmin[0] + dx*0.5f; + center.y = bmin[1] + dy*0.5f; + center.z = bmin[2] + dz*0.5f; + + double boundVolume = dx*dy*dz; + + volume = computeMeshVolume2( result.mOutputVertices, result.mNumFaces, result.mIndices ); + +#if 1 + // ok..now..for each triangle on the original mesh.. + // we extrude the points to the nearest point on the hull. + const unsigned int *source = result.mIndices; + + CTriVector tris; + + for (unsigned int i=0; iConvexDebugTri(p1,p2,p3,0xFFFFFF); + + CTri t(p1,p2,p3,i1,i2,i3); // + tris.push_back(t); + } + + // we have not pre-computed the plane equation for each triangle in the convex hull.. + + double totalVolume = 0; + + CTriVector ftris; // 'feature' triangles. + + const unsigned int *src = indices; + + + double maxc=0; + + + if ( 1 ) + { + CTriVector input_mesh; + if ( 1 ) + { + const unsigned int *src = indices; + for (unsigned int i=0; i CONCAVE_THRESH ) + { + + if ( t.mConcavity > maxc ) + { + maxc = t.mConcavity; + maxctri = t; + } + + double v = t.getVolume(0); + totalVolume+=v; + ftris.push_back(t); + } + + } + } + + if ( ftris.size() && 0 ) + { + + // ok..now we extract the triangles which form the maximum concavity. + CTriVector major_feature; + double maxarea = 0; + + while ( maxc > CONCAVE_THRESH ) + { + + unsigned int color = getDebugColor(); // + + CTriVector flist; + + bool found; + + double totalarea = 0; + + do + { + found = false; + CTriVector::iterator i; + for (i=ftris.begin(); i!=ftris.end(); ++i) + { + CTri &t = (*i); + if ( isFeatureTri(t,flist,maxc,callback,color) ) + { + found = true; + totalarea+=t.area(); + } + } + } while ( found ); + + + if ( totalarea > maxarea ) + { + major_feature = flist; + maxarea = totalarea; + } + + maxc = 0; + + for (unsigned int i=0; i maxc ) + { + maxc = t.mConcavity; + } + } + } + } + + unsigned int color = getDebugColor(); + + WpointVector list; + for (unsigned int i=0; i +#include +#include +#include +#include + +#include "fitsphere.h" + + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + + +/* +An Efficient Bounding Sphere +by Jack Ritter +from "Graphics Gems", Academic Press, 1990 +*/ + +/* Routine to calculate tight bounding sphere over */ +/* a set of points in 3D */ +/* This contains the routine find_bounding_sphere(), */ +/* the struct definition, and the globals used for parameters. */ +/* The abs() of all coordinates must be < BIGNUMBER */ +/* Code written by Jack Ritter and Lyle Rains. */ + +namespace ConvexDecomposition +{ + +#define BIGNUMBER 100000000.0 /* hundred million */ + +static inline void Set(double *n,double x,double y,double z) +{ + n[0] = x; + n[1] = y; + n[2] = z; +}; + +static inline void Copy(double *dest,const double *source) +{ + dest[0] = source[0]; + dest[1] = source[1]; + dest[2] = source[2]; +} + +double computeBoundingSphere(unsigned int vcount,const double *points,double *center) +{ + + double mRadius; + double mRadius2; + + double xmin[3]; + double xmax[3]; + double ymin[3]; + double ymax[3]; + double zmin[3]; + double zmax[3]; + double dia1[3]; + double dia2[3]; + + /* FIRST PASS: find 6 minima/maxima points */ + Set(xmin,BIGNUMBER,BIGNUMBER,BIGNUMBER); + Set(xmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER); + Set(ymin,BIGNUMBER,BIGNUMBER,BIGNUMBER); + Set(ymax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER); + Set(zmin,BIGNUMBER,BIGNUMBER,BIGNUMBER); + Set(zmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER); + + for (unsigned i=0; ixmax[0]) + Copy(xmax,caller_p); + if (caller_p[1]ymax[1]) + Copy(ymax,caller_p); + if (caller_p[2]zmax[2]) + Copy(zmax,caller_p); + } + + /* Set xspan = distance between the 2 points xmin & xmax (squared) */ + double dx = xmax[0] - xmin[0]; + double dy = xmax[1] - xmin[1]; + double dz = xmax[2] - xmin[2]; + double xspan = dx*dx + dy*dy + dz*dz; + + /* Same for y & z spans */ + dx = ymax[0] - ymin[0]; + dy = ymax[1] - ymin[1]; + dz = ymax[2] - ymin[2]; + double yspan = dx*dx + dy*dy + dz*dz; + + dx = zmax[0] - zmin[0]; + dy = zmax[1] - zmin[1]; + dz = zmax[2] - zmin[2]; + double zspan = dx*dx + dy*dy + dz*dz; + + /* Set points dia1 & dia2 to the maximally separated pair */ + Copy(dia1,xmin); + Copy(dia2,xmax); /* assume xspan biggest */ + double maxspan = xspan; + + if (yspan>maxspan) + { + maxspan = yspan; + Copy(dia1,ymin); + Copy(dia2,ymax); + } + + if (zspan>maxspan) + { + Copy(dia1,zmin); + Copy(dia2,zmax); + } + + + /* dia1,dia2 is a diameter of initial sphere */ + /* calc initial center */ + center[0] = (dia1[0]+dia2[0])*0.5f; + center[1] = (dia1[1]+dia2[1])*0.5f; + center[2] = (dia1[2]+dia2[2])*0.5f; + + /* calculate initial radius**2 and radius */ + + dx = dia2[0]-center[0]; /* x component of radius vector */ + dy = dia2[1]-center[1]; /* y component of radius vector */ + dz = dia2[2]-center[2]; /* z component of radius vector */ + + mRadius2 = dx*dx + dy*dy + dz*dz; + mRadius = double(sqrt(mRadius2)); + + /* SECOND PASS: increment current sphere */ + if ( 1 ) + { + for (unsigned i=0; i mRadius2) /* do r**2 test first */ + { /* this point is outside of current sphere */ + double old_to_p = double(sqrt(old_to_p_sq)); + /* calc radius of new sphere */ + mRadius = (mRadius + old_to_p) * 0.5f; + mRadius2 = mRadius*mRadius; /* for next r**2 compare */ + double old_to_new = old_to_p - mRadius; + + /* calc center of new sphere */ + + double recip = 1.0f /old_to_p; + + double cx = (mRadius*center[0] + old_to_new*caller_p[0]) * recip; + double cy = (mRadius*center[1] + old_to_new*caller_p[1]) * recip; + double cz = (mRadius*center[2] + old_to_new*caller_p[2]) * recip; + + Set(center,cx,cy,cz); + } + } + } + + return mRadius; +} + +static inline void Set(float *n,float x,float y,float z) +{ + n[0] = x; + n[1] = y; + n[2] = z; +}; + +static inline void Copy(float *dest,const float *source) +{ + dest[0] = source[0]; + dest[1] = source[1]; + dest[2] = source[2]; +} + + + +float computeBoundingSphere(unsigned int vcount,const float *points,float *center) +{ + float mRadius; + float mRadius2; + + float xmin[3]; + float xmax[3]; + float ymin[3]; + float ymax[3]; + float zmin[3]; + float zmax[3]; + float dia1[3]; + float dia2[3]; + + /* FIRST PASS: find 6 minima/maxima points */ + Set(xmin,BIGNUMBER,BIGNUMBER,BIGNUMBER); + Set(xmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER); + Set(ymin,BIGNUMBER,BIGNUMBER,BIGNUMBER); + Set(ymax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER); + Set(zmin,BIGNUMBER,BIGNUMBER,BIGNUMBER); + Set(zmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER); + + for (unsigned i=0; ixmax[0]) + Copy(xmax,caller_p); + if (caller_p[1]ymax[1]) + Copy(ymax,caller_p); + if (caller_p[2]zmax[2]) + Copy(zmax,caller_p); + } + + /* Set xspan = distance between the 2 points xmin & xmax (squared) */ + float dx = xmax[0] - xmin[0]; + float dy = xmax[1] - xmin[1]; + float dz = xmax[2] - xmin[2]; + float xspan = dx*dx + dy*dy + dz*dz; + + /* Same for y & z spans */ + dx = ymax[0] - ymin[0]; + dy = ymax[1] - ymin[1]; + dz = ymax[2] - ymin[2]; + float yspan = dx*dx + dy*dy + dz*dz; + + dx = zmax[0] - zmin[0]; + dy = zmax[1] - zmin[1]; + dz = zmax[2] - zmin[2]; + float zspan = dx*dx + dy*dy + dz*dz; + + /* Set points dia1 & dia2 to the maximally separated pair */ + Copy(dia1,xmin); + Copy(dia2,xmax); /* assume xspan biggest */ + float maxspan = xspan; + + if (yspan>maxspan) + { + maxspan = yspan; + Copy(dia1,ymin); + Copy(dia2,ymax); + } + + if (zspan>maxspan) + { + Copy(dia1,zmin); + Copy(dia2,zmax); + } + + + /* dia1,dia2 is a diameter of initial sphere */ + /* calc initial center */ + center[0] = (dia1[0]+dia2[0])*0.5f; + center[1] = (dia1[1]+dia2[1])*0.5f; + center[2] = (dia1[2]+dia2[2])*0.5f; + + /* calculate initial radius**2 and radius */ + + dx = dia2[0]-center[0]; /* x component of radius vector */ + dy = dia2[1]-center[1]; /* y component of radius vector */ + dz = dia2[2]-center[2]; /* z component of radius vector */ + + mRadius2 = dx*dx + dy*dy + dz*dz; + mRadius = float(sqrt(mRadius2)); + + /* SECOND PASS: increment current sphere */ + if ( 1 ) + { + for (unsigned i=0; i mRadius2) /* do r**2 test first */ + { /* this point is outside of current sphere */ + float old_to_p = float(sqrt(old_to_p_sq)); + /* calc radius of new sphere */ + mRadius = (mRadius + old_to_p) * 0.5f; + mRadius2 = mRadius*mRadius; /* for next r**2 compare */ + float old_to_new = old_to_p - mRadius; + + /* calc center of new sphere */ + + float recip = 1.0f /old_to_p; + + float cx = (mRadius*center[0] + old_to_new*caller_p[0]) * recip; + float cy = (mRadius*center[1] + old_to_new*caller_p[1]) * recip; + float cz = (mRadius*center[2] + old_to_new*caller_p[2]) * recip; + + Set(center,cx,cy,cz); + } + } + } + + return mRadius; +} + + +double computeSphereVolume(double r) +{ + return (4.0f*3.141592654f*r*r*r)/3.0f; // 4/3 PI R cubed +} + +}; diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/fitsphere.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/fitsphere.h new file mode 100644 index 0000000..200310f --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/fitsphere.h @@ -0,0 +1,70 @@ +#ifndef FIT_SPHERE_H + +#define FIT_SPHERE_H + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + +namespace ConvexDecomposition +{ + +double computeBoundingSphere(unsigned int vcount,const double *points,double *center); +float computeBoundingSphere(unsigned int vcount,const float *points,float *center); + +double computeSphereVolume(double r); + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.cpp new file mode 100644 index 0000000..8c106fe --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.cpp @@ -0,0 +1,463 @@ +#include +#include +#include +#include +#include + +#include "float_math.h" + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +// a set of routines that let you do common 3d math +// operations without any vector, matrix, or quaternion +// classes or templates. +// +// a vector (or point) is a 'double *' to 3 doubleing point numbers. +// a matrix is a 'double *' to an array of 16 doubleing point numbers representing a 4x4 transformation matrix compatible with D3D or OGL +// a quaternion is a 'double *' to 4 doubles representing a quaternion x,y,z,w +// +// +// +// Please email bug fixes or improvements to John W. Ratcliff at mailto:jratcliff@infiniplex.net +// +// If you find this source code useful donate a couple of bucks to my kid's fund raising website at +// www.amillionpixels.us +// +// More snippets at: www.codesuppository.com +// + +namespace ConvexDecomposition +{ + +void fm_inverseRT(const double *matrix,const double *pos,double *t) // inverse rotate translate the point. +{ + + double _x = pos[0] - matrix[3*4+0]; + double _y = pos[1] - matrix[3*4+1]; + double _z = pos[2] - matrix[3*4+2]; + + // Multiply inverse-translated source vector by inverted rotation transform + + t[0] = (matrix[0*4+0] * _x) + (matrix[0*4+1] * _y) + (matrix[0*4+2] * _z); + t[1] = (matrix[1*4+0] * _x) + (matrix[1*4+1] * _y) + (matrix[1*4+2] * _z); + t[2] = (matrix[2*4+0] * _x) + (matrix[2*4+1] * _y) + (matrix[2*4+2] * _z); + +} + + +void fm_identity(double *matrix) // set 4x4 matrix to identity. +{ + matrix[0*4+0] = 1; + matrix[1*4+1] = 1; + matrix[2*4+2] = 1; + matrix[3*4+3] = 1; + + matrix[1*4+0] = 0; + matrix[2*4+0] = 0; + matrix[3*4+0] = 0; + + matrix[0*4+1] = 0; + matrix[2*4+1] = 0; + matrix[3*4+1] = 0; + + matrix[0*4+2] = 0; + matrix[1*4+2] = 0; + matrix[3*4+2] = 0; + + matrix[0*4+3] = 0; + matrix[1*4+3] = 0; + matrix[2*4+3] = 0; + +} + +void fm_eulerMatrix(double ax,double ay,double az,double *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) +{ + double quat[4]; + fm_eulerToQuat(ax,ay,az,quat); + fm_quatToMatrix(quat,matrix); +} + +void fm_getAABB(unsigned int vcount,const double *points,unsigned int pstride,double *bmin,double *bmax) +{ + + const unsigned char *source = (const unsigned char *) points; + + bmin[0] = points[0]; + bmin[1] = points[1]; + bmin[2] = points[2]; + + bmax[0] = points[0]; + bmax[1] = points[1]; + bmax[2] = points[2]; + + + for (unsigned int i=1; i bmax[0] ) bmax[0] = p[0]; + if ( p[1] > bmax[1] ) bmax[1] = p[1]; + if ( p[2] > bmax[2] ) bmax[2] = p[2]; + + } +} + + +void fm_eulerToQuat(double roll,double pitch,double yaw,double *quat) // convert euler angles to quaternion. +{ + roll *= 0.5f; + pitch *= 0.5f; + yaw *= 0.5f; + + double cr = cos(roll); + double cp = cos(pitch); + double cy = cos(yaw); + + double sr = sin(roll); + double sp = sin(pitch); + double sy = sin(yaw); + + double cpcy = cp * cy; + double spsy = sp * sy; + double spcy = sp * cy; + double cpsy = cp * sy; + + quat[0] = ( sr * cpcy - cr * spsy); + quat[1] = ( cr * spcy + sr * cpsy); + quat[2] = ( cr * cpsy - sr * spcy); + quat[3] = cr * cpcy + sr * spsy; +} + +void fm_quatToMatrix(const double *quat,double *matrix) // convert quaterinion rotation to matrix, zeros out the translation component. +{ + + double xx = quat[0]*quat[0]; + double yy = quat[1]*quat[1]; + double zz = quat[2]*quat[2]; + double xy = quat[0]*quat[1]; + double xz = quat[0]*quat[2]; + double yz = quat[1]*quat[2]; + double wx = quat[3]*quat[0]; + double wy = quat[3]*quat[1]; + double wz = quat[3]*quat[2]; + + matrix[0*4+0] = 1 - 2 * ( yy + zz ); + matrix[1*4+0] = 2 * ( xy - wz ); + matrix[2*4+0] = 2 * ( xz + wy ); + + matrix[0*4+1] = 2 * ( xy + wz ); + matrix[1*4+1] = 1 - 2 * ( xx + zz ); + matrix[2*4+1] = 2 * ( yz - wx ); + + matrix[0*4+2] = 2 * ( xz - wy ); + matrix[1*4+2] = 2 * ( yz + wx ); + matrix[2*4+2] = 1 - 2 * ( xx + yy ); + + matrix[3*4+0] = 0.0f; + matrix[3*4+1] = 0.0f; + matrix[3*4+2] = 0.0f; + + matrix[0*4+3] = 0.0f; + matrix[1*4+3] = 0.0f; + matrix[2*4+3] = 0.0f; + + matrix[3*4+3] =(double) 1.0f; + +} + + +void fm_quatRotate(const double *quat,const double *v,double *r) // rotate a vector directly by a quaternion. +{ + double left[4]; + + left[0] = quat[3]*v[0] + quat[1]*v[2] - v[1]*quat[2]; + left[1] = quat[3]*v[1] + quat[2]*v[0] - v[2]*quat[0]; + left[2] = quat[3]*v[2] + quat[0]*v[1] - v[0]*quat[1]; + left[3] = - quat[0]*v[0] - quat[1]*v[1] - quat[2]*v[2]; + + r[0] = (left[3]*-quat[0]) + (quat[3]*left[0]) + (left[1]*-quat[2]) - (-quat[1]*left[2]); + r[1] = (left[3]*-quat[1]) + (quat[3]*left[1]) + (left[2]*-quat[0]) - (-quat[2]*left[0]); + r[2] = (left[3]*-quat[2]) + (quat[3]*left[2]) + (left[0]*-quat[1]) - (-quat[0]*left[1]); + +} + + +void fm_getTranslation(const double *matrix,double *t) +{ + t[0] = matrix[3*4+0]; + t[1] = matrix[3*4+1]; + t[2] = matrix[3*4+2]; +} + +void fm_matrixToQuat(const double *matrix,double *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w +{ + + double tr = matrix[0*4+0] + matrix[1*4+1] + matrix[2*4+2]; + + // check the diagonal + + if (tr > 0.0f ) + { + double s = (double) sqrt ( (double) (tr + 1.0f) ); + quat[3] = s * 0.5f; + s = 0.5f / s; + quat[0] = (matrix[1*4+2] - matrix[2*4+1]) * s; + quat[1] = (matrix[2*4+0] - matrix[0*4+2]) * s; + quat[2] = (matrix[0*4+1] - matrix[1*4+0]) * s; + + } + else + { + // diagonal is negative + int nxt[3] = {1, 2, 0}; + double qa[4]; + + int i = 0; + + if (matrix[1*4+1] > matrix[0*4+0]) i = 1; + if (matrix[2*4+2] > matrix[i*4+i]) i = 2; + + int j = nxt[i]; + int k = nxt[j]; + + double s = sqrt ( ((matrix[i*4+i] - (matrix[j*4+j] + matrix[k*4+k])) + 1.0f) ); + + qa[i] = s * 0.5f; + + if (s != 0.0f ) s = 0.5f / s; + + qa[3] = (matrix[j*4+k] - matrix[k*4+j]) * s; + qa[j] = (matrix[i*4+j] + matrix[j*4+i]) * s; + qa[k] = (matrix[i*4+k] + matrix[k*4+i]) * s; + + quat[0] = qa[0]; + quat[1] = qa[1]; + quat[2] = qa[2]; + quat[3] = qa[3]; + } + + +} + + +double fm_sphereVolume(double radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed ) +{ + return (4.0f / 3.0f ) * FM_PI * radius * radius * radius; +} + + +double fm_cylinderVolume(double radius,double h) +{ + return FM_PI * radius * radius *h; +} + +double fm_capsuleVolume(double radius,double h) +{ + double volume = fm_sphereVolume(radius); // volume of the sphere portion. + double ch = h-radius*2; // this is the cylinder length + if ( ch > 0 ) + { + volume+=fm_cylinderVolume(radius,ch); + } + return volume; +} + +void fm_transform(const double *matrix,const double *v,double *t) // rotate and translate this point +{ + t[0] = (matrix[0*4+0] * v[0]) + (matrix[1*4+0] * v[1]) + (matrix[2*4+0] * v[2]) + matrix[3*4+0]; + t[1] = (matrix[0*4+1] * v[0]) + (matrix[1*4+1] * v[1]) + (matrix[2*4+1] * v[2]) + matrix[3*4+1]; + t[2] = (matrix[0*4+2] * v[0]) + (matrix[1*4+2] * v[1]) + (matrix[2*4+2] * v[2]) + matrix[3*4+2]; +} + +void fm_rotate(const double *matrix,const double *v,double *t) // rotate and translate this point +{ + t[0] = (matrix[0*4+0] * v[0]) + (matrix[1*4+0] * v[1]) + (matrix[2*4+0] * v[2]); + t[1] = (matrix[0*4+1] * v[0]) + (matrix[1*4+1] * v[1]) + (matrix[2*4+1] * v[2]); + t[2] = (matrix[0*4+2] * v[0]) + (matrix[1*4+2] * v[1]) + (matrix[2*4+2] * v[2]); +} + + +double fm_distance(const double *p1,const double *p2) +{ + double dx = p1[0] - p2[0]; + double dy = p1[1] - p2[1]; + double dz = p1[2] - p2[2]; + + return sqrt( dx*dx + dy*dy + dz *dz ); +} + +double fm_distanceSquared(const double *p1,const double *p2) +{ + double dx = p1[0] - p2[0]; + double dy = p1[1] - p2[1]; + double dz = p1[2] - p2[2]; + + return dx*dx + dy*dy + dz *dz; +} + + +double fm_computePlane(const double *A,const double *B,const double *C,double *n) // returns D +{ + double vx = (B[0] - C[0]); + double vy = (B[1] - C[1]); + double vz = (B[2] - C[2]); + + double wx = (A[0] - B[0]); + double wy = (A[1] - B[1]); + double wz = (A[2] - B[2]); + + double vw_x = vy * wz - vz * wy; + double vw_y = vz * wx - vx * wz; + double vw_z = vx * wy - vy * wx; + + double mag = sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if ( mag < 0.000001f ) + { + mag = 0; + } + else + { + mag = 1.0f/mag; + } + + double x = vw_x * mag; + double y = vw_y * mag; + double z = vw_z * mag; + + + double D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2])); + + n[0] = x; + n[1] = y; + n[2] = z; + + return D; +} + +double fm_distToPlane(const double *plane,const double *p) // computes the distance of this point from the plane. +{ + return p[0]*plane[0]+p[1]*plane[1]+p[2]*plane[2]+plane[3]; +} + +double fm_dot(const double *p1,const double *p2) +{ + return p1[0]*p2[0]+p1[1]*p2[2]+p1[2]*p2[2]; +} + +void fm_cross(double *cross,const double *a,const double *b) +{ + cross[0] = a[1]*b[2] - a[2]*b[1]; + cross[1] = a[2]*b[0] - a[0]*b[2]; + cross[2] = a[0]*b[1] - a[1]*b[0]; +} + +void fm_computeNormalVector(double *n,const double *p1,const double *p2) +{ + n[0] = p2[0] - p1[0]; + n[1] = p2[1] - p1[1]; + n[2] = p2[2] - p1[2]; + fm_normalize(n); +} + +bool fm_computeWindingOrder(const double *p1,const double *p2,const double *p3) // returns true if the triangle is clockwise. +{ + bool ret = false; + + double v1[3]; + double v2[3]; + + fm_computeNormalVector(v1,p1,p2); // p2-p1 (as vector) and then normalized + fm_computeNormalVector(v2,p1,p3); // p3-p1 (as vector) and then normalized + + double cross[3]; + + fm_cross(cross, v1, v2 ); + double ref[3] = { 1, 0, 0 }; + + double d = fm_dot( cross, ref ); + + + if ( d <= 0 ) + ret = false; + else + ret = true; + + return ret; +} + +void fm_normalize(double *n) // normalize this vector +{ + + double dist = n[0]*n[0] + n[1]*n[1] + n[2]*n[2]; + double mag = 0; + + if ( dist > 0.0000001f ) + mag = 1.0f / sqrt(dist); + + n[0]*=mag; + n[1]*=mag; + n[2]*=mag; + +} + +}; // end of namespace diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.h new file mode 100644 index 0000000..b819b8d --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/float_math.h @@ -0,0 +1,112 @@ +#ifndef FLOAT_MATH_H + +#define FLOAT_MATH_H + +namespace ConvexDecomposition +{ + + /*! + ** + ** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net + ** + ** Portions of this source has been released with the PhysXViewer application, as well as + ** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. + ** + ** If you find this code useful or you are feeling particularily generous I would + ** ask that you please go to http://www.amillionpixels.us and make a donation + ** to Troy DeMolay. + ** + ** DeMolay is a youth group for young men between the ages of 12 and 21. + ** It teaches strong moral principles, as well as leadership skills and + ** public speaking. The donations page uses the 'pay for pixels' paradigm + ** where, in this case, a pixel is only a single penny. Donations can be + ** made for as small as $4 or as high as a $100 block. Each person who donates + ** will get a link to their own site as well as acknowledgement on the + ** donations blog located here http://www.amillionpixels.blogspot.com/ + ** + ** If you wish to contact me you can use the following methods: + ** + ** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) + ** Skype ID: jratcliff63367 + ** Yahoo: jratcliff63367 + ** AOL: jratcliff1961 + ** email: jratcliff@infiniplex.net + ** Personal website: http://jratcliffscarab.blogspot.com + ** Coding Website: http://codesuppository.blogspot.com + ** FundRaising Blog: http://amillionpixels.blogspot.com + ** Fundraising site: http://www.amillionpixels.us + ** New Temple Site: http://newtemple.blogspot.com + ** + ** + ** The MIT license: + ** + ** Permission is hereby granted, free of charge, to any person obtaining a copy + ** of this software and associated documentation files (the "Software"), to deal + ** in the Software without restriction, including without limitation the rights + ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + ** copies of the Software, and to permit persons to whom the Software is furnished + ** to do so, subject to the following conditions: + ** + ** The above copyright notice and this permission notice shall be included in all + ** copies or substantial portions of the Software. + + ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + ** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + ** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + ** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + ** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + ** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + */ + + + +// a set of routines that let you do common 3d math +// operations without any vector, matrix, or quaternion +// classes or templates. +// +// a vector (or point) is a 'double *' to 3 doubleing point numbers. +// a matrix is a 'double *' to an array of 16 doubleing point numbers representing a 4x4 transformation matrix compatible with D3D or OGL +// a quaternion is a 'double *' to 4 doubles representing a quaternion x,y,z,w +// +// +// +// Please email bug fixes or improvements to John W. Ratcliff at mailto:jratcliff@infiniplex.net +// +// If you find this source code useful donate a couple of bucks to my kid's fund raising website at +// www.amillionpixels.us +// +// More snippets at: www.codesuppository.com +// + +const double FM_PI = 3.141592654f; +const double FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f); +const double FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI)); + +void fm_identity(double *matrix); // set 4x4 matrix to identity. +void fm_inverseRT(const double *matrix,const double *pos,double *t); // inverse rotate translate the point. +void fm_transform(const double *matrix,const double *pos,double *t); // rotate and translate this point. +void fm_rotate(const double *matrix,const double *pos,double *t); // only rotate the point by a 4x4 matrix, don't translate. +void fm_eulerMatrix(double ax,double ay,double az,double *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) +void fm_getAABB(unsigned int vcount,const double *points,unsigned int pstride,double *bmin,double *bmax); +void fm_eulerToQuat(double roll,double pitch,double yaw,double *quat); // convert euler angles to quaternion. +void fm_quatToMatrix(const double *quat,double *matrix); // convert quaterinion rotation to matrix, translation set to zero. +void fm_quatRotate(const double *quat,const double *v,double *r); // rotate a vector directly by a quaternion. +void fm_getTranslation(const double *matrix,double *t); +void fm_matrixToQuat(const double *matrix,double *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w +double fm_sphereVolume(double radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed ) +double fm_cylinderVolume(double radius,double h); +double fm_capsuleVolume(double radius,double h); +double fm_distance(const double *p1,const double *p2); +double fm_distanceSquared(const double *p1,const double *p2); +double fm_computePlane(const double *p1,const double *p2,const double *p3,double *n); // return D +double fm_distToPlane(const double *plane,const double *pos); // computes the distance of this point from the plane. +double fm_dot(const double *p1,const double *p2); +void fm_cross(double *cross,const double *a,const double *b); +void fm_computeNormalVector(double *n,const double *p1,const double *p2); // as P2-P1 normalized. +bool fm_computeWindingOrder(const double *p1,const double *p2,const double *p3); // returns true if the triangle is clockwise. +void fm_normalize(double *n); // normalize this vector + +}; // end of nsamepace + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/meshvolume.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/meshvolume.cpp new file mode 100644 index 0000000..453dada --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/meshvolume.cpp @@ -0,0 +1,251 @@ +#include "meshvolume.h" + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + +namespace ConvexDecomposition +{ + + +inline double det(const double *p1,const double *p2,const double *p3) +{ + return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2]; +} + +double computeMeshVolume(const double *vertices,unsigned int tcount,const unsigned int *indices) +{ + double volume = 0; + + const double *p0 = vertices; + for (unsigned int i=0; i +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include "planetri.h" + +namespace ConvexDecomposition +{ + + +static inline double DistToPt(const double *p,const double *plane) +{ + double x = p[0]; + double y = p[1]; + double z = p[2]; + double d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3]; + return d; +} + + +static PlaneTriResult getSidePlane(const double *p,const double *plane,double epsilon) +{ + + double d = DistToPt(p,plane); + + if ( (d+epsilon) > 0 ) + return PTR_FRONT; // it is 'in front' within the provided epsilon value. + + return PTR_BACK; +} + +static void add(const double *p,double *dest,unsigned int tstride,unsigned int &pcount) +{ + char *d = (char *) dest; + d = d + pcount*tstride; + dest = (double *) d; + dest[0] = p[0]; + dest[1] = p[1]; + dest[2] = p[2]; + pcount++; + assert( pcount <= 4 ); +} + + +// assumes that the points are on opposite sides of the plane! +static void intersect(const double *p1,const double *p2,double *split,const double *plane) +{ + + double dp1 = DistToPt(p1,plane); + double dp2 = DistToPt(p2,plane); + + double dir[3]; + + dir[0] = p2[0] - p1[0]; + dir[1] = p2[1] - p1[1]; + dir[2] = p2[2] - p1[2]; + + double dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2]; + double dot2 = dp1 - plane[3]; + + double t = -(plane[3] + dot2 ) / dot1; + + split[0] = (dir[0]*t)+p1[0]; + split[1] = (dir[1]*t)+p1[1]; + split[2] = (dir[2]*t)+p1[2]; + +} + +#define MAXPTS 256 + +class point +{ +public: + + void set(const double *p) + { + x = p[0]; + y = p[1]; + z = p[2]; + } + + double x; + double y; + double z; +}; +class polygon +{ +public: + polygon(void) + { + mVcount = 0; + } + + polygon(const double *p1,const double *p2,const double *p3) + { + mVcount = 3; + mVertices[0].set(p1); + mVertices[1].set(p2); + mVertices[2].set(p3); + } + + + int NumVertices(void) const { return mVcount; }; + + const point& Vertex(int index) + { + if ( index < 0 ) index+=mVcount; + return mVertices[index]; + }; + + + void set(const point *pts,int count) + { + for (int i=0; iNumVertices (); + int out_c = 0, in_c = 0; + point ptA, ptB,outpts[MAXPTS],inpts[MAXPTS]; + double sideA, sideB; + ptA = poly->Vertex (count - 1); + sideA = part->Classify_Point (ptA); + for (int i = -1; ++i < count;) + { + ptB = poly->Vertex(i); + sideB = part->Classify_Point(ptB); + if (sideB > 0) + { + if (sideA < 0) + { + point v; + intersect(&ptB.x, &ptA.x, &v.x, &part->normal.x ); + outpts[out_c++] = inpts[in_c++] = v; + } + outpts[out_c++] = ptB; + } + else if (sideB < 0) + { + if (sideA > 0) + { + point v; + intersect(&ptB.x, &ptA.x, &v.x, &part->normal.x ); + outpts[out_c++] = inpts[in_c++] = v; + } + inpts[in_c++] = ptB; + } + else + outpts[out_c++] = inpts[in_c++] = ptB; + ptA = ptB; + sideA = sideB; + } + + front.set(&outpts[0], out_c); + back.set(&inpts[0], in_c); +} + +PlaneTriResult planeTriIntersection(const double *_plane, // the plane equation in Ax+By+Cz+D format + const double *triangle, // the source triangle. + unsigned int tstride, // stride in bytes of the input and output *vertices* + double epsilon, // the co-planer epsilon value. + double *front, // the triangle in front of the + unsigned int &fcount, // number of vertices in the 'front' triangle + double *back, // the triangle in back of the plane + unsigned int &bcount) // the number of vertices in the 'back' triangle. +{ + + fcount = 0; + bcount = 0; + + const char *tsource = (const char *) triangle; + + // get the three vertices of the triangle. + const double *p1 = (const double *) (tsource); + const double *p2 = (const double *) (tsource+tstride); + const double *p3 = (const double *) (tsource+tstride*2); + + + PlaneTriResult r1 = getSidePlane(p1,_plane,epsilon); // compute the side of the plane each vertex is on + PlaneTriResult r2 = getSidePlane(p2,_plane,epsilon); + PlaneTriResult r3 = getSidePlane(p3,_plane,epsilon); + + if ( r1 == r2 && r1 == r3 ) // if all three vertices are on the same side of the plane. + { + if ( r1 == PTR_FRONT ) // if all three are in front of the plane, then copy to the 'front' output triangle. + { + add(p1,front,tstride,fcount); + add(p2,front,tstride,fcount); + add(p3,front,tstride,fcount); + } + else + { + add(p1,back,tstride,bcount); // if all three are in 'back' then copy to the 'back' output triangle. + add(p2,back,tstride,bcount); + add(p3,back,tstride,bcount); + } + return r1; // if all three points are on the same side of the plane return result + } + + + polygon pi(p1,p2,p3); + polygon pfront,pback; + + plane part(_plane); + Split_Polygon(&pi,&part,pfront,pback); + + for (int i=0; i +#include +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include "raytri.h" + +namespace ConvexDecomposition +{ + + +/* a = b - c */ +#define vector(a,b,c) \ + (a)[0] = (b)[0] - (c)[0]; \ + (a)[1] = (b)[1] - (c)[1]; \ + (a)[2] = (b)[2] - (c)[2]; + + + +#define innerProduct(v,q) \ + ((v)[0] * (q)[0] + \ + (v)[1] * (q)[1] + \ + (v)[2] * (q)[2]) + +#define crossProduct(a,b,c) \ + (a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \ + (a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \ + (a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1]; + +bool rayIntersectsTriangle(const double *p,const double *d,const double *v0,const double *v1,const double *v2,double &t) +{ + + double e1[3],e2[3],h[3],s[3],q[3]; + double a,f,u,v; + + vector(e1,v1,v0); + vector(e2,v2,v0); + crossProduct(h,d,e2); + a = innerProduct(e1,h); + + if (a > -0.00001 && a < 0.00001) + return(false); + + f = 1/a; + vector(s,p,v0); + u = f * (innerProduct(s,h)); + + if (u < 0.0 || u > 1.0) + return(false); + + crossProduct(q,s,e1); + v = f * innerProduct(d,q); + if (v < 0.0 || u + v > 1.0) + return(false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * innerProduct(e2,q); + if (t > 0) // ray intersection + return(true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + + +bool lineIntersectsTriangle(const double *rayStart,const double *rayEnd,const double *p1,const double *p2,const double *p3,double *sect) +{ + double dir[3]; + + dir[0] = rayEnd[0] - rayStart[0]; + dir[1] = rayEnd[1] - rayStart[1]; + dir[2] = rayEnd[2] - rayStart[2]; + + double d = sqrt(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]); + double r = 1.0f / d; + + dir[0]*=r; + dir[1]*=r; + dir[2]*=r; + + + double t; + + bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t ); + + if ( ret ) + { + if ( t > d ) + { + sect[0] = rayStart[0] + dir[0]*t; + sect[1] = rayStart[1] + dir[1]*t; + sect[2] = rayStart[2] + dir[2]*t; + } + else + { + ret = false; + } + } + + return ret; +} + +}; // end of namespace diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/raytri.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/raytri.h new file mode 100644 index 0000000..647a658 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/raytri.h @@ -0,0 +1,69 @@ +#ifndef RAY_TRI_H + +#define RAY_TRI_H + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + +namespace ConvexDecomposition +{ + +// returns true if the ray intersects the triangle. +bool lineIntersectsTriangle(const double *rayStart,const double *rayEnd,const double *p1,const double *p2,const double *p3,double *sect); +bool rayIntersectsTriangle(const double *p,const double *d,const double *v0,const double *v1,const double *v2,double &t); + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.cpp new file mode 100644 index 0000000..154cead --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.cpp @@ -0,0 +1,339 @@ +#include +#include +#include +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include "splitplane.h" +#include "ConvexDecomposition.h" +#include "cd_vector.h" +#include "cd_hull.h" +#include "cd_wavefront.h" +#include "bestfit.h" +#include "planetri.h" +#include "vlookup.h" +#include "meshvolume.h" +#include "bestfitobb.h" +#include "float_math.h" + +namespace ConvexDecomposition +{ + +static void computePlane(const double *A,const double *B,const double *C,double *plane) +{ + + double vx = (B[0] - C[0]); + double vy = (B[1] - C[1]); + double vz = (B[2] - C[2]); + + double wx = (A[0] - B[0]); + double wy = (A[1] - B[1]); + double wz = (A[2] - B[2]); + + double vw_x = vy * wz - vz * wy; + double vw_y = vz * wx - vx * wz; + double vw_z = vx * wy - vy * wx; + + double mag = sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z)); + + if ( mag < 0.000001f ) + { + mag = 0; + } + else + { + mag = 1.0f/mag; + } + + double x = vw_x * mag; + double y = vw_y * mag; + double z = vw_z * mag; + + + double D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2])); + + plane[0] = x; + plane[1] = y; + plane[2] = z; + plane[3] = D; + +} + +class Rect3d +{ +public: + Rect3d(void) { }; + + Rect3d(const double *bmin,const double *bmax) + { + + mMin[0] = bmin[0]; + mMin[1] = bmin[1]; + mMin[2] = bmin[2]; + + mMax[0] = bmax[0]; + mMax[1] = bmax[1]; + mMax[2] = bmax[2]; + + } + + void SetMin(const double *bmin) + { + mMin[0] = bmin[0]; + mMin[1] = bmin[1]; + mMin[2] = bmin[2]; + } + + void SetMax(const double *bmax) + { + mMax[0] = bmax[0]; + mMax[1] = bmax[1]; + mMax[2] = bmax[2]; + } + + void SetMin(double x,double y,double z) + { + mMin[0] = x; + mMin[1] = y; + mMin[2] = z; + } + + void SetMax(double x,double y,double z) + { + mMax[0] = x; + mMax[1] = y; + mMax[2] = z; + } + + double mMin[3]; + double mMax[3]; +}; + +void splitRect(unsigned int axis, + const Rect3d &source, + Rect3d &b1, + Rect3d &b2, + const double *midpoint) +{ + switch ( axis ) + { + case 0: + b1.SetMin(source.mMin); + b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] ); + + b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] ); + b2.SetMax(source.mMax); + + break; + case 1: + b1.SetMin(source.mMin); + b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] ); + + b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] ); + b2.SetMax(source.mMax); + + break; + case 2: + b1.SetMin(source.mMin); + b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] ); + + b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] ); + b2.SetMax(source.mMax); + + break; + } +} + +bool computeSplitPlane(unsigned int vcount, + const double *vertices, + unsigned int tcount, + const unsigned int *indices, + ConvexDecompInterface *callback, + double *plane) +{ + bool cret = false; + + + double sides[3]; + double matrix[16]; + + computeBestFitOBB( vcount, vertices, sizeof(double)*3, sides, matrix ); + + double bmax[3]; + double bmin[3]; + + bmax[0] = sides[0]*0.5f; + bmax[1] = sides[1]*0.5f; + bmax[2] = sides[2]*0.5f; + + bmin[0] = -bmax[0]; + bmin[1] = -bmax[1]; + bmin[2] = -bmax[2]; + + + double dx = sides[0]; + double dy = sides[1]; + double dz = sides[2]; + + + double laxis = dx; + + unsigned int axis = 0; + + if ( dy > dx ) + { + axis = 1; + laxis = dy; + } + + if ( dz > dx && dz > dy ) + { + axis = 2; + laxis = dz; + } + + double p1[3]; + double p2[3]; + double p3[3]; + + p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f; + p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f; + p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f; + + Rect3d b(bmin,bmax); + + Rect3d b1,b2; + + splitRect(axis,b,b1,b2,p1); + + +// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00); +// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00); + + switch ( axis ) + { + case 0: + p2[1] = bmin[1]; + p2[2] = bmin[2]; + + if ( dz > dy ) + { + p3[1] = bmax[1]; + p3[2] = bmin[2]; + } + else + { + p3[1] = bmin[1]; + p3[2] = bmax[2]; + } + + break; + case 1: + p2[0] = bmin[0]; + p2[2] = bmin[2]; + + if ( dx > dz ) + { + p3[0] = bmax[0]; + p3[2] = bmin[2]; + } + else + { + p3[0] = bmin[0]; + p3[2] = bmax[2]; + } + + break; + case 2: + p2[0] = bmin[0]; + p2[1] = bmin[1]; + + if ( dx > dy ) + { + p3[0] = bmax[0]; + p3[1] = bmin[1]; + } + else + { + p3[0] = bmin[0]; + p3[1] = bmax[1]; + } + + break; + } + + double tp1[3]; + double tp2[3]; + double tp3[3]; + + fm_transform(matrix,p1,tp1); + fm_transform(matrix,p2,tp2); + fm_transform(matrix,p3,tp3); + +// callback->ConvexDebugTri(p1,p2,p3,0xFF0000); + + computePlane(tp1,tp2,tp3,plane); + + return true; + +} + + +}; diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.h new file mode 100644 index 0000000..e7869dd --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/splitplane.h @@ -0,0 +1,76 @@ +#ifndef SPLIT_PLANE_H + +#define SPLIT_PLANE_H + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +namespace ConvexDecomposition +{ + +class ConvexDecompInterface; + +bool computeSplitPlane(unsigned int vcount, + const double *vertices, + unsigned int tcount, + const unsigned int *indices, + ConvexDecompInterface *callback, + double *plane); + + +}; + +#endif diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/triangulate.cpp b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/triangulate.cpp new file mode 100644 index 0000000..03b517b --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/triangulate.cpp @@ -0,0 +1,410 @@ +#include +#include +#include +#include +#include + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + +#include // Include STL vector class. + +#include "triangulate.h" + + +namespace ConvexDecomposition +{ + + +class Vec2d +{ +public: + Vec2d(const double *v) + { + mX = v[0]; + mY = v[1]; + } + Vec2d(double x,double y) + { + Set(x,y); + }; + double GetX(void) const { return mX; }; + double GetY(void) const { return mY; }; + + void Set(double x,double y) + { + mX = x; + mY = y; + }; + +private: + double mX; + double mY; +};// Typedef an STL vector of vertices which are used to represent +// a polygon/contour and a series of triangles. + +typedef std::vector< Vec2d > Vec2dVector; + +static bool Process(const Vec2dVector &contour,Vec2dVector &result); // compute area of a contour/polygon +static double Area(const Vec2dVector &contour); // decide if point Px/Py is inside triangle defined by (Ax,Ay) (Bx,By) (Cx,Cy) +static bool InsideTriangle(double Ax, double Ay,double Bx, double By,double Cx, double Cy,double Px, double Py); +static bool Snip(const Vec2dVector &contour,int u,int v,int w,int n,int *V); + +static const double EPSILON=0.0000000001f; + +double Area(const Vec2dVector &contour) +{ + int n = contour.size(); + double A=0.0f; + for(int p=n-1,q=0; q= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); +}; + +bool Snip(const Vec2dVector &contour,int u,int v,int w,int n,int *V) +{ + int p; + double Ax, Ay, Bx, By, Cx, Cy, Px, Py; + Ax = contour[V[u]].GetX(); + Ay = contour[V[u]].GetY(); + Bx = contour[V[v]].GetX(); + By = contour[V[v]].GetY(); + Cx = contour[V[w]].GetX(); + Cy = contour[V[w]].GetY(); + if ( EPSILON > (((Bx-Ax)*(Cy-Ay)) - ((By-Ay)*(Cx-Ax))) ) return false; for (p=0;p2; ) + { + /* if we loop, it is probably a non-simple polygon */ + if (0 >= (count--)) + { + //** Triangulate: ERROR - probable bad polygon! + return false; + } /* three consecutive vertices in current polygon, */ + + int u = v ; + if (nv <= u) u = 0; /* previous */ + v = u+1; if (nv <= v) v = 0; /* new v */ + int w = v+1; + if (nv <= w) w = 0; /* next */ + + if ( Snip(contour,u,v,w,nv,V) ) + { + int a,b,c,s,t; /* true names of the vertices */ + + a = V[u]; + b = V[v]; + c = V[w]; /* output Triangle */ + + result.push_back( contour[a] ); + result.push_back( contour[b] ); + result.push_back( contour[c] ); + + m++; /* remove v from remaining polygon */ + for(s=v,t=v+1;t= 3 ) + { + double normal[3]; + + normal[0] = plane[0]; + normal[1] = plane[1]; + normal[2] = plane[2]; + double D = plane[3]; + + unsigned int i0 = 0; + unsigned int i1 = 1; + unsigned int i2 = 2; + unsigned int axis = 0; + + + // find the dominant axis. + double dx = fabs(normal[0]); + double dy = fabs(normal[1]); + double dz = fabs(normal[2]); + + if ( dx > dy && dx > dz ) + { + axis = 0; + i0 = 1; + i1 = 2; + i2 = 0; + } + else if ( dy > dx && dy > dz ) + { + i0 = 0; + i1 = 2; + i2 = 1; + axis = 1; + } + else if ( dz > dx && dz > dy ) + { + i0 = 0; + i1 = 1; + i2 = 2; + axis = 2; + } + + double *ptemp = new double[pcount*2]; + double *ptri = new double[maxTri*2*3]; + const double *source = vertices; + double *dest = ptemp; + + for (unsigned int i=0; i +#include +#include +#include + +#pragma warning(disable:4786) + +#include +#include +#include +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + + + +// CodeSnippet provided by John W. Ratcliff +// on March 23, 2006. +// +// mailto: jratcliff@infiniplex.net +// +// Personal website: http://jratcliffscarab.blogspot.com +// Coding Website: http://codesuppository.blogspot.com +// FundRaising Blog: http://amillionpixels.blogspot.com +// Fundraising site: http://www.amillionpixels.us +// New Temple Site: http://newtemple.blogspot.com +// +// This snippet shows how to 'hide' the complexity of +// the STL by wrapping some useful piece of functionality +// around a handful of discrete API calls. +// +// This API allows you to create an indexed triangle list +// from a collection of raw input triangles. Internally +// it uses an STL set to build the lookup table very rapidly. +// +// Here is how you would use it to build an indexed triangle +// list from a raw list of triangles. +// +// (1) create a 'VertexLookup' interface by calling +// +// VertexLook vl = Vl_createVertexLookup(); +// +// (2) For each vertice in each triangle call: +// +// unsigned int i1 = Vl_getIndex(vl,p1); +// unsigned int i2 = Vl_getIndex(vl,p2); +// unsigned int i3 = Vl_getIndex(vl,p3); +// +// save the 3 indices into your triangle list array. +// +// (3) Get the vertex array by calling: +// +// const double *vertices = Vl_getVertices(vl); +// +// (4) Get the number of vertices so you can copy them into +// your own buffer. +// unsigned int vcount = Vl_getVcount(vl); +// +// (5) Release the VertexLookup interface when you are done with it. +// Vl_releaseVertexLookup(vl); +// +// Teaches the following lessons: +// +// How to wrap the complexity of STL and C++ classes around a +// simple API interface. +// +// How to use an STL set and custom comparator operator for +// a complex data type. +// +// How to create a template class. +// +// How to achieve significant performance improvements by +// taking advantage of built in STL containers in just +// a few lines of code. +// +// You could easily modify this code to support other vertex +// formats with any number of interpolants. + + + + +#include "vlookup.h" + +namespace ConvexDecomposition +{ + +class VertexPosition +{ +public: + VertexPosition(void) { }; + VertexPosition(const double *p) + { + mPos[0] = p[0]; + mPos[1] = p[1]; + mPos[2] = p[2]; + }; + + void Set(int index,const double *pos) + { + const double * p = &pos[index*3]; + + mPos[0] = p[0]; + mPos[1] = p[1]; + mPos[2] = p[2]; + + }; + + double GetX(void) const { return mPos[0]; }; + double GetY(void) const { return mPos[1]; }; + double GetZ(void) const { return mPos[2]; }; + + double mPos[3]; +}; + + +template class VertexLess +{ +public: + typedef std::vector< Type > VertexVector; + + bool operator()(int v1,int v2) const; + + static void SetSearch(const Type& match,VertexVector *list) + { + mFind = match; + mList = list; + }; + +private: + const Type& Get(int index) const + { + if ( index == -1 ) return mFind; + VertexVector &vlist = *mList; + return vlist[index]; + } + static Type mFind; // vertice to locate. + static VertexVector *mList; +}; + +template class VertexPool +{ +public: + typedef std::set > VertexSet; + typedef std::vector< Type > VertexVector; + + int GetVertex(const Type& vtx) + { + VertexLess::SetSearch(vtx,&mVtxs); + typename VertexSet::iterator found; + found = mVertSet.find( -1 ); + if ( found != mVertSet.end() ) + { + return *found; + } + int idx = (int)mVtxs.size(); + mVtxs.push_back( vtx ); + mVertSet.insert( idx ); + return idx; + }; + + const double * GetPos(int idx) const + { + return mVtxs[idx].mPos; + } + + const Type& Get(int idx) const + { + return mVtxs[idx]; + }; + + unsigned int GetSize(void) const + { + return mVtxs.size(); + }; + + void Clear(int reservesize) // clear the vertice pool. + { + mVertSet.clear(); + mVtxs.clear(); + mVtxs.reserve(reservesize); + }; + + const VertexVector& GetVertexList(void) const { return mVtxs; }; + + void Set(const Type& vtx) + { + mVtxs.push_back(vtx); + } + + unsigned int GetVertexCount(void) const + { + return mVtxs.size(); + }; + + + Type * GetBuffer(void) + { + return &mVtxs[0]; + }; + +private: + VertexSet mVertSet; // ordered list. + VertexVector mVtxs; // set of vertices. +}; + +double tmpp[3] = {0,0,0}; +template<> VertexPosition VertexLess::mFind = tmpp; +template<> std::vector *VertexLess::mList =0; + +enum RDIFF +{ + RD_EQUAL, + RD_LESS, + RD_GREATER +}; + +static RDIFF relativeDiff(const double *a,const double *b,double magnitude) +{ + RDIFF ret = RD_EQUAL; + + double m2 = magnitude*magnitude; + double dx = a[0]-b[0]; + double dy = a[1]-b[1]; + double dz = a[2]-b[2]; + double d2 = (dx*dx)+(dy*dy)+(dz*dz); + + if ( d2 > m2 ) + { + if ( a[0] < b[0] ) ret = RD_LESS; + else if ( a[0] > b[0] ) ret = RD_GREATER; + else if ( a[1] < b[1] ) ret = RD_LESS; + else if ( a[1] > b[1] ) ret = RD_GREATER; + else if ( a[2] < b[2] ) ret = RD_LESS; + else if ( a[2] > b[2] ) ret = RD_GREATER; + } + return ret; +} + + +template<> +bool VertexLess::operator()(int v1,int v2) const +{ + bool ret = false; + + const VertexPosition& a = Get(v1); + const VertexPosition& b = Get(v2); + + RDIFF d = relativeDiff(a.mPos,b.mPos,0.0001f); + if ( d == RD_LESS ) ret = true; + + return ret; + +}; + + + +VertexLookup Vl_createVertexLookup(void) +{ + VertexLookup ret = new VertexPool< VertexPosition >; + return ret; +} + +void Vl_releaseVertexLookup(VertexLookup vlook) +{ + VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook; + delete vp; +} + +unsigned int Vl_getIndex(VertexLookup vlook,const double *pos) // get index. +{ + VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook; + VertexPosition p(pos); + return vp->GetVertex(p); +} + +const double * Vl_getVertices(VertexLookup vlook) +{ + VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook; + return vp->GetPos(0); +} + + +unsigned int Vl_getVcount(VertexLookup vlook) +{ + VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook; + return vp->GetVertexCount(); +} + +}; // end of namespace diff --git a/convex_decomposition/ConvexDecomposition/ConvexDecomposition/vlookup.h b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/vlookup.h new file mode 100644 index 0000000..28d4808 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/ConvexDecomposition/vlookup.h @@ -0,0 +1,143 @@ +#ifndef VLOOKUP_H + +#define VLOOKUP_H + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ + + +// CodeSnippet provided by John W. Ratcliff +// on March 23, 2006. +// +// mailto: jratcliff@infiniplex.net +// +// Personal website: http://jratcliffscarab.blogspot.com +// Coding Website: http://codesuppository.blogspot.com +// FundRaising Blog: http://amillionpixels.blogspot.com +// Fundraising site: http://www.amillionpixels.us +// New Temple Site: http://newtemple.blogspot.com +// +// This snippet shows how to 'hide' the complexity of +// the STL by wrapping some useful piece of functionality +// around a handful of discrete API calls. +// +// This API allows you to create an indexed triangle list +// from a collection of raw input triangles. Internally +// it uses an STL set to build the lookup table very rapidly. +// +// Here is how you would use it to build an indexed triangle +// list from a raw list of triangles. +// +// (1) create a 'VertexLookup' interface by calling +// +// VertexLook vl = Vl_createVertexLookup(); +// +// (2) For each vertice in each triangle call: +// +// unsigned int i1 = Vl_getIndex(vl,p1); +// unsigned int i2 = Vl_getIndex(vl,p2); +// unsigned int i3 = Vl_getIndex(vl,p3); +// +// save the 3 indices into your triangle list array. +// +// (3) Get the vertex array by calling: +// +// const double *vertices = Vl_getVertices(vl); +// +// (4) Get the number of vertices so you can copy them into +// your own buffer. +// unsigned int vcount = Vl_getVcount(vl); +// +// (5) Release the VertexLookup interface when you are done with it. +// Vl_releaseVertexLookup(vl); +// +// Teaches the following lessons: +// +// How to wrap the complexity of STL and C++ classes around a +// simple API interface. +// +// How to use an STL set and custom comparator operator for +// a complex data type. +// +// How to create a template class. +// +// How to achieve significant performance improvements by +// taking advantage of built in STL containers in just +// a few lines of code. +// +// You could easily modify this code to support other vertex +// formats with any number of interpolants. +// +// Hide C++ classes from the rest of your application by +// keeping them in the CPP and wrapping them in a namespace +// Uses an STL set to create an index table for a bunch of vertex positions +// used typically to re-index a collection of raw triangle data. + +namespace ConvexDecomposition +{ + +typedef void * VertexLookup; + +VertexLookup Vl_createVertexLookup(void); +void Vl_releaseVertexLookup(VertexLookup vlook); + +unsigned int Vl_getIndex(VertexLookup vlook,const double *pos); // get index. +const double * Vl_getVertices(VertexLookup vlook); + +unsigned int Vl_getVcount(VertexLookup vlook); + +}; + + +#endif diff --git a/convex_decomposition/ConvexDecomposition/DecomposeSample.cpp b/convex_decomposition/ConvexDecomposition/DecomposeSample.cpp new file mode 100644 index 0000000..35a1316 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/DecomposeSample.cpp @@ -0,0 +1,668 @@ +#include +#include +#include +#include +#include + +#include + +#include "./ConvexDecomposition/ConvexDecomposition.h" +#include "./ConvexDecomposition/cd_wavefront.h" + +using namespace ConvexDecomposition; + +// Test application to demonstrate how to use the ConvexDecomposition system. + +typedef std::vector< ConvexResult * > ConvexResultVector; + +static const char * fstring(float v) +{ + static char data[64*16]; + static int index=0; + + char *ret = &data[index*64]; + index++; + if (index == 16 ) index = 0; + + if ( v == FLT_MIN ) return "-INF"; // collada notation for FLT_MIN and FLT_MAX + if ( v == FLT_MAX ) return "INF"; + + if ( v == 1 ) + { + strcpy(ret,"1"); + } + else if ( v == 0 ) + { + strcpy(ret,"0"); + } + else if ( v == - 1 ) + { + strcpy(ret,"-1"); + } + else + { + sprintf(ret,"%.9f", v ); + const char *dot = strstr(ret,"."); + if ( dot ) + { + int len = (int)strlen(ret); + char *foo = &ret[len-1]; + while ( *foo == '0' ) foo--; + if ( *foo == '.' ) + *foo = 0; + else + foo[1] = 0; + } + } + + return ret; +} + +class CBuilder : public ConvexDecompInterface +{ +public: + + CBuilder(const char *fname,const DecompDesc &d) + { + + strcpy(mBaseName,fname); + char *dot = strstr(mBaseName,"."); + if ( dot ) *dot = 0; + + sprintf(mObjName,"%s_convex.obj", mBaseName ); + + mBaseCount = 0; + mHullCount = 0; + mSkinWidth = (float)d.mSkinWidth; + + mFph = fopen(mObjName,"wb"); + + + printf("########################################################################\r\n"); + printf("# Perfomring approximate convex decomposition for triangle mesh %s\r\n", fname ); + printf("# Input Mesh has %d vertices and %d triangles.\r\n", d.mVcount, d.mTcount ); + printf("# Recursion depth: %d\r\n", d.mDepth ); + printf("# Concavity Threshold Percentage: %0.2f\r\n", d.mCpercent ); + printf("# Hull Merge Volume Percentage: %0.2f\r\n", d.mPpercent ); + printf("# Maximum output vertices per hull: %d\r\n", d.mMaxVertices ); + printf("# Hull Skin Width: %0.2f\r\n", d.mSkinWidth ); + printf("########################################################################\r\n"); + + + if ( mFph ) + { + fprintf(mFph,"########################################################################\r\n"); + fprintf(mFph,"# Approximate convex decomposition for triangle mesh %s\r\n", fname ); + fprintf(mFph,"# Input Mesh has %d vertices and %d triangles.\r\n", d.mVcount, d.mTcount ); + fprintf(mFph,"# Recursion depth: %d\r\n", d.mDepth ); + fprintf(mFph,"# Concavity Threshold Percentage: %0.2f\r\n", d.mCpercent ); + fprintf(mFph,"# Hull Merge Volume Percentage: %0.2f\r\n", d.mPpercent ); + fprintf(mFph,"# Maximum output vertices per hull: %d\r\n", d.mMaxVertices ); + fprintf(mFph,"# Hull Skin Width: %0.2f\r\n", d.mSkinWidth ); + fprintf(mFph,"########################################################################\r\n"); + + printf("Opened Wavefront file %s for output.\r\n", mObjName ); + } + else + { + printf("Failed to open output file %s\r\n", mObjName ); + } + } + + ~CBuilder(void) + { + if ( mFph ) + { + fclose(mFph); + } + for (unsigned int i=0; i\r\n", mBaseName, index, mBaseName, index); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, index); + fprintf(fph," \r\n", cr->mHullVcount*3, mBaseName, index); + fprintf(fph," "); + for (unsigned int i=0; imHullVcount; i++) + { + const double *p = &cr->mHullVertices[i*3]; + fprintf(fph,"%s %s %s ", fstring((float)p[0]), fstring((float)p[1]), fstring((float)p[2]) ); + if ( ((i+1)&3) == 0 && (i+1) < cr->mHullVcount ) + { + fprintf(fph,"\r\n"); + fprintf(fph," "); + } + } + fprintf(fph,"\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", cr->mHullVcount, mBaseName, index ); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, index); + fprintf(fph," \r\n", mBaseName, index); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", cr->mHullTcount ); + fprintf(fph," \r\n", mBaseName, index); + fprintf(fph,"

\r\n"); + fprintf(fph," "); + for (unsigned int i=0; imHullTcount; i++) + { + unsigned int *tri = &cr->mHullIndices[i*3]; + fprintf(fph,"%d %d %d ", tri[0], tri[1], tri[2] ); + if ( ((i+1)&3) == 0 && (i+1) < cr->mHullTcount ) + { + fprintf(fph,"\r\n"); + fprintf(fph," "); + } + } + fprintf(fph,"\r\n"); + fprintf(fph,"

\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + + } + + void saveCOLLADA(void) + { + char scratch[512]; + sprintf(scratch,"%s.dae", mBaseName ); + FILE *fph = fopen(scratch,"wb"); + + if ( fph ) + { + printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", (int)mHulls.size(), scratch ); + + fprintf(fph,"\r\n"); + fprintf(fph,"\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," NxuStream2 converter - http://www.ageia.com\r\n"); + fprintf(fph," PhysX Rocket, PhysX Viewer, or CreateDynamics\r\n"); + fprintf(fph," questions to: jratcliff@ageia.com\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," chair_gothic_tilted\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," Y_UP\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0.803922 0.588235 0.92549 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0.803922 0.588235 0.92549 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0.631373 0.631373 0.631373 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0 0 0 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 1 1 1 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + + for (unsigned int i=0; i\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, mBaseName ); + fprintf(fph," 0 0 0\r\n"); + fprintf(fph," 1 0 0 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0.5\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0.5\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, mBaseName); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + + for (unsigned int i=0; i\r\n"); + fprintf(fph," 0 0 0\r\n"); + fprintf(fph," 1 0 0 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," %s\r\n", fstring( mSkinWidth ) ); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, i); + fprintf(fph," \r\n"); + } + + fprintf(fph," true\r\n"); + fprintf(fph," 1\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 32\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, mBaseName ); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0 -9.800000191 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph,"\r\n"); + + + fclose(fph); + } + else + { + printf("Failed to open file '%s' for write access.\r\n", scratch ); + } + } + + void saveXML(FILE *fph,unsigned int index,ConvexResult *cr) + { + + fprintf(fph," \r\n", mBaseName, index); + fprintf(fph," \r\n"); + fprintf(fph," "); + for (unsigned int i=0; imHullVcount; i++) + { + const double *p = &cr->mHullVertices[i*3]; + fprintf(fph,"%s %s %s ", fstring((float)p[0]), fstring((float)p[1]), fstring((float)p[2]) ); + if ( ((i+1)&3) == 0 && (i+1) < cr->mHullVcount ) + { + fprintf(fph,"\r\n"); + fprintf(fph," "); + } + } + fprintf(fph,"\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," "); + for (unsigned int i=0; imHullTcount; i++) + { + unsigned int *tri = &cr->mHullIndices[i*3]; + fprintf(fph,"%d %d %d ", tri[0], tri[1], tri[2] ); + if ( ((i+1)&3) == 0 && (i+1) < cr->mHullTcount ) + { + fprintf(fph,"\r\n"); + fprintf(fph," "); + } + } + fprintf(fph,"\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + + } + + void saveNxuStream(void) + { + char scratch[512]; + sprintf(scratch,"%s.xml", mBaseName ); + FILE *fph = fopen(scratch,"wb"); + + if ( fph ) + { + printf("Saving convex decomposition of %d hulls to NxuStream file '%s'\r\n", mHulls.size(), scratch ); + + fprintf(fph,"\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 65536\r\n"); + fprintf(fph," 256\r\n"); + fprintf(fph," 2048\r\n"); + fprintf(fph," \r\n"); + + for (unsigned int i=0; i\r\n", mBaseName); + fprintf(fph," false\r\n"); + fprintf(fph," NX_FILTEROP_AND\r\n"); + fprintf(fph," NX_FILTEROP_AND\r\n"); + fprintf(fph," NX_FILTEROP_AND\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0 -9.800000191 0\r\n"); + fprintf(fph," 0.016666668\r\n"); + fprintf(fph," 8\r\n"); + fprintf(fph," NX_TIMESTEP_FIXED\r\n"); + fprintf(fph," FLT_MIN FLT_MIN FLT_MIN FLT_MAX FLT_MAX FLT_MAX\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," NX_SIMULATION_SW\r\n"); + fprintf(fph," true\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," true\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 1431655764\r\n"); + fprintf(fph," 1431655764\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 0.5\r\n"); + fprintf(fph," 0.5\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," NX_CM_AVERAGE\r\n"); + fprintf(fph," NX_CM_AVERAGE\r\n"); + fprintf(fph," 1 0 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName, mBaseName); + fprintf(fph," 1 0 0 0 1 0 0 0 1 0 0 0 \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 1\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," 32\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," true\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph," Bip01 Pelvis\r\n"); + for (unsigned int i=0; i\r\n", i, mBaseName, i); + fprintf(fph," \r\n"); + fprintf(fph," 1 0 0 0 1 0 0 0 1 0 0 0 \r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + } + fprintf(fph," \r\n"); + + fprintf(fph," \r\n"); + fprintf(fph," \r\n", mBaseName); + fprintf(fph," beshon\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," 1 0 0 0 1 0 0 0 1 0 0 0\r\n"); + fprintf(fph," false\r\n"); + fprintf(fph," true\r\n"); + fprintf(fph," 0\r\n"); + fprintf(fph," \r\n"); + fprintf(fph," \r\n"); + fprintf(fph,"\r\n"); + + } + else + { + printf("Failed to open file '%s' for write access.\r\n", scratch ); + } + } + + float mSkinWidth; + unsigned int mHullCount; + FILE *mFph; + unsigned int mBaseCount; + char mObjName[512]; + char mBaseName[512]; + ConvexResultVector mHulls; + +}; + + +int main(int argc,const char **argv) +{ + if ( argc < 2 ) + { + printf("Usage: Test (options)\r\n"); + printf("\r\n"); + printf("Options:\r\n"); + printf("\r\n"); + printf(" -d : How deep to recursively split. Values of 3-7 are reasonable.\r\n"); + printf(" -c : Percentage of concavity to keep splitting. 0-20% is reasonable.\r\n"); + printf(" -p : Percentage of volume delta to collapse hulls. 0-30% is reasonable.\r\n"); + printf(" -v : Maximum number of vertices in the output hull. Default is 32.\r\n"); + printf(" -s : Skin Width inflation. Default is 0.\r\n"); + } + else + { + unsigned int depth = 5; + float cpercent = 5; + float ppercent = 5; + unsigned int maxv = 32; + float skinWidth = 0; + + // process command line switches. + for (int i=2; i 10 ) + { + depth = 5; + printf("Invalid depth value in switch, defaulting to 5.\r\n"); + } + } + + if ( strncmp(o,"-c",2) == 0 ) + { + cpercent = (float) atof( &o[2] ); + if ( cpercent < 0 || cpercent > 100 ) + { + cpercent = 5; + printf("Invalid concavity percentage in switch, defaulting to 5.\r\n"); + } + } + + if ( strncmp(o,"-p",2) == 0 ) + { + ppercent = (float) atof( &o[2] ); + if ( ppercent < 0 || ppercent > 100 ) + { + ppercent = 5; + printf("Invalid hull merge percentage in switch, defaulting to 5.\r\n"); + } + } + + if ( strncmp(o,"-v",2) == 0 ) + { + maxv = (unsigned int) atoi( &o[2] ); + if ( maxv < 8 || maxv > 256 ) + { + maxv = 32; + printf("Invalid max vertices in switch, defaulting to 32.\r\n"); + } + } + + if ( strncmp(o,"-s",2) == 0 ) + { + skinWidth = (float) atof( &o[2] ); + if ( skinWidth < 0 || skinWidth > 0.1f ) + { + skinWidth = 0; + printf("Invalid skinWidth in switch, defaulting to 0.\r\n"); + } + } + + } + + WavefrontObj wo; + + unsigned int tcount = wo.loadObj(argv[1]); + + if ( tcount ) + { + + + DecompDesc d; + + d.mVcount = wo.mVertexCount; + d.mVertices = wo.mVertices; + d.mTcount = wo.mTriCount; + d.mIndices = (unsigned int *)wo.mIndices; + d.mDepth = depth; + d.mCpercent = cpercent; + d.mPpercent = ppercent; + d.mMaxVertices = maxv; + d.mSkinWidth = skinWidth; + + + CBuilder cb(argv[1],d); // receives the answers and writes out a wavefront OBJ file. + + d.mCallback = &cb; + + unsigned int count = performConvexDecomposition(d); + + if ( count ) + { + printf("Input triangle mesh with %d triangles produced %d output hulls.\r\n", d.mTcount, count ); + + cb.saveNxuStream(); // save results in NxuStream format. + cb.saveCOLLADA(); // save results in COLLADA physics 1.4.1 format. + + } + else + { + printf("Failed to produce any convex hulls.\r\n"); + } + + } + else + { + // sorry..no + printf("Sorry unable to load file '%s'\r\n", argv[1] ); + } + + } + +} diff --git a/convex_decomposition/ConvexDecomposition/DecomposeSample.exe b/convex_decomposition/ConvexDecomposition/DecomposeSample.exe new file mode 100644 index 0000000000000000000000000000000000000000..f90888f0b4228f1870adcf649406f1cad10b0299 GIT binary patch literal 151552 zcmeEveSDPFmH#9&fdL0*)KRB8=+sWzX%lTU={7iNJAn`)2AIja1w!mnJ4I?K&QOFv z!AV>mo{Y6ywxwO#wY%)DRoB{G*W!CZFyXBVXf@Fp#MZVC4O)CD1O(>y{hs^GWCFN# zcYmMX=l6%UWX^p%_ug~QJ@?#m&%Mv=FWqgiS}YbD{$(;2%U1mIzmWX>um21pdGZyH zO}0Ed;a4BsT2S|^k2XfXcAIbMvTuBK*-c;f{q;?^-ujK0@5^8DEsNjk``WF(>bVWR zuYY6FSFWBkX`ng^b}YucdOWo zuLSG@ycfUhHDUZCJ@{Yt*V107(hx^_Nq~8oS$=arjI^A*qR0wjf=fA6CUs(}D+A9y6{bFCu_GOFsESC1Gmo2&}c9X?&aWi7s_jdCaKiU66Ajs7! zn`Otcl0Qs6@hd`N*0Dexf$KBT~h6!?$=A5!2$ z3jF^`foA9P_^Iw@}XA`9^GEOa{Sgt#I*Gd6@|}AsWVe*&q$eY^T4=k zEP6jnRi7iR)JzMVk#@<=`lL$4ZMf(Q_^bEdtl8Ix3xNggNgTGPz5Zx95}J*#pl{Jq 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+ + + + + + + + diff --git a/convex_decomposition/ConvexDecomposition/Makefile b/convex_decomposition/ConvexDecomposition/Makefile new file mode 100644 index 0000000..e92b84c --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/Makefile @@ -0,0 +1,93 @@ + + +OBJS = DecomposeSample.o \ + ConvexDecomposition/bestfit.o ConvexDecomposition/float_math.o \ + ConvexDecomposition/bestfitobb.o ConvexDecomposition/meshvolume.o \ + ConvexDecomposition/cd_hull.o ConvexDecomposition/planetri.o \ + ConvexDecomposition/cd_wavefront.o ConvexDecomposition/raytri.o \ + ConvexDecomposition/concavity.o ConvexDecomposition/splitplane.o \ + ConvexDecomposition/ConvexDecomposition.o ConvexDecomposition/triangulate.o \ + ConvexDecomposition/fitsphere.o ConvexDecomposition/vlookup.o + +HEADERS = \ + ConvexDecomposition/bestfit.h \ + ConvexDecomposition/bestfitobb.h \ + ConvexDecomposition/cd_hull.h \ + ConvexDecomposition/cd_vector.h \ + ConvexDecomposition/cd_wavefront.h \ + ConvexDecomposition/concavity.h \ + ConvexDecomposition/ConvexDecomposition.h \ + ConvexDecomposition/fitsphere.h \ + ConvexDecomposition/float_math.h \ + ConvexDecomposition/meshvolume.h \ + ConvexDecomposition/planetri.h \ + ConvexDecomposition/raytri.h \ + ConvexDecomposition/splitplane.h \ + ConvexDecomposition/triangulate.h \ + ConvexDecomposition/vlookup.h + +CC = g++ + +DEBUG = -ggdb + +CFLAGS = -IConvexDecomposition -Wall -c $(DEBUG) + +LFLAGS = $(DEBUG) + +convex_decomposition: $(OBJS) + $(CC) $(LFLAGS) $(OBJS) -o convex_decomposition + +DecomposeSample.o: DecomposeSample.cpp + $(CC) $(CFLAGS) DecomposeSample.cpp -o $@ + +ConvexDecomposition/bestfit.o: ConvexDecomposition/bestfit.cpp + $(CC) $(CFLAGS) ConvexDecomposition/bestfit.cpp -o $@ + +ConvexDecomposition/bestfitobb.o: ConvexDecomposition/bestfitobb.cpp + $(CC) $(CFLAGS) ConvexDecomposition/bestfitobb.cpp -o $@ + +ConvexDecomposition/cd_hull.o: ConvexDecomposition/cd_hull.cpp + $(CC) $(CFLAGS) ConvexDecomposition/cd_hull.cpp -o $@ + +ConvexDecomposition/cd_wavefront.o: ConvexDecomposition/cd_wavefront.cpp + $(CC) $(CFLAGS) ConvexDecomposition/cd_wavefront.cpp -o $@ + +ConvexDecomposition/concavity.o: ConvexDecomposition/concavity.cpp + $(CC) $(CFLAGS) ConvexDecomposition/concavity.cpp -o $@ + +ConvexDecomposition/ConvexDecomposition.o: ConvexDecomposition/ConvexDecomposition.cpp + $(CC) $(CFLAGS) ConvexDecomposition/ConvexDecomposition.cpp -o $@ + +ConvexDecomposition/fitsphere.o: ConvexDecomposition/fitsphere.cpp + $(CC) $(CFLAGS) ConvexDecomposition/fitsphere.cpp -o $@ + +ConvexDecomposition/float_math.o: ConvexDecomposition/float_math.cpp + $(CC) $(CFLAGS) ConvexDecomposition/float_math.cpp -o $@ + +ConvexDecomposition/meshvolume.o: ConvexDecomposition/meshvolume.cpp + $(CC) $(CFLAGS) ConvexDecomposition/meshvolume.cpp -o $@ + +ConvexDecomposition/planetri.o: ConvexDecomposition/planetri.cpp + $(CC) $(CFLAGS) ConvexDecomposition/planetri.cpp -o $@ + +ConvexDecomposition/raytri.o: ConvexDecomposition/raytri.cpp + $(CC) $(CFLAGS) ConvexDecomposition/raytri.cpp -o $@ + +ConvexDecomposition/splitplane.o: ConvexDecomposition/splitplane.cpp + $(CC) $(CFLAGS) ConvexDecomposition/splitplane.cpp -o $@ + +ConvexDecomposition/triangulate.o: ConvexDecomposition/triangulate.cpp + $(CC) $(CFLAGS) ConvexDecomposition/triangulate.cpp -o $@ + +ConvexDecomposition/vlookup.o: ConvexDecomposition/vlookup.cpp ConvexDecomposition/vlookup.cpp + $(CC) $(CFLAGS) ConvexDecomposition/vlookup.cpp -o $@ + +install: + cp convex_decomposition ../../convex_decomposition/bin/ + +clean: + \rm *.o */*.o convex_decomposition + +tar: + tar cfv ConvexDecomposition.tar DecomposeSample.cpp convex_decomposition Makefile \ + ConvexDecomposition diff --git a/convex_decomposition/ConvexDecomposition/chair.obj b/convex_decomposition/ConvexDecomposition/chair.obj new file mode 100644 index 0000000..eddbcf4 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/chair.obj 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423/423/423 +f 427/427/427 850/850/850 851/851/851 +f 851/851/851 430/430/430 427/427/427 +f 431/431/431 433/433/433 852/852/852 +f 852/852/852 853/853/853 431/431/431 +f 854/854/854 845/845/845 847/847/847 +f 847/847/847 855/855/855 854/854/854 +f 856/856/856 844/844/844 845/845/845 +f 845/845/845 854/854/854 856/856/856 +f 857/857/857 840/840/840 844/844/844 +f 844/844/844 856/856/856 857/857/857 diff --git a/convex_decomposition/ConvexDecomposition/readme.txt b/convex_decomposition/ConvexDecomposition/readme.txt new file mode 100644 index 0000000..d687f13 --- /dev/null +++ b/convex_decomposition/ConvexDecomposition/readme.txt @@ -0,0 +1,75 @@ + +ConvexDecomposition library written by John W. Ratcliff + +Usage: Test (options) + +Options: + + -d : How deep to recursively split. Values of 3-7 are reasonable. + -c : Percentage of concavity to keep splitting. 0-20 4324640s reasonable. + -p : Percentage of volume delta to collapse hulls. 0-30 4324544s reasonable. + -v : Maximum number of vertices in the output hull. Default is 32. + -s : Skin Width inflation. Default is 0.0 + +To run the sample provided with defaults: + +DecomposeSample chair.obj + +Will produce 'chair_convex.obj' a Wavefront OBJ file useful for debug visualization. + 'chair.dae' a COLLADA physics representation of the model. + 'chair.xml' an Ageia PhysX NxuStream representation of the model. + + +/*! +** +** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net +** +** Portions of this source has been released with the PhysXViewer application, as well as +** Rocket, CreateDynamics, ODF, and as a number of sample code snippets. +** +** If you find this code useful or you are feeling particularily generous I would +** ask that you please go to http://www.amillionpixels.us and make a donation +** to Troy DeMolay. +** +** DeMolay is a youth group for young men between the ages of 12 and 21. +** It teaches strong moral principles, as well as leadership skills and +** public speaking. The donations page uses the 'pay for pixels' paradigm +** where, in this case, a pixel is only a single penny. Donations can be +** made for as small as $4 or as high as a $100 block. Each person who donates +** will get a link to their own site as well as acknowledgement on the +** donations blog located here http://www.amillionpixels.blogspot.com/ +** +** If you wish to contact me you can use the following methods: +** +** Skype Phone: 636-486-4040 (let it ring a long time while it goes through switches) +** Skype ID: jratcliff63367 +** Yahoo: jratcliff63367 +** AOL: jratcliff1961 +** email: jratcliff@infiniplex.net +** Personal website: http://jratcliffscarab.blogspot.com +** Coding Website: http://codesuppository.blogspot.com +** FundRaising Blog: http://amillionpixels.blogspot.com +** Fundraising site: http://www.amillionpixels.us +** New Temple Site: http://newtemple.blogspot.com +** +** +** The MIT license: +** +** Permission is hereby granted, free of charge, to any person obtaining a copy +** of this software and associated documentation files (the "Software"), to deal +** in the Software without restriction, including without limitation the rights +** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +** copies of the Software, and to permit persons to whom the Software is furnished +** to do so, subject to the following conditions: +** +** The above copyright notice and this permission notice shall be included in all +** copies or substantial portions of the Software. + +** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +*/ diff --git a/convex_decomposition/Makefile b/convex_decomposition/Makefile new file mode 100644 index 0000000..076c2eb --- /dev/null +++ b/convex_decomposition/Makefile @@ -0,0 +1,33 @@ +all: installed + +TARBALL = build/ConvexDecomposition.zip +TARBALL_URL = http://pr.willowgarage.com/downloads/ConvexDecomposition.zip +SOURCE_DIR = build/convex_decomposition +INITIAL_DIR = build/ConvexDecomposition +UNPACK_CMD = unzip +TARBALL_PATCH=convex_decomposition.patch + +include $(shell rospack find mk)/download_unpack_build.mk + +ROOT = $(shell rospack find convex_decomposition)/convex_decomposition + +installed: wiped $(SOURCE_DIR)/unpacked + @echo "making it" + @echo "ROOT is: $(ROOT)" + -mkdir -p $(ROOT) + -mkdir -p $(ROOT)/bin + cd $(SOURCE_DIR) ; make $(ROS_PARALLEL_JOBS); make install + touch installed + +wiped: Makefile + make wipe + touch wiped + +clean: + -cd $(SOURCE_DIR) && make clean + rm -rf $(ROOT) installed + +wipe: clean + rm -rf build + +.PHONY : clean download wipe diff --git a/convex_decomposition/convex_decomposition.patch b/convex_decomposition/convex_decomposition.patch new file mode 100644 index 0000000..db8d786 --- /dev/null +++ b/convex_decomposition/convex_decomposition.patch @@ -0,0 +1,429 @@ +Index: ConvexDecomposition/vlookup.cpp +=================================================================== +--- ConvexDecomposition/vlookup.cpp (revision 8299) ++++ ConvexDecomposition/vlookup.cpp (working copy) +@@ -164,7 +164,7 @@ + }; + + +-template class VertexLess ++template class VertexLess + { + public: + typedef std::vector< Type > VertexVector; +@@ -188,7 +188,7 @@ + static VertexVector *mList; + }; + +-template class VertexPool ++template class VertexPool + { + public: + typedef std::set > VertexSet; +@@ -197,7 +197,7 @@ + int GetVertex(const Type& vtx) + { + VertexLess::SetSearch(vtx,&mVtxs); +- VertexSet::iterator found; ++ typename VertexSet::iterator found; + found = mVertSet.find( -1 ); + if ( found != mVertSet.end() ) + { +@@ -254,10 +254,10 @@ + VertexVector mVtxs; // set of vertices. + }; + ++double tmpp[3] = {0,0,0}; ++template<> VertexPosition VertexLess::mFind = tmpp; ++template<> std::vector *VertexLess::mList =0; + +-VertexPosition VertexLess::mFind; +-std::vector *VertexLess::mList=0; +- + enum RDIFF + { + RD_EQUAL, +@@ -288,6 +288,7 @@ + } + + ++template<> + bool VertexLess::operator()(int v1,int v2) const + { + bool ret = false; +Index: ConvexDecomposition/ConvexDecomposition.cpp +=================================================================== +--- ConvexDecomposition/ConvexDecomposition.cpp (revision 8299) ++++ ConvexDecomposition/ConvexDecomposition.cpp (working copy) +@@ -66,7 +66,7 @@ + #include "cd_vector.h" + #include "cd_hull.h" + #include "bestfit.h" +-#include "PlaneTri.h" ++#include "planetri.h" + #include "vlookup.h" + #include "splitplane.h" + #include "meshvolume.h" +@@ -760,3 +760,3 @@ +- assert( fcount >= 3 && fcount <= 4); +- assert( bcount >= 3 && bcount <= 4); +- ++ if ( fcount >= 3 && fcount <= 4) ++ if ( bcount >= 3 && bcount <= 4) ++ { +@@ -777,1 +777,1 @@ +- ++ } +Index: ConvexDecomposition/splitplane.cpp +=================================================================== +--- ConvexDecomposition/splitplane.cpp (revision 8299) ++++ ConvexDecomposition/splitplane.cpp (working copy) +@@ -67,7 +67,7 @@ + #include "cd_hull.h" + #include "cd_wavefront.h" + #include "bestfit.h" +-#include "PlaneTri.h" ++#include "planetri.h" + #include "vlookup.h" + #include "meshvolume.h" + #include "bestfitobb.h" +Index: ConvexDecomposition/cd_vector.h +=================================================================== +--- ConvexDecomposition/cd_vector.h (revision 8299) ++++ ConvexDecomposition/cd_vector.h (working copy) +@@ -309,12 +309,12 @@ + + Type FastMagnitude(void) const + { +- return Type(fast_sqrt(x * x + y * y + z * z)); ++ return Type(sqrt(x * x + y * y + z * z)); + }; + + Type FasterMagnitude(void) const + { +- return Type(faster_sqrt(x * x + y * y + z * z)); ++ return Type(sqrt(x * x + y * y + z * z)); + }; + + void Lerp(const Vector3d& from,const Vector3d& to,double slerp) +@@ -436,13 +436,13 @@ + + Type FastLength(void) const // length of vector. + { +- return Type(fast_sqrt( x*x + y*y + z*z )); ++ return Type(sqrt( x*x + y*y + z*z )); + }; + + + Type FasterLength(void) const // length of vector. + { +- return Type(faster_sqrt( x*x + y*y + z*z )); ++ return Type(sqrt( x*x + y*y + z*z )); + }; + + Type Length2(void) const // squared distance, prior to square root. +@@ -518,7 +518,7 @@ + + inline double FastNormalize(void) // normalize to a unit vector, returns distance. + { +- double d = fast_sqrt( static_cast< double >( x*x + y*y + z*z ) ); ++ double d = sqrt( static_cast< double >( x*x + y*y + z*z ) ); + if ( d > 0 ) + { + double r = 1.0f / d; +@@ -535,7 +535,7 @@ + + inline double FasterNormalize(void) // normalize to a unit vector, returns distance. + { +- double d = faster_sqrt( static_cast< double >( x*x + y*y + z*z ) ); ++ double d = sqrt( static_cast< double >( x*x + y*y + z*z ) ); + if ( d > 0 ) + { + double r = 1.0f / d; +@@ -1029,7 +1029,8 @@ + + void Zero(void) + { +- x = y = z = 0; ++ x = 0; ++ y = 0; + }; + + Vector2d negative(void) const +@@ -1047,12 +1048,12 @@ + + Type fastmagnitude(void) const + { +- return (Type) fast_sqrt(x * x + y * y ); ++ return (Type) sqrt(x * x + y * y ); + } + + Type fastermagnitude(void) const + { +- return (Type) faster_sqrt( x * x + y * y ); ++ return (Type) sqrt( x * x + y * y ); + } + + void Reflection(Vector2d &a,Vector2d &b); // compute reflection vector. +@@ -1064,12 +1065,12 @@ + + Type FastLength(void) const // length of vector. + { +- return Type(fast_sqrt( x*x + y*y )); ++ return Type(sqrt( x*x + y*y )); + }; + + Type FasterLength(void) const // length of vector. + { +- return Type(faster_sqrt( x*x + y*y )); ++ return Type(sqrt( x*x + y*y )); + }; + + Type Length2(void) // squared distance, prior to square root. +@@ -1090,7 +1091,7 @@ + Type dx = a.x - x; + Type dy = a.y - y; + Type d = dx*dx+dy*dy; +- return fast_sqrt(d); ++ return sqrt(d); + }; + + Type FasterDistance(const Vector2d &a) const // distance between two points. +@@ -1098,7 +1099,7 @@ + Type dx = a.x - x; + Type dy = a.y - y; + Type d = dx*dx+dy*dy; +- return faster_sqrt(d); ++ return sqrt(d); + }; + + Type Distance2(Vector2d &a) // squared distance. +Index: ConvexDecomposition/float_math.cpp +=================================================================== +--- ConvexDecomposition/float_math.cpp (revision 8299) ++++ ConvexDecomposition/float_math.cpp (working copy) +@@ -212,8 +212,14 @@ + matrix[1*4+2] = 2 * ( yz + wx ); + matrix[2*4+2] = 1 - 2 * ( xx + yy ); + +- matrix[3*4+0] =(double) matrix[3*4+1] = matrix[3*4+2] = 0.0f; +- matrix[0*4+3] =(double) matrix[1*4+3] = matrix[2*4+3] = 0.0f; ++ matrix[3*4+0] = 0.0f; ++ matrix[3*4+1] = 0.0f; ++ matrix[3*4+2] = 0.0f; ++ ++ matrix[0*4+3] = 0.0f; ++ matrix[1*4+3] = 0.0f; ++ matrix[2*4+3] = 0.0f; ++ + matrix[3*4+3] =(double) 1.0f; + + } +Index: ConvexDecomposition/cd_wavefront.cpp +=================================================================== +--- ConvexDecomposition/cd_wavefront.cpp (revision 8299) ++++ ConvexDecomposition/cd_wavefront.cpp (working copy) +@@ -672,7 +672,7 @@ + const char *foo = argv[0]; + if ( *foo != '#' ) + { +- if ( stricmp(argv[0],"v") == 0 && argc == 4 ) ++ if ( strcmp(argv[0],"v") == 0 && argc == 4 ) + { + double vx = (double) atof( argv[1] ); + double vy = (double) atof( argv[2] ); +@@ -681,14 +681,14 @@ + mVerts.push_back(vy); + mVerts.push_back(vz); + } +- else if ( stricmp(argv[0],"vt") == 0 && argc == 3 ) ++ else if ( strcmp(argv[0],"vt") == 0 && argc == 3 ) + { + double tx = (double) atof( argv[1] ); + double ty = (double) atof( argv[2] ); + mTexels.push_back(tx); + mTexels.push_back(ty); + } +- else if ( stricmp(argv[0],"vn") == 0 && argc == 4 ) ++ else if ( strcmp(argv[0],"vn") == 0 && argc == 4 ) + { + double normalx = (double) atof(argv[1]); + double normaly = (double) atof(argv[2]); +@@ -697,7 +697,7 @@ + mNormals.push_back(normaly); + mNormals.push_back(normalz); + } +- else if ( stricmp(argv[0],"f") == 0 && argc >= 4 ) ++ else if ( strcmp(argv[0],"f") == 0 && argc >= 4 ) + { + GeometryVertex v[32]; + +Index: Makefile +=================================================================== +--- Makefile (revision 0) ++++ Makefile (revision 8581) +@@ -0,0 +1,93 @@ ++ ++ ++OBJS = DecomposeSample.o \ ++ ConvexDecomposition/bestfit.o ConvexDecomposition/float_math.o \ ++ ConvexDecomposition/bestfitobb.o ConvexDecomposition/meshvolume.o \ ++ ConvexDecomposition/cd_hull.o ConvexDecomposition/planetri.o \ ++ ConvexDecomposition/cd_wavefront.o ConvexDecomposition/raytri.o \ ++ ConvexDecomposition/concavity.o ConvexDecomposition/splitplane.o \ ++ ConvexDecomposition/ConvexDecomposition.o ConvexDecomposition/triangulate.o \ ++ ConvexDecomposition/fitsphere.o ConvexDecomposition/vlookup.o ++ ++HEADERS = \ ++ ConvexDecomposition/bestfit.h \ ++ ConvexDecomposition/bestfitobb.h \ ++ ConvexDecomposition/cd_hull.h \ ++ ConvexDecomposition/cd_vector.h \ ++ ConvexDecomposition/cd_wavefront.h \ ++ ConvexDecomposition/concavity.h \ ++ ConvexDecomposition/ConvexDecomposition.h \ ++ ConvexDecomposition/fitsphere.h \ ++ ConvexDecomposition/float_math.h \ ++ ConvexDecomposition/meshvolume.h \ ++ ConvexDecomposition/planetri.h \ ++ ConvexDecomposition/raytri.h \ ++ ConvexDecomposition/splitplane.h \ ++ ConvexDecomposition/triangulate.h \ ++ ConvexDecomposition/vlookup.h ++ ++CC = g++ ++ ++DEBUG = -ggdb ++ ++CFLAGS = -IConvexDecomposition -Wall -c $(DEBUG) ++ ++LFLAGS = $(DEBUG) ++ ++convex_decomposition: $(OBJS) ++ $(CC) $(LFLAGS) $(OBJS) -o convex_decomposition ++ ++DecomposeSample.o: DecomposeSample.cpp ++ $(CC) $(CFLAGS) DecomposeSample.cpp -o $@ ++ ++ConvexDecomposition/bestfit.o: ConvexDecomposition/bestfit.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/bestfit.cpp -o $@ ++ ++ConvexDecomposition/bestfitobb.o: ConvexDecomposition/bestfitobb.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/bestfitobb.cpp -o $@ ++ ++ConvexDecomposition/cd_hull.o: ConvexDecomposition/cd_hull.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/cd_hull.cpp -o $@ ++ ++ConvexDecomposition/cd_wavefront.o: ConvexDecomposition/cd_wavefront.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/cd_wavefront.cpp -o $@ ++ ++ConvexDecomposition/concavity.o: ConvexDecomposition/concavity.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/concavity.cpp -o $@ ++ ++ConvexDecomposition/ConvexDecomposition.o: ConvexDecomposition/ConvexDecomposition.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/ConvexDecomposition.cpp -o $@ ++ ++ConvexDecomposition/fitsphere.o: ConvexDecomposition/fitsphere.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/fitsphere.cpp -o $@ ++ ++ConvexDecomposition/float_math.o: ConvexDecomposition/float_math.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/float_math.cpp -o $@ ++ ++ConvexDecomposition/meshvolume.o: ConvexDecomposition/meshvolume.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/meshvolume.cpp -o $@ ++ ++ConvexDecomposition/planetri.o: ConvexDecomposition/planetri.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/planetri.cpp -o $@ ++ ++ConvexDecomposition/raytri.o: ConvexDecomposition/raytri.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/raytri.cpp -o $@ ++ ++ConvexDecomposition/splitplane.o: ConvexDecomposition/splitplane.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/splitplane.cpp -o $@ ++ ++ConvexDecomposition/triangulate.o: ConvexDecomposition/triangulate.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/triangulate.cpp -o $@ ++ ++ConvexDecomposition/vlookup.o: ConvexDecomposition/vlookup.cpp ConvexDecomposition/vlookup.cpp ++ $(CC) $(CFLAGS) ConvexDecomposition/vlookup.cpp -o $@ ++ ++install: ++ cp convex_decomposition ../../convex_decomposition/bin/ ++ ++clean: ++ \rm *.o */*.o convex_decomposition ++ ++tar: ++ tar cfv ConvexDecomposition.tar DecomposeSample.cpp convex_decomposition Makefile \ ++ ConvexDecomposition +Index: DecomposeSample.cpp +=================================================================== +--- DecomposeSample.cpp (revision 8299) ++++ DecomposeSample.cpp (working copy) +@@ -6,7 +6,7 @@ + + #include + +-#include "./ConvexDecomposition/convexdecomposition.h" ++#include "./ConvexDecomposition/ConvexDecomposition.h" + #include "./ConvexDecomposition/cd_wavefront.h" + + using namespace ConvexDecomposition; +@@ -227,7 +227,7 @@ + + if ( fph ) + { +- printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", mHulls.size(), scratch ); ++ printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", (int)mHulls.size(), scratch ); + + fprintf(fph,"\r\n"); + fprintf(fph,"\r\n"); +@@ -537,7 +537,7 @@ + }; + + +-void main(int argc,const char **argv) ++int main(int argc,const char **argv) + { + if ( argc < 2 ) + { +Index: DecomposeSample.cpp +=================================================================== +--- DecomposeSample.cpp (revision 8299) ++++ DecomposeSample.cpp (working copy) +@@ -67,3 +67,3 @@ + strcpy(mBaseName,fname); +- char *dot = strstr(mBaseName,"."); ++ char *dot = strstr(mBaseName,".obj"); + if ( dot ) *dot = 0; +Index: ConvexDecomposition/cd_wavefront.cpp +=================================================================== +--- ConvexDecomposition/cd_wavefront.cpp (revision 8299) ++++ ConvexDecomposition/cd_wavefront.cpp (working copy) +@@ -573,6 +573,7 @@ + FloatVector mNormals; + + GeometryInterface *mCallback; ++ friend class WavefrontObj; + }; + + +@@ -839,7 +840,17 @@ + memcpy(mIndices, &indices[0], sizeof(int)*mTriCount*3); + ret = mTriCount; + } +- ++ else if( obj.mVerts.size() > 0 ) { ++ // take consecutive vertices ++ mVertexCount = obj.mVerts.size()/3; ++ mVertices = new double[mVertexCount*3]; ++ memcpy( mVertices, &obj.mVerts[0], sizeof(double)*mVertexCount*3 ); ++ mTriCount = mVertexCount/3; ++ mIndices = new int[mTriCount*3*sizeof(int)]; ++ for(int i = 0; i < mVertexCount; ++i) ++ mIndices[i] = i; ++ ret = mTriCount; ++ } + + return ret; + } diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml new file mode 100644 index 0000000..b061753 --- /dev/null +++ b/convex_decomposition/manifest.xml @@ -0,0 +1,14 @@ + + + +Convex Mesh Generation Library + + +John Ratcliff +MIT + +http://www.amillionpixels.us/ConvexDecomposition.zip + + + + diff --git a/ivcon/CMakeLists.txt b/ivcon/CMakeLists.txt new file mode 100644 index 0000000..8169c5a --- /dev/null +++ b/ivcon/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) +rospack(ivcon) + +#uncomment for profiling +set(ROS_LINK_FLAGS "-lm" ${ROS_LINK_FLAGS}) + +rospack_add_executable(bin/ivcon src/ivcon.c) + diff --git a/ivcon/Makefile b/ivcon/Makefile new file mode 100644 index 0000000..bbd3fc6 --- /dev/null +++ b/ivcon/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk diff --git a/ivcon/manifest.xml b/ivcon/manifest.xml new file mode 100644 index 0000000..2f770e0 --- /dev/null +++ b/ivcon/manifest.xml @@ -0,0 +1,14 @@ + + + +Mesh Conversion Utility + + +John Burkardt +GPL + +https://sourceforge.net/projects/ivcon/ + + + + diff --git a/ivcon/src/ivcon.c b/ivcon/src/ivcon.c new file mode 100644 index 0000000..5539860 --- /dev/null +++ b/ivcon/src/ivcon.c @@ -0,0 +1,16707 @@ +/* ivcon.c 24 May 2001 */ + +/* + Purpose: + + IVCON converts various 3D graphics files. + + Acknowledgements: + + Coding, comments, and advice were supplied by a number of collaborators. + + John F Flanagan made some corrections to the 3D Studio Max routines. + + Zik Saleeba (zik@zikzak.net) enhanced the DXF routines, and added the + Golgotha GMOD routines. + + Thanks to Susan M. Fisher, University of North Carolina, + Department of Computer Science, for pointing out a coding error + in FACE_NULL_DELETE that was overwriting all the data! + + Modified: + + 04 July 2000 + + Author: + + John Burkardt +*/ + +#include +#include +#include +#include +#include + +#define FALSE 0 +#define TRUE 1 + +#define ERROR 1 +#define G1_SECTION_MODEL_QUADS 18 +#define G1_SECTION_MODEL_TEXTURE_NAMES 19 +#define G1_SECTION_MODEL_VERT_ANIMATION 20 +#define GMOD_MAX_SECTIONS 32 +#define GMOD_UNUSED_VERTEX 65535 +#define PI 3.141592653589793238462643 +#define SUCCESS 0 + +#define DEG_TO_RAD ( PI / 180.0 ) +#define RAD_TO_DEG ( 180.0 / PI ) + +/******************************************************************************/ + +/* GLOBAL DATA */ + +/******************************************************************************/ + +/* + BACKGROUND_RGB[3], the background color. + + BYTE_SWAP, byte swapping option. + + COR3[3][COR3_MAX], the coordinates of nodes. + + COR3_MATERIAL[COR3_MAX], the index of the material of each node. + + COR3_MAX, the maximum number of points. + + COR3_NORMAL[3][COR3_MAX], normal vectors associated with nodes. + + COR3_NUM, the number of points. + + COR3_RGB[3][COR3_MAX], RGB colors associated with nodes. + + COR3_TEX_UV[2][COR3_MAX], texture coordinates associated with nodes. + + FACE[ORDER_MAX][FACE_MAX] contains the index of the I-th node making up face J. + + FACE_AREA(FACE_MAX), the area of each face. + + FACE_MATERIAL[FACE_MAX]; the material of each face. + + FACE_MAX, the maximum number of faces. + + FACE_NORMAL[3][FACE_MAX], the face normal vectors. + + FACE_NUM, the number of faces. + + FACE_ORDER[FACE_MAX], the number of vertices per face. + + FACE_TEX_UV[2][FACE_MAX], texture coordinates associated with faces. + + LINE_DEX[LINES_MAX], node indices, denoting polylines, each terminated by -1. + + LINE_MATERIAL[LINES_MAX], index into RGBCOLOR for line color. + + LINES_MAX, the maximum number of line definition items. + + LINE_NUM, the number of line definition items. + + LINE_PRUNE, pruning option ( 0 = no pruning, nonzero = pruning). + + MATERIAL_MAX, the maximum number of materials. + + MATERIAL_NUM, the number of materials. + + ORDER_MAX, the maximum number of vertices per face. + + TEXTURE_MAX, the maximum number of textures. + + TEXTURE_NAME[TEXTURE_MAX][LINE_MAX_LEN], ... + + TEXTURE_NUM, the number of textures. + + TRANSFORM_MATRIX[4][4], the current transformation matrix. + + VERTEX_MATERIAL[ORDER_MAX][FACE_MAX]; the material of vertices of faces. + + VERTEX_NORMAL[3][ORDER_MAX][FACE_MAX], normals at vertices of faces. + + VERTEX_RGB[3][ORDER_MAX][FACE_MAX], colors of vertices of faces. + + VERTEX_TEX_UV[2][ORDER_MAX][FACE_MAX], texture coordinates of vertices of faces. +*/ + +#define COLOR_MAX 1000 +#define COR3_MAX 200000 +#define FACE_MAX 200000 +#define LINE_MAX_LEN 256 +#define LEVEL_MAX 10 +#define LINES_MAX 100000 +#define MATERIAL_MAX 100 +#define ORDER_MAX 10 +#define TEXTURE_MAX 100 + +char anim_name[LINE_MAX_LEN]; +float background_rgb[3]; +int bad_num; +int byte_swap; +int bytes_num; +int color_num; +int comment_num; + +float cor3[3][COR3_MAX]; +int cor3_material[COR3_MAX]; +float cor3_normal[3][COR3_MAX]; +int cor3_num; +float cor3_tex_uv[3][COR3_MAX]; + +int debug; + +int dup_num; + +int face[ORDER_MAX][FACE_MAX]; +float face_area[FACE_MAX]; +int face_flags[FACE_MAX]; +int face_material[FACE_MAX]; +float face_normal[3][FACE_MAX]; +int face_num; +int face_object[FACE_MAX]; +int face_order[FACE_MAX]; +int face_smooth[FACE_MAX]; +float face_tex_uv[2][FACE_MAX]; + +char filein_name[1024]; +char fileout_name[1024]; + +int group_num; + +int i; +char input[LINE_MAX_LEN]; +int k; +char level_name[LEVEL_MAX][LINE_MAX_LEN]; + +int line_dex[LINES_MAX]; +int line_material[LINES_MAX]; +int line_num; +int line_prune; + +int list[COR3_MAX]; + +char material_binding[80]; +char material_name[MATERIAL_MAX][LINE_MAX_LEN]; +int material_num; +float material_rgba[4][MATERIAL_MAX]; + +char mat_name[81]; +int max_order2; + +char normal_binding[80]; +float normal_temp[3][ORDER_MAX*FACE_MAX]; + +char object_name[81]; +int object_num; + +float origin[3]; +float pivot[3]; +float rgbcolor[3][COLOR_MAX]; +char temp_name[81]; + +int text_num; + +char texture_binding[80]; +char texture_name[TEXTURE_MAX][LINE_MAX_LEN]; +int texture_num; +float texture_temp[2][ORDER_MAX*FACE_MAX]; + +float transform_matrix[4][4]; + +int vertex_material[ORDER_MAX][FACE_MAX]; +float vertex_normal[3][ORDER_MAX][FACE_MAX]; +float vertex_rgb[3][ORDER_MAX][FACE_MAX]; +float vertex_tex_uv[2][ORDER_MAX][FACE_MAX]; + +/******************************************************************************/ + +/* FUNCTION PROTOTYPES */ + +/******************************************************************************/ + +int main ( int argc, char **argv ); +int ase_read ( FILE *filein ); +int ase_write ( FILE *fileout ); +int byu_read ( FILE *filein ); +int byu_write ( FILE *fileout ); +int char_index_last ( char* string, char c ); +int char_pad ( int *char_index, int *null_index, char *string, + int STRING_MAX ); +char char_read ( FILE *filein ); +int char_write ( FILE *fileout, char c ); +int command_line ( char **argv ); +void cor3_normal_set ( void ); +void cor3_range ( void ); +void data_check ( void ); +void data_init ( void ); +int data_read ( void ); +void data_report ( void ); +int data_write ( void ); +int dxf_read ( FILE *filein ); +int dxf_write ( FILE *fileout ); +void edge_null_delete ( void ); +void face_area_set ( void ); +void face_normal_ave ( void ); +void face_null_delete ( void ); +int face_print ( int iface ); +void face_reverse_order ( void ); +int face_subset ( void ); +void face_to_line ( void ); +void face_to_vertex_material ( void ); +char *file_ext ( char *file_name ); +float float_read ( FILE *filein ); +float float_reverse_bytes ( float x ); +int float_write ( FILE *fileout, float float_val ); +int gmod_arch_check ( void ); +int gmod_read ( FILE *filein ); +float gmod_read_float ( FILE *filein ); +unsigned short gmod_read_w16 ( FILE *filein ); +unsigned long gmod_read_w32 ( FILE *filein ); +int gmod_write ( FILE *fileout ); +void gmod_write_float ( float Val, FILE *fileout ); +void gmod_write_w16 ( unsigned short Val, FILE *fileout ); +void gmod_write_w32 ( unsigned long Val, FILE *fileout ); +void hello ( void ); +void help ( void ); +int hrc_read ( FILE *filein ); +int hrc_write ( FILE *fileout ); +void init_program_data ( void ); +int interact ( void ); +int iv_read ( FILE *filein ); +int iv_write ( FILE *fileout ); +int ivec_max ( int n, int *a ); +int leqi ( char* string1, char* string2 ); +long int long_int_read ( FILE *filein ); +int long_int_write ( FILE *fileout, long int int_val ); +void news ( void ); +void node_to_vertex_material ( void ); +int obj_read ( FILE *filein ); +int obj_write ( FILE *fileout ); +int pov_write ( FILE *fileout ); +int rcol_find ( float a[][COR3_MAX], int m, int n, float r[] ); +float rgb_to_hue ( float r, float g, float b ); +short int short_int_read ( FILE *filein ); +int short_int_write ( FILE *fileout, short int int_val ); +int smf_read ( FILE *filein ); +int smf_write ( FILE *fileout ); +int stla_read ( FILE *filein ); +int stla_write ( FILE *fileout ); +int stlb_read ( FILE *filein ); +int stlb_write ( FILE *fileout ); +void tds_pre_process ( void ); +int tds_read ( FILE *filein ); +unsigned long int tds_read_ambient_section ( FILE *filein ); +unsigned long int tds_read_background_section ( FILE *filein ); +unsigned long int tds_read_boolean ( unsigned char *boolean, FILE *filein ); +unsigned long int tds_read_camera_section ( FILE *filein ); +unsigned long int tds_read_edit_section ( FILE *filein, int *views_read ); +unsigned long int tds_read_keyframe_section ( FILE *filein, int *views_read ); +unsigned long int tds_read_keyframe_objdes_section ( FILE *filein ); +unsigned long int tds_read_light_section ( FILE *filein ); +unsigned long int tds_read_u_long_int ( FILE *filein ); +int tds_read_long_name ( FILE *filein ); +unsigned long int tds_read_matdef_section ( FILE *filein ); +unsigned long int tds_read_material_section ( FILE *filein ); +int tds_read_name ( FILE *filein ); +unsigned long int tds_read_obj_section ( FILE *filein ); +unsigned long int tds_read_object_section ( FILE *filein ); +unsigned long int tds_read_tex_verts_section ( FILE *filein ); +unsigned long int tds_read_texmap_section ( FILE *filein ); +unsigned short int tds_read_u_short_int ( FILE *filein ); +unsigned long int tds_read_spot_section ( FILE *filein ); +unsigned long int tds_read_unknown_section ( FILE *filein ); +unsigned long int tds_read_view_section ( FILE *filein, int *views_read ); +unsigned long int tds_read_vp_section ( FILE *filein, int *views_read ); +int tds_write ( FILE *fileout ); +int tds_write_string ( FILE *fileout, char *string ); +int tds_write_u_short_int ( FILE *fileout, + unsigned short int int_val ); +int tec_write ( FILE *fileout ); +void tmat_init ( float a[4][4] ); +void tmat_mxm ( float a[4][4], float b[4][4], float c[4][4] ); +void tmat_mxp ( float a[4][4], float x[4], float y[4] ); +void tmat_mxp2 ( float a[4][4], float x[][3], float y[][3], int n ); +void tmat_mxv ( float a[4][4], float x[4], float y[4] ); +void tmat_rot_axis ( float a[4][4], float b[4][4], float angle, + char axis ); +void tmat_rot_vector ( float a[4][4], float b[4][4], float angle, + float v1, float v2, float v3 ); +void tmat_scale ( float a[4][4], float b[4][4], float sx, float sy, + float sz ); +void tmat_shear ( float a[4][4], float b[4][4], char *axis, + float s ); +void tmat_trans ( float a[4][4], float b[4][4], float x, float y, + float z ); +int tria_read ( FILE *filein ); +int tria_write ( FILE *fileout ); +int trib_read ( FILE *filein ); +int trib_write ( FILE *fileout ); +int txt_write ( FILE *fileout ); +int ucd_write ( FILE *fileout ); +void vertex_normal_set ( void ); +void vertex_to_face_material ( void ); +void vertex_to_node_material ( void ); +int vla_read ( FILE *filein ); +int vla_write ( FILE *fileout ); +int wrl_write ( FILE *filout ); +int xgl_write ( FILE *fileout ); + +/******************************************************************************/ + +int main ( int argc, char **argv ) + +/******************************************************************************/ + +/* + Purpose: + + MAIN is the main program for converting graphics files. + + Modified: + + 26 May 1999 + + Author: + + John Burkardt +*/ +{ + int result; +/* + Initialize the program data. +*/ + init_program_data ( ); +/* + If there are at least two command line arguments, call COMMAND_LINE. + Otherwise call INTERACT and get information from the user. +*/ + if ( argc >= 2 ) { + result = command_line ( argv ); + } + else { + result = interact ( ); + } + + return result; +} +/******************************************************************************/ + +int ase_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + ASE_READ reads an AutoCAD ASE file. + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + float bval; + int count; + float gval; + int i; + int iface; + int ivert; + int iword; + int level; + char *next; + int nlbrack; + int nrbrack; + int cor3_num_old; + int face_num_old; + float rval; + float temp; + int width; + char word[LINE_MAX_LEN]; + char word1[LINE_MAX_LEN]; + char word2[LINE_MAX_LEN]; + char wordm1[LINE_MAX_LEN]; + float x; + float y; + float z; + + level = 0; + strcpy ( level_name[0], "Top" ); + cor3_num_old = cor3_num; + face_num_old = face_num; + nlbrack = 0; + nrbrack = 0; + + strcpy ( word, " " ); + strcpy ( wordm1, " " ); +/* + Read a line of text from the file. +*/ + + for ( ;; ) { + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + break; + } + + text_num = text_num + 1; + next = input; + iword = 0; +/* + Read the next word from the line. +*/ + for ( ;; ) { + + strcpy ( wordm1, word ); + strcpy ( word, " " ); + + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + + if ( count <= 0 ) { + break; + } + + iword = iword + 1; + + if ( iword == 1 ) { + strcpy ( word1, word ); + } +/* + In case the new word is a bracket, update the bracket count. +*/ + if ( strcmp ( word, "{" ) == 0 ) { + + nlbrack = nlbrack + 1; + level = nlbrack - nrbrack; + strcpy ( level_name[level], wordm1 ); + } + else if ( strcmp ( word, "}" ) == 0 ) { + + nrbrack = nrbrack + 1; + + if ( nlbrack < nrbrack ) { + + printf ( "\n" ); + printf ( "ASE_READ - Fatal error!\n" ); + printf ( " Extraneous right bracket on line %d\n", text_num ); + printf ( " Currently processing field:\n" ); + printf ( "%s\n", level_name[level] ); + return ERROR; + } + + } +/* + *3DSMAX_ASCIIEXPORT 200 +*/ + if ( strcmp ( word1, "*3DSMAX_ASCIIEXPORT" ) == 0 ) { + break; + } +/* + *COMMENT +*/ + else if ( strcmp ( word1, "*COMMENT" ) == 0 ) { + break; + } +/* + *GEOMOBJECT +*/ + else if ( strcmp ( level_name[level], "*GEOMOBJECT" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } +/* + Why don't you read and save this name? +*/ + else if ( strcmp ( word, "*NODE_NAME" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*NODE_TM" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*PROP_CASTSHADOW" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*PROP_MOTIONBLUR" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*PROP_RECVSHADOW" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in GEOMOBJECT, line %d\n", text_num ); + break; + } + } +/* + *MESH +*/ + else if ( strcmp ( level_name[level], "*MESH" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*MESH_CFACELIST" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH_CVERTLIST" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH_FACE_LIST" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH_NORMALS" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH_NUMCVERTEX" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*MESH_NUMCVFACES" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*MESH_NUMFACES" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*MESH_NUMTVERTEX" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*MESH_NUMTVFACES" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*MESH_NUMVERTEX" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*MESH_TFACELIST" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH_TVERTLIST" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*MESH_VERTEX_LIST" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "*TIMEVALUE" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH, line %d\n", text_num ); + break; + } + } +/* + *MESH_CFACELIST +*/ + else if ( strcmp ( level_name[level], "*MESH_CFACELIST" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*MESH_CFACE" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH_CFACE, line %d\n", text_num ); + break; + } + } +/* + *MESH_CVERTLIST + + Mesh vertex indices must be incremented by COR3_NUM_OLD before being stored + in the internal array. +*/ + else if ( strcmp ( level_name[level], "*MESH_CVERTLIST" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*MESH_VERTCOL" ) == 0 ) { + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + + i = i + cor3_num_old; + + count = sscanf ( next, "%f%n", &rval, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &gval, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &bval, &width ); + next = next + width; + + if ( material_num < MATERIAL_MAX ) { + material_rgba[0][material_num] = rval; + material_rgba[1][material_num] = gval; + material_rgba[2][material_num] = bval; + material_rgba[3][material_num] = 1.0; + } + + material_num = material_num + 1; + cor3_material[i] = material_num; + } + else { + bad_num = bad_num + 1; + printf ( "\n" ); + printf ( "ASE_READ - Warning!\n" ); + printf ( " Bad data in MESH_CVERTLIST, line %d\n", text_num ); + break; + } + + } +/* + *MESH_FACE_LIST + This coding assumes a face is always triangular or quadrilateral. +*/ + else if ( strcmp ( level_name[level], "*MESH_FACE_LIST" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*MESH_FACE" ) == 0 ) { + + if ( face_num < FACE_MAX ) { + + face_material[face_num] = 0; + face_order[face_num] = 0; + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + face[0][face_num] = i + cor3_num_old; + face_order[face_num] = face_order[face_num] + 1; + + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + face[1][face_num] = i + cor3_num_old; + face_order[face_num] = face_order[face_num] + 1; + + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + face[2][face_num] = i + cor3_num_old; + face_order[face_num] = face_order[face_num] + 1; + + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + + if ( strcmp ( word2, "D:" ) == 0 ) { + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + face[3][face_num] = i + cor3_num_old; + face_order[face_num] = face_order[face_num] + 1; + } + } + + face_num = face_num + 1; + + break; + + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH_FACE_LIST, line %d\n", text_num ); + break; + } + } +/* + *MESH_NORMALS +*/ + else if ( strcmp ( level_name[level], "*MESH_NORMALS" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*MESH_FACENORMAL" ) == 0 ) { + + count = sscanf ( next, "%d%n", &iface, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + iface = iface + face_num_old; + ivert = 0; + + face_normal[0][iface] = x; + face_normal[1][iface] = y; + face_normal[2][iface] = z; + + break; + + } + else if ( strcmp ( word, "*MESH_VERTEXNORMAL" ) == 0 ) { + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + vertex_normal[0][ivert][iface] = x; + vertex_normal[1][ivert][iface] = y; + vertex_normal[2][ivert][iface] = z; + ivert = ivert + 1; + + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH_NORMALS, line %d\n", text_num ); + break; + } + } +/* + *MESH_TFACELIST +*/ + else if ( strcmp ( level_name[level], "*MESH_TFACELIST" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word1, "*MESH_TFACE" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH_TFACE_LIST, line %d\n", text_num ); + break; + } + } +/* + *MESH_TVERTLIST +*/ + else if ( strcmp ( level_name[level], "*MESH_TVERTLIST" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word1, "*MESH_TVERT" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH_TVERTLIST, line %d\n", text_num ); + break; + } + } +/* + *MESH_VERTEX_LIST +*/ + else if ( strcmp ( level_name[level], "*MESH_VERTEX_LIST" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + cor3_num_old = cor3_num; + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word1, "*MESH_VERTEX" ) == 0 ) { + + count = sscanf ( next, "%d%n", &i, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + i = i + cor3_num_old; + if ( cor3_num < i + 1 ) { + cor3_num = i + 1; + } + + if ( i < COR3_MAX ) { + + cor3[0][i] = + transform_matrix[0][0] * x + + transform_matrix[0][1] * y + + transform_matrix[0][2] * z + + transform_matrix[0][3]; + + cor3[1][i] = + transform_matrix[1][0] * x + + transform_matrix[1][1] * y + + transform_matrix[1][2] * z + + transform_matrix[1][3]; + + cor3[2][i] = + transform_matrix[2][0] * x + + transform_matrix[2][1] * y + + transform_matrix[2][2] * z + + transform_matrix[2][3]; + } + + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in MESH_VERTEX_LIST, line %d\n", text_num ); + break; + } + } +/* + *NODE_TM + + Each node should start out with a default transformation matrix. +*/ + else if ( strcmp ( level_name[level], "*NODE_TM" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + + tmat_init ( transform_matrix ); + + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*INHERIT_POS" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*INHERIT_ROT" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*INHERIT_SCL" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*NODE_NAME" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*TM_POS" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*TM_ROTANGLE" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*TM_ROTAXIS" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*TM_ROW0" ) == 0 ) { + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[0][0] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[1][0] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[2][0] = temp; + + break; + } + else if ( strcmp ( word, "*TM_ROW1" ) == 0 ) { + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[0][1] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[1][1] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[2][1] = temp; + + break; + } + else if ( strcmp ( word, "*TM_ROW2" ) == 0 ) { + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[0][2] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[1][2] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[2][2] = temp; + + break; + } + else if ( strcmp ( word, "*TM_ROW3" ) == 0 ) { + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[0][3] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[1][3] = temp; + + count = sscanf ( next, "%f%n", &temp, &width ); + next = next + width; + transform_matrix[2][3] = temp; + + break; + } + else if ( strcmp ( word, "*TM_SCALE" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*TM_SCALEAXIS" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*TM_SCALEAXISANG" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in NODE_TM, line %d\n", text_num ); + break; + } + } +/* + *SCENE +*/ + else if ( strcmp ( level_name[level], "*SCENE" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else if ( strcmp ( word, "*SCENE_AMBIENT_STATIC" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*SCENE_BACKGROUND_STATIC" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*SCENE_FILENAME" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*SCENE_FIRSTFRAME" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*SCENE_FRAMESPEED" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*SCENE_LASTFRAME" ) == 0 ) { + break; + } + else if ( strcmp ( word, "*SCENE_TICKSPERFRAME" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data in SCENE, line %d\n", text_num ); + break; + } + + } + + } +/* + End of loop reading words from the line. +*/ + } +/* + End of loop reading lines from input file. +*/ + + return SUCCESS; +} +/******************************************************************************/ + +int ase_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + ASE_WRITE writes graphics information to an AutoCAD ASE file. + + Modified: + + 30 September 1998 + + Author: + + John Burkardt + +*/ +{ + int i1; + int i2; + int i3; + int i4; + int iface; + int ivert; + int j; + int text_num; + + text_num = 0; +/* + Write the header. +*/ + fprintf ( fileout, "*3DSMAX_ASCIIEXPORT 200\n" ); + fprintf ( fileout, "*COMMENT \"%s, created by IVCON.\"\n", fileout_name ); + fprintf ( fileout, "*COMMENT \"Original data in %s\"\n", filein_name ); + + text_num = text_num + 3; +/* + Write the scene block. +*/ + fprintf ( fileout, "*SCENE {\n" ); + fprintf ( fileout, " *SCENE_FILENAME \"\"\n" ); + fprintf ( fileout, " *SCENE_FIRSTFRAME 0\n" ); + fprintf ( fileout, " *SCENE_LASTFRAME 100\n" ); + fprintf ( fileout, " *SCENE_FRAMESPEED 30\n" ); + fprintf ( fileout, " *SCENE_TICKSPERFRAME 160\n" ); + fprintf ( fileout, " *SCENE_BACKGROUND_STATIC 0.0000 0.0000 0.0000\n" ); + fprintf ( fileout, " *SCENE_AMBIENT_STATIC 0.0431 0.0431 0.0431\n" ); + fprintf ( fileout, "}\n" ); + + text_num = text_num + 9; +/* + Begin the big geometry block. +*/ + fprintf ( fileout, "*GEOMOBJECT {\n" ); + fprintf ( fileout, " *NODE_NAME \"%s\"\n", object_name ); + + text_num = text_num + 2; +/* + Sub block NODE_TM: +*/ + fprintf ( fileout, " *NODE_TM {\n" ); + fprintf ( fileout, " *NODE_NAME \"Object01\"\n" ); + fprintf ( fileout, " *INHERIT_POS 0 0 0\n" ); + fprintf ( fileout, " *INHERIT_ROT 0 0 0\n" ); + fprintf ( fileout, " *INHERIT_SCL 0 0 0\n" ); + fprintf ( fileout, " *TM_ROW0 1.0000 0.0000 0.0000\n" ); + fprintf ( fileout, " *TM_ROW1 0.0000 1.0000 0.0000\n" ); + fprintf ( fileout, " *TM_ROW2 0.0000 0.0000 1.0000\n" ); + fprintf ( fileout, " *TM_ROW3 0.0000 0.0000 0.0000\n" ); + fprintf ( fileout, " *TM_POS 0.0000 0.0000 0.0000\n" ); + fprintf ( fileout, " *TM_ROTAXIS 0.0000 0.0000 0.0000\n" ); + fprintf ( fileout, " *TM_ROTANGLE 0.0000\n" ); + fprintf ( fileout, " *TM_SCALE 1.0000 1.0000 1.0000\n" ); + fprintf ( fileout, " *TM_SCALEAXIS 0.0000 0.0000 0.0000\n" ); + fprintf ( fileout, " *TM_SCALEAXISANG 0.0000\n" ); + fprintf ( fileout, " }\n" ); + + text_num = text_num + 16; +/* + Sub block MESH: + Items +*/ + fprintf ( fileout, " *MESH {\n" ); + fprintf ( fileout, " *TIMEVALUE 0\n" ); + fprintf ( fileout, " *MESH_NUMVERTEX %d\n", cor3_num ); + fprintf ( fileout, " *MESH_NUMFACES %d\n", face_num ); + + text_num = text_num + 4; +/* + Sub sub block MESH_VERTEX_LIST +*/ + fprintf ( fileout, " *MESH_VERTEX_LIST {\n" ); + text_num = text_num + 1; + + for ( j = 0; j < cor3_num; j++ ) { + fprintf ( fileout, " *MESH_VERTEX %d %f %f %f\n", j, cor3[0][j], + cor3[1][j], cor3[2][j] ); + text_num = text_num + 1; + } + + fprintf ( fileout, " }\n" ); + text_num = text_num + 1; +/* + Sub sub block MESH_FACE_LIST + Items MESH_FACE +*/ + fprintf ( fileout, " *MESH_FACE_LIST {\n" ); + text_num = text_num + 1; + + for ( iface = 0; iface < face_num; iface++ ) { + + i1 = face[0][iface]; + i2 = face[1][iface]; + i3 = face[2][iface]; + + if ( face_order[iface] == 3 ) { + fprintf ( fileout, " *MESH_FACE %d: A: %d B: %d C: %d", iface, i1, i2, i3 ); + fprintf ( fileout, " AB: 1 BC: 1 CA: 1 *MESH_SMOOTHING *MESH_MTLID 1\n" ); + text_num = text_num + 1; + } + else if ( face_order[iface] == 4 ) { + i4 = face[3][iface]; + fprintf ( fileout, " *MESH_FACE %d: A: %d B: %d C: %d D: %d", iface, i1, i2, i3, i4 ); + fprintf ( fileout, " AB: 1 BC: 1 CD: 1 DA: 1 *MESH_SMOOTHING *MESH_MTLID 1\n" ); + text_num = text_num + 1; + } + } + + fprintf ( fileout, " }\n" ); + text_num = text_num + 1; +/* + Item MESH_NUMTVERTEX. +*/ + fprintf ( fileout, " *MESH_NUMTVERTEX 0\n" ); + text_num = text_num + 1; +/* + Item NUMCVERTEX. +*/ + fprintf ( fileout, " *MESH_NUMCVERTEX 0\n" ); + text_num = text_num + 1; +/* + Sub block MESH_NORMALS + Items MESH_FACENORMAL, MESH_VERTEXNORMAL (repeated) +*/ + fprintf ( fileout, " *MESH_NORMALS {\n" ); + text_num = text_num + 1; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " *MESH_FACENORMAL %d %f %f %f\n", + iface, face_normal[0][iface], face_normal[1][iface], face_normal[2][iface] ); + text_num = text_num + 1; + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " *MESH_VERTEXNORMAL %d %f %f %f\n", + face[ivert][iface], vertex_normal[0][ivert][iface], + vertex_normal[1][ivert][iface], vertex_normal[2][ivert][iface] ); + text_num = text_num + 1; + } + } + + fprintf ( fileout, " }\n" ); + text_num = text_num + 1; +/* + Close the MESH object. +*/ + fprintf ( fileout, " }\n" ); +/* + A few closing parameters. +*/ + fprintf ( fileout, " *PROP_MOTIONBLUR 0\n" ); + fprintf ( fileout, " *PROP_CASTSHADOW 1\n" ); + fprintf ( fileout, " *PROP_RECVSHADOW 1\n" ); +/* + Close the GEOM object. +*/ + fprintf ( fileout, "}\n" ); + + text_num = text_num + 5; +/* + Report. +*/ + printf ( "\n" ); + printf ( "ASE_WRITE - Wrote %d text lines;\n", text_num ); + + return SUCCESS; +} +/**********************************************************************/ + +int byu_read ( FILE *filein ) + +/**********************************************************************/ + +/* + Purpose: + + BYU_READ reads graphics data from a Movie.BYU surface geometry file. + + Discussion: + + A Movie.BYU surface geometry file contains 4 groups of data. + + The first group of data is a single line, containing 4 integers, + each one left justified in 8 columns. The integers are: + + PART_NUM, VERTEX_NUM, POLY_NUM, EDGE_NUM, + + that is, the number of parts or objects, the number of vertices or nodes, + the number of polygons or faces, and the number of edges. + + The second group of data is a single line, containing 2 integers, + each one left justified in 8 columnes. The integers are: + + POLY1, POLY2, + + the starting and ending polygon numbers. Presumably, this means + that the polygons are labeled POLY1, POLY1+1, ..., POLY2, comprising + a total of POLY_NUM polygons. + + The third group is the X, Y and Z coordinates of all the vertices. + These may be written using a FORTRAN format of 6E12.5, which + crams two sets of (X,Y,Z) data onto each line, with each real value + written in an exponential format with 5 places after the decimal. + However, it is generally possible to write the XYZ coordinate data + for each vertex on a separate line. + + The fourth group defines the polygons in terms of the vertex indices. + For each polygon, the vertices that make up the polygon are listed in + counterclockwise order. The last vertex listed is given with a negative + sign to indicate the end of the list. All the vertices for all the + polygons are listed one after the other, using a format that puts + up to 10 left-justified integers on a line, with each integer occupying + 8 spaces. + + This code will certainly read a BYU file created by BYU_WRITE, but + it will not handle more general files. In particular, an object + can have several parts, the coordinate data can be grouped so + that there are 2 sets of (x,y,z) data per line, and so on. + + Example: + + 1 8 6 24 + 1 6 + 0.00000E+00 0.00000E+00 0.00000E+00 + 1.00000E+00 0.00000E+00 0.00000E+00 + 1.00000E+00 2.00000E+00 0.00000E+00 + 0.00000E+00 2.00000E+00 0.00000E+00 + 0.00000E+00 0.00000E+00 1.00000E+00 + 1.00000E+00 0.00000E+00 1.00000E+00 + 1.00000E+00 2.00000E+00 1.00000E+00 + 0.00000E+00 2.00000E+00 1.00000E+00 + 4 3 2 -1 + 5 6 7 -8 + 1 5 8 -4 + 4 8 7 -3 + 3 7 6 -2 + 2 6 5 -1 + + Modified: + + 24 May 2001 + + Author: + + John Burkardt + +*/ +{ + int cor3_num_new; + int count; + int edge_num; + int face_num_new; + int iface; + int ival; + int ivert; + int j; + char *next; + int part_num; + int poly1; + int poly2; + int text_num; + int width; + float x; + float y; + float z; + + text_num = 0; + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + return ERROR; + } + text_num = text_num + 1; + + sscanf ( input, "%d %d %d %d", &part_num, &cor3_num_new, &face_num_new, + &edge_num ); + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + return ERROR; + } + text_num = text_num + 1; + + sscanf ( input, "%d %d", &poly1, &poly2 ); + + for ( j = cor3_num; j < cor3_num + cor3_num_new; j++ ) { + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + return ERROR; + } + text_num = text_num + 1; + + sscanf ( input, "%f %f %f", &x, &y, &z ); + cor3[0][j] = x; + cor3[1][j] = y; + cor3[2][j] = z; + } + + for ( iface = face_num; iface < face_num + face_num_new; iface++ ) { + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + return ERROR; + } + text_num = text_num + 1; + + next = input; + ivert = 0; + + for (;;) { + + count = sscanf ( next, "%d%n", &ival, &width ); + next = next + width; + + if ( count <= 0 ) { + return ERROR; + } + + if ( ival > 0 ) { + face[ivert][iface] = ival - 1 + cor3_num; + } + else { + face[ivert][iface] = - ival - 1 - cor3_num; + break; + } + + ivert = ivert + 1; + + } + face_order[iface] = ivert + 1; + } + + cor3_num = cor3_num + cor3_num_new; + face_num = face_num + face_num_new; +/* + Report. +*/ + printf ( "\n" ); + printf ( "BYU_READ - Read %d text lines.\n", text_num ); + + return SUCCESS; +} +/**********************************************************************/ + +int byu_write ( FILE *fileout ) + +/**********************************************************************/ + +/* + Purpose: + + BYU_WRITE writes out the graphics data as a Movie.BYU surface geometry file. + + Discussion: + + A Movie.BYU surface geometry file contains 4 groups of data. + + The first group of data is a single line, containing 4 integers, + each one left justified in 8 columns. The integers are: + + PART_NUM, VERTEX_NUM, POLY_NUM, EDGE_NUM, + + that is, the number of parts or objects, the number of vertices or nodes, + the number of polygons or faces, and the number of edges. + + The second group of data is a single line, containing 2 integers, + each one left justified in 8 columnes. The integers are: + + POLY1, POLY2, + + the starting and ending polygon numbers. Presumably, this means + that the polygons are labeled POLY1, POLY1+1, ..., POLY2, comprising + a total of POLY_NUM polygons. + + The third group is the X, Y and Z coordinates of all the vertices. + These may be written using a FORTRAN format of 6E12.5, which + crams two sets of (X,Y,Z) data onto each line, with each real value + written in an exponential format with 5 places after the decimal. + However, it is generally possible to write the XYZ coordinate data + for each vertex on a separate line. + + The fourth group defines the polygons in terms of the vertex indices. + For each polygon, the vertices that make up the polygon are listed in + counterclockwise order. The last vertex listed is given with a negative + sign to indicate the end of the list. All the vertices for all the + polygons are listed one after the other, using a format that puts + up to 10 left-justified integers on a line, with each integer occupying + 8 spaces. + + Example: + + 1 8 6 24 + 1 6 + 0.00000E+00 0.00000E+00 0.00000E+00 + 1.00000E+00 0.00000E+00 0.00000E+00 + 1.00000E+00 2.00000E+00 0.00000E+00 + 0.00000E+00 2.00000E+00 0.00000E+00 + 0.00000E+00 0.00000E+00 1.00000E+00 + 1.00000E+00 0.00000E+00 1.00000E+00 + 1.00000E+00 2.00000E+00 1.00000E+00 + 0.00000E+00 2.00000E+00 1.00000E+00 + 4 3 2 -1 + 5 6 7 -8 + 1 5 8 -4 + 4 8 7 -3 + 3 7 6 -2 + 2 6 5 -1 + + Modified: + + 24 May 2001 + + Author: + + John Burkardt +*/ +{ + int edge_num; + int iface; + int ivert; + int j; + int jp; + int part_num; + int text_num; + + text_num = 0; + + edge_num = 0; + for ( iface = 0; iface < face_num; iface++ ) { + edge_num = edge_num + face_order[iface]; + } + + part_num = 1; + + fprintf ( fileout, "%d %d %d %d\n", part_num, cor3_num, face_num, edge_num ); + text_num = text_num + 1; + + fprintf ( fileout, "1 %d\n", face_num ); + text_num = text_num + 1; + + for ( j = 0; j < cor3_num; j++ ) { + fprintf ( fileout, "%f %f %f\n", cor3[0][j], cor3[1][j], cor3[2][j] ); + text_num = text_num + 1; + } + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + jp = face[ivert][iface] + 1; + if ( ivert == face_order[iface] - 1 ) { + jp = - jp; + } + fprintf ( fileout, "%d ", jp ); + } + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "BYU_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int char_index_last ( char* string, char c ) + +/******************************************************************************/ + +/* + Purpose: + + CHAR_INDEX_LAST reports the last occurrence of a character in a string. + + Author: + + John Burkardt +*/ +{ + int i; + int j; + int nchar; + + j = -1; + + nchar = strlen ( string ); + + for ( i = 0; i < nchar; i++ ) { + if ( string[i] == c ) { + j = i; + } + } + + return j; + +} +/******************************************************************************/ + +int char_pad ( int *char_index, int *null_index, char *string, + int STRING_MAX ) + +/******************************************************************************/ + +/* + Purpose: + + CHAR_PAD "pads" a character in a string with a blank on either side. + + Modified: + + 16 October 1998 + + Author: + + John Burkardt + + Parameters: + + Input/output, int *CHAR_INDEX, the position of the character to be padded. + On output, this is increased by 1. + + Input/output, int *NULL_INDEX, the position of the terminating NULL in + the string. On output, this is increased by 2. + + Input/output, char STRING[STRING_MAX], the string to be manipulated. + + Input, int STRING_MAX, the maximum number of characters that can be stored + in the string. + + Output, int CHAR_PAD, is SUCCESS if the operation worked, and ERROR otherwise. +*/ +{ + int i; + + if ( *char_index < 0 || + *char_index >= *null_index || + *char_index > STRING_MAX-1 ) { + return ERROR; + } + + if ( (*null_index) + 2 > STRING_MAX-1 ) { + return ERROR; + } + + for ( i = *null_index + 2; i > *char_index + 2; i-- ) { + string[i] = string[i-2]; + } + string[*char_index+2] = ' '; + string[*char_index+1] = string[*char_index]; + string[*char_index] = ' '; + + *char_index = *char_index + 1; + *null_index = *null_index + 2; + + return SUCCESS; +} +/******************************************************************************/ + +char char_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + CHAR_READ reads one character from a binary file. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt +*/ +{ + char c; + + c = ( char ) fgetc ( filein ); + + return c; +} +/******************************************************************************/ + +int char_write ( FILE *fileout, char c ) + +/******************************************************************************/ + +/* + Purpose: + + CHAR_WRITE writes one character to a binary file. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt +*/ +{ + fputc ( c, fileout ); + + return 1; +} +/******************************************************************************/ + +int command_line ( char **argv ) + +/******************************************************************************/ + +/* + + Purpose: + + COMMAND_LINE carries out a command-line session of file conversion. + + Discussion: + + This routine is invoked when the user command is something like + + ivcon filein_name fileout_name + + or + + ivcon -rn filein_name fileout_name + + where "-rn" signals the "reverse normals" option, or + + ivcon -rf filein_name fileout_name + + where "-rf" signals the "reverse faces" option. + + Modified: + + 28 June 1999 + + Author: + + John Burkardt +*/ +{ + int i; + int iarg; + int icor3; + int ierror; + int iface; + int ivert; + int reverse_faces; + int reverse_normals; +/* + Initialize local data. +*/ + iarg = 0; + ierror = 0; + reverse_faces = FALSE; + reverse_normals = FALSE; +/* + Initialize the graphics data. +*/ + data_init ( ); +/* + Get the -RN option, -RF option, and the input file name. +*/ + iarg = iarg + 1; + strcpy ( filein_name, argv[iarg] ); + + if ( leqi ( filein_name, "-RN" ) == TRUE ) { + reverse_normals = TRUE; + printf ( "\n" ); + printf ( "COMMAND_LINE: Reverse_Normals option requested.\n" ); + iarg = iarg + 1; + strcpy ( filein_name, argv[iarg] ); + } + + if ( leqi ( filein_name, "-RF" ) == TRUE ) { + reverse_faces = TRUE; + printf ( "\n" ); + printf ( "COMMAND_LINE: Reverse_Faces option requested.\n" ); + iarg = iarg + 1; + strcpy ( filein_name, argv[iarg] ); + } +/* + Read the input. +*/ + ierror = data_read ( ); + + if ( ierror == ERROR ) { + printf ( "\n" ); + printf ( "COMMAND_LINE - Fatal error!\n" ); + printf ( " Failure while reading input data.\n" ); + return ERROR; + } +/* + Reverse the normal vectors if requested. +*/ + if ( reverse_normals == TRUE ) { + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + for ( i = 0; i < 3; i++ ) { + cor3_normal[i][icor3] = - cor3_normal[i][icor3]; + } + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = - face_normal[i][iface]; + } + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = + - vertex_normal[i][ivert][iface]; + } + } + } + printf ( "\n" ); + printf ( "COMMAND_LINE - Note:\n" ); + printf ( " Reversed node, face, and vertex normals.\n" ); + } +/* + Reverse the faces if requested. +*/ + if ( reverse_faces == TRUE ) { + + face_reverse_order ( ); + + printf ( "\n" ); + printf ( "COMMAND_LINE - Note:\n" ); + printf ( " Reversed the face definitions.\n" ); + } +/* + Write the output file. +*/ + iarg = iarg + 1; + strcpy ( fileout_name, argv[iarg] ); + + ierror = data_write ( ); + + if ( ierror == ERROR ) { + printf ( "\n" ); + printf ( "COMMAND_LINE - Fatal error!\n" ); + printf ( " Failure while writing output data.\n" ); + return ERROR; + } + return SUCCESS; +} +/******************************************************************************/ + +void cor3_normal_set ( void ) + +/******************************************************************************/ + +/* + Purpose: + + COR3_NORMAL_SET computes node normal vectors. + + Modified: + + 18 November 1998 + + Author: + + John Burkardt +*/ +{ + int icor3; + int iface; + int ivert; + int j; + float norm; + float temp; + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + for ( j = 0; j < 3; j++ ) { + cor3_normal[j][icor3] = 0.0; + } + } +/* + Add up the normals at all the faces to which the node belongs. +*/ + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + icor3 = face[ivert][iface]; + + for ( j = 0; j < 3; j++ ) { + cor3_normal[j][icor3] = cor3_normal[j][icor3] + + vertex_normal[j][ivert][iface]; + } + } + } +/* + Renormalize. +*/ + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + + norm = 0.0; + for ( j = 0; j < 3; j++ ) { + temp = cor3_normal[j][icor3]; + norm = norm + temp * temp; + } + + if ( norm == 0.0 ) { + norm = 3.0; + for ( j = 0; j < 3; j++ ) { + cor3_normal[j][icor3] = 1.0; + } + } + + norm = ( float ) sqrt ( norm ); + + for ( j = 0; j < 3; j++ ) { + cor3_normal[j][icor3] = cor3_normal[j][icor3] / norm; + } + } + + return; +} +/******************************************************************************/ + +void cor3_range ( void ) + +/******************************************************************************/ + +/* + Purpose: + + COR3_RANGE computes the coordinate minima and maxima. + + Modified: + + 31 August 1998 + + Author: + + John Burkardt +*/ +{ + int i; + float xave; + float xmax; + float xmin; + float yave; + float ymax; + float ymin; + float zave; + float zmax; + float zmin; + + xave = cor3[0][0]; + xmax = cor3[0][0]; + xmin = cor3[0][0]; + + yave = cor3[1][0]; + ymax = cor3[1][0]; + ymin = cor3[1][0]; + + zave = cor3[2][0]; + zmax = cor3[2][0]; + zmin = cor3[2][0]; + + for ( i = 1; i < cor3_num; i++ ) { + + xave = xave + cor3[0][i]; + if ( cor3[0][i] < xmin ) { + xmin = cor3[0][i]; + } + if ( cor3[0][i] > xmax ) { + xmax = cor3[0][i]; + } + + yave = yave + cor3[1][i]; + if ( cor3[1][i] < ymin ) { + ymin = cor3[1][i]; + } + if ( cor3[1][i] > ymax ) { + ymax = cor3[1][i]; + } + + zave = zave + cor3[2][i]; + if ( cor3[2][i] < zmin ) { + zmin = cor3[2][i]; + } + if ( cor3[2][i] > zmax ) { + zmax = cor3[2][i]; + } + } + + xave = xave / cor3_num; + yave = yave / cor3_num; + zave = zave / cor3_num; + + printf ( "\n" ); + printf ( "COR3_RANGE - Data range:\n" ); + printf ( "\n" ); + printf ( " Minimum Average Maximum Range\n" ); + printf ( "\n" ); + printf ( "X %f %f %f %f\n", xmin, xave, xmax, xmax-xmin ); + printf ( "Y %f %f %f %f\n", ymin, yave, ymax, ymax-ymin ); + printf ( "Z %f %f %f %f\n", zmin, zave, zmax, zmax-zmin ); + +} +/******************************************************************************/ + +void data_check ( void ) + +/******************************************************************************/ + +/* + Purpose: + + DATA_CHECK checks the input data. + + Modified: + + 18 May 1999 + + Author: + + John Burkardt +*/ +{ + int iface; + int nfix; + + if ( color_num > COLOR_MAX ) { + printf ( "\n" ); + printf ( "DATA_CHECK - Warning!\n" ); + printf ( " The input data requires %d colors.\n", color_num ); + printf ( " There was only room for %d\n", COLOR_MAX ); + color_num = COLOR_MAX; + } + + if ( cor3_num > COR3_MAX ) { + printf ( "\n" ); + printf ( "DATA_CHECK - Warning!\n" ); + printf ( " The input data requires %d points.\n", cor3_num ); + printf ( " There was only room for %d\n", COR3_MAX ); + cor3_num = COR3_MAX; + } + + if ( face_num > FACE_MAX ) { + printf ( "\n" ); + printf ( "DATA_CHECK - Warning!\n" ); + printf ( " The input data requires %d faces.\n", face_num ); + printf ( " There was only room for %d\n", FACE_MAX ); + face_num = FACE_MAX; + } + + if ( line_num > LINES_MAX ) { + printf ( "\n" ); + printf ( "DATA_CHECK - Warning!\n" ); + printf ( " The input data requires %d line items.\n", line_num ); + printf ( " There was only room for %d.\n", LINES_MAX ); + line_num = LINES_MAX; + } + + nfix = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + + if ( face_order[iface] > ORDER_MAX ) { + face_order[iface] = ORDER_MAX; + nfix = nfix + 1; + } + + } + + if ( nfix > 0 ) { + printf ( "\n" ); + printf ( "DATA_CHECK - Warning!\n" ); + printf ( " Corrected %d faces using more than %d vertices per face.\n", + nfix, ORDER_MAX ); + } + + for ( i = 0; i < material_num; i++ ) { + if ( strcmp ( material_name[i], "" ) == 0 ) { + strcpy ( material_name[i], "Material_0000" ); + } + } + + for ( i = 0; i < texture_num; i++ ) { + if ( strcmp ( texture_name[i], "" ) == 0 ) { + strcpy ( texture_name[i], "Texture_0000" ); + } + } + + printf ( "\n" ); + printf ( "DATA_CHECK - Data checked.\n" ); + + return; +} +/******************************************************************************/ + +void data_init ( void ) + +/******************************************************************************/ + +/* + Purpose: + + DATA_INIT initializes the internal graphics data. + + Modified: + + 04 July 2000 + + Author: + + John Burkardt +*/ +{ + int i; + int iface; + int ivert; + int j; + int k; + + strcpy( anim_name, "" ); + + for ( i = 0; i < 3; i++ ) { + background_rgb[i] = 0.0; + } + + for ( i = 0; i < 3; i++ ) { + for ( j = 0; j < COR3_MAX; j++ ) { + cor3[i][j] = 0.0; + } + } + + for ( i = 0; i < COR3_MAX; i++ ) { + cor3_material[i] = 0; + } + + for ( i = 0; i < 3; i++ ) { + for ( j = 0; j < COR3_MAX; j++ ) { + cor3_normal[i][j] = 0.0; + } + } + + for ( j = 0; j < COR3_MAX; j++ ) { + cor3_tex_uv[0][j] = 0.0; + cor3_tex_uv[1][j] = 0.0; + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + face[ivert][iface] = 0; + } + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + face_flags[iface] = 6; + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + face_material[iface] = 0; + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = 0; + } + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + face_object[iface] = -1; + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + face_order[iface] = 0; + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + face_smooth[iface] = 1; + } + + for ( i = 0; i < LINES_MAX; i++ ) { + line_dex[i] = -1; + } + + for ( i = 0; i < LINES_MAX; i++ ) { + line_material[i] = 0; + } + + strcpy ( material_binding, "DEFAULT" ); + + for ( j = 0; j < MATERIAL_MAX; j++ ) { + strcpy ( material_name[j], "Material_0000" ); + } + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < MATERIAL_MAX; j++ ) { + material_rgba[i][j] = 0.0; + } + } + + strcpy ( normal_binding, "DEFAULT" ); + + for ( j = 0; j < ORDER_MAX*FACE_MAX; j++ ) { + for ( i = 0; i < 3; i++ ) { + normal_temp[i][j] = 0; + } + } + + color_num = 0; + cor3_num = 0; + face_num = 0; + group_num = 0; + line_num = 0; + material_num = 0; + object_num = 0; + texture_num = 0; + + strcpy ( object_name, "IVCON" ); + + for ( i = 0; i < 3; i++ ) { + origin[i] = 0.0; + } + + for ( i = 0; i < 3; i++ ) { + pivot[i] = 0.0; + } + + for ( j = 0; j < COLOR_MAX; j++ ) { + rgbcolor[0][j] = 0.299; + rgbcolor[1][j] = 0.587; + rgbcolor[2][j] = 0.114; + } + + strcpy ( texture_binding, "DEFAULT" ); + + for ( j = 0; j < TEXTURE_MAX; j++ ) { + strcpy ( texture_name[j], "Texture_0000" ); + } + + tmat_init ( transform_matrix ); + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + vertex_material[ivert][iface] = 0; + } + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = 0.0; + } + } + } + + for ( j = 0; j < 3; j++ ) { + for ( k = 0; k < FACE_MAX; k++ ) { + vertex_rgb[0][j][k] = 0.299; + vertex_rgb[1][j][k] = 0.587; + vertex_rgb[2][j][k] = 0.114; + } + } + + for ( iface = 0; iface < FACE_MAX; iface++ ) { + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + for ( i = 0; i < 2; i++ ) { + vertex_tex_uv[i][ivert][iface] = 0.0; + } + } + } + + if ( debug ) { + printf ( "\n" ); + printf ( "DATA_INIT: Graphics data initialized.\n" ); + } + + return; +} +/******************************************************************************/ + +int data_read ( void ) + +/******************************************************************************/ + +/* + Purpose: + + DATA_READ reads a file into internal graphics data. + + Modified: + + 26 September 1999 + + Author: + + John Burkardt +*/ +{ + FILE *filein; + char *filein_type; + int icor3; + int ierror; + int iface; + int iline; + int ivert; + int ntemp; +/* + Retrieve the input file type. +*/ + filein_type = file_ext ( filein_name ); + + if ( filein_type == NULL ) { + printf ( "\n" ); + printf ( "DATA_READ - Fatal error!\n" ); + printf ( " Could not determine the type of '%s'.\n", filein_name ); + return ERROR; + } + else if ( debug ) { + printf ( "\n" ); + printf ( "DATA_READ: Input file has type %s.\n", filein_type ); + } +/* + Initialize some data. +*/ + max_order2 = 0; + bad_num = 0; + bytes_num = 0; + comment_num = 0; + dup_num = 0; + text_num = 0; +/* + Open the file. +*/ + if ( leqi ( filein_type, "3DS" ) == TRUE || + leqi ( filein_type, "STLB" ) == TRUE || + leqi ( filein_type, "TRIB" ) == TRUE ) { + filein = fopen ( filein_name, "rb" ); + } + else { + filein = fopen ( filein_name, "r" ); + } + + if ( filein == NULL ) { + printf ( "\n" ); + printf ( "DATA_READ - Fatal error!\n" ); + printf ( " Could not open the input file '%s'!\n", filein_name ); + return ERROR; + } +/* + Read the information in the file. +*/ + if ( leqi ( filein_type, "3DS" ) == TRUE ) { + + ierror = tds_read ( filein ); +/* + Cleanup: distribute the node textures to the vertices. +*/ + if ( ierror == SUCCESS ) { + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + icor3 = face[ivert][iface]; + vertex_tex_uv[0][ivert][iface] = cor3_tex_uv[0][icor3]; + vertex_tex_uv[1][ivert][iface] = cor3_tex_uv[1][icor3]; + } + } + + } + + } + else if ( leqi ( filein_type, "ASE" ) == TRUE ) { + + ierror = ase_read ( filein ); + + if ( ierror == SUCCESS ) { + + node_to_vertex_material ( ); + + vertex_to_face_material ( ); + + } + + } + else if ( leqi ( filein_type, "BYU" ) == TRUE ) { + + ierror = byu_read ( filein ); + + } + else if ( leqi ( filein_type, "DXF" ) == TRUE ) { + + ierror = dxf_read ( filein ); + + } + else if ( leqi ( filein_type, "GMOD" ) == TRUE ) { + + ierror = gmod_read ( filein ); + + } + else if ( leqi ( filein_type, "HRC" ) == TRUE ) { + + ierror = hrc_read ( filein ); + + } + else if ( leqi ( filein_type, "IV" ) == TRUE ) { + + ierror = iv_read ( filein ); + + } + else if ( leqi ( filein_type, "OBJ" ) == TRUE ) { + + ierror = obj_read ( filein ); + + } + else if ( leqi ( filein_type, "SMF" ) == TRUE ) { + + ierror = smf_read ( filein ); + + } + else if ( + leqi ( filein_type, "STL" ) == TRUE || + leqi ( filein_type, "STLA") == TRUE ) { + + ierror = stla_read ( filein ); + + if( ierror ) { + // might be binary + fclose(filein); + filein = fopen ( filein_name, "rb" ); + ierror = stlb_read ( filein ); + } + } + else if ( leqi ( filein_type, "STLB") == TRUE ) { + + ierror = stlb_read ( filein ); + + } + else if ( + leqi ( filein_type, "TRI" ) == TRUE || + leqi ( filein_type, "TRIA") == TRUE ) { + + ierror = tria_read ( filein ); + + } + else if ( leqi ( filein_type, "TRIB") == TRUE ) { + + ierror = trib_read ( filein ); + + } + else if ( leqi ( filein_type, "VLA" ) == TRUE ) { + + ierror = vla_read ( filein ); + + } + else { + printf ( "\n" ); + printf ( "DATA_READ - Fatal error!\n" ); + printf ( " Unacceptable input file type.\n" ); + return ERROR; + } + + fclose ( filein ); + + if ( debug ) { + printf ( "DATA_READ: Finished reading the data file.\n" ); + } +/* + Catch errors reported by the various reading routines. +*/ + if ( ierror == ERROR ) { + return ierror; + } +/* + Restore the transformation matrix. +*/ + tmat_init ( transform_matrix ); +/* + Report on what we read. +*/ + if ( face_num < FACE_MAX ) { + ntemp = face_num; + } + else { + ntemp = FACE_MAX; + } + + max_order2 = ivec_max ( ntemp, face_order ); + + data_report ( ); +/* + Warn about any errors that occurred during reading. +*/ + if ( ierror == ERROR ) { + printf ( "\n" ); + printf ( "DATA_READ - Fatal error!\n" ); + printf ( " An error occurred while reading the input file.\n" ); + return ERROR; + } +/* + Check the data. + You MUST wait until after this check before doing other computations, + since COR3_NUM and other variables could be much larger than the legal + maximums, until corrected by DATA_CHECK. +*/ + data_check ( ); +/* + MATERIALS FIXUPS: + + If there are no materials at all, define one. +*/ + if ( material_num < 1 ) { + material_num = 1; + strcpy ( material_name[0], "Material_0000" ); + material_rgba[0][0] = 0.7; + material_rgba[1][0] = 0.7; + material_rgba[2][0] = 0.7; + material_rgba[3][0] = 1.0; + } +/* + If a node has not been assigned a material, set it to material 0. +*/ + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + if ( cor3_material[icor3] < 0 || cor3_material[icor3] > material_num - 1 ) { + cor3_material[icor3] = 0; + } + } +/* + If a vertex has not been assigned a material, set it to material 0. +*/ + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + if ( vertex_material[ivert][iface] < 0 || vertex_material[ivert][iface] > material_num - 1 ) { + vertex_material[ivert][iface] = 0; + } + } + } +/* + If a face has not been assigned a material, set it to material 0. +*/ + for ( iface = 0; iface < face_num; iface++ ) { + if ( face_material[iface] < 0 || face_material[iface] > material_num - 1 ) { + face_material[iface] = 0; + } + } +/* + If a line item has not been assigned a material, set it to material 0. +*/ + for ( iline = 0; iline < line_num; iline++ ) { + if ( line_dex[iline] == -1 ) { + line_material[iline] = -1; + } + else if ( line_material[iline] < 0 || line_material[iline] > material_num - 1 ) { + line_material[iline] = 0; + } + } +/* + Delete edges of zero length. +*/ + edge_null_delete ( ); +/* + Compute the area of each face. +*/ + face_area_set ( ); +/* + Delete faces with zero area. +*/ + face_null_delete ( ); +/* + Recompute zero face-vertex normals from vertex positions. +*/ + vertex_normal_set ( ); +/* + Compute the node normals from the vertex normals. +*/ + cor3_normal_set ( ); +/* + Recompute zero face normals by averaging face-vertex normals. +*/ + face_normal_ave ( ); +/* + Report on the nodal coordinate range. +*/ + cor3_range ( ); + + return SUCCESS; +} +/**********************************************************************/ + +void data_report ( void ) + +/**********************************************************************/ + +/* + Purpose: + + DATA_REPORT gives a summary of the contents of the data file. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt +*/ +{ + printf ( "\n" ); + printf ( "DATA_REPORT - The input file contains:\n" ); + printf ( "\n" ); + printf ( " Bad data items %d\n", bad_num ); + printf ( " Text lines %d\n", text_num ); + printf ( " Text bytes (binary data) %d\n", bytes_num ); + printf ( " Colors %d\n", color_num ); + printf ( " Comments %d\n", comment_num ); + printf ( " Duplicate points %d\n", dup_num ); + printf ( " Faces %d\n", face_num ); + printf ( " Groups %d\n", group_num ); + printf ( " Vertices per face, maximum %d\n", max_order2 ); + printf ( " Line items %d\n", line_num ); + printf ( " Points %d\n", cor3_num ); + printf ( " Objects %d\n", object_num ); + + return; +} +/******************************************************************************/ + +int data_write ( void ) + +/******************************************************************************/ + +/* + Purpose: + + DATA_WRITE writes the internal graphics data to a file. + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + FILE *fileout; + char *fileout_type; + int line_num_save; + int result; + + result = SUCCESS; +/* + Retrieve the output file type. +*/ + fileout_type = file_ext ( fileout_name ); + + if ( fileout_type == NULL ) { + printf ( "\n" ); + printf ( "DATA_WRITE - Fatal error!\n" ); + printf ( " Could not determine the output file type.\n" ); + return ERROR; + } +/* + Open the output file. +*/ + if ( leqi ( fileout_type, "3DS" ) == TRUE || + leqi ( fileout_type, "STLB" ) == TRUE || + leqi ( fileout_type, "TRIB" ) ) { + fileout = fopen ( fileout_name, "wb" ); + } + else { + fileout = fopen ( fileout_name, "w" ); + } + + if ( fileout == NULL ) { + printf ( "\n" ); + printf ( "DATA_WRITE - Fatal error!\n" ); + printf ( " Could not open the output file!\n" ); + return ERROR; + } +/* + Write the output file. +*/ + if ( leqi ( fileout_type, "3DS" ) == TRUE ) { + + tds_pre_process(); + result = tds_write ( fileout ); + + } + else if ( leqi ( fileout_type, "ASE" ) == TRUE ) { + + result = ase_write ( fileout ); + + } + else if ( leqi ( fileout_type, "BYU" ) == TRUE ) { + + result = byu_write ( fileout ); + + } + else if ( leqi ( fileout_type, "DXF" ) == TRUE ) { + + result = dxf_write ( fileout ); + + } + else if ( leqi ( fileout_type, "GMOD" ) == TRUE ) { + + result = gmod_write ( fileout ); + + } + else if ( leqi ( fileout_type, "HRC" ) == TRUE ) { + + result = hrc_write ( fileout ); + + } + else if ( leqi ( fileout_type, "IV" ) == TRUE ) { + + result = iv_write ( fileout ); + + } + else if ( leqi ( fileout_type, "OBJ" ) == TRUE ) { + + result = obj_write ( fileout ); + + } + else if ( leqi ( fileout_type, "POV" ) == TRUE ) { + + result = pov_write ( fileout ); + + } + else if ( leqi ( fileout_type, "SMF" ) == TRUE ) { + + result = smf_write ( fileout ); + + } + else if ( + leqi ( fileout_type, "STL" ) == TRUE || + leqi ( fileout_type, "STLA" ) == TRUE ) { + + result = stla_write ( fileout ); + + } + else if ( leqi ( fileout_type, "STLB" ) == TRUE ) { + + result = stlb_write ( fileout ); + + } + else if ( leqi ( fileout_type, "TEC" ) == TRUE ) { + + result = tec_write ( fileout ); + + } + else if ( + leqi ( fileout_type, "TRI" ) == TRUE || + leqi ( fileout_type, "TRIA" ) == TRUE ) { + + result = tria_write ( fileout ); + + } + else if ( leqi ( fileout_type, "TRIB" ) == TRUE ) { + + result = trib_write ( fileout ); + + } + else if ( leqi ( fileout_type, "TXT" ) == TRUE ) { + + result = txt_write ( fileout ); + + } + else if ( leqi ( fileout_type, "UCD" ) == TRUE ) { + + result = ucd_write ( fileout ); + + } + else if ( leqi ( fileout_type, "VLA" ) == TRUE ) { + + line_num_save = line_num; + + if ( face_num > 0 ) { + + printf ( "\n" ); + printf ( "DATA_WRITE - Note:\n" ); + printf ( " Face information will temporarily be converted to\n" ); + printf ( " line information for output to a VLA file.\n" ); + + face_to_line ( ); + + if ( line_num > LINES_MAX ) { + printf ( "\n" ); + printf ( "DATA_WRITE - Warning:\n" ); + printf ( " Some face information was lost.\n" ); + printf ( " The maximum number of lines is %d.\n", LINES_MAX ); + printf ( " The number of lines needed is %d.\n", line_num ); + line_num = LINES_MAX; + } + + } + + result = vla_write ( fileout ); + + line_num = line_num_save; + + } + else if ( leqi ( fileout_type, "WRL" ) == TRUE ) { + + result = wrl_write ( fileout ); + + } + else if ( leqi ( fileout_type, "XGL" ) == TRUE ) { + + result = xgl_write ( fileout ); + + } + else { + + result = ERROR; + printf ( "\n" ); + printf ( "DATA_WRITE - Fatal error!\n" ); + printf ( " Unacceptable output file type \"%s\".\n", fileout_type ); + + } +/* + Close the output file. +*/ + fclose ( fileout ); + + if ( result == ERROR ) { + return ERROR; + } + else { + return SUCCESS; + } +} +/******************************************************************************/ + +int dxf_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + DXF_READ reads an AutoCAD DXF file. + + Examples: + + 0 + SECTION + 2 + HEADER + 999 + diamond.dxf created by IVREAD. + 999 + Original data in diamond.obj. + 0 + ENDSEC + 0 + SECTION + 2 + TABLES + 0 + ENDSEC + 0 + SECTION + 2 + BLOCKS + 0 + ENDSEC + 0 + SECTION + 2 + ENTITIES + 0 + LINE + 8 + 0 + 10 + 0.00 (X coordinate of beginning of line.) + 20 + 0.00 (Y coordinate of beginning of line.) + 30 + 0.00 (Z coordinate of beginning of line.) + 11 + 1.32 (X coordinate of end of line.) + 21 + 1.73 (Y coordinate of end of line.) + 31 + 2.25 (Z coordinate of end of line.) + 0 + 3DFACE + 8 + Cube + 10 + -0.50 (X coordinate of vertex 1) + 20 + 0.50 (Y coordinate of vertex 1) + 30 + 1.0 (Z coordinate of vertex 1) + 11 + 0.50 (X coordinate of vertex 2) + 21 + 0.50 (Y coordinate of vertex 2) + 31 + 1.0 (Z coordinate of vertex 2) + 12 + 0.50 (X coordinate of vertex 3) + 22 + 0.50 (Y coordinate of vertex 3) + 32 + 0.00 (Z coordinate of vertex 3) + 0 + ENDSEC + 0 + EOF + + Modified: + + 23 May 1999 + + Author: + + John Burkardt +*/ +{ + int code; + int count; + float cvec[3]; + int icor3; + char input1[LINE_MAX_LEN]; + char input2[LINE_MAX_LEN]; + int ivert; + float rval; + int width; + int linemode; + int cpos; + + linemode = 0; + ivert = 0; +/* + Read the next two lines of the file into INPUT1 and INPUT2. +*/ + + for ( ;; ) { + +/* + INPUT1 should contain a single integer, which tells what INPUT2 + will contain. +*/ + if ( fgets ( input1, LINE_MAX_LEN, filein ) == NULL ) { + break; + } + + text_num = text_num + 1; + + count = sscanf ( input1, "%d%n", &code, &width ); + if ( count <= 0 ) { + break; + } +/* + Read the second line, and interpret it according to the code. +*/ + if ( fgets ( input2, LINE_MAX_LEN, filein ) == NULL ) { + break; + } + + text_num = text_num + 1; + + if ( code == 0 ) { + + if ( ivert > 0 ) { + /* finish off the face */ + face_order[face_num] = ivert; + face_num = face_num + 1; + ivert = 0; + } + + if ( strncmp( input2, "LINE", 4 ) == 0 ) { + linemode = 1; + } + else if ( strncmp( input2, "3DFACE", 6 ) == 0 ) { + linemode = 0; + ivert = 0; + } + } + else { + + for (cpos = 0; input1[cpos] == ' '; cpos++) + {}; + + if ( input1[cpos] == '1' || input1[cpos] == '2' || input1[cpos] == '3' ) { + + count = sscanf ( input2, "%e%n", &rval, &width ); + + switch ( input1[cpos] ) + { + case '1': + if ( line_num > 0 ) { + if ( linemode ) { + line_dex[line_num] = - 1; + line_material[line_num] = - 1; + line_num = line_num + 1; + } + } + cvec[0] = rval; + break; + + case '2': + cvec[1] = rval; + break; + + case '3': + cvec[2] = rval; + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, cvec ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + icor3 = cor3_num; + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = cvec[0]; + cor3[1][cor3_num] = cvec[1]; + cor3[2][cor3_num] = cvec[2]; + } + cor3_num = cor3_num + 1; + } + else { + dup_num = dup_num + 1; + } + + if ( linemode ) { + line_dex[line_num] = icor3; + line_material[line_num] = 0; + line_num = line_num + 1; + } + else { + face[ivert][face_num] = icor3; + ivert = ivert + 1; + } + break; + + default: + break; + } + } + } + } + + if ( line_num > 0 ) { + if ( linemode ) { + line_dex[line_num] = - 1; + line_material[line_num] = - 1; + line_num = line_num + 1; + } + } + return SUCCESS; +} +/******************************************************************************/ + +int dxf_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + DXF_WRITE writes graphics information to an AutoCAD DXF file. + + Examples: + + 0 + SECTION + 2 + HEADER + 999 + diamond.dxf created by IVREAD. + 999 + Original data in diamond.obj. + 0 + ENDSEC + 0 + SECTION + 2 + TABLES + 0 + ENDSEC + 0 + SECTION + 2 + BLOCKS + 0 + ENDSEC + 0 + SECTION + 2 + ENTITIES + 0 + LINE + 8 + 0 + 10 + 0.00 (X coordinate of beginning of line.) + 20 + 0.00 (Y coordinate of beginning of line.) + 30 + 0.00 (Z coordinate of beginning of line.) + 11 + 1.32 (X coordinate of end of line.) + 21 + 1.73 (Y coordinate of end of line.) + 31 + 2.25 (Z coordinate of end of line.) + 0 + 3DFACE + 8 + Cube + 10 + -0.50 (X coordinate of vertex 1) + 20 + 0.50 (Y coordinate of vertex 1) + 30 + 1.0 (Z coordinate of vertex 1) + 11 + 0.50 (X coordinate of vertex 2) + 21 + 0.50 (Y coordinate of vertex 2) + 31 + 1.0 (Z coordinate of vertex 2) + 12 + 0.50 (X coordinate of vertex 3) + 22 + 0.50 (Y coordinate of vertex 3) + 32 + 0.00 (Z coordinate of vertex 3) + 0 + ENDSEC + 0 + EOF + + Modified: + + 16 May 1999 + + Author: + + John Burkardt +*/ +{ + int icor3; + int iline; + int iface; + int ivert; + int jcor3; + int newline; + int text_num; + +/* + Initialize. +*/ + text_num = 0; + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "SECTION\n" ); + fprintf ( fileout, " 2\n" ); + fprintf ( fileout, "HEADER\n" ); + fprintf ( fileout, "999\n" ); + fprintf ( fileout, "%s created by IVCON.\n", fileout_name ); + fprintf ( fileout, "999\n" ); + fprintf ( fileout, "Original data in %s.\n", filein_name ); + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "ENDSEC\n" ); + text_num = text_num + 10; + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "SECTION\n" ); + fprintf ( fileout, " 2\n" ); + fprintf ( fileout, "TABLES\n" ); + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "ENDSEC\n" ); + text_num = text_num + 6; + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "SECTION\n" ); + fprintf ( fileout, " 2\n" ); + fprintf ( fileout, "BLOCKS\n" ); + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "ENDSEC\n" ); + text_num = text_num + 6; + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "SECTION\n" ); + fprintf ( fileout, " 2\n" ); + fprintf ( fileout, "ENTITIES\n" ); + text_num = text_num + 4; +/* + Handle lines. +*/ + jcor3 = 0; + newline = TRUE; + + for ( iline = 0; iline < line_num; iline++ ) { + + icor3 = line_dex[iline]; + + if ( icor3 == -1 ) { + + newline = TRUE; + } + else { + + if ( newline == FALSE ) { + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "LINE\n" ); + fprintf ( fileout, " 8\n" ); + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, " 10\n" ); + fprintf ( fileout, "%f\n", cor3[0][jcor3] ); + fprintf ( fileout, " 20\n" ); + fprintf ( fileout, "%f\n", cor3[1][jcor3] ); + fprintf ( fileout, " 30\n" ); + fprintf ( fileout, "%f\n", cor3[2][jcor3] ); + fprintf ( fileout, " 11\n" ); + fprintf ( fileout, "%f\n", cor3[0][icor3] ); + fprintf ( fileout, " 21\n" ); + fprintf ( fileout, "%f\n", cor3[1][icor3] ); + fprintf ( fileout, " 31\n" ); + fprintf ( fileout, "%f\n", cor3[2][icor3] ); + + text_num = text_num + 16; + + } + + jcor3 = icor3; + newline = FALSE; + + } + } +/* + Handle faces. + (If FACE_ORDER is greater than 10, you're sure to have problems here) +*/ + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "3DFACE\n" ); + fprintf ( fileout, " 8\n" ); + fprintf ( fileout, " Cube\n" ); + text_num = text_num + 4; + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + icor3 = face[ivert][iface]; + + fprintf ( fileout, "1%d\n", ivert ); + fprintf ( fileout, "%f\n", cor3[0][icor3] ); + fprintf ( fileout, "2%d\n", ivert ); + fprintf ( fileout, "%f\n", cor3[1][icor3] ); + fprintf ( fileout, "3%d\n", ivert ); + fprintf ( fileout, "%f\n", cor3[2][icor3] ); + + text_num = text_num + 6; + } + } + + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "ENDSEC\n" ); + fprintf ( fileout, " 0\n" ); + fprintf ( fileout, "EOF\n" ); + text_num = text_num + 4; +/* + Report. +*/ + printf ( "\n" ); + printf ( "DXF_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/**********************************************************************/ + +void edge_null_delete ( void ) + +/**********************************************************************/ + +/* + Purpose: + + EDGE_NULL_DELETE deletes face edges with zero length. + + Modified: + + 16 July 1999 + + Author: + + John Burkardt +*/ +{ + float distsq; + int face2[ORDER_MAX]; + int face_order2; + int iface; + int inode; + int ivert; + int j; + int jnode; + int jvert; + int edge_num; + int edge_num_del; + float vertex_normal2[3][ORDER_MAX]; + float x; + float y; + float z; + + edge_num = 0; + edge_num_del = 0; +/* + Consider each face. +*/ + for ( iface = 0; iface < face_num; iface++ ) { +/* + Consider each pair of consecutive vertices. +*/ + face_order2 = 0; + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + edge_num = edge_num + 1; + + jvert = ivert + 1; + if ( jvert >= face_order[iface] ) { + jvert = 0; + } + + inode = face[ivert][iface]; + jnode = face[jvert][iface]; + + + x = cor3[0][inode] - cor3[0][jnode]; + y = cor3[1][inode] - cor3[1][jnode]; + z = cor3[2][inode] - cor3[2][jnode]; + + distsq = x * x + y * y + z * z; + + if ( distsq != 0.0 ) { + face2[face_order2] = face[ivert][iface]; + vertex_normal2[0][face_order2] = vertex_normal[0][ivert][iface]; + vertex_normal2[1][face_order2] = vertex_normal[1][ivert][iface]; + vertex_normal2[2][face_order2] = vertex_normal[2][ivert][iface]; + face_order2 = face_order2 + 1; + } + else { + edge_num_del = edge_num_del + 1; + } + + } + + face_order[iface] = face_order2; + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + face[ivert][iface] = face2[ivert]; + for ( j = 0; j < 3; j++ ) { + vertex_normal[j][ivert][iface] = vertex_normal2[j][ivert]; + } + } + + } + + printf ( "\n" ); + printf ( "EDGE_NULL_DELETE:\n" ); + printf ( " There are a total of %d edges.\n", edge_num ); + printf ( " Of these, %d were of zero length, and deleted.\n", edge_num_del ); + + return; +} +/**********************************************************************/ + +void face_area_set ( void ) + +/**********************************************************************/ + +/* + Purpose: + + FACE_AREA_SET computes the area of the faces. + + Formula: + + The area is the sum of the areas of the triangles formed by + node N with consecutive pairs of nodes. + + Reference: + + Adrian Bowyer and John Woodwark, + A Programmer's Geometry, + Butterworths, 1983. + + Modified: + + 17 July 1999 + + Author: + + John Burkardt +*/ +{ + float alpha; + float area_max; + float area_min; + float area_tri; + float base; + float dot; + float height; + int i; + int i1; + int i2; + int i3; + int iface; + int face_num_del; + float tol; + float x; + float x1; + float x2; + float x3; + float y; + float y1; + float y2; + float y3; + float z; + float z1; + float z2; + float z3; + + for ( iface = 0; iface < face_num; iface++ ) { + + face_area[iface] = 0.0; + + for ( i = 0; i < face_order[iface]-2; i++ ) { + + i1 = face[i][iface]; + i2 = face[i+1][iface]; + i3 = face[i+2][iface]; + + x1 = cor3[0][i1]; + y1 = cor3[1][i1]; + z1 = cor3[2][i1]; + + x2 = cor3[0][i2]; + y2 = cor3[1][i2]; + z2 = cor3[2][i2]; + + x3 = cor3[0][i3]; + y3 = cor3[1][i3]; + z3 = cor3[2][i3]; +/* + Find the projection of (P3-P1) onto (P2-P1). +*/ + dot = + ( x2 - x1 ) * ( x3 - x1 ) + + ( y2 - y1 ) * ( y3 - y1 ) + + ( z2 - z1 ) * ( z3 - z1 ); + + base = sqrt ( + ( x2 - x1 ) * ( x2 - x1 ) + + ( y2 - y1 ) * ( y2 - y1 ) + + ( z2 - z1 ) * ( z2 - z1 ) ); +/* + The height of the triangle is the length of (P3-P1) after its + projection onto (P2-P1) has been subtracted. +*/ + if ( base == 0.0 ) { + height = 0.0; + } + else { + + alpha = dot / ( base * base ); + + x = x3 - x1 - alpha * ( x2 - x1 ); + y = y3 - y1 - alpha * ( y2 - y1 ); + z = z3 - z1 - alpha * ( z2 - z1 ); + + height = sqrt ( x * x + y * y + z * z ); + + } + + area_tri = 0.5 * base * height; + + face_area[iface] = face_area[iface] + area_tri; + + } + + } + + area_min = face_area[0]; + area_max = face_area[0]; + + for ( iface = 1; iface < face_num; iface++ ) { + if ( area_min > face_area[iface] ) { + area_min = face_area[iface]; + } + if ( area_max < face_area[iface] ) { + area_max = face_area[iface]; + } + } + + printf ( "\n" ); + printf ( "FACE_AREA_SET:\n" ); + printf ( " Minimum face area is %f\n", area_min ); + printf ( " Maximum face area is %f\n", area_max ); + + tol = area_max / 10000.0; + + if ( area_min < tol ) { + + face_num_del = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + if ( face_area[iface] < tol ) { + face_order[iface] = 0; + face_num_del = face_num_del + 1; + } + } + + printf ( " Marked %d tiny faces for deletion.\n", face_num_del ); + + } + + return; +} +/******************************************************************************/ + +void face_normal_ave ( void ) + +/******************************************************************************/ + +/* + Purpose: + + FACE_NORMAL_AVE sets face normals as average of face vertex normals. + + Modified: + + 09 October 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int iface; + int ivert; + int nfix; + float norm; + float x; + float y; + float z; + + if ( face_num <= 0 ) { + return; + } + + nfix = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + +/* + Check the norm of the current normal vector. +*/ + x = face_normal[0][iface]; + y = face_normal[1][iface]; + z = face_normal[2][iface]; + norm = ( float ) sqrt ( x * x + y * y + z * z ); + + if ( norm == 0.0 ) { + + nfix = nfix + 1; + + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = 0.0; + } + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = face_normal[i][iface] + + vertex_normal[i][ivert][iface]; + } + } + + x = face_normal[0][iface]; + y = face_normal[1][iface]; + z = face_normal[2][iface]; + norm = ( float ) sqrt ( x * x + y * y + z * z ); + + if ( norm == 0.0 ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = ( float ) ( 1.0 / sqrt ( 3.0 ) ); + } + } + else { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = face_normal[i][iface] / norm; + } + } + } + } + + if ( nfix > 0 ) { + printf ( "\n" ); + printf ( "FACE_NORMAL_AVE: Recomputed %d face normals\n", nfix ); + printf ( " by averaging face vertex normals.\n" ); + } + return; +} +/**********************************************************************/ + +void face_null_delete ( void ) + +/**********************************************************************/ + +/* + Purpose: + + FACE_NULL_DELETE deletes faces of order less than 3. + + Comments: + + Thanks to Susan M. Fisher, University of North Carolina, + Department of Computer Science, for pointing out a coding error + in FACE_NULL_DELETE that was overwriting all the data! + + Modified: + + 30 November 1999 + + Author: + + John Burkardt +*/ +{ + int iface; + int ivert; + int j; + int face_num2; +/* + FACE_NUM2 is the number of faces we'll keep. +*/ + face_num2 = 0; +/* + Check every face. +*/ + for ( iface = 0; iface < face_num; iface++ ) { +/* + Keep it only if it has order 3 or more. +*/ + if ( face_order[iface] >= 3 ) { +/* + We don't have to slide data down in the array until + NUMFACE2 and IFACE get out of synch, that is, after + we've discarded at least one face. +*/ + if ( face_num2 != iface ) { + + face_area[face_num2] = face_area[iface]; + face_material[face_num2] = face_material[iface]; + face_order[face_num2] = face_order[iface]; + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + face[ivert][face_num2] = face[ivert][iface]; + vertex_material[ivert][face_num2] = vertex_material[ivert][iface]; + for ( j = 0; j < 3; j++ ) { + vertex_normal[j][ivert][face_num2] = vertex_normal[j][ivert][iface]; + } + } + + } +/* + Update the count only after we've used the un-incremented value + as a pointer. +*/ + face_num2 = face_num2 + 1; + + } + + } + + printf ( "\n" ); + printf ( "FACE_NULL_DELETE\n" ); + printf ( " There are a total of %d faces.\n", face_num ); + printf ( " Of these, %d passed the order test.\n", face_num2 ); + + face_num = face_num2; + + return; +} +/******************************************************************************/ + +int face_print ( int iface ) + +/******************************************************************************/ + +/* + Purpose: + + FACE_PRINT prints out information about a face. + + Modified: + + 31 August 1998 + + Author: + + John Burkardt +*/ +{ + int ivert; + int j; + int k; + + if ( iface < 0 || iface > face_num-1 ) { + printf ( "\n" ); + printf ( "FACE_PRINT - Fatal error!\n" ); + printf ( " Face indices must be between 1 and %d\n", face_num ); + printf ( " But your requested value was %d\n", iface ); + return ERROR; + } + + printf ( "\n" ); + printf ( "FACE_PRINT\n" ); + printf ( " Information about face %d\n", iface ); + printf ( "\n" ); + printf ( " Number of vertices is %d\n", face_order[iface] ); + printf ( "\n" ); + printf ( " Vertex list:\n" ); + printf ( " Vertex #, Node #, Material #, X, Y, Z:\n" ); + printf ( "\n" ); + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + j = face[ivert][iface]; + k = vertex_material[ivert][iface]; + printf ( " %d %d %d %f %f %f\n", ivert, j, k, cor3[0][j], cor3[1][j], + cor3[2][j] ); + } + + printf ( "\n" ); + printf ( " Face normal vector:\n" ); + printf ( "\n" ); + printf ( " %f %f %f\n", face_normal[0][iface], face_normal[1][iface], + face_normal[2][iface] ); + + printf ( "\n" ); + printf ( " Vertex face normals:\n" ); + printf ( "\n" ); + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + printf ( " %d %f %f %f\n", ivert, vertex_normal[0][ivert][iface], + vertex_normal[1][ivert][iface], vertex_normal[2][ivert][iface] ); + } + + return SUCCESS; + +} +/**********************************************************************/ + +void face_reverse_order ( void ) + +/**********************************************************************/ + +/* + Purpose: + + FACE_REVERSE_ORDER reverses the order of the nodes in each face. + + Discussion: + + Reversing the order of the nodes requires that the normal vectors + be reversed as well, so this routine will automatically reverse + the normals associated with nodes, vertices and faces. + + Modified: + + 28 June 1999 + + Author: + + John Burkardt +*/ +{ + int i; + int iface; + int itemp; + int ivert; + int j; + int m; + float temp; + + for ( iface = 0; iface < face_num; iface++ ) { + + m = face_order[iface]; + + for ( ivert = 0; ivert < ( m / 2 ); ivert++ ) { + + itemp = face[ivert][iface]; + face[ivert][iface] = face[m-1-ivert][iface]; + face[m-1-ivert][iface] = itemp; + + itemp = vertex_material[ivert][iface]; + vertex_material[ivert][iface] = vertex_material[m-1-ivert][iface]; + vertex_material[m-1-ivert][iface] = itemp; + + for ( j = 0; j < 3; j++ ) { + temp = vertex_normal[j][ivert][iface]; + vertex_normal[j][ivert][iface] = vertex_normal[j][m-1-ivert][iface]; + vertex_normal[j][m-1-ivert][iface] = temp; + } + + for ( j = 0; j < 2; j++ ) { + temp = vertex_tex_uv[j][ivert][iface]; + vertex_tex_uv[j][ivert][iface] = vertex_tex_uv[j][m-1-ivert][iface]; + vertex_tex_uv[j][m-1-ivert][iface] = temp; + } + + } + + } + + for ( i = 0; i < cor3_num; i++ ) { + for ( j = 0; j < 3; j++ ) { + cor3_normal[j][i] = - cor3_normal[j][i]; + } + } + + for ( i = 0; i < face_num; i++ ) { + for ( j = 0; j < 3; j++ ) { + face_normal[j][i] = - face_normal[j][i]; + } + } + + printf ( "\n" ); + printf ( "FACE_REVERSE_ORDER\n" ); + printf ( " Each list of nodes defining a face\n" ); + printf ( " has been reversed; related information,\n" ); + printf ( " including normal vectors, was also updated.\n" ); + + return; +} + +/******************************************************************************/ + +int face_subset ( void ) + +/******************************************************************************/ + +/* + Purpose: + + FACE_SUBSET selects a subset of the current faces as the new object. + + Warning: + + The original graphic object is overwritten by the new one. + + Modified: + + 12 October 1998 + + Author: + + John Burkardt + +*/ +{ + int i; + int iface; + int iface1; + int iface2; + int inc; + int ivert; + int j; + int k; + int cor3_num2; + + line_num = 0; +/* + Get the first and last faces to save, IFACE1 and IFACE2. +*/ + printf ( "\n" ); + printf ( "Enter lowest face number to save between 0 and %d:\n", face_num-1 ); + scanf ( "%d", &iface1 ); + if ( iface1 < 0 || iface1 > face_num - 1 ) { + printf ( "Illegal choice!\n" ); + return ERROR; + } + + printf ( "\n" ); + printf ( "Enter highest face number to save between %d and %d:\n", + iface1, face_num-1 ); + scanf ( "%d", &iface2 ); + if ( iface2 < iface1 || iface2 > face_num - 1 ) { + printf ( "Illegal choice!\n" ); + return ERROR; + } + + inc = iface1; +/* + "Slide" the data for the saved faces down the face arrays. +*/ + for ( iface = 0; iface < iface2 + 1 - iface1; iface++ ) { + face_order[iface] = face_order[iface+inc]; + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + face[ivert][iface] = face[ivert][iface+inc]; + vertex_material[ivert][iface] = vertex_material[ivert][iface+inc]; + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = + vertex_normal[i][ivert][iface+inc]; + vertex_rgb[i][ivert][iface] = vertex_rgb[i][ivert][iface+inc]; + } + } + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = face_normal[i][iface+inc]; + } + } +/* + Now reset the number of faces. +*/ + face_num = iface2 + 1 - iface1; +/* + Now, for each point I, set LIST(I) = J if point I is the J-th + point we are going to save, and 0 otherwise. Then J will be + the new label of point I. +*/ + for ( i = 0; i < cor3_num; i++ ) { + list[i] = -1; + } + + cor3_num2 = 0; + + for ( iface = 0; iface < face_num; iface++ ){ + for ( ivert = 0; ivert < face_order[iface]; ivert++ ){ + j = face[ivert][iface]; + if ( list[j] == -1 ) { + cor3_num2 = cor3_num2 + 1; + list[j] = cor3_num2; + } + } + } +/* + Now make the nonzero list entries rise in order, so that + we can compress the COR3 data in a minute. +*/ + cor3_num2 = 0; + + for ( i = 0; i < cor3_num; i++ ) { + if ( list[i] != -1 ) { + list[i] = cor3_num2; + cor3_num2 = cor3_num2 + 1; + } + } +/* + Relabel the FACE array with the new node indices. +*/ + for ( iface = 0; iface < face_num; iface++ ){ + for ( ivert = 0; ivert < face_order[iface]; ivert++ ){ + j = face[ivert][iface]; + face[ivert][iface] = list[j]; + } + } +/* + Rebuild the COR3 array by sliding data down. +*/ + for ( i = 0; i < cor3_num; i++ ){ + k = list[i]; + if ( k != -1 ) { + for ( j = 0; j < 3; j++ ) { + cor3[j][k] = cor3[j][i]; + } + } + } + + cor3_num = cor3_num2; + + return SUCCESS; +} +/**********************************************************************/ + +void face_to_line ( void ) + +/**********************************************************************/ + +/* + Purpose: + + FACE_TO_LINE converts face information to line information. + + Discussion: + + In some cases, the graphic information represented by polygonal faces + must be converted to a representation based solely on line segments. + This is particularly true if a VLA file is being written. + + Modified: + + 26 May 1999 + + Author: + + John Burkardt +*/ +{ + int icor3; + int iface; + int ivert; + int jcor3; + int jvert; +/* + Case 0: + No line pruning. +*/ + if ( line_prune == 0 ) { + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + icor3 = face[ivert][iface]; + + line_num = line_num + 1; + if ( line_num <= LINES_MAX ) { + line_dex[line_num] = icor3; + line_material[line_num] = vertex_material[ivert][iface]; + } + } + + ivert = 0; + icor3 = face[ivert][iface]; + + line_num = line_num + 1; + if ( line_num <= LINES_MAX ) { + line_dex[line_num] = icor3; + line_material[line_num] = vertex_material[ivert][iface]; + } + + line_num = line_num + 1; + if ( line_num <= LINES_MAX ) { + line_dex[line_num] = -1; + line_material[line_num] = -1; + } + } + + } +/* + Case 2: + Simple-minded line pruning. + Only draw line (I,J) if I < J. +*/ + else { + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + icor3 = face[ivert][iface]; + + if ( ivert + 1 < face_order[iface] ) { + jvert = ivert + 1; + } + else { + jvert = 0; + } + + jcor3 = face[jvert][iface]; + + if ( icor3 < jcor3 ) { + + if ( line_num + 3 < LINES_MAX ) { + + line_num = line_num + 1; + line_dex[line_num] = icor3; + line_material[line_num] = vertex_material[ivert][iface]; + + line_num = line_num + 1; + line_dex[line_num] = jcor3; + line_material[line_num] = vertex_material[jvert][iface]; + + line_num = line_num + 1; + line_dex[line_num] = -1; + line_material[line_num] = -1; + + } + } + } + } + + } + + return; +} +/**********************************************************************/ + +void face_to_vertex_material ( void ) + +/**********************************************************************/ + +/* + Purpose: + + FACE_TO_VERTEX_MAT extends face material definitions to vertices. + + Discussion: + + Assuming material indices are defined for all the faces, this + routine assigns to each vertex of a face the material of that face. + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + int iface; + int ivert; + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + vertex_material[ivert][iface] = face_material[iface]; + } + } + + return; +} +/******************************************************************************/ + +char *file_ext ( char *file_name ) + +/******************************************************************************/ + +/* + Purpose: + + FILE_EXT picks out the extension in a file name. + + Modified: + + 21 July 1998 + + Author: + + John Burkardt +*/ +{ + int i; + + i = char_index_last ( file_name, '.' ); + + if ( i == -1 ) { + return NULL; + } + else { + return file_name + i + 1; + } +} +/******************************************************************************/ + +float float_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + FLOAT_READ reads 1 float from a binary file. + + Modified: + + 24 May 1999 +*/ +{ + float rval; + float temp; + + fread ( &temp, sizeof ( float ), 1, filein ); + + if ( byte_swap == TRUE ) { + rval = float_reverse_bytes ( temp ); + } + else { + rval = temp; + } + + return rval; +} +/******************************************************************************/ + +float float_reverse_bytes ( float x ) + +/******************************************************************************/ + +/* + Purpose: + + FLOAT_REVERSE_BYTES reverses the four bytes in a float. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt + + Parameters: + + X, a float whose bytes are to be reversed. + + FLOAT_REVERSE_BYTES, a float with bytes in reverse order from those in X. +*/ +{ + char c; + union { + float yfloat; + char ychar[4]; + } y; + + y.yfloat = x; + + c = y.ychar[0]; + y.ychar[0] = y.ychar[3]; + y.ychar[3] = c; + + c = y.ychar[1]; + y.ychar[1] = y.ychar[2]; + y.ychar[2] = c; + + return ( y.yfloat ); +} +/******************************************************************************/ + +int float_write ( FILE *fileout, float float_val ) + +/******************************************************************************/ + +/* + Purpose: + + FLOAT_WRITE writes 1 float to a binary file. + + Modified: + + 23 September 1998 +*/ +{ + int nbyte = sizeof ( float ); + float temp; + + if ( byte_swap == TRUE ) { + temp = float_reverse_bytes ( float_val ); + } + else { + temp = float_val; + } + + fwrite ( &temp, nbyte, 1, fileout ); + + return nbyte; +} +/******************************************************************************/ + +int gmod_arch_check ( void ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_ARCH_CHECK inquires into some features of the computer architecture. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + static unsigned char one[4]; + int temp; + + temp = sizeof ( float ); + if ( temp != 4 ) { + return FALSE; + } + + *(float *)one = 1.0; + + if (one[0] == 0 && one[1] == 0 && one[2] == 128 && one[3] == 63) { + /* little endian IEEE floats */ + return TRUE; + } + + if (one[0] == 63 && one[1] == 128 && one[2] == 0 && one[3] == 0) { + /* big endian IEEE floats */ + return TRUE; + } + + return FALSE; +} +/******************************************************************************/ + +int gmod_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_READ reads a golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ + +/* +golgotha GMOD file format: + + + FILE HEADER + +w32 magic number f9 fa 63 1e +w32 number of sections +[ number of sections + w32 section id + w32 section offset +] + + + TEXTURE NAME SECTION - section id = 0x13 (19) + +w16 number of faces +[ number of faces + w16 texture name length + [ texture name length + w8 texture name character + ] +] + + + + MODEL QUADS SECTION - section id = 0x12 (18) + +w16 number of faces +[ number of faces + [ four vertices + w16 vertex index + float xpos (0.0-1.0) + float ypos (0.0-1.0) + ] + float scale + w16 flags + float xnormal (normal should be normalised) + float ynormal + float znormal +] + + + VERTEX ARRAY SECTION - section id = 0x14 (20) + +w16 number of vertices +w16 number of animations +w16 length of animation name +[ length of animation name + w8 animation name character +] +w16 number of frames in animation +[ number of frames in animation + [ number of vertices + float xpos + float ypos + float zpos + float xnormal + float ynormal + float znormal + ] +] +*/ +{ + unsigned char MagicNumber[4]; + unsigned long int NumSections; + int SectionCount; + unsigned long int SectionID[GMOD_MAX_SECTIONS]; + unsigned long int SectionOffset[GMOD_MAX_SECTIONS]; + + unsigned short NumAnimations; + unsigned short NumFrames; + unsigned short FaceCount; + unsigned short TextureCount; + int VertexCount; + + float Scale; + unsigned short Flags; + unsigned short TextureNameLen; + unsigned short AnimationNameLen; + int Order; + int MaxCor = 0; + + /* + * check if we can handle this architecture + */ + + if (!gmod_arch_check()) { + printf("GMOD_READ - This architecture not supported.\n"); + return ERROR; + } + + /* + * read the file header + */ + + /* read the magic number */ + fread(MagicNumber, 1, 4, filein); + if (MagicNumber[0] != 0xf9 || + MagicNumber[1] != 0xfa || + MagicNumber[2] != 0x63 || + MagicNumber[3] != 0x1e) { + printf("GMOD_READ - Bad magic number on GMOD file.\n"); + return ERROR; + } + + NumSections = gmod_read_w32(filein); + if (NumSections >= GMOD_MAX_SECTIONS) { + printf("GMOD_READ - Too many sections (%ld) in GMOD file - please increase static limit GMOD_MAX_SECTIONS\n", NumSections); + return ERROR; + } + +/* + Read the sections. +*/ + + for ( SectionCount = 0; SectionCount < ( int ) NumSections; SectionCount++ ) { + SectionID[SectionCount] = gmod_read_w32(filein); + SectionOffset[SectionCount] = gmod_read_w32(filein); + } +/* + Read each successive section. +*/ + for ( SectionCount = 0; SectionCount < ( int ) NumSections; SectionCount++ ) { +/* + Go to the start of the section. +*/ + fseek ( filein, ( long int ) SectionOffset[SectionCount], SEEK_SET ); +/* + What type of section is it? +*/ + switch (SectionID[SectionCount]) { + +/* + Model section. +*/ + case G1_SECTION_MODEL_QUADS: +/* + Get the number of faces. +*/ + face_num = gmod_read_w16 ( filein ); + + if (face_num > FACE_MAX) { + printf("GMOD_READ - Too many faces (%d) in GMOD file - please increase static limit FACE_MAX.\n", face_num); + return ERROR; + } +/* + Get the information on each face. +*/ + for ( FaceCount = 0; FaceCount < ( unsigned short ) face_num; FaceCount++ ) { + + Order = 0; + for ( VertexCount = 0; VertexCount < 4; VertexCount++ ) { + + /* read the vertex index */ + + face[VertexCount][FaceCount] = gmod_read_w16(filein); + + if (face[VertexCount][FaceCount] != GMOD_UNUSED_VERTEX) { + Order = VertexCount+1; + if (MaxCor < face[VertexCount][FaceCount]) + MaxCor = face[VertexCount][FaceCount]; + } + + /* read the texture position */ + + vertex_tex_uv[0][VertexCount][FaceCount] = gmod_read_float(filein); + vertex_tex_uv[1][VertexCount][FaceCount] = gmod_read_float(filein); + } + + /* scale and flags */ + + fread(&Scale, sizeof(Scale), 1, filein); + Flags = gmod_read_w16(filein); + + if ( debug ) { + printf ( "Flags = %d\n", Flags ); + } + + /* normal vector */ + + face_normal[0][FaceCount] = gmod_read_float(filein); + face_normal[1][FaceCount] = gmod_read_float(filein); + face_normal[2][FaceCount] = gmod_read_float(filein); + + /* the order is the number of used vertices */ + + face_order[FaceCount] = Order; + } + break; + + +/* + Texture name section. +*/ + + case G1_SECTION_MODEL_TEXTURE_NAMES: + + /* get the number of textures */ + + texture_num = gmod_read_w16(filein); + if (texture_num > TEXTURE_MAX) { + printf ( "GMOD_READ - Too many texture maps (%d) in GMOD file.\n", texture_num ); + printf ( " Increase static limit TEXTURE_MAX.\n" ); + return ERROR; + } + face_num = texture_num; + + for (TextureCount = 0; TextureCount < ( unsigned short ) texture_num; + TextureCount++) { + + /* read the texture name */ + + TextureNameLen = gmod_read_w16(filein); + fread ( texture_name[TextureCount], sizeof(char), TextureNameLen, filein); + texture_name[TextureCount][TextureNameLen] = '\0'; + } + break; + + + /* + * vertex section + */ + + case G1_SECTION_MODEL_VERT_ANIMATION: + + /* get the number of vertices */ + + cor3_num = gmod_read_w16(filein); + if (cor3_num > COR3_MAX) { + printf("GMOD_READ - Too many vertices (%d) in GMOD file - please increase static limit COR3_MAX.\n", cor3_num); + return ERROR; + } + +/* + Get the number of animations. +*/ + + NumAnimations = gmod_read_w16(filein); + + if (NumAnimations > 1) { + printf ( "GMOD_READ - Fatal error!\n" ); + printf ( " GMOD files can only handle one animation.\n" ); + printf ( " This file contains %d.\n", NumAnimations ); + return ERROR; + } + + /* read the animation name */ + AnimationNameLen = gmod_read_w16(filein); + fread ( anim_name, sizeof(char), AnimationNameLen, filein); + anim_name[AnimationNameLen] = '\0'; + + /* get the number of frames of animation */ + NumFrames = gmod_read_w16(filein); + if (NumFrames > 1) + printf("GMOD_READ - Too many frames of animation (%d) in GMOD file - will only use 1.\n", NumFrames); + + /* go through all the vertices, reading each one */ + for (VertexCount = 0; VertexCount < cor3_num; VertexCount++) { + + /* read the vertex */ + cor3[0][VertexCount] = gmod_read_float(filein); + cor3[1][VertexCount] = gmod_read_float(filein); + cor3[2][VertexCount] = gmod_read_float(filein); + + /* read the normal */ + cor3_normal[0][VertexCount] = gmod_read_float(filein); + cor3_normal[1][VertexCount] = gmod_read_float(filein); + cor3_normal[2][VertexCount] = gmod_read_float(filein); + } + break; + + default: + continue; + } + } + +/* + Set some other stray info. +*/ + line_num = 0; + +/* + Check for sanity. +*/ + if ( MaxCor >= cor3_num ) { + printf ( "GMOD_READ - Maximum coordinate index (%d)\n", MaxCor ); + printf ( " exceeded number of coordinates (%d) in GMOD file.\n", cor3_num ); + return ERROR; + } + + return SUCCESS; +} +/******************************************************************************/ + +float gmod_read_float ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_READ_FLOAT reads a float from a Golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + int endian = 1; + unsigned char *out_pos; + int i; + float Val; + + if (*(char *)&endian == 1) { + /* we're little-endian, which is native for GMOD floats */ + fread(&Val, sizeof(Val), 1, filein); + } + else { + /* we're big-endian, flip `em */ + out_pos = (unsigned char *)&Val; + for ( i = sizeof(Val)-1; i >= 0; i-- ) { + *(out_pos+i) = fgetc(filein); + } + } + + return Val; +} +/******************************************************************************/ + +unsigned short gmod_read_w16 ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_READ_W16 reads a 16 bit word from a Golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + unsigned char Byte1; + unsigned char Byte2; + + Byte1 = fgetc ( filein ); + Byte2 = fgetc ( filein ); + + return Byte1 | (((unsigned short)Byte2) << 8); +} +/******************************************************************************/ + +unsigned long gmod_read_w32 ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_READ_W32 reads a 32 bit word from a Golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + unsigned char Byte1, Byte2, Byte3, Byte4; + + Byte1 = fgetc(filein); + Byte2 = fgetc(filein); + Byte3 = fgetc(filein); + Byte4 = fgetc(filein); + + return Byte1 | + (((unsigned long)Byte2) << 8) | + (((unsigned long)Byte3) << 16) | + (((unsigned long)Byte4) << 24); +} + +/******************************************************************************/ + +int gmod_write ( FILE *fileout ) { + +/******************************************************************************/ + +/* + Purpose: + + GMOD_WRITE writes a Golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ + static unsigned char MagicNumber[4] = { 0xf9, 0xfa, 0x63, 0x1e }; + unsigned long NumSections; + unsigned long SectionHeaderPos; + unsigned long TextureNameSectionPos; + unsigned long ModelSectionPos; + unsigned long VertexSectionPos; + + int VertexCount; + int FaceCount; + int TextureCount; + unsigned long SectionCount; + float Scale; + float Min[3]; + float Max[3]; + int CorNumber; + int DimensionCount; + float MaxWidth; +/* + Check if we can handle this architecture. +*/ + + if ( !gmod_arch_check() ) { + printf("GMOD_WRITE - This architecture not supported.\n"); + return ERROR; + } + +/* + Write the file header. +*/ + +/* + Write the magic number. +*/ + fwrite ( MagicNumber, sizeof(char), 4, fileout ); + +/* + Write the number of sections. +*/ + NumSections = 3; + gmod_write_w32 ( NumSections, fileout ); + +/* + Write a dummy section header which we'll overwrite later. +*/ + SectionHeaderPos = ftell ( fileout ); + for (SectionCount = 0; SectionCount < NumSections; SectionCount++) { + gmod_write_w32 ( 0, fileout ); + gmod_write_w32 ( 0, fileout ); + } +/* + Texture name section. +*/ + +/* + Take note of where we are in the file. +*/ + TextureNameSectionPos = ftell ( fileout ); + +/* + Write the number of textures. +*/ + + gmod_write_w16 ( ( unsigned short ) face_num, fileout ); +/* + Write the texture names. +*/ + for ( TextureCount = 0; TextureCount < face_num; TextureCount++ ) { + + gmod_write_w16 ( ( unsigned short ) strlen ( texture_name[TextureCount] ), + fileout ); + + fwrite ( texture_name[TextureCount], strlen ( texture_name[TextureCount] ), + 1, fileout ); + } + +/* + Model section. +*/ + +/* + Take note of where we are in the file. +*/ + + ModelSectionPos = ftell(fileout); + +/* + Write the number of faces. +*/ + + gmod_write_w16 ( ( unsigned short ) face_num, fileout ); + +/* + Write the information on each face. +*/ + + for ( FaceCount = 0; FaceCount < face_num; FaceCount++ ) { + + for (VertexCount = 0; VertexCount < ((face_order[FaceCount] < 4) ? face_order[FaceCount] : 4); VertexCount++) { + +/* + Write the vertex index. +*/ + gmod_write_w16 ( ( unsigned short ) face[VertexCount][FaceCount], fileout ); + +/* + Write the texture position. +*/ + + gmod_write_float ( vertex_tex_uv[0][VertexCount][FaceCount], fileout ); + gmod_write_float ( vertex_tex_uv[1][VertexCount][FaceCount], fileout ); + } + +/* + Write any extra vertices which are unused. +*/ + + for ( ; VertexCount < 4; VertexCount++ ) { + +/* + Write the vertex index. +*/ + gmod_write_w16 ( GMOD_UNUSED_VERTEX, fileout ); +/* + Write the texture position. +*/ + gmod_write_float ( vertex_tex_uv[0][VertexCount][FaceCount], fileout ); + + gmod_write_float ( vertex_tex_uv[1][VertexCount][FaceCount], fileout ); + } + +/* + Scale and flags. +*/ + +/* + Find the bounding box. +*/ + + for ( DimensionCount = 0; DimensionCount < 3; DimensionCount++ ) { + + CorNumber = face[0][FaceCount]; + Min[DimensionCount] = cor3[DimensionCount][CorNumber]; + Max[DimensionCount] = cor3[DimensionCount][CorNumber]; + + for (VertexCount = 1; VertexCount < ((face_order[FaceCount] < 4) ? face_order[FaceCount] : 4); VertexCount++) { + + CorNumber = face[VertexCount][FaceCount]; + + if (Min[DimensionCount] > cor3[DimensionCount][CorNumber]) + Min[DimensionCount] = cor3[DimensionCount][CorNumber]; + + if (Max[DimensionCount] < cor3[DimensionCount][CorNumber]) + Max[DimensionCount] = cor3[DimensionCount][CorNumber]; + } + } + +/* + The scale is the "width" of the face for mipmapping - + I just take the maximum bounding box dimension. +*/ + MaxWidth = Max[0] - Min[0]; + for ( DimensionCount = 1; DimensionCount < 3; DimensionCount++ ) { + + if ( MaxWidth < Max[DimensionCount] - Min[DimensionCount] ) + MaxWidth = Max[DimensionCount] - Min[DimensionCount]; + } + + Scale = MaxWidth; + fwrite ( &Scale, sizeof(Scale), 1, fileout ); + +/* + Flags are just nothing. +*/ + gmod_write_w16 ( 0, fileout ); +/* + Normal vector. +*/ + gmod_write_float ( face_normal[0][FaceCount], fileout ); + gmod_write_float ( face_normal[1][FaceCount], fileout ); + gmod_write_float ( face_normal[2][FaceCount], fileout ); + } + +/* + Vertex section. +*/ + +/* + Take note of where we are in the file. +*/ + + VertexSectionPos = ftell ( fileout ); + +/* + Write the number of vertices. +*/ + + gmod_write_w16 ( ( unsigned short ) cor3_num, fileout ); + +/* + Write the number of animations. +*/ + + gmod_write_w16 ( 1, fileout ); + +/* + Write the animation name. +*/ + + gmod_write_w16 ( 0, fileout ); + +/* + Write the number of frames of animation. +*/ + + gmod_write_w16 ( 1, fileout ); + +/* + Go through all the vertices, writing each one. +*/ + + for ( VertexCount = 0; VertexCount < cor3_num; VertexCount++ ) { + +/* + Write the vertex. +*/ + gmod_write_float ( cor3[0][VertexCount], fileout ); + gmod_write_float ( cor3[1][VertexCount], fileout ); + gmod_write_float ( cor3[2][VertexCount], fileout ); + +/* + Write the normal. +*/ + gmod_write_float ( cor3_normal[0][VertexCount], fileout ); + gmod_write_float ( cor3_normal[1][VertexCount], fileout ); + gmod_write_float ( cor3_normal[2][VertexCount], fileout ); + } +/* + Now rewrite the section header. +*/ + +/* + Go back to the section header. +*/ + fseek ( fileout, ( long int ) SectionHeaderPos, SEEK_SET ); + +/* + Write the texture name section header. +*/ + gmod_write_w32 ( G1_SECTION_MODEL_TEXTURE_NAMES, fileout ); + gmod_write_w32 ( TextureNameSectionPos, fileout ); + +/* + Write the model section header. +*/ + gmod_write_w32 ( G1_SECTION_MODEL_QUADS, fileout ); + gmod_write_w32 ( ModelSectionPos, fileout ); + +/* + Write the vertex section header. +*/ + gmod_write_w32 ( G1_SECTION_MODEL_VERT_ANIMATION, fileout ); + gmod_write_w32 ( VertexSectionPos, fileout ); + + return SUCCESS; +} + +/******************************************************************************/ + +void gmod_write_float ( float Val, FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_WRITE_FLOAT writes a float to a Golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + int endian = 1; + unsigned char *out_pos; + int i; + + if (*(char *)&endian == 1) { + /* we're little-endian, which is native for GMOD floats */ + fwrite ( &Val, sizeof(Val), 1, fileout ); + } + else { + /* we're big-endian, flip `em */ + out_pos = (unsigned char *)&Val; + for ( i = sizeof(Val)-1; i >= 0; i-- ) { + fputc(*(out_pos+i), fileout); + } + } +} +/******************************************************************************/ + +void gmod_write_w16 ( unsigned short Val, FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_WRITE_W16 writes a 16 bit word to a Golgotha GMOD file. + + Modified: + + 13 September 2000 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + unsigned char OutByte[2]; + + OutByte[0] = (unsigned char)(Val & 0xff); + OutByte[1] = (unsigned char)(Val >> 8); + + fwrite ( OutByte, sizeof(unsigned char), 2, fileout ); +} +/******************************************************************************/ + +void gmod_write_w32 ( unsigned long Val, FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + GMOD_WRITE writes a 32 bit word to a Golgotha GMOD file. + + Modified: + + 19 May 1999 + + Author: + + Zik Saleeba (zik@zikzak.net) +*/ +{ + unsigned char OutByte[4]; + + OutByte[0] = (unsigned char)(Val & 0xff); + OutByte[1] = (unsigned char)((Val >> 8) & 0xff); + OutByte[2] = (unsigned char)((Val >> 16) & 0xff); + OutByte[3] = (unsigned char)((Val >> 24) & 0xff); + + fwrite ( OutByte, sizeof(unsigned char), 4, fileout ); +} + +/******************************************************************************/ + +void hello ( void ) + +/******************************************************************************/ +/* + Purpose: + + HELLO prints an explanatory header message. + + Modified: + + 04 July 2000 + + Author: + + John Burkardt +*/ +{ + printf ( "\n" ); + printf ( "Hello: This is IVCON,\n" ); + printf ( " for 3D graphics file conversion.\n" ); + printf ( "\n" ); + printf ( " \".3ds\" 3D Studio Max binary;\n" ); + printf ( " \".ase\" 3D Studio Max ASCII export;\n" ); + printf ( " \".byu\" Movie.BYU surface geometry;\n" ); + printf ( " \".dxf\" DXF;\n" ); + printf ( " \".gmod\" Golgotha model;\n" ); + printf ( " \".hrc\" SoftImage hierarchy;\n" ); + printf ( " \".iv\" SGI Open Inventor;\n" ); + printf ( " \".obj\" WaveFront Advanced Visualizer;\n" ); + printf ( " \".pov\" Persistence of Vision (output only);\n" ); + printf ( " \".smf\" Michael Garland's format;\n" ); + printf ( " \".stl\" ASCII StereoLithography;\n" ); + printf ( " \".stla\" ASCII StereoLithography;\n" ); + printf ( " \".stlb\" Binary StereoLithography;\n" ); + printf ( " \".tec\" TECPLOT (output only);\n" ); + printf ( " \".tri\" [Greg Hood ASCII triangle format];\n" ); + printf ( " \".tria\" [Greg Hood ASCII triangle format];\n" ); + printf ( " \".trib\" [Greg Hood binary triangle format];\n" ); + printf ( " \".txt\" Text (output only);\n" ); + printf ( " \".ucd\" AVS UCD file(output only);\n" ); + printf ( " \".vla\" VLA;\n" ); + printf ( " \".wrl\" VRML (Virtual Reality Modeling Language) (output only).\n" ); + printf ( " \".xgl\" XML/OpenGL format (output only);\n" ); + printf ( "\n" ); + printf ( " Current limits include:\n" ); + printf ( " %d faces;\n", FACE_MAX ); + printf ( " %d line items;\n", LINES_MAX ); + printf ( " %d points;\n", COR3_MAX ); + printf ( " %d face order;\n", ORDER_MAX ); + printf ( " %d materials;\n", MATERIAL_MAX); + printf ( " %d textures.\n", TEXTURE_MAX ); + printf ( "\n" ); + printf ( " Last modification: 04 July 2000.\n" ); + printf ( "\n" ); + printf ( " Send problem reports to burkardt@psc.edu.\n" ); + + return; +} +/******************************************************************************/ + +void help ( void ) + +/******************************************************************************/ + +/* + Purpose: + + HELP prints a list of the interactive commands. + + Modified: + + 26 May 1999 + + Author: + + John Burkardt +*/ +{ + printf ( "\n" ); + printf ( "Commands:\n" ); + printf ( "\n" ); + printf ( "< file Read data from input file;\n" ); + printf ( "<< file Append data in input file to current data;\n" ); + printf ( "> file Write output file;\n" ); + printf ( "B Switch the binary file byte-swapping mode;\n" ); + printf ( "D Switch the debugging mode;\n" ); + printf ( "F Print information about one face;\n" ); + printf ( "H Print this help list;\n" ); + printf ( "I Info, print out recent changes;\n" ); + printf ( "LINES Convert face information to lines;\n" ); + printf ( "N Recompute normal vectors;\n" ); + printf ( "P Set LINE_PRUNE option.\n" ); + printf ( "Q Quit;\n" ); + printf ( "R Reverse the normal vectors.\n" ); + printf ( "S Select face subset (NOT WORKING).\n" ); + printf ( "T Transform the data.\n" ); + printf ( "W Reverse the face node ordering.\n" ); + + return; +} +/******************************************************************************/ + +int hrc_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + HRC_READ reads graphics information from a SoftImage HRC file. + + Examples: + + HRCH: Softimage 4D Creative Environment v3.00 + + + model + { + name "cube_10x10" + scaling 1.000 1.000 1.000 + rotation 0.000 0.000 0.000 + translation 0.000 0.000 0.000 + + mesh + { + flag ( PROCESS ) + discontinuity 60.000 + + vertices 8 + { + [0] position -5.000 -5.000 -5.000 + [1] position -5.000 -5.000 5.000 + [2] position -5.000 5.000 -5.000 + [3] position -5.000 5.000 5.000 + [4] position 5.000 -5.000 -5.000 + [5] position 5.000 -5.000 5.000 + [6] position 5.000 5.000 -5.000 + [7] position 5.000 5.000 5.000 + } + + polygons 6 + { + [0] nodes 4 + { + [0] vertex 0 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [1] vertex 1 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [2] vertex 3 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [3] vertex 2 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + } + material 0 + [1] nodes 4 + { + [0] vertex 1 + normal 0.000 0.000 1.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [1] vertex 5 + + ...etc..... + + [5] nodes 4 + { + [0] vertex 2 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [1] vertex 3 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [2] vertex 7 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [3] vertex 6 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + } + material 0 + } + + edges 12 + { + [1] vertices 3 2 + [2] vertices 2 0 + [3] vertices 0 1 + [4] vertices 1 3 + [5] vertices 7 3 + [6] vertices 1 5 + [7] vertices 5 7 + [8] vertices 6 7 + [9] vertices 5 4 + [10] vertices 4 6 + [11] vertices 2 6 + [12] vertices 4 0 + } + } + + material [0] + { + name "kazoo" + type PHONG + ambient 0.0 1.0 0.0 + diffuse 1.0 0.0 0.0 + specular 0.0 0.0 1.0 + exponent 50.0 + reflectivity 0.0 + transparency 0.0 + refracIndex 1.0 + glow 0 + coc 0.0 + } + + texture [0] + { + name "/usr/users/foss/HOUSE/PICTURES/mellon" + glbname "t2d1" + anim STATIC + method XY + repeat 1 1 + scaling 1.000 1.000 + offset 0.000 0.000 + pixelInterp + effect INTENSITY + blending 1.000 + ambient 0.977 + diffuse 1.000 + specular 0.966 + reflect 0.000 + transp 0.000 + roughness 0.000 + reflMap 1.000 + rotation 0.000 + txtsup_rot 0.000 0.000 0.000 + txtsup_trans 0.000 0.000 0.000 + txtsup_scal 1.000 1.000 1.000 + } + } + + Modified: + + 25 June 1999 + + Author: + + John Burkardt +*/ +{ + float b; + int count; + float g; + int i; + int icor3; + int ivert; + int iword; + int jval; + int level; + char *next; + int nlbrack; + int nrbrack; + int cor3_num_old; + float r; + float t; + float temp[3]; + int width; + char word[LINE_MAX_LEN]; + char word1[LINE_MAX_LEN]; + char word2[LINE_MAX_LEN]; + char wordm1[LINE_MAX_LEN]; + float x; + float y; + float z; + + level = 0; + strcpy ( level_name[0], "Top" ); + nlbrack = 0; + nrbrack = 0; + cor3_num_old = cor3_num; + strcpy ( word, " " ); + strcpy ( wordm1, " " ); +/* + Read a line of text from the file. +*/ + for ( ;; ) { + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + break; + } + + text_num = text_num + 1; + next = input; + iword = 0; +/* + Read a word from the line. +*/ + for ( ;; ) { + + strcpy ( wordm1, word ); + + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + + if ( count <= 0 ) { + break; + } + + strcpy ( word, word2 ); + + iword = iword + 1; + + if ( iword == 1 ) { + strcpy ( word1, word ); + } +/* + The first line of the file must be the header. +*/ + if ( text_num == 1 ) { + + if ( strcmp ( word1, "HRCH:" ) != 0 ) { + printf ( "\n" ); + printf ( "HRC_READ - Fatal error!\n" ); + printf ( " The input file has a bad header.\n" ); + return ERROR; + } + else { + comment_num = comment_num + 1; + } + break; + } +/* + If the word is a curly bracket, count it. +*/ + if ( strcmp ( word, "{" ) == 0 ) { + nlbrack = nlbrack + 1; + level = nlbrack - nrbrack; + strcpy ( level_name[level], wordm1 ); + if ( debug ) { + printf ( "New level: %s\n", level_name[level] ); + } + } + else if ( strcmp ( word, "}" ) == 0 ) { + nrbrack = nrbrack + 1; + + if ( nlbrack < nrbrack ) { + printf ( "\n" ); + printf ( "HRC_READ - Fatal error!\n" ); + printf ( " Extraneous right bracket on line %d.\n", text_num ); + printf ( " Currently processing field %s\n.", level_name[level] ); + return ERROR; + } + } +/* + CONTROLPOINTS +*/ + if ( strcmp ( level_name[level], "controlpoints" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = -1; + line_material[line_num] = 0; + } + line_num = line_num + 1; + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "position" ) == 0 ) { + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + temp[0] = x; + temp[1] = y; + temp[2] = z; + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, temp ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + + icor3 = cor3_num; + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = x; + cor3[1][cor3_num] = y; + cor3[2][cor3_num] = z; + } + cor3_num = cor3_num + 1; + + } + else { + dup_num = dup_num + 1; + } + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = icor3; + line_material[line_num] = 0; + } + line_num = line_num + 1; + } + else { + bad_num = bad_num + 1; + printf ( "CONTROLPOINTS: Bad data %s\n", word ); + return ERROR; + } + + } +/* + EDGES +*/ + else if ( strcmp ( level_name[level], "edges" ) == 0 ) { + + if ( strcmp( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "vertices" ) == 0 ) { + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = jval + cor3_num_old; + line_material[line_num] = 0; + } + line_num = line_num + 1; + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = jval + cor3_num_old; + line_material[line_num] = 0; + } + line_num = line_num + 1; + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = -1; + line_material[line_num] = -1; + } + line_num = line_num + 1; + + } + else { + bad_num = bad_num + 1; + printf ( "EDGES: Bad data %s\n", word ); + return ERROR; + } + + } +/* + MATERIAL +*/ + else if ( strcmp ( level_name[level], "material" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + material_num = material_num + 1; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "ambient" ) == 0 ) { + } + else if ( strcmp ( word, "coc" ) == 0 ) { + } + else if ( strcmp ( word, "diffuse" ) == 0 ) { + + count = sscanf ( next, "%f%n", &r, &width ); + next = next + width; + material_rgba[0][material_num-1] = r; + + count = sscanf ( next, "%f%n", &g, &width ); + next = next + width; + material_rgba[0][material_num-1] = g; + + count = sscanf ( next, "%f%n", &b, &width ); + next = next + width; + material_rgba[0][material_num-1] = b; + + } + else if ( strcmp ( word, "exponent" ) == 0 ) { + } + else if ( strcmp ( word, "glow" ) == 0 ) { + } + else if ( strcmp ( word, "name" ) == 0 ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + strcpy ( material_name[material_num-1], word ); + } + else if ( strcmp ( word, "reflectivity" ) == 0 ) { + } + else if ( strcmp ( word, "refracindex" ) == 0 ) { + } + else if ( strcmp ( word, "specular" ) == 0 ) { + } + else if ( strcmp ( word, "transparency" ) == 0 ) { + count = sscanf ( next, "%f%n", &t, &width ); + next = next + width; + material_rgba[3][material_num-1] = 1.0 - t; + } + else if ( strcmp ( word, "type" ) == 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "MATERIAL: Bad data %s\n", word ); + return ERROR; + } + } +/* + MESH +*/ + else if ( strcmp ( level_name[level], "mesh" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( strcmp ( word, "discontinuity" ) == 0 ) { + break; + } + else if ( strcmp ( word, "edges" ) == 0 ) { + break; + } + else if ( strcmp ( word, "flag" ) == 0 ) { + break; + } + else if ( strcmp ( word, "polygons" ) == 0 ) { + break; + } + else if ( strcmp ( word, "vertices" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "MESH: Bad data %s\n", word ); + return ERROR; + } + + } +/* + MODEL +*/ + else if ( strcmp ( level_name[level], "model" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( strcmp ( word, "material" ) == 0 ) { + break; + } + else if ( strcmp ( word, "mesh" ) == 0 ) { + break; + } + else if ( strcmp ( word, "name" ) == 0 ) { + break; + } + else if ( strcmp ( word, "patch" ) == 0 ) { + break; + } + else if ( strcmp ( word, "rotation" ) == 0 ) { + break; + } + else if ( strcmp ( word, "scaling" ) == 0 ) { + break; + } + else if ( strcmp ( word, "spline" ) == 0 ) { + break; + } + else if ( strcmp ( word, "translation" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "MODEL: Bad data %s\n", word ); + return ERROR; + } + + } +/* + NODES +*/ + else if ( strcmp ( level_name[level], "nodes" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + ivert = 0; + face_order[face_num] = 0; + face_num = face_num + 1; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "normal" ) == 0 ) { + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + if ( ivert < ORDER_MAX && face_num < FACE_MAX ) { + vertex_normal[0][ivert-1][face_num-1] = x; + vertex_normal[1][ivert-1][face_num-1] = y; + vertex_normal[2][ivert-1][face_num-1] = z; + } + + } + else if ( strcmp ( word, "uvTexture" ) == 0 ) { + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + if ( ivert < ORDER_MAX && face_num < FACE_MAX ) { + vertex_tex_uv[0][ivert-1][face_num-1] = x; + vertex_tex_uv[1][ivert-1][face_num-1] = y; + } + } + else if ( strcmp ( word, "vertex" ) == 0 ) { + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + if ( ivert < ORDER_MAX && face_num < FACE_MAX ) { + face_order[face_num-1] = face_order[face_num-1] + 1; + face[ivert][face_num-1] = jval; + } + ivert = ivert + 1; + + } +/* + Right now, we don't do anything with the vertexColor information. +*/ + else if ( strcmp ( word, "vertexColor" ) == 0 ) { + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + } + else { + bad_num = bad_num + 1; + printf ( "NODES: Bad data %s\n", word ); + return ERROR; + } + + } +/* + PATCH + I don't know what to do with this yet. +*/ + else if ( strcmp ( level_name[level], "patch" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( strcmp ( word, "approx_type" ) == 0 ) { + } + else if ( strcmp ( word, "controlpoints" ) == 0 ) { + } + else if ( strcmp ( word, "curv_u" ) == 0 ) { + } + else if ( strcmp ( word, "curv_v" ) == 0 ) { + } + else if ( strcmp ( word, "recmin" ) == 0 ) { + } + else if ( strcmp ( word, "recmax" ) == 0 ) { + } + else if ( strcmp ( word, "recursion" ) == 0 ) { + } + else if ( strcmp ( word, "spacial" ) == 0 ) { + } + else if ( strcmp ( word, "taggedpoints" ) == 0 ) { + } + else if ( strcmp ( word, "ucurve" ) == 0 ) { + } + else if ( strcmp ( word, "ustep" ) == 0 ) { + } + else if ( strcmp ( word, "utension" ) == 0 ) { + } + else if ( strcmp ( word, "utype" ) == 0 ) { + } + else if ( strcmp ( word, "vclose" ) == 0 ) { + } + else if ( strcmp ( word, "vcurve" ) == 0 ) { + } + else if ( strcmp ( word, "viewdep" ) == 0 ) { + } + else if ( strcmp ( word, "vpoint" ) == 0 ) { + } + else if ( strcmp ( word, "vstep" ) == 0 ) { + } + else if ( strcmp ( word, "vtension" ) == 0 ) { + } + else if ( strcmp ( word, "vtype" ) == 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "PATCH: Bad data %s\n", word ); + return ERROR; + } + } +/* + POLYGONS +*/ + else if ( strcmp ( level_name[level], "polygons" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "material" ) == 0 ) { + + count = sscanf ( next, "%d%n", &jval, &width ); + next = next + width; + + for ( ivert = 0; ivert < ORDER_MAX; ivert++ ) { + vertex_material[ivert][face_num-1] = jval; + } + + } + else if ( strcmp ( word, "nodes" ) == 0 ) { + count = sscanf ( next, "%s%n", word2, &width ); + next = next + width; + } + else { + bad_num = bad_num + 1; + printf ( "POLYGONS: Bad data %s\n", word ); + return ERROR; + } + + } +/* + SPLINE +*/ + else if ( strcmp ( level_name[level], "spline" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( strcmp ( word, "controlpoints" ) == 0 ) { + break; + } +/* + WHY DON'T YOU READ IN THE OBJECT NAME HERE? +*/ + else if ( strcmp ( word, "name" ) == 0 ) { + break; + } + else if ( strcmp ( word, "nbKeys" ) == 0 ) { + break; + } + else if ( strcmp ( word, "step" ) == 0 ) { + break; + } + else if ( strcmp ( word, "tension" ) == 0 ) { + break; + } + else if ( strcmp ( word, "type" ) == 0 ) { + break; + } + else { + bad_num = bad_num + 1; + printf ( "SPLINE: Bad data %s\n", word ); + return ERROR; + } + + } +/* + TAGGEDPOINTS +*/ + else if ( strcmp ( level_name[level], "taggedpoints" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "tagged" ) == 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "TAGGEDPOINTS: Bad data %s\n", word ); + return ERROR; + } + + } +/* + TEXTURE +*/ + else if ( strcmp ( level_name[level], "texture" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + texture_num = texture_num + 1; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "ambient" ) == 0 ) { + } + else if ( strcmp ( word, "anim" ) == 0 ) { + } + else if ( strcmp ( word, "blending" ) == 0 ) { + } + else if ( strcmp ( word, "diffuse" ) == 0 ) { + } + else if ( strcmp ( word, "effect" ) == 0 ) { + } + else if ( strcmp ( word, "glbname" ) == 0 ) { + } + else if ( strcmp ( word, "method" ) == 0 ) { + } + else if ( strcmp ( word, "name" ) == 0 ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + strcpy ( texture_name[texture_num-1], word ); + } + else if ( strcmp ( word, "offset" ) == 0 ) { + } + else if ( strcmp ( word, "pixelinterp" ) == 0 ) { + } + else if ( strcmp ( word, "reflect" ) == 0 ) { + } + else if ( strcmp ( word, "reflmap" ) == 0 ) { + } + else if ( strcmp ( word, "repeat" ) == 0 ) { + } + else if ( strcmp ( word, "rotation" ) == 0 ) { + } + else if ( strcmp ( word, "roughness" ) == 0 ) { + } + else if ( strcmp ( word, "scaling" ) == 0 ) { + } + else if ( strcmp ( word, "specular" ) == 0 ) { + } + else if ( strcmp ( word, "transp" ) == 0 ) { + } + else if ( strcmp ( word, "txtsup_rot" ) == 0 ) { + } + else if ( strcmp ( word, "txtsup_scal" ) == 0 ) { + } + else if ( strcmp ( word, "txtsup_trans" ) == 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "TEXTURE: Bad data %s\n", word ); + return ERROR; + } + } +/* + VERTICES +*/ + else if ( strcmp ( level_name[level], "vertices" ) == 0 ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( word[0] == '[' ) { + } + else if ( strcmp ( word, "position" ) == 0 ) { + + count = sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + count = sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = x; + cor3[1][cor3_num] = y; + cor3[2][cor3_num] = z; + } + cor3_num = cor3_num + 1; + } + else { + bad_num = bad_num + 1; + printf ( "VERTICES: Bad data %s\n", word ); + return ERROR; + } + } +/* + Any other word: +*/ + else { + + } + } + } + +/* + End of information in file. + + Check the "materials" defining a line. + + If COORDINDEX is -1, so should be the MATERIALINDEX. + If COORDINDEX is not -1, then the MATERIALINDEX shouldn"t be either. +*/ + for ( i = 0; i < line_num; i++ ) { + + if ( line_dex[i] == -1 ) { + line_material[i] = -1; + } + else if ( line_material[i] == -1 ) { + line_material[i] = 0; + } + + } + return SUCCESS; +} +/******************************************************************************/ + +int hrc_write ( FILE* fileout ) + +/******************************************************************************/ + +/* + Purpose: + + HRC_WRITE writes graphics data to an HRC SoftImage file. + + Examples: + + HRCH: Softimage 4D Creative Environment v3.00 + + + model + { + name "cube_10x10" + scaling 1.000 1.000 1.000 + rotation 0.000 0.000 0.000 + translation 0.000 0.000 0.000 + + mesh + { + flag ( PROCESS ) + discontinuity 60.000 + + vertices 8 + { + [0] position -5.000 -5.000 -5.000 + [1] position -5.000 -5.000 5.000 + [2] position -5.000 5.000 -5.000 + [3] position -5.000 5.000 5.000 + [4] position 5.000 -5.000 -5.000 + [5] position 5.000 -5.000 5.000 + [6] position 5.000 5.000 -5.000 + [7] position 5.000 5.000 5.000 + } + + polygons 6 + { + [0] nodes 4 + { + [0] vertex 0 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [1] vertex 1 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [2] vertex 3 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [3] vertex 2 + normal -1.000 0.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + } + material 0 + [1] nodes 4 + { + [0] vertex 1 + normal 0.000 0.000 1.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [1] vertex 5 + + ...etc..... + + [5] nodes 4 + { + [0] vertex 2 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [1] vertex 3 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [2] vertex 7 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + [3] vertex 6 + normal 0.000 1.000 0.000 + uvTexture 0.000 0.000 + vertexColor 255 178 178 178 + } + material 0 + } + + edges 12 + { + [1] vertices 3 2 + [2] vertices 2 0 + [3] vertices 0 1 + [4] vertices 1 3 + [5] vertices 7 3 + [6] vertices 1 5 + [7] vertices 5 7 + [8] vertices 6 7 + [9] vertices 5 4 + [10] vertices 4 6 + [11] vertices 2 6 + [12] vertices 4 0 + } + } + + material [0] + { + name "kazoo" + type PHONG + ambient 0.0 1.0 0.0 + diffuse 1.0 0.0 0.0 + specular 0.0 0.0 1.0 + exponent 50.0 + reflectivity 0.0 + transparency 0.0 + refracIndex 1.0 + glow 0 + coc 0.0 + } + + texture [0] + { + name "/usr/users/foss/HOUSE/PICTURES/mellon" + glbname "t2d1" + anim STATIC + method XY + repeat 1 1 + scaling 1.000 1.000 + offset 0.000 0.000 + pixelInterp + effect INTENSITY + blending 1.000 + ambient 0.977 + diffuse 1.000 + specular 0.966 + reflect 0.000 + transp 0.000 + roughness 0.000 + reflMap 1.000 + rotation 0.000 + txtsup_rot 0.000 0.000 0.000 + txtsup_trans 0.000 0.000 0.000 + txtsup_scal 1.000 1.000 1.000 + } + } + + Modified: + + 25 June 1998 + + Author: + + John Burkardt + +*/ +{ + int iface; + int ivert; + int j; + int jhi; + int jlo; + int jrel; + int k; + int npts; + int nseg; + int text_num; + + nseg = 0; + text_num = 0; + + fprintf ( fileout, "HRCH: Softimage 4D Creative Environment v3.00\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + fprintf ( fileout, "model\n" ); + fprintf ( fileout, "{\n" ); + fprintf ( fileout, " name \"%s\"\n", object_name ); + fprintf ( fileout, " scaling 1.000 1.000 1.000\n" ); + fprintf ( fileout, " rotation 0.000 0.000 0.000\n" ); + fprintf ( fileout, " translation 0.000 0.000 0.000\n" ); + text_num = text_num + 6; + + if ( face_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " mesh\n" ); + fprintf ( fileout, " {\n" ); + fprintf ( fileout, " flag ( PROCESS )\n" ); + fprintf ( fileout, " discontinuity 60.000\n" ); + text_num = text_num + 5; +/* + Point coordinates. +*/ + if ( cor3_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " vertices %d\n", cor3_num ); + fprintf ( fileout, " {\n" ); + text_num = text_num + 3; + + for ( j = 0; j < cor3_num; j++ ) { + + fprintf ( fileout, " [%d] position %f %f %f\n", j, cor3[0][j], + cor3[1][j], cor3[2][j] ); + text_num = text_num + 1; + } + fprintf ( fileout, " }\n" ); + text_num = text_num + 1; + } +/* + Faces. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, " polygons %d\n", face_num ); + fprintf ( fileout, " {\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " [%d] nodes %d\n", iface, face_order[iface] ); + fprintf ( fileout, " {\n" ); + text_num = text_num + 2; + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + fprintf ( fileout, " [%d] vertex %d\n", ivert, face[ivert][iface] ); + fprintf ( fileout, " normal %f %f %f\n", + vertex_normal[0][ivert][iface], + vertex_normal[1][ivert][iface], vertex_normal[2][ivert][iface] ); + fprintf ( fileout, " uvTexture %f %f\n", + vertex_tex_uv[0][ivert][iface], vertex_tex_uv[1][ivert][iface] ); + fprintf ( fileout, " vertexColor 255 178 178 178\n" ); + text_num = text_num + 4; + } + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " material %d\n", face_material[iface] ); + text_num = text_num + 2; + } + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + } +/* + IndexedLineSet. +*/ + if ( line_num > 0 ) { + + nseg = 0; + + jhi = -1; + + for ( ;; ) { + + jlo = jhi + 1; +/* + Look for the next index JLO that is not -1. +*/ + while ( jlo < line_num ) { + if ( line_dex[jlo] != -1 ) { + break; + } + jlo = jlo + 1; + } + + if ( jlo >= line_num ) { + break; + } +/* + Look for the highest following index JHI that is not -1. +*/ + jhi = jlo + 1; + + while ( jhi < line_num ) { + if ( line_dex[jhi] == -1 ) { + break; + } + jhi = jhi + 1; + } + + jhi = jhi - 1; +/* + Our next line segment involves LINE_DEX indices JLO through JHI. +*/ + nseg = nseg + 1; + npts = jhi + 1 - jlo; + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " spline\n" ); + fprintf ( fileout, " {\n" ); + fprintf ( fileout, " name \"spl%d\"\n", nseg ); + fprintf ( fileout, " type LINEAR\n" ); + fprintf ( fileout, " nbKeys %d\n", npts ); + fprintf ( fileout, " tension 0.000\n" ); + fprintf ( fileout, " step 1\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 9; + + fprintf ( fileout, " controlpoints\n" ); + fprintf ( fileout, " {\n" ); + text_num = text_num + 2; + + for ( j = jlo; j <= jhi; j++ ) { + jrel = j - jlo; + k = line_dex[j]; + fprintf ( fileout, " [%d] position %f %f %f\n", jrel, + cor3[0][k], cor3[1][k], cor3[2][k] ); + text_num = text_num + 1; + } + + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + } + } +/* + MATERIALS +*/ + for ( i = 0; i < material_num; i++ ) { + + fprintf ( fileout, " material [%d]\n", i ); + fprintf ( fileout, " {\n" ); + fprintf ( fileout, " name \"%s\"\n", material_name[i] ); + fprintf ( fileout, " type PHONG\n" ); + fprintf ( fileout, " ambient %f %f %f\n", material_rgba[0][i], + material_rgba[1][i], material_rgba[2][i] ); + fprintf ( fileout, " diffuse %f %f %f\n", material_rgba[0][i], + material_rgba[1][i], material_rgba[2][i] ); + fprintf ( fileout, " specular %f %f %f\n", material_rgba[0][i], + material_rgba[1][i], material_rgba[2][i] ); + fprintf ( fileout, " exponent 50.0\n" ); + fprintf ( fileout, " reflectivity 0.0\n" ); + fprintf ( fileout, " transparency %f\n", 1.0 - material_rgba[3][i] ); + fprintf ( fileout, " refracIndex 1.0\n" ); + fprintf ( fileout, " glow 0\n" ); + fprintf ( fileout, " coc 0.0\n" ); + fprintf ( fileout, " }\n" ); + + text_num = text_num + 14; + + } +/* + TEXTURES +*/ + for ( i = 0; i < texture_num; i++ ) { + + fprintf ( fileout, " texture [%d]\n", i ); + fprintf ( fileout, " {\n" ); + fprintf ( fileout, " name \"%s\"\n", texture_name[i] ); + fprintf ( fileout, " glbname \"t2d1\"\n" ); + fprintf ( fileout, " anim STATIC\n" ); + fprintf ( fileout, " method XY\n" ); + fprintf ( fileout, " repeat 1 1\n" ); + fprintf ( fileout, " scaling 1.000 1.000\n" ); + fprintf ( fileout, " offset 0.000 0.000\n" ); + fprintf ( fileout, " pixelInterp\n" ); + fprintf ( fileout, " effect INTENSITY\n" ); + fprintf ( fileout, " blending 1.000\n" ); + fprintf ( fileout, " ambient 0.977\n" ); + fprintf ( fileout, " diffuse 1.000\n" ); + fprintf ( fileout, " specular 0.966\n" ); + fprintf ( fileout, " reflect 0.000\n" ); + fprintf ( fileout, " transp 0.000\n" ); + fprintf ( fileout, " roughness 0.000\n" ); + fprintf ( fileout, " reflMap 1.000\n" ); + fprintf ( fileout, " rotation 0.000\n" ); + fprintf ( fileout, " txtsup_rot 0.000 0.000 0.000\n" ); + fprintf ( fileout, " txtsup_trans 0.000 0.000 0.000\n" ); + fprintf ( fileout, " txtsup_scal 1.000 1.000 1.000\n" ); + fprintf ( fileout, " }\n" ); + + text_num = text_num + 25; + + } + fprintf ( fileout, "}\n" ); + text_num = text_num + 1; +/* + Report. +*/ + printf ( "\n" ); + printf ( "HRC_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +void init_program_data ( void ) + +/******************************************************************************/ + +/* + Purpose: + + INIT_PROGRAM_DATA initializes the internal program data. + + Modified: + + 26 May 1999 + + Author: + + John Burkardt +*/ +{ + byte_swap = FALSE; + debug = 0; + line_prune = 1; + color_num = 0; + cor3_num = 0; + face_num = 0; + line_num = 0; + + if ( debug ) { + printf ( "\n" ); + printf ( "INIT_PROGRAM_DATA: Program data initialized.\n" ); + } + + return; + +} +/******************************************************************************/ + +int interact ( void ) + +/******************************************************************************/ + +/* + Purpose: + + INTERACT carries on an interactive session with the user. + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + int i; + int icor3; + int ierror; + int iface; + int itemp; + int ivert; + int j; + int jvert; + int m; + char *next; + float temp; + float x; + float y; + float z; + + strcpy ( filein_name, "NO_IN_NAME" ); + strcpy ( fileout_name, "NO_OUT_NAME" ); + +/* + Say hello. +*/ + hello ( ); +/* + Get the next user command. +*/ + printf ( "\n" ); + printf ( "Enter command (H for help)\n" ); + + while ( fgets ( input, LINE_MAX_LEN, stdin ) != NULL ) { +/* + Advance to the first nonspace character in INPUT. +*/ + for ( next = input; *next != '\0' && isspace(*next); next++ ) { + } +/* + Skip blank lines and comments. +*/ + if ( *next == '\0' ) { + continue; + } +/* + Command: << FILENAME + Append new data to current graphics information. +*/ + if ( *next == '<' && *(next+1) == '<' ) { + + next = next + 2; + sscanf ( next, "%s", filein_name ); + + ierror = data_read ( ); + + if ( ierror == ERROR ) { + printf ( "\n" ); + printf ( "INTERACT - Fatal error!\n" ); + printf ( " DATA_READ failed to read input data.\n" ); + } + } +/* + Command: < FILENAME +*/ + else if ( *next == '<' ) { + + next = next + 1; + sscanf ( next, "%s", filein_name ); + + data_init ( ); + + ierror = data_read ( ); + + if ( ierror == ERROR ) { + printf ( "\n" ); + printf ( "INTERACT - Fatal error!\n" ); + printf ( " DATA_READ failed to read input data.\n" ); + } + } +/* + Command: > FILENAME +*/ + else if ( *next == '>' ) { + + next = next + 1; + sscanf ( next, "%s", fileout_name ); + + ierror = data_write ( ); + + if ( ierror == ERROR ) { + printf ( "\n" ); + printf ( "INTERACT - Fatal error!\n" ); + printf ( " OUTPUT_DATA failed to write output data.\n" ); + } + + } +/* + B: Switch byte swapping option. +*/ + else if ( *next == 'B' || *next == 'b' ) { + + if ( byte_swap == TRUE ) { + byte_swap = FALSE; + printf ( "Byte_swapping reset to FALSE.\n" ); + } + else { + byte_swap = TRUE; + printf ( "Byte_swapping reset to TRUE.\n" ); + } + + } +/* + D: Switch debug option. +*/ + else if ( *next == 'D' || *next == 'd' ) { + if ( debug ) { + debug = 0; + printf ( "Debug reset to FALSE.\n" ); + } + else { + debug = 1; + printf ( "Debug reset to TRUE.\n" ); + } + } +/* + F: Check a face. +*/ + else if ( *next == 'f' || *next == 'F' ) { + printf ( "\n" ); + printf ( " Enter a face index between 0 and %d:", face_num-1 ); + scanf ( "%d", &iface ); + face_print ( iface ); + } +/* + H: Help +*/ + else if ( *next == 'h' || *next == 'H' ) { + help ( ); + } +/* + I: Print change information. +*/ + else if ( *next == 'i' || *next == 'I') { + news ( ); + } +/* + LINES: + Convert face information to lines. +*/ + else if ( *next == 'l' || *next == 'L') { + + if ( face_num > 0 ) { + + printf ( "\n" ); + printf ( "INTERACT - Note:\n" ); + printf ( " Face information will be converted\n" ); + printf ( " to line information.\n" ); + + face_to_line ( ); + + if ( line_num > LINES_MAX ) { + + printf ( "\n" ); + printf ( "INTERACT - Note:\n" ); + printf ( " Some face information was lost.\n" ); + printf ( " The maximum number of lines is %d,\n", LINES_MAX ); + printf ( " but we would need at least %d.\n", line_num ); + + line_num = LINES_MAX; + + } + + face_num = 0; + } + else { + + printf ( "\n" ); + printf ( "INTERACT - Note:\n" ); + printf ( " There were no faces to convert.\n" ); + + } + + } +/* + N: Recompute normal vectors. +*/ + else if ( *next == 'n' || *next == 'N') { + + for ( iface = 0; iface < face_num; iface++ ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = 0.0; + } + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = 0.0; + } + } + } + + vertex_normal_set ( ); + + cor3_normal_set ( ); + + face_normal_ave ( ); + } +/* + P: Line pruning optiont +*/ + else if ( *next == 'p' || *next == 'P' ) { + + printf ( "\n" ); + printf ( "INTERACT - SET LINE PRUNING OPTION.\n" ); + printf ( "\n" ); + printf ( " LINE_PRUNE = 0 means no line pruning.\n" ); + printf ( " nonzero means line pruning.\n" ); + printf ( "\n" ); + printf ( " Current value is LINE_PRUNE = %d.\n", line_prune ); + printf ( "\n" ); + printf ( " Enter new value for LINE_PRUNE.\n" ); + + if ( fgets ( input, LINE_MAX_LEN, stdin ) == NULL ) { + printf ( " ??? Error trying to read input.\n" ); + } + else { + sscanf ( input, "%d", &line_prune ); + printf ( " New value is LINE_PRUNE = %d.\n", line_prune ); + } + } +/* + Q: Quit +*/ + else if ( *next == 'q' || *next == 'Q' ) { + printf ( "\n" ); + printf ( "INTERACT - Normal end of execution.\n" ); + return SUCCESS; + } +/* + R: Reverse normal vectors. +*/ + else if ( *next == 'r' || *next == 'R' ) { + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + for ( i = 0; i < 3; i++ ) { + cor3_normal[i][icor3] = - cor3_normal[i][icor3]; + } + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = - face_normal[i][iface]; + } + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = + - vertex_normal[i][ivert][iface]; + } + } + } + printf ( "\n" ); + printf ( "INTERACT - Note:\n" ); + printf ( " Reversed node, face and vertex normals.\n" ); + } +/* + S: Select a few faces, discard the rest. +*/ + else if ( *next == 's' || *next == 'S' ) { + face_subset ( ); + } +/* + T: Transform the data. +*/ + else if ( *next == 't' || *next == 'T' ) { + + printf ( "\n" ); + printf ( "For now, we only offer point scaling.\n" ); + printf ( "Enter X, Y, Z scale factors:\n" ); + + scanf ( "%f %f %f", &x, &y, &z ); + + for ( j = 0; j < cor3_num; j++ ) { + cor3[0][j] = x * cor3[0][j]; + cor3[1][j] = y * cor3[1][j]; + cor3[2][j] = z * cor3[2][j]; + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = 0.0; + } + } + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = 0.0; + } + } + } + + vertex_normal_set ( ); + + cor3_normal_set ( ); + + face_normal_ave ( ); + } +/* + U: Renumber faces, count objects: +*/ + else if ( *next == 'u' || *next == 'U' ) { + } +/* + V: Convert polygons to triangles: +*/ + else if ( *next == 'v' || *next == 'V' ) { + } +/* + W: Reverse the face node ordering. +*/ + else if ( *next == 'w' || *next == 'W' ) { + + if ( face_num > 0 ) { + + for ( iface = 0; iface < face_num; iface++ ) { + + m = face_order[iface]; + + for ( ivert = 0; ivert < m/2; ivert++ ) { + + jvert = m - ivert - 1; + + itemp = face[ivert][iface]; + face[ivert][iface] = face[jvert][iface]; + face[jvert][iface] = itemp; + + itemp = vertex_material[ivert][iface]; + vertex_material[ivert][iface] = vertex_material[jvert][iface]; + vertex_material[jvert][iface] = itemp; + + for ( i = 0; i < 3; i++ ) { + temp = vertex_normal[i][ivert][iface]; + vertex_normal[i][ivert][iface] = + vertex_normal[i][jvert][iface]; + vertex_normal[i][jvert][iface] = temp; + } + } + } + printf ( "\n" ); + printf ( "INTERACT - Note:\n" ); + printf ( " Reversed face node ordering.\n" ); + } + } +/* + Command: ??? +*/ + else { + printf ( "\n" ); + printf ( "INTERACT: Warning!\n" ); + printf ( " Your command was not recognized.\n" ); + } + + printf ( "\n" ); + printf ( "Enter command (H for help)\n" ); + + } + return SUCCESS; +} +/******************************************************************************/ + +int iv_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + IV_READ reads graphics information from an Inventor file. + + Example: + + #Inventor V2.0 ascii + + Separator { + Info { + string "Inventor file generated by IVCON. + Original data in file cube.iv." + } + Separator { + LightModel { + model PHONG + } + MatrixTransform { matrix + 0.9 0.0 0.0 0.0 + 0.0 -0.9 0.0 0.0 + 0.0 0.0 -1.5 0.0 + 0.0 0.0 0.0 1.0 + } + Material { + ambientColor 0.2 0.2 0.2 + diffuseColor [ + 0.8 0.8 0.8, + 0.7 0.1 0.1, + 0.1 0.8 0.2, + ] + emissiveColor 0.0 0.0 0.0 + specularColor 0.0 0.0 0.0 + shininess 0.2 + transparency [ + 0.0, 0.5, 1.0, + ] + } + Texture2 { + filename "fred.rgb" + wrapS REPEAT + wrapT REPEAT + model MODULATE + blendColor 0.0 0.0 0.0 + } + + MaterialBinding { + value PER_VERTEX_INDEXED + } + NormalBinding { + value PER_VERTEX_INDEXED + } + TextureCoordinateBinding { + value PER_VERTEX_INDEXED + } + + ShapeHints { + vertexOrdering COUNTERCLOCKWISE + shapeType UNKNOWN_SHAPE_TYPE + faceType CONVEX + creaseAngle 6.28319 + } + + Coordinate3 { + point [ + 8.59816 5.55317 -3.05561, + 8.59816 2.49756 0.000000E+00, + ...etc... + 2.48695 2.49756 -3.05561, + ] + } + + Normal { + vector [ + 0.71 0.71 0.0, + ...etc... + 0.32 0.32 0.41, + ] + } + + TextureCoordinate2 { + point [ + 0.0 1.0, + 0.1, 0.8, + ...etc... + 0.4 0.7, + ] + } + + IndexedLineSet { + coordIndex [ + 0, 1, 2, -1, + 3, 4, 5, -1, + 7, 8, 9, -1, + ...etc... + 189, 190, 191, -1, + ] + materialIndex [ + 0, 0, 0, -1, + 1, 1, 1, -1, + 2, 2, 2, -1, + ...etc... + 64, 64, 64, -1, + ] + } + + IndexedFaceSet { + coordIndex [ + 0, 1, 2, -1, + 3, 4, 5, -1, + 7, 8, 9, -1, + ...etc... + 189, 190, 191, -1, + ] + materialIndex [ + 0, 0, 0, -1, + 1, 1, 1, -1, + 2, 2, 2, -1, + ...etc... + 64, 64, 64, -1, + ] + normalIndex [ + 0, 0, 0, -1, + 1, 1, 1, -1, + 2, 2, 2, -1, + ...etc... + 64, 64, 64, -1, + ] + textureCoordIndex [ + 0, 0, 0, -1, + 1, 1, 1, -1, + 2, 2, 2, -1, + ...etc... + 64, 64, 64, -1, + ] + } + + IndexedTriangleStripSet { + vertexProperty VertexProperty { + vertex [ x y z, + ... + x y z ] + normal [ x y z, + ... + x y z ] + materialBinding OVERALL + normalBinding PER_VERTEX_INDEXED + } + coordIndex [ + i, j, k, l, m, -1, + n, o, p, q, r, s, t, u, -1, + v, w, x, -1 + ..., -1 ] + normalIndex -1 + } + + } + } + + Modified: + + 01 July 1999 + + Author: + + John Burkardt +*/ +{ + char c; + int count; + int i; + int icol; + int icolor; + int icface; + int inormface; + int iface_num; + int irow; + int iuv; + int ivert; + int iword; + int ix; + int ixyz; + int iy; + int iz; + int j; + int jval; + int level; + char *next; + int nlbrack; + int nrbrack; + int nu; + int null_index; + int cor3_num_old; + int line_num2; + int face_num2; + int normal_num_temp; + int text_numure_temp; + int nv; + int result; + float rval; + int width; + char word[LINE_MAX_LEN]; + char word1[LINE_MAX_LEN]; + char wordm1[LINE_MAX_LEN]; + float xvec[3]; + + icface = 0; + icol = -1; + inormface = 0; + iface_num = face_num; + irow = 0; + ix = 0; + ixyz = 0; + iy = 0; + iz = 0; + jval = 0; + level = 0; + strcpy ( level_name[0], "Top" ); + nlbrack = 0; + nrbrack = 0; + nu = 0; + cor3_num_old = cor3_num; + face_num2 = face_num; + line_num2 = line_num; + normal_num_temp = 0; + text_numure_temp = 0; + nv = 0; + rval = 0.0; + strcpy ( word, " " ); + strcpy ( wordm1, " " ); +/* + Read the next line of text from the input file. +*/ + for ( ;; ) { + + if ( fgets ( input, LINE_MAX_LEN, filein ) == NULL ) { + break; + } + + text_num = text_num + 1; + next = input; + iword = 0; +/* + Remove all commas from the line, so we can use SSCANF to read + numeric items. +*/ + i = 0; + while ( input[i] != '\0' ) { + if ( input[i] == ',' ) { + input[i] = ' '; + } + i++; + } +/* + Force brackets and braces to be buffered by spaces. +*/ + i = 0; + while ( input[i] != '\0' ) { + i++; + } + null_index = i; + + i = 0; + while ( input[i] != '\0' && i < LINE_MAX_LEN ) { + + if ( input[i] == '[' || input[i] == ']' || + input[i] == '{' || input[i] == '}' ) { + + result = char_pad ( &i, &null_index, input, LINE_MAX_LEN ); + if ( result == ERROR ) { + break; + } + } + else { + i++; + } + } +/* + Read a word from the line. +*/ + for ( ;; ) { + + strcpy ( wordm1, word ); + strcpy ( word, " " ); + + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + + if ( count <= 0 ) { + break; + } + + iword = iword + 1; + + if ( iword == 1 ) { + strcpy ( word1, word ); + } +/* + The first line of the file must be the header. +*/ + if ( text_num == 1 ) { + + if ( leqi ( word1, "#Inventor" ) != TRUE ) { + printf ( "\n" ); + printf ( "IV_READ - Fatal error!\n" ); + printf ( " The input file has a bad header.\n" ); + return ERROR; + } + else { + comment_num = comment_num + 1; + } + break; + } +/* + A comment begins anywhere with '#'. + Skip the rest of the line. +*/ + if ( word[1] == '#' ) { + comment_num = comment_num + 1; + break; + } +/* + If the word is a curly or square bracket, count it. + If the word is a left bracket, the previous word is the name of a node. +*/ + if ( strcmp ( word, "{" ) == 0 || strcmp ( word, "[" ) == 0 ) { + nlbrack = nlbrack + 1; + level = nlbrack - nrbrack; + strcpy ( level_name[level], wordm1 ); + if ( debug ) { + printf ( "Begin level: %s\n", wordm1 ); + } + } + else if ( strcmp ( word, "}" ) == 0 || strcmp ( word, "]" ) == 0 ) { + nrbrack = nrbrack + 1; + + if ( nlbrack < nrbrack ) { + printf ( "\n" ); + printf ( "IV_READ - Fatal error!\n" ); + printf ( " Extraneous right bracket on line %d.\n", text_num ); + printf ( " Currently processing field %s\n.", level_name[level] ); + return ERROR; + } + } +/* + BASECOLOR +*/ + if ( leqi ( level_name[level], "BASECOLOR" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "RGB" ) == TRUE ) { + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + COORDINATE3 +*/ + else if ( leqi ( level_name[level], "COORDINATE3" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "POINT" ) == TRUE ) { + } + else { + bad_num = bad_num + 1; + printf ( "COORDINATE3: Bad data %s\n", word ); + } + } +/* + COORDINATE4 +*/ + else if ( leqi ( level_name[level], "COORDINATE4" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "POINT" ) == TRUE ) { + } + else { + bad_num = bad_num + 1; + printf ( "COORDINATE4: Bad data %s\n", word ); + } + } +/* + COORDINDEX +*/ + else if ( leqi ( level_name[level], "COORDINDEX" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + ivert = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } +/* + (indexedlineset) COORDINDEX +*/ + else if ( leqi ( level_name[level-1], "INDEXEDLINESET" ) == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + + if ( jval < -1 ) { + bad_num = bad_num + 1; + } + else { + if ( line_num < LINES_MAX ) { + if ( jval != -1 ) { + jval = jval + cor3_num_old; + } + line_dex[line_num] = jval; + } + line_num = line_num + 1; + } + } + else { + bad_num = bad_num + 1; + } + } +/* + (indexedfaceset) COORDINDEX + Warning: If the list of indices is not terminated with a final -1, then + the last face won't get counted. +*/ + else if ( leqi ( level_name[level-1], "INDEXEDFACESET" ) == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + if ( jval == -1 ) { + ivert = 0; + face_num = face_num + 1; + } + else { + if ( ivert == 0 ) { + if ( face_num < FACE_MAX ) { + face_order[face_num] = 0; + } + } + if ( face_num < FACE_MAX ) { + face_order[face_num] = face_order[face_num] + 1; + face[ivert][face_num] = jval + cor3_num_old; + ivert = ivert + 1; + } + } + } + } +/* + (indexednurbssurface) COORDINDEX +*/ + else if ( leqi ( level_name[level-1], "INDEXEDNURBSSURFACE" ) == TRUE ) { + } +/* + (indexedtrianglestripset) COORDINDEX + + First three coordinate indices I1, I2, I3 define a triangle. + Next triangle is defined by I2, I3, I4 (actually, I4, I3, I2 + to stay with same counterclockwise sense). + Next triangle is defined by I3, I4, I5 ( do not need to reverse + odd numbered triangles) and so on. + List is terminated with -1. +*/ + else if ( leqi ( level_name[level-1], "INDEXEDTRIANGLESTRIPSET" ) == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + + if ( jval == -1 ) { + ivert = 0; + } + else { + + ix = iy; + iy = iz; + iz = jval + cor3_num_old; + + if ( ivert == 0 ) { + if ( face_num < FACE_MAX ) { + face[ivert][face_num] = jval + cor3_num_old; + face_order[face_num] = 3; + } + } + else if ( ivert == 1 ) { + if ( face_num < FACE_MAX ) { + face[ivert][face_num] = jval + cor3_num_old; + } + } + else if ( ivert == 2 ) { + if ( face_num < FACE_MAX ) { + face[ivert][face_num] = jval + cor3_num_old; + } + face_num = face_num + 1; + } + else { + + if ( face_num < FACE_MAX ) { + face_order[face_num] = 3; + if ( ( ivert % 2 ) == 0 ) { + face[0][face_num] = ix; + face[1][face_num] = iy; + face[2][face_num] = iz; + } + else { + face[0][face_num] = iz; + face[1][face_num] = iy; + face[2][face_num] = ix; + } + } + face_num = face_num + 1; + } + ivert = ivert + 1; +/* + Very very tentative guess as to how indices into the normal + vector array are set up... +*/ + if ( face_num < FACE_MAX && ivert > 2 ) { + for ( i = 0; i < 3; i++ ) { + face_normal[i][face_num] = normal_temp[i][ix]; + } + } + } + } + } + } +/* + INDEXEDFACESET +*/ + else if ( leqi ( level_name[level], "INDEXEDFACESET" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "COORDINDEX" ) == TRUE ) { + ivert = 0; + } + else if ( leqi ( word, "MATERIALINDEX" ) == TRUE ) { + } + else if ( leqi ( word, "NORMALINDEX" ) == TRUE ) { + } + else if ( leqi ( word, "TEXTURECOORDINDEX" ) == TRUE ) { + if ( texture_num <= 0 ) { + texture_num = 1; + strcpy ( texture_name[0], "Texture_0000" ); + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + INDEXEDLINESET +*/ + else if ( leqi ( level_name[level], "INDEXEDLINESET" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "COORDINDEX" ) == TRUE ) { + } + else if ( leqi ( word, "MATERIALINDEX" ) == TRUE ) { + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + INDEXEDNURBSSURFACE +*/ + else if ( leqi ( level_name[level], "INDEXEDNURBSSURFACE" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "NUMUCONTROLPOINTS") == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + nu = jval; + if ( debug ) { + printf ( "NU = %d\n", nu ); + } + } + else { + nu = 0; + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + else if ( leqi ( word, "NUMVCONTROLPOINTS" ) == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + nv = jval; + if ( debug ) { + printf ( "NV = %d\n", nv ); + } + } + else { + nv = 0; + bad_num = bad_num + 1; + } + } + else if ( leqi ( word, "COORDINDEX" ) == TRUE ) { + } + else if ( leqi ( word, "UKNOTVECTOR" ) == TRUE ) { + } + else if ( leqi ( word, "VKNOTVECTOR" ) == TRUE ) { + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + INDEXEDTRIANGLESTRIPSET +*/ + else if ( leqi ( level_name[level], "INDEXEDTRIANGLESTRIPSET" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "VERTEXPROPERTY" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else if ( leqi ( word, "COORDINDEX" ) == TRUE ) { + ivert = 0; + } + else if ( leqi ( word, "NORMALINDEX" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + INFO +*/ + else if ( leqi ( level_name[level], "INFO" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "STRING" ) == TRUE ) { + } + else if ( strcmp ( word, "\"" ) == 0 ) { + } + else { + } + } +/* + LIGHTMODEL + Read, but ignore. +*/ + else if ( leqi ( level_name[level], "LIGHTMODEL" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "model" ) == TRUE ) { + } + else { + } + } +/* + MATERIAL + Read, but ignore. +*/ + else if ( leqi ( level_name[level],"MATERIAL" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "AMBIENTCOLOR" ) == TRUE ) { + } + else if ( leqi ( word, "EMISSIVECOLOR" ) == TRUE ) { + } + else if ( leqi ( word, "DIFFUSECOLOR" ) == TRUE ) { + } + else if ( leqi ( word, "SHININESS" ) == TRUE ) { + } + else if ( leqi ( word, "SPECULARCOLOR" ) == TRUE ) { + } + else if ( leqi ( word, "TRANSPARENCY" ) == TRUE ) { + } + else { + } + } +/* + MATERIALBINDING + Read, but ignore +*/ + else if ( leqi ( level_name[level], "MATERIALBINDING" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "VALUE" ) == TRUE ) { + count = sscanf ( next, "%s%n", material_binding, &width ); + next = next + width; + } + else { + count = sscanf ( next, "%f%n", &rval, &width ); + next = next + width; + + if ( count > 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } +/* + MATERIALINDEX +*/ + else if ( leqi ( level_name[level], "MATERIALINDEX" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + ivert = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } +/* + (indexedfaceset) MATERIALINDEX +*/ + else if ( leqi ( level_name[level-1], "INDEXEDFACESET" ) == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + + if ( jval == -1 ) { + ivert = 0; + face_num2 = face_num2 + 1; + } + else { + + if ( face_num2 < FACE_MAX ) { + if ( jval != -1 ) { + jval = jval + cor3_num_old; + } + vertex_material[ivert][face_num2] = jval; + ivert = ivert + 1; + } + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + (indexedlineset) MATERIALINDEX +*/ + else if ( leqi ( level_name[level-1], "INDEXEDLINESET" ) == TRUE ) { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + + if ( line_num2 < LINES_MAX ) { + if ( jval != -1 ) { + jval = jval + cor3_num_old; + } + line_material[line_num2] = jval; + line_num2 = line_num2 + 1; + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + else { + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } +/* + MATRIXTRANSFORM. +*/ + else if ( leqi ( level_name[level], "MATRIXTRANSFORM" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "MATRIX" ) == TRUE ) { + icol = -1; + irow = 0; + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + icol = icol + 1; + if ( icol > 3 ) { + icol = 0; + irow = irow + 1; + if ( irow > 3 ) { + irow = 0; + } + } + + transform_matrix[irow][icol] = rval; + } + + } + } +/* + NORMAL + The field "VECTOR" may be followed by three numbers, + (handled here), or by a square bracket, and sets of three numbers. +*/ + else if ( leqi ( level_name[level], "NORMAL" ) == TRUE ) { +/* + (vertexproperty) NORMAL +*/ + if ( leqi ( level_name[level-1], "VERTEXPROPERTY" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + ixyz = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + if ( inormface < FACE_MAX ) { + face_normal[ixyz][inormface] = rval; + } + + ixyz = ixyz + 1; + if ( ixyz > 2 ) { + ixyz = 0; + inormface = inormface + 1; + } + } + } + } +/* + (anythingelse) NORMAL +*/ + else { + + if ( strcmp ( word, "{" ) == 0 ) { + ixyz = 0; + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "VECTOR" ) == TRUE ) { + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + +/* COMMENTED OUT + + if ( nfnorm < FACE_MAX ) { + normal[ixyz][nfnorm] = rval; + } + +*/ + ixyz = ixyz + 1; + if ( ixyz > 2 ) { + ixyz = 0; + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } + } +/* + NORMALBINDING + Read, but ignore +*/ + else if ( leqi ( level_name[level], "NORMALBINDING" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "VALUE" ) == TRUE ) { + count = sscanf ( next, "%s%n", normal_binding, &width ); + next = next + width; + } + else { + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } +/* + NORMALINDEX +*/ + else if ( leqi ( level_name[level], "NORMALINDEX" ) == TRUE ) { +/* + (indexedtrianglestripset) NORMALINDEX +*/ + if ( leqi ( level_name[level-1], "INDEXEDTRIANGLESTRIPSET" ) == TRUE ) { + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + } + else if ( strcmp ( word, "[" ) == 0 ) { + } + else if ( strcmp ( word, "]" ) == 0 ) { + } + } +/* + (anythingelse) NORMALINDEX +*/ + else { + + if ( strcmp ( word, "[" ) == 0 ) { + ivert = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + if ( jval == -1 ) { + ivert = 0; + iface_num = iface_num + 1; + } + else { + if ( iface_num < FACE_MAX ) { + for ( i = 0; i < 3; i++ ){ + vertex_normal[i][ivert][iface_num] = normal_temp[i][jval]; + } + ivert = ivert + 1; + } + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } + } +/* + (coordinate3) POINT +*/ + else if ( leqi ( level_name[level], "POINT" ) == TRUE ) { + + if ( leqi ( level_name[level-1], "COORDINATE3" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + ixyz = 0; + cor3_num_old = cor3_num; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + if ( cor3_num < COR3_MAX ) { + xvec[ixyz] = rval; + } + + ixyz = ixyz + 1; + + if ( ixyz == 3 ) { + + ixyz = 0; + + tmat_mxp ( transform_matrix, xvec, xvec ); + + cor3[0][cor3_num] = xvec[0]; + cor3[1][cor3_num] = xvec[1]; + cor3[2][cor3_num] = xvec[2]; + + cor3_num = cor3_num + 1; + + continue; + } + } + else { + bad_num = bad_num + 1; + break; + } + } + } +/* + (texturecoodinate2) POINT +*/ + else if ( leqi ( level_name[level-1], "TEXTURECOORDINATE2" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + iuv = 0; + text_numure_temp = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + texture_temp[iuv][text_numure_temp] = rval; + + iuv = iuv + 1; + if ( iuv == 2 ) { + iuv = 0; + text_numure_temp = text_numure_temp + 1; + } + } + else { + printf ( "TextureCoordinate2 { Point [: Bad data\n" ); + bad_num = bad_num + 1; + break; + } + } + } + } +/* + RGB +*/ + else if ( leqi ( level_name[level],"RGB" ) == TRUE ) { +/* + (basecolor) RGB +*/ + if ( leqi ( level_name[level-1], "BASECOLOR" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + icolor = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + rgbcolor[icolor][color_num] = rval; + icolor = icolor + 1; + + if ( icolor == 3 ) { + icolor = 0; + color_num = color_num + 1; + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } +/* + (anythingelse RGB) +*/ + else { + + printf ( "HALSBAND DES TODES!\n" ); + + if ( strcmp ( word, "[" ) == 0 ) { + icolor = 0; + ivert = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + if ( icface < FACE_MAX ) { + + vertex_rgb[icolor][ivert][icface] = rval; + + icolor = icolor + 1; + if ( icolor == 3 ) { + icolor = 0; + color_num = color_num + 1; + ivert = ivert + 1; + if ( ivert == face_order[icface] ) { + ivert = 0; + icface = icface + 1; + } + } + } + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } + + } +/* + SEPARATOR +*/ + else if ( leqi ( level_name[level], "SEPARATOR" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + } + } +/* + SHAPEHINTS + Read, but ignore. +*/ + else if ( leqi ( level_name[level], "SHAPEHINTS" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "CREASEANGLE" ) == TRUE ) { + + count = sscanf ( next, "%f%n", &rval, &width ); + next = next + width; + + if ( count <= 0 ) { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + else if ( leqi ( word, "FACETYPE" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else if ( leqi ( word, "SHAPETYPE" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else if ( leqi ( word, "VERTEXORDERING" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + TEXTURE2 +*/ + else if ( leqi ( level_name[level], "TEXTURE2" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + texture_num = texture_num + 1; + } + else if ( leqi ( word, "BLENDCOLOR" ) == TRUE ) { + } +/* + NEED TO REMOVE QUOTES SURROUNDING TEXTURE NAME. +*/ + else if ( leqi ( word, "FILENAME" ) == TRUE ) { + + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + + strcpy ( texture_name[texture_num], word ); + + i = 0; + j = 0; + do { + c = texture_name[texture_num][i]; + i = i + 1; + if ( c != '"' ) { + texture_name[texture_num][j] = c; + j = j + 1; + } + } while ( c != '\0' ); + + } + else if ( leqi ( word, "IMAGE" ) == TRUE ) { + } + else if ( leqi ( word, "MODEL" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else if ( leqi ( word, "WRAPS" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else if ( leqi ( word, "WRAPT" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else { + } + } +/* + TEXTURECOORDINATE2 +*/ + else if ( leqi ( level_name[level], "TEXTURECOORDINATE2" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "POINT" ) == TRUE ) { + } + else { + bad_num = bad_num + 1; + printf ( "TEXTURECOORDINATE2: Bad data %s\n", word ); + } + } +/* + TEXTURECOORDINATEBINDING +*/ + else if ( leqi ( level_name[level], "TEXTURECOORDINATEBINDING" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "VALUE" ) == TRUE ) { + count = sscanf ( next, "%s%n", texture_binding, &width ); + next = next + width; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + TEXTURECOORDINDEX +*/ + else if ( leqi ( level_name[level], "TEXTURECOORDINDEX" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + ivert = 0; + iface_num = 0; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + + count = sscanf ( word, "%d%n", &jval, &width ); + + if ( count > 0 ) { + + if ( jval == - 1 ) { + ivert = 0; + } + else { + + if ( iface_num < FACE_MAX ) { + vertex_tex_uv[0][ivert][iface_num] = texture_temp[0][jval]; + vertex_tex_uv[1][ivert][iface_num] = texture_temp[1][jval]; + } + + ivert = ivert + 1; + + if ( ivert == face_order[iface_num] ) { + ivert = 0; + iface_num = iface_num + 1; + } + } + + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + + } + } +/* + UKNOTVECTOR +*/ + else if ( leqi ( level_name[level], "UKNOTVECTOR" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else { + count = sscanf ( word, "%d%n", &jval, &width ); + } + } +/* + VECTOR +*/ + else if ( leqi ( level_name[level], "VECTOR" ) == TRUE ) { + if ( strcmp ( word, "[" ) == 0 ) { + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } +/* + (normal) VECTOR +*/ + else if ( leqi ( level_name[level-1], "NORMAL" ) == TRUE ) { + + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + if ( normal_num_temp < ORDER_MAX * FACE_MAX ) { + normal_temp[ixyz][normal_num_temp] = rval; + ixyz = ixyz + 1; + if ( ixyz == 3 ) { + ixyz = 0; + normal_num_temp = normal_num_temp + 1; + } + } + } + else { + bad_num = bad_num + 1; + printf ( "NORMAL VECTOR: bad data %s\n", word ); + } + } + } +/* + (vertexproperty) VERTEX +*/ + else if ( leqi ( level_name[level], "VERTEX" ) == TRUE ) { + + if ( leqi ( level_name[level-1], "VERTEXPROPERTY" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + ixyz = 0; + cor3_num_old = cor3_num; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + } + else { + count = sscanf ( word, "%f%n", &rval, &width ); + + if ( count > 0 ) { + + if ( cor3_num < COR3_MAX ) { + cor3[ixyz][cor3_num] = rval; + } + ixyz = ixyz + 1; + if ( ixyz == 3 ) { + ixyz = 0; + cor3_num = cor3_num + 1; + } + + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } + } + } +/* + (indexedtrianglestripset) VERTEXPROPERTY +*/ + else if ( leqi ( level_name[level], "VERTEXPROPERTY" ) == TRUE ) { + + if ( strcmp ( word, "{" ) == 0 ) { + } + else if ( strcmp ( word, "}" ) == 0 ) { + level = nlbrack - nrbrack; + } + else if ( leqi ( word, "VERTEX" ) == TRUE ) { + } + else if ( leqi ( word, "NORMAL" ) == TRUE ) { + ixyz = 0; + } + else if ( leqi ( word, "MATERIALBINDING" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else if ( leqi ( word, "NORMALBINDING" ) == TRUE ) { + count = sscanf ( next, "%s%n", word, &width ); + next = next + width; + } + else { + bad_num = bad_num + 1; + printf ( "Bad data %s\n", word ); + } + } +/* + VKNOTVECTOR +*/ + else if ( leqi ( level_name[level], "VKNOTVECTOR" ) == TRUE ) { + + if ( strcmp ( word, "[" ) == 0 ) { + continue; + } + else if ( strcmp ( word, "]" ) == 0 ) { + level = nlbrack - nrbrack; + continue; + } + else { + count = sscanf ( word, "%d%n", &jval, &width ); + } + } +/* + Any other word: +*/ + else { + } + } + } +/* + Reset the transformation matrix to the identity, + because, presumably, we've applied it by now. +*/ + tmat_init ( transform_matrix ); + + return SUCCESS; +} +/******************************************************************************/ + +int iv_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + IV_WRITE writes graphics information to an Inventor file. + + Modified: + + 29 June 1999 + + Author: + + John Burkardt +*/ +{ + int icor3; + int iface; + int itemp; + int ivert; + int j; + int length; + int text_num; + + text_num = 0; + + fprintf ( fileout, "#Inventor V2.0 ascii\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Separator {\n" ); + fprintf ( fileout, " Info {\n" ); + fprintf ( fileout, " string \"%s generated by IVCON.\"\n", fileout_name ); + fprintf ( fileout, " string \"Original data in file %s.\"\n", filein_name ); + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " Separator {\n" ); + text_num = text_num + 8; +/* + LightModel: + + BASE_COLOR ignores light sources, and uses only diffuse color + and transparency. Even without normal vector information, + the object will show up. However, you won't get shadow + and lighting effects. + + PHONG uses the Phong lighting model, accounting for light sources + and surface orientation. This is the default. I believe + you need accurate normal vector information in order for this + option to produce nice pictures. + + DEPTH ignores light sources, and calculates lighting based on + the location of the object within the near and far planes + of the current camera's view volume. +*/ + fprintf ( fileout, " LightModel {\n" ); + fprintf ( fileout, " model PHONG\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 3; +/* + Transformation matrix. +*/ + fprintf ( fileout, " MatrixTransform { matrix\n" ); + fprintf ( fileout, " %f %f %f %f\n", transform_matrix[0][0], + transform_matrix[0][1], transform_matrix[0][2], transform_matrix[0][3] ); + fprintf ( fileout, " %f %f %f %f\n", transform_matrix[1][0], + transform_matrix[1][1], transform_matrix[1][2], transform_matrix[1][3] ); + fprintf ( fileout, " %f %f %f %f\n", transform_matrix[2][0], + transform_matrix[2][1], transform_matrix[2][2], transform_matrix[2][3] ); + fprintf ( fileout, " %f %f %f %f\n", transform_matrix[3][0], + transform_matrix[3][1], transform_matrix[3][2], transform_matrix[3][3] ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 6; +/* + Material. +*/ + fprintf ( fileout, " Material {\n" ); + fprintf ( fileout, " ambientColor 0.2 0.2 0.2\n" ); + fprintf ( fileout, " diffuseColor 0.8 0.8 0.8\n" ); + fprintf ( fileout, " emissiveColor 0.0 0.0 0.0\n" ); + fprintf ( fileout, " specularColor 0.0 0.0 0.0\n" ); + fprintf ( fileout, " shininess 0.2\n" ); + fprintf ( fileout, " transparency 0.0\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 8; +/* + MaterialBinding +*/ + fprintf ( fileout, " MaterialBinding {\n" ); + fprintf ( fileout, " value PER_VERTEX_INDEXED\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 3; +/* + NormalBinding + + PER_VERTEX promises that we will write a list of normal vectors + in a particular order, namely, the normal vectors for the vertices + of the first face, then the second face, and so on. + + PER_VERTEX_INDEXED promises that we will write a list of normal vectors, + and then, as part of the IndexedFaceSet, we will give a list of + indices referencing this normal vector list. +*/ + fprintf ( fileout, " NormalBinding {\n" ); + fprintf ( fileout, " value PER_VERTEX_INDEXED\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 3; +/* + Texture2. + + FLAW: We can only handle on texture right now. +*/ + if ( texture_num > 0 ) { + fprintf ( fileout, " Texture2 {\n" ); + fprintf ( fileout, " filename \"%s\"\n", texture_name[0] ); + fprintf ( fileout, " wrapS REPEAT\n" ); + fprintf ( fileout, " wrapT REPEAT\n" ); + fprintf ( fileout, " model MODULATE\n" ); + fprintf ( fileout, " blendColor 0.0 0.0 0.0\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 7; + } +/* + TextureCoordinateBinding +*/ + fprintf ( fileout, " TextureCoordinateBinding {\n" ); + fprintf ( fileout, " value PER_VERTEX_INDEXED\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 3; +/* + ShapeHints +*/ + fprintf ( fileout, " ShapeHints {\n" ); + fprintf ( fileout, " vertexOrdering COUNTERCLOCKWISE\n" ); + fprintf ( fileout, " shapeType UNKNOWN_SHAPE_TYPE\n" ); + fprintf ( fileout, " faceType CONVEX\n" ); + fprintf ( fileout, " creaseAngle 6.28319\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 6; +/* + Point coordinates. +*/ + fprintf ( fileout, " Coordinate3 {\n" ); + fprintf ( fileout, " point [\n" ); + text_num = text_num + 2; + + for ( j = 0; j < cor3_num; j++ ) { + fprintf ( fileout, " %f %f %f,\n", cor3[0][j], cor3[1][j], cor3[2][j] ); + text_num = text_num + 1; + } + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; +/* + Texture coordinates. +*/ + fprintf ( fileout, " TextureCoordinate2 {\n" ); + fprintf ( fileout, " point [\n" ); + text_num = text_num + 2; + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %f %f,\n", vertex_tex_uv[0][ivert][iface], + vertex_tex_uv[1][ivert][iface] ); + text_num = text_num + 1; + } + } + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; +/* + BaseColor. +*/ + if ( color_num > 0 ) { + + fprintf ( fileout, " BaseColor {\n" ); + fprintf ( fileout, " rgb [\n" ); + text_num = text_num + 2; + + for ( j = 0; j < color_num; j++ ) { + fprintf ( fileout, " %f %f %f,\n", rgbcolor[0][j], rgbcolor[1][j], + rgbcolor[2][j] ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + } +/* + Normal vectors. + Use the normal vectors associated with nodes. +*/ + if ( face_num > 0 ) { + + fprintf ( fileout, " Normal { \n" ); + fprintf ( fileout, " vector [\n" ); + text_num = text_num + 2; + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + fprintf ( fileout, " %f %f %f,\n", + cor3_normal[0][icor3], + cor3_normal[1][icor3], + cor3_normal[2][icor3] ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + } +/* + IndexedLineSet +*/ + if ( line_num > 0 ) { + + fprintf ( fileout, " IndexedLineSet {\n" ); +/* + IndexedLineSet coordIndex +*/ + fprintf ( fileout, " coordIndex [\n" ); + text_num = text_num + 2; + + length = 0; + + for ( j = 0; j < line_num; j++ ) { + + if ( length == 0 ) { + fprintf ( fileout, " " ); + } + + fprintf ( fileout, " %d,", line_dex[j] ); + length = length + 1; + + if ( line_dex[j] == -1 || length >= 10 || j == line_num-1 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + length = 0; + } + } + + fprintf ( fileout, " ]\n" ); + text_num = text_num + 1; +/* + IndexedLineSet materialIndex. +*/ + fprintf ( fileout, " materialIndex [\n" ); + text_num = text_num + 1; + + length = 0; + + for ( j = 0; j < line_num; j++ ) { + + if ( length == 0 ) { + fprintf ( fileout, " " ); + } + + fprintf ( fileout, " %d,", line_material[j] ); + length = length + 1; + + if ( line_material[j] == -1 || length >= 10 || j == line_num-1 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + length = 0; + } + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + } +/* + IndexedFaceSet. +*/ + if ( face_num > 0 ) { + + fprintf ( fileout, " IndexedFaceSet {\n" ); + fprintf ( fileout, " coordIndex [\n" ); + text_num = text_num + 2; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " " ); + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d,", face[ivert][iface] ); + } + fprintf ( fileout, " -1,\n" ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + text_num = text_num + 1; +/* + IndexedFaceSet normalIndex +*/ + fprintf ( fileout, " normalIndex [\n" ); + text_num = text_num + 1; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " " ); + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d,", face[ivert][iface] ); + } + fprintf ( fileout, " -1,\n" ); + text_num = text_num + 1; + } + fprintf ( fileout, " ]\n" ); + text_num = text_num + 1; +/* + IndexedFaceSet materialIndex +*/ + fprintf ( fileout, " materialIndex [\n" ); + text_num = text_num + 1; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " " ); + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d,", vertex_material[ivert][iface] ); + } + fprintf ( fileout, " -1,\n" ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + text_num = text_num + 1; +/* + IndexedFaceSet textureCoordIndex +*/ + fprintf ( fileout, " textureCoordIndex [\n" ); + text_num = text_num + 1; + + itemp = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, " " ); + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d,", itemp ); + itemp = itemp + 1; + } + fprintf ( fileout, " -1,\n" ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + } +/* + Close up the Separator nodes. +*/ + fprintf ( fileout, " }\n" ); + fprintf ( fileout, "}\n" ); + text_num = text_num + 2; +/* + Report. +*/ + printf ( "\n" ); + printf ( "IV_WRITE - Wrote %d text lines;\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int ivec_max ( int n, int *a ) + +/******************************************************************************/ + +/* + Purpose: + + IVEC_MAX returns the maximum element in an integer array. + + Modified: + + 09 October 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int *ia; + int imax; + + if ( n <= 0 ) { + imax = 0; + } + else { + ia = a; + imax = *ia; + for ( i = 1; i < n; i++ ) { + ia = ia + 1; + if ( imax < *ia ) { + imax = *ia; + } + } + } + return imax; +} +/******************************************************************************/ + +int leqi ( char* string1, char* string2 ) + +/******************************************************************************/ + +/* + Purpose: + + LEQI compares two strings for equality, disregarding case. + + Modified: + + 15 September 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int nchar; + int nchar1; + int nchar2; + + nchar1 = strlen ( string1 ); + nchar2 = strlen ( string2 ); + + if ( nchar1 < nchar2 ) { + nchar = nchar1; + } + else { + nchar = nchar2; + } +/* + The strings are not equal if they differ over their common length. +*/ + for ( i = 0; i < nchar; i++ ) { + + if ( toupper ( string1[i] ) != toupper ( string2[i] ) ) { + return FALSE; + } + } +/* + The strings are not equal if the longer one includes nonblanks + in the tail. +*/ + if ( nchar1 > nchar ) { + for ( i = nchar; i < nchar1; i++ ) { + if ( string1[i] != ' ' ) { + return FALSE; + } + } + } + else if ( nchar2 > nchar ) { + for ( i = nchar; i < nchar2; i++ ) { + if ( string2[i] != ' ' ) { + return FALSE; + } + } + } + return TRUE; +} +/******************************************************************************/ + +long int long_int_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + LONG_INT_READ reads a long int from a binary file. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt +*/ +{ + union { + long int yint; + char ychar[4]; + } y; + + if ( byte_swap == TRUE ) { + y.ychar[3] = fgetc ( filein ); + y.ychar[2] = fgetc ( filein ); + y.ychar[1] = fgetc ( filein ); + y.ychar[0] = fgetc ( filein ); + } + else { + y.ychar[0] = fgetc ( filein ); + y.ychar[1] = fgetc ( filein ); + y.ychar[2] = fgetc ( filein ); + y.ychar[3] = fgetc ( filein ); + } + + return y.yint; +} +/******************************************************************************/ + +int long_int_write ( FILE *fileout, long int int_val ) + +/******************************************************************************/ + +/* + Purpose: + + LONG_INT_WRITE writes a long int to a binary file. + + Modified: + + 14 October 1998 + + Author: + + John Burkardt +*/ +{ + union { + long int yint; + char ychar[4]; + } y; + + y.yint = int_val; + + if ( byte_swap == TRUE ) { + fputc ( y.ychar[3], fileout ); + fputc ( y.ychar[2], fileout ); + fputc ( y.ychar[1], fileout ); + fputc ( y.ychar[0], fileout ); + } + else { + fputc ( y.ychar[0], fileout ); + fputc ( y.ychar[1], fileout ); + fputc ( y.ychar[2], fileout ); + fputc ( y.ychar[3], fileout ); + } + + return 4; +} +/******************************************************************************/ + +void news ( void ) + +/******************************************************************************/ + +/* + Purpose: + + NEWS reports the program change history. + + Modified: + + 26 September 1999 + + Author: + + John Burkardt +*/ +{ + printf ( "\n" ); + printf ( "Recent changes:\n" ); + printf ( "\n" ); + printf ( " 04 July 2000\n" ); + printf ( " Added preliminary XGL_WRITE.\n" ); + printf ( " 26 September 1999\n" ); + printf ( " After ASE_READ, call NODE_TO_VERTEX_MAT and VERTEX_TO_FACE_MATERIAL.\n" ); + printf ( " 27 July 1999\n" ); + printf ( " Corrected TMAT_ROT_VECTOR.\n" ); + printf ( " 17 July 1999\n" ); + printf ( " Added null edge and face deletion.\n" ); + printf ( " Corrected a string problem in SMF_READ.\n" ); + printf ( " 03 July 1999\n" ); + printf ( " Fixed a problem with BINDING variables in SMF_READ.\n" ); + printf ( " 02 July 1999\n" ); + printf ( " Added limited texture support in 3DS/IV.\n" ); + printf ( " 26 June 1999\n" ); + printf ( " BYU_READ added.\n" ); + printf ( " 25 June 1999\n" ); + printf ( " BYU_WRITE added.\n" ); + printf ( " 22 June 1999\n" ); + printf ( " TRIB_READ added.\n" ); + printf ( " 16 June 1999\n" ); + printf ( " TRIB_WRITE Greg Hood binary triangle output routine added.\n" ); + printf ( " 10 June 1999\n" ); + printf ( " TRIA_WRITE Greg Hood ASCII triangle output routine added.\n" ); + printf ( " 09 June 1999\n" ); + printf ( " TEC_WRITE TECPLOT output routine added.\n" ); + printf ( " IV_READ and IV_WRITE use TRANSFORM_MATRIX now.\n" ); + printf ( " 26 May 1999\n" ); + printf ( " LINE_PRUNE option added for VLA_WRITE.\n" ); + printf ( " 24 May 1999\n" ); + printf ( " Added << command to append new graphics data to old.\n" ); + printf ( " Stuck in first draft STLB_READ/STLB_WRITE routines.\n" ); + printf ( " STLA_WRITE and STLB_WRITE automatically decompose \n" ); + printf ( " non-triangular faces before writing.\n" ); + printf ( " 23 May 1999\n" ); + printf ( " Stuck in first draft WRL_WRITE routine.\n" ); + printf ( " 22 May 1999\n" ); + printf ( " Faces converted to lines before calling VLA_WRITE.\n" ); + printf ( " Added UCD_WRITE.\n" ); + printf ( " Added MATERIAL/PATCH/TAGGEDPOINTS fields in HRC_READ.\n" ); + printf ( " 17 May 1999\n" ); + printf ( " Updated SMF_WRITE, SMF_READ to match code in IVREAD.\n" ); + printf ( " Added transformation matrix routines.\n" ); + printf ( " 16 May 1999\n" ); + printf ( " Zik Saleeba improved DXF support to handle polygons.\n" ); + printf ( " 15 April 1999\n" ); + printf ( " Zik Saleeba added Golgotha GMOD file format support.\n" ); + printf ( " 03 December 1998\n" ); + printf ( " Set up simple hooks in TDS_READ_MATERIAL_SECTION.\n" ); + printf ( " 02 December 1998\n" ); + printf ( " Set up simple hooks for texture map names.\n" ); + printf ( " 19 November 1998\n" ); + printf ( " IV_WRITE uses PER_VERTEX normal binding.\n" ); + printf ( " 18 November 1998\n" ); + printf ( " Added node normals.\n" ); + printf ( " Finally added the -RN option.\n" ); + printf ( " 17 November 1998\n" ); + printf ( " Added face node ordering reversal option.\n" ); + printf ( " 20 October 1998\n" ); + printf ( " Added DATA_REPORT.\n" ); + printf ( " 19 October 1998\n" ); + printf ( " SMF_READ and SMF_WRITE added.\n" ); + printf ( " 16 October 1998\n" ); + printf ( " Fixing a bug in IV_READ that chokes on ]} and other\n" ); + printf ( " cases where brackets aren't properly spaced.\n" ); + printf ( " 11 October 1998\n" ); + printf ( " Added face subset selection option S.\n" ); + printf ( " 09 October 1998\n" ); + printf ( " Reworking normal vector treatments.\n" ); + printf ( " Synchronizing IVREAD and IVCON.\n" ); + printf ( " POV_WRITE added.\n" ); + printf ( " 02 October 1998\n" ); + printf ( " IVCON reproduces BOX.3DS and CONE.3DS exactly.\n" ); + printf ( " 30 September 1998\n" ); + printf ( " IVCON compiled on the PC.\n" ); + printf ( " Interactive BYTE_SWAP option added for binary files.\n" ); + printf ( " 25 September 1998\n" ); + printf ( " OBJECT_NAME made available to store object name.\n" ); + printf ( " 23 September 1998\n" ); + printf ( " 3DS binary files can be written.\n" ); + printf ( " 15 September 1998\n" ); + printf ( " 3DS binary files can be read.\n" ); + printf ( " 01 September 1998\n" ); + printf ( " COR3_RANGE, FACE_NORMAL_AVE added.\n" ); + printf ( " Major modifications to normal vectors.\n" ); + printf ( " 24 August 1998\n" ); + printf ( " HRC_READ added.\n" ); + printf ( " 21 August 1998\n" ); + printf ( " TXT_WRITE improved.\n" ); + printf ( " 20 August 1998\n" ); + printf ( " HRC_WRITE can output lines as linear splines.\n" ); + printf ( " 19 August 1998\n" ); + printf ( " Automatic normal computation for OBJ files.\n" ); + printf ( " Added normal vector computation.\n" ); + printf ( " HRC_WRITE is working.\n" ); + printf ( " 18 August 1998\n" ); + printf ( " IV_READ/IV_WRITE handle BASECOLOR RGB properly now.\n" ); + printf ( " Improved treatment of face materials and normals.\n" ); + printf ( " 17 August 1998\n" ); + printf ( " ORDER_MAX increased to 35.\n" ); + printf ( " FACE_PRINT routine added.\n" ); + printf ( " INIT_DATA routine added.\n" ); + printf ( " 14 August 1998\n" ); + printf ( " IV_READ is working.\n" ); + printf ( " 13 August 1998\n" ); + printf ( " ASE_WRITE is working.\n" ); + printf ( " IV_WRITE is working.\n" ); + printf ( " 12 August 1998\n" ); + printf ( " ASE_READ is working.\n" ); + printf ( " 10 August 1998\n" ); + printf ( " DXF_WRITE is working.\n" ); + printf ( " DXF_READ is working.\n" ); + printf ( " 27 July 1998\n" ); + printf ( " Interactive mode is working.\n" ); + printf ( " OBJ_READ is working.\n" ); + printf ( " 25 July 1998\n" ); + printf ( " OBJ_WRITE is working.\n" ); + printf ( " 24 July 1998\n" ); + printf ( " DATA_CHECK checks the input data.\n" ); + printf ( " VLA_READ is working.\n" ); + printf ( " VLA_WRITE is working.\n" ); + printf ( " 23 July 1998\n" ); + printf ( " STL_WRITE is working.\n" ); + printf ( " 22 July 1998\n" ); + printf ( " STL_READ is working.\n" ); + printf ( " TXT_WRITE is working.\n" ); +} +/**********************************************************************/ + +void node_to_vertex_material ( void ) + +/**********************************************************************/ + +/* + Purpose: + + NODE_TO_VERTEX_MAT extends node material definitions to vertices. + + Discussion: + + A NODE is a point in space. + A VERTEX is a node as used in a particular face. + One node may be used as a vertex in several faces, or none. + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + int iface; + int ivert; + int node; + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + node = face[ivert][iface]; + vertex_material[ivert][iface] = cor3_material[node]; + } + } + + return; +} +/******************************************************************************/ + +int obj_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + OBJ_READ reads a Wavefront OBJ file. + + Example: + + # magnolia.obj + + mtllib ./vp.mtl + + g + v -3.269770 -39.572201 0.876128 + v -3.263720 -39.507999 2.160890 + ... + v 0.000000 -9.988540 0.000000 + g stem + s 1 + usemtl brownskn + f 8 9 11 10 + f 12 13 15 14 + ... + f 788 806 774 + + Modified: + + 20 October 1998 + + Author: + + John Burkardt +*/ +{ + int count; + int i; + int ivert; + char *next; + char *next2; + char *next3; + int node; + int vertex_normal_num; + float r1; + float r2; + float r3; + char token[LINE_MAX_LEN]; + char token2[LINE_MAX_LEN]; + int width; +/* + Initialize. +*/ + vertex_normal_num = 0; +/* + Read the next line of the file into INPUT. +*/ + while ( fgets ( input, LINE_MAX_LEN, filein ) != NULL ) { + + text_num = text_num + 1; +/* + Advance to the first nonspace character in INPUT. +*/ + for ( next = input; *next != '\0' && isspace(*next); next++ ) { + } +/* + Skip blank lines and comments. +*/ + + if ( *next == '\0' ) { + continue; + } + + if ( *next == '#' || *next == '$' ) { + comment_num = comment_num + 1; + continue; + } +/* + Extract the first word in this line. +*/ + sscanf ( next, "%s%n", token, &width ); +/* + Set NEXT to point to just after this token. +*/ + + next = next + width; +/* + BEVEL + Bevel interpolation. +*/ + if ( leqi ( token, "BEVEL" ) == TRUE ) { + continue; + } +/* + BMAT + Basis matrix. +*/ + else if ( leqi ( token, "BMAT" ) == TRUE ) { + continue; + } +/* + C_INTERP + Color interpolation. +*/ + else if ( leqi ( token, "C_INTERP" ) == TRUE ) { + continue; + } +/* + CON + Connectivity between free form surfaces. +*/ + else if ( leqi ( token, "CON" ) == TRUE ) { + continue; + } +/* + CSTYPE + Curve or surface type. +*/ + else if ( leqi ( token, "CSTYPE" ) == TRUE ) { + continue; + } +/* + CTECH + Curve approximation technique. +*/ + else if ( leqi ( token, "CTECH" ) == TRUE ) { + continue; + } +/* + CURV + Curve. +*/ + else if ( leqi ( token, "CURV" ) == TRUE ) { + continue; + } +/* + CURV2 + 2D curve. +*/ + else if ( leqi ( token, "CURV2" ) == TRUE ) { + continue; + } +/* + D_INTERP + Dissolve interpolation. +*/ + else if ( leqi ( token, "D_INTERP" ) == TRUE ) { + continue; + } +/* + DEG + Degree. +*/ + else if ( leqi ( token, "DEG" ) == TRUE ) { + continue; + } +/* + END + End statement. +*/ + else if ( leqi ( token, "END" ) == TRUE ) { + continue; + } +/* + F V1 V2 V3 + or + F V1/VT1/VN1 V2/VT2/VN2 ... + or + F V1//VN1 V2//VN2 ... + + Face. + A face is defined by the vertices. + Optionally, slashes may be used to include the texture vertex + and vertex normal indices. + + OBJ line node indices are 1 based rather than 0 based. + So we have to decrement them before loading them into FACE. +*/ + + else if ( leqi ( token, "F" ) == TRUE ) { + + ivert = 0; + face_order[face_num] = 0; +/* + Read each item in the F definition as a token, and then + take it apart. +*/ + for ( ;; ) { + + count = sscanf ( next, "%s%n", token2, &width ); + next = next + width; + + if ( count != 1 ) { + break; + } + + count = sscanf ( token2, "%d%n", &node, &width ); + next2 = token2 + width; + + if ( count != 1 ) { + break; + } + + if ( ivert < ORDER_MAX && face_num < FACE_MAX ) { + face[ivert][face_num] = node-1; + vertex_material[ivert][face_num] = 0; + face_order[face_num] = face_order[face_num] + 1; + } +/* + If there's a slash, skip to the next slash, and extract the + index of the normal vector. +*/ + if ( *next2 == '/' ) { + + for ( next3 = next2 + 1; next3 < token2 + LINE_MAX_LEN; next3++ ) { + + if ( *next3 == '/' ) { + next3 = next3 + 1; + count = sscanf ( next3, "%d%n", &node, &width ); + + node = node - 1; + if ( 0 <= node && node < vertex_normal_num ) { + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][face_num] = normal_temp[i][node]; + } + } + break; + } + } + } + ivert = ivert + 1; + } + face_num = face_num + 1; + } + +/* + G + Group name. +*/ + + else if ( leqi ( token, "G" ) == TRUE ) { + continue; + } +/* + HOLE + Inner trimming hole. +*/ + else if ( leqi ( token, "HOLE" ) == TRUE ) { + continue; + } +/* + L + I believe OBJ line node indices are 1 based rather than 0 based. + So we have to decrement them before loading them into LINE_DEX. +*/ + + else if ( leqi ( token, "L" ) == TRUE ) { + + for ( ;; ) { + + count = sscanf ( next, "%d%n", &node, &width ); + next = next + width; + + if ( count != 1 ) { + break; + } + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = node-1; + line_material[line_num] = 0; + } + line_num = line_num + 1; + + } + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = -1; + line_material[line_num] = -1; + } + line_num = line_num + 1; + + } + +/* + LOD + Level of detail. +*/ + else if ( leqi ( token, "LOD" ) == TRUE ) { + continue; + } +/* + MG + Merging group. +*/ + else if ( leqi ( token, "MG" ) == TRUE ) { + continue; + } +/* + MTLLIB + Material library. +*/ + + else if ( leqi ( token, "MTLLIB" ) == TRUE ) { + continue; + } +/* + O + Object name. +*/ + else if ( leqi ( token, "O" ) == TRUE ) { + continue; + } +/* + P + Point. +*/ + else if ( leqi ( token, "P" ) == TRUE ) { + continue; + } +/* + PARM + Parameter values. +*/ + else if ( leqi ( token, "PARM" ) == TRUE ) { + continue; + } +/* + S + Smoothing group +*/ + else if ( leqi ( token, "S" ) == TRUE ) { + continue; + } +/* + SCRV + Special curve. +*/ + else if ( leqi ( token, "SCRV" ) == TRUE ) { + continue; + } +/* + SHADOW_OBJ + Shadow casting. +*/ + else if ( leqi ( token, "SHADOW_OBJ" ) == TRUE ) { + continue; + } +/* + SP + Special point. +*/ + else if ( leqi ( token, "SP" ) == TRUE ) { + continue; + } +/* + STECH + Surface approximation technique. +*/ + else if ( leqi ( token, "STECH" ) == TRUE ) { + continue; + } +/* + STEP + Stepsize. +*/ + else if ( leqi ( token, "CURV" ) == TRUE ) { + continue; + } +/* + SURF + Surface. +*/ + else if ( leqi ( token, "SURF" ) == TRUE ) { + continue; + } +/* + TRACE_OBJ + Ray tracing. +*/ + else if ( leqi ( token, "TRACE_OBJ" ) == TRUE ) { + continue; + } +/* + TRIM + Outer trimming loop. +*/ + else if ( leqi ( token, "TRIM" ) == TRUE ) { + continue; + } +/* + USEMTL + Material name. +*/ + else if ( leqi ( token, "USEMTL" ) == TRUE ) { + continue; + } + +/* + V X Y Z W + Geometric vertex. + W is optional, a weight for rational curves and surfaces. + The default for W is 1. +*/ + + else if ( leqi ( token, "V" ) == TRUE ) { + + sscanf ( next, "%e %e %e", &r1, &r2, &r3 ); + + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = r1; + cor3[1][cor3_num] = r2; + cor3[2][cor3_num] = r3; + } + + cor3_num = cor3_num + 1; + + } +/* + VN + Vertex normals. +*/ + + else if ( leqi ( token, "VN" ) == TRUE ) { + + sscanf ( next, "%e %e %e", &r1, &r2, &r3 ); + + if ( vertex_normal_num < ORDER_MAX * FACE_MAX ) { + normal_temp[0][vertex_normal_num] = r1; + normal_temp[1][vertex_normal_num] = r2; + normal_temp[2][vertex_normal_num] = r3; + } + + vertex_normal_num = vertex_normal_num + 1; + + } +/* + VT + Vertex texture. +*/ + else if ( leqi ( token, "VT" ) == TRUE ) { + continue; + } +/* + VP + Parameter space vertices. +*/ + else if ( leqi ( token, "VP" ) == TRUE ) { + continue; + } +/* + Unrecognized +*/ + else { + bad_num = bad_num + 1; + } + + } + return SUCCESS; +} +/******************************************************************************/ + +int obj_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + OBJ_WRITE writes a Wavefront OBJ file. + + Example: + + # magnolia.obj + + mtllib ./vp.mtl + + g + v -3.269770 -39.572201 0.876128 + v -3.263720 -39.507999 2.160890 + ... + v 0.000000 -9.988540 0.000000 + g stem + s 1 + usemtl brownskn + f 8 9 11 10 + f 12 13 15 14 + ... + f 788 806 774 + + Modified: + + 01 September 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int iface; + int indexvn; + int ivert; + int k; + int new; + int text_num; + float w; +/* + Initialize. +*/ + text_num = 0; + w = 1.0; + + fprintf ( fileout, "# %s created by IVCON.\n", fileout_name ); + fprintf ( fileout, "# Original data in %s.\n", filein_name ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "g %s\n", object_name ); + fprintf ( fileout, "\n" ); + + text_num = text_num + 5; +/* + V: vertex coordinates. +*/ + for ( i = 0; i < cor3_num; i++ ) { + fprintf ( fileout, "v %f %f %f\n", + cor3[0][i], cor3[1][i], cor3[2][i]); + text_num = text_num + 1; + } + +/* + VN: Vertex face normal vectors. +*/ + if ( face_num > 0 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + fprintf ( fileout, "vn %f %f %f\n", vertex_normal[0][ivert][iface], + vertex_normal[1][ivert][iface], vertex_normal[2][ivert][iface] ); + text_num = text_num + 1; + } + } +/* + F: faces. +*/ + if ( face_num > 0 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + indexvn = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, "f" ); + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + indexvn = indexvn + 1; + fprintf ( fileout, " %d//%d", face[ivert][iface]+1, indexvn ); + } + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } +/* + L: lines. +*/ + if ( line_num > 0 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + new = TRUE; + + for ( i = 0; i < line_num; i++ ) { + + k = line_dex[i]; + + if ( k == -1 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + new = TRUE; + } + else { + if ( new == TRUE ) { + fprintf ( fileout, "l" ); + new = FALSE; + } + fprintf ( fileout, " %d", k+1 ); + } + + } + + fprintf ( fileout, "\n" ); + text_num = text_num + 1; +/* + Report. +*/ + printf ( "\n" ); + printf ( "OBJ_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int pov_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + POV_WRITE writes graphics information to a POV file. + + Example: + + // cone.pov created by IVCON. + // Original data in cone.iv + + #version 3.0 + #include "colors.inc" + #include "shapes.inc" + global_settings { assumed_gamma 2.2 } + + camera { + right < 4/3, 0, 0> + up < 0, 1, 0 > + sky < 0, 1, 0 > + angle 20 + location < 0, 0, -300 > + look_at < 0, 0, 0> + } + + light_source { < 20, 50, -100 > color White } + + background { color SkyBlue } + + #declare RedText = texture { + pigment { color rgb < 0.8, 0.2, 0.2> } + finish { ambient 0.2 diffuse 0.5 } + } + + #declare BlueText = texture { + pigment { color rgb < 0.2, 0.2, 0.8> } + finish { ambient 0.2 diffuse 0.5 } + } + mesh { + smooth_triangle { + < 0.29, -0.29, 0.0>, < 0.0, 0.0, -1.0 >, + < 38.85, 10.03, 0.0>, < 0.0, 0.0, -1.0 >, + < 40.21, -0.29, 0.0>, < 0.0, 0.0, -1.0 > + texture { RedText } } + ... + smooth_triangle { + < 0.29, -0.29, 70.4142 >, < 0.0, 0.0, 1.0 >, + < 8.56, -2.51, 70.4142 >, < 0.0, 0.0, 1.0 >, + < 8.85, -0.29, 70.4142 >, < 0.0, 0.0, 1.0 > + texture { BlueText } } + } + + Modified: + + 08 October 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int j; + int jj; + int jlo; + int k; + int text_num; + + text_num = 0; + fprintf ( fileout, "// %s created by IVCON.\n", fileout_name ); + fprintf ( fileout, "// Original data in %s.\n", filein_name ); + text_num = text_num + 2; +/* + Initial declarations. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, "#version 3.0\n" ); + fprintf ( fileout, "#include \"colors.inc\"\n" ); + fprintf ( fileout, "#include \"shapes.inc\"\n" ); + fprintf ( fileout, "global_settings { assumed_gamma 2.2 }\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "camera {\n" ); + fprintf ( fileout, " right < 4/3, 0, 0>\n" ); + fprintf ( fileout, " up < 0, 1, 0 >\n" ); + fprintf ( fileout, " sky < 0, 1, 0 >\n" ); + fprintf ( fileout, " angle 20\n" ); + fprintf ( fileout, " location < 0, 0, -300 >\n" ); + fprintf ( fileout, " look_at < 0, 0, 0>\n" ); + fprintf ( fileout, "}\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "light_source { < 20, 50, -100 > color White }\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "background { color SkyBlue }\n" ); + + text_num = text_num + 15; +/* + Declare RGB textures. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, "#declare RedText = texture {\n" ); + fprintf ( fileout, " pigment { color rgb < 0.8, 0.2, 0.2> }\n" ); + fprintf ( fileout, " finish { ambient 0.2 diffuse 0.5 }\n" ); + fprintf ( fileout, "}\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "#declare GreenText = texture {\n" ); + fprintf ( fileout, " pigment { color rgb < 0.2, 0.8, 0.2> }\n" ); + fprintf ( fileout, " finish { ambient 0.2 diffuse 0.5 }\n" ); + fprintf ( fileout, "}\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "#declare BlueText = texture {\n" ); + fprintf ( fileout, " pigment { color rgb < 0.2, 0.2, 0.8> }\n" ); + fprintf ( fileout, " finish { ambient 0.2 diffuse 0.5 }\n" ); + fprintf ( fileout, "}\n" ); +/* + Write one big object. +*/ + fprintf ( fileout, "mesh {\n" ); + text_num = text_num + 1; +/* + Do the next face. +*/ + for ( i = 0; i < face_num; i++ ) { +/* + Break the face up into triangles, anchored at node 1. +*/ + for ( jlo = 0; jlo < face_order[i] - 2; jlo++ ) { + fprintf ( fileout, " smooth_triangle {\n" ); + text_num = text_num + 1; + + for ( j = jlo; j < jlo + 3; j++ ) { + + if ( j == jlo ) { + jj = 0; + } + else { + jj = j; + } + + k = face[jj][i]; + + fprintf ( fileout, "<%f, %f, %f>, <%f, %f, %f>", + cor3[0][k], cor3[1][k], cor3[2][k], + vertex_normal[0][jj][i], + vertex_normal[1][jj][i], + vertex_normal[2][jj][i] ); + + if ( j < jlo + 2 ) { + fprintf ( fileout, ",\n" ); + } + else { + fprintf ( fileout, "\n" ); + } + text_num = text_num + 1; + + } + + if (i%6 == 1 ) { + fprintf ( fileout, "texture { RedText } }\n" ); + } + else if ( i%2 == 0 ) { + fprintf ( fileout, "texture { BlueText } }\n" ); + } + else { + fprintf ( fileout, "texture { GreenText } }\n" ); + } + text_num = text_num + 1; + + } + + } + + fprintf ( fileout, "}\n" ); + text_num = text_num + 1; +/* + Report. +*/ + printf ( "\n" ); + printf ( "POV_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int rcol_find ( float a[][COR3_MAX], int m, int n, float r[] ) + +/******************************************************************************/ + +/* + Purpose: + + RCOL_FIND finds if a vector occurs in a table. + + Comment: + + Explicitly forcing the second dimension to be COR3_MAX is a kludge. + I have to figure out how to do this as pointer references. + + Also, since the array is not sorted, this routine should not be carelessly + called repeatedly for really big values of N, because you'll waste a + lot of time. + + Modified: + + 27 April 1999 + + Author: + + John Burkardt +*/ +{ + int i; + int icol; + int j; + + icol = -1; + + for ( j = 0; j < n; j++ ) { + for ( i = 0; i < m; i++ ) { + if ( a[i][j] != r[i] ) { + break; + } + if ( i == m-1 ) { + return j; + } + } + } + + return icol; +} +/**********************************************************************/ + +float rgb_to_hue ( float r, float g, float b ) + +/**********************************************************************/ + +/* + Purpose: + + RGB_TO_HUE converts (R,G,B) colors to a hue value between 0 and 1. + + Discussion: + + The hue computed here should be the same as the H value computed + for HLS and HSV, except that it ranges from 0 to 1 instead of + 0 to 360. + + A monochromatic color ( white, black, or a shade of gray) does not + have a hue. This routine will return a special value of H = -1 + for such cases. + + Examples: + + Color R G B H + + red 1.0 0.0 0.0 0.00 + yellow 1.0 1.0 0.0 0.16 + green 0.0 1.0 0.0 0.33 + cyan 0.0 1.0 1.0 0.50 + blue 0.0 0.0 1.0 0.67 + magenta 1.0 0.0 1.0 0.83 + + black 0.0 0.0 0.0 -1.00 + gray 0.5 0.5 0.5 -1.00 + white 1.0 1.0 1.0 -1.00 + + Modified: + + 22 May 1999 + + Author: + + John Burkardt + + Parameters: + + Input, float R, G, B, the red, green and blue values of the color. + These values should be between 0 and 1. + + Output, float RGB_TO_HUE, the corresponding hue of the color, or -1.0 if + the color is monochromatic. +*/ +{ + float h; + float rgbmax; + float rgbmin; +/* + Make sure the colors are between 0 and 1. +*/ + if ( r < 0.0 ) { + r = 0.0; + } + else if ( r > 1.0 ) { + r = 1.0; + } + + if ( g < 0.0 ) { + g = 0.0; + } + else if ( g > 1.0 ) { + g = 1.0; + } + + if ( b < 0.0 ) { + b = 0.0; + } + else if ( b > 1.0 ) { + b = 1.0; + } +/* + Compute the minimum and maximum of R, G and B. +*/ + rgbmax = r; + if ( g > rgbmax ) { + rgbmax = g; + } + if ( b > rgbmax ) { + rgbmax = b; + } + + rgbmin = r; + if ( g < rgbmin ) { + rgbmin = g; + } + if ( b < rgbmin ) { + rgbmin = b; + } +/* + If RGBMAX = RGBMIN, { the color has no hue. +*/ + if ( rgbmax == rgbmin ) { + h = - 1.0; + } +/* + Otherwise, we need to determine the dominant color. +*/ + else { + + if ( r == rgbmax ) { + h = ( g - b ) / ( rgbmax - rgbmin ); + } + else if ( g == rgbmax ) { + h = 2.0 + ( b - r ) / ( rgbmax - rgbmin ); + } + else if ( b == rgbmax ) { + h = 4.0 + ( r - g ) / ( rgbmax - rgbmin ); + } + + h = h / 6.0; +/* + Make sure H lies between 0 and 1.0. +*/ + if ( h < 0.0 ) { + h = h + 1.0; + } + else if ( h > 1.0 ) { + h = h - 1.0; + } + + } + + return h; +} +/******************************************************************************/ + +short int short_int_read ( FILE *filein ) + +/******************************************************************************/ +/* + Purpose: + + SHORT_INT_READ reads a short int from a binary file. + + Modified: + + 14 October 1998 + + Author: + + John Burkardt +*/ +{ + unsigned char c1; + unsigned char c2; + short int ival; + + c1 = fgetc ( filein ); + c2 = fgetc ( filein ); + + ival = c1 | ( c2 << 8 ); + + return ival; +} +/******************************************************************************/ + +int short_int_write ( FILE *fileout, short int short_int_val ) + +/******************************************************************************/ + +/* + Purpose: + + SHORT_INT_WRITE writes a short int to a binary file. + + Modified: + + 14 October 1998 + + Author: + + John Burkardt +*/ +{ + union { + short int yint; + char ychar[2]; + } y; + + y.yint = short_int_val; + + if ( byte_swap == TRUE ) { + fputc ( y.ychar[1], fileout ); + fputc ( y.ychar[0], fileout ); + } + else { + fputc ( y.ychar[0], fileout ); + fputc ( y.ychar[1], fileout ); + } + + return 2; +} +/******************************************************************************/ + +int smf_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + SMF_READ reads an SMF file. + + Example: + + #SMF2.0 + # cube_face.smf + # This example demonstrates how an RGB color can be assigned to + # each face of an object. + # + # First, define the geometry of the cube. + # + v 0.0 0.0 0.0 + v 1.0 0.0 0.0 + v 0.0 1.0 0.0 + v 1.0 1.0 0.0 + v 0.0 0.0 1.0 + v 1.0 0.0 1.0 + v 0.0 1.0 1.0 + v 1.0 1.0 1.0 + f 1 4 2 + f 1 3 4 + f 5 6 8 + f 5 8 7 + f 1 2 6 + f 1 6 5 + f 2 4 8 + f 2 8 6 + f 4 3 7 + f 4 7 8 + f 3 1 5 + f 3 5 7 + # + # Colors will be bound 1 per face. + # + bind c face + c 1.0 0.0 0.0 + c 1.0 0.0 0.0 + c 0.0 1.0 0.0 + c 0.0 1.0 0.0 + c 0.0 0.0 1.0 + c 0.0 0.0 1.0 + c 1.0 1.0 0.0 + c 1.0 1.0 0.0 + c 0.0 1.0 1.0 + c 0.0 1.0 1.0 + c 1.0 0.0 1.0 + c 1.0 0.0 1.0 + # + # Normal vectors will be bound 1 per face. + # + bind n face + n 0.0 0.0 -1.0 + n 0.0 0.0 -1.0 + n 0.0 0.0 1.0 + n 0.0 0.0 1.0 + n 0.0 -1.0 0.0 + n 0.0 -1.0 0.0 + n 1.0 0.0 0.0 + n 1.0 0.0 0.0 + n 0.0 1.0 0.0 + n 0.0 1.0 0.0 + n -1.0 0.0 0.0 + n -1.0 0.0 0.0 + # + # Texture coordinate pairs will be bound 1 per face. + # + bind r face + r 0.0 0.0 + r 0.0 0.1 + r 0.0 0.2 + r 0.0 0.3 + r 0.1 0.0 + r 0.1 0.1 + r 0.1 0.2 + r 0.1 0.3 + r 0.2 0.0 + r 0.2 0.1 + r 0.2 0.2 + r 0.2 0.3 + + Modified: + + 03 July 1999 + + Author: + + John Burkardt +*/ +{ + float angle; + char axis; + float b; + char cnr[LINE_MAX_LEN]; + int count; + float dx; + float dy; + int face_count; + float g; + int icor3_normal; + int icor3_tex_uv; + int iface_normal; + int iface_tex_uv; + int imat; + int ivert; + int level; + char *next; + int node; + int node_count; + float r; + float r1; + float r2; + float r3; + float rgba[4]; + char *string; + float sx; + float sy; + float sz; + char token[LINE_MAX_LEN]; + char token2[LINE_MAX_LEN]; + char type[LINE_MAX_LEN]; + float u; + float v; + int vertex_base; + int vertex_correction; + int width; + float x; + float xvec[3]; + float y; + float z; + + face_count = 0; + icor3_normal = 0; + icor3_tex_uv = 0; + iface_normal = 0; + iface_tex_uv = 0; + level = 0; + node_count = 0; + vertex_base = 0; + vertex_correction = 0; +/* + Read the next line of the file into INPUT. +*/ + while ( fgets ( input, LINE_MAX_LEN, filein ) != NULL ) { + + text_num = text_num + 1; + + if ( debug ) { + printf ( "SMF_READ: DEBUG: Reading line #%d\n", text_num ); + } +/* + Advance to the first nonspace character in INPUT. +*/ + for ( next = input; *next != '\0' && isspace(*next); next++ ) { + } +/* + Skip blank lines. +*/ + + if ( *next == '\0' ) { + continue; + } +/* + Skip comment lines. +*/ + if ( *next == '#' || *next == '$' ) { + comment_num = comment_num + 1; + continue; + } +/* + Extract the first word in this line. +*/ + sscanf ( next, "%s%n", token, &width ); +/* + Set NEXT to point to just after this token. +*/ + next = next + width; +/* + BEGIN + Reset the transformation matrix to identity. + Node numbering starts at zero again. (Really, this is level based) + (Really should define a new transformation matrix, and concatenate.) + (Also, might need to keep track of level.) +*/ + if ( leqi ( token, "BEGIN" ) == TRUE ) { + + level = level + 1; + + vertex_base = cor3_num; + group_num = group_num + 1; + tmat_init ( transform_matrix ); + + } +/* + BIND [c|n|r] [vertex|face] + Specify the binding for RGB color, Normal, or Texture. + Options are "vertex" or "face" +*/ + else if ( leqi ( token, "BIND" ) == TRUE ) { + + sscanf ( next, "%s%n", cnr, &width ); + next = next + width; + + if ( debug ) { + printf ( "CNR = %s\n", cnr ); + } + + sscanf ( next, "%s%n", type, &width ); + next = next + width; + + if ( debug ) { + printf ( "TYPE = %s\n", type ); + } + + if ( leqi ( cnr, "C" ) == TRUE ) { + + if ( leqi ( type, "VERTEX" ) == TRUE ) { + strcpy ( material_binding, "PER_VERTEX" ); + } + else if ( leqi ( type, "FACE" ) == TRUE ) { + strcpy ( material_binding, "PER_FACE" ); + } + + } + else if ( leqi ( cnr, "N" ) == TRUE ) { + + if ( leqi ( type, "VERTEX" ) == TRUE ) { + strcpy ( normal_binding, "PER_VERTEX" ); + } + else if ( leqi ( type, "FACE" ) == TRUE ) { + strcpy ( normal_binding, "PER_FACE" ); + } + + } + else if ( leqi ( cnr, "R" ) == TRUE ) { + + if ( leqi ( type, "VERTEX" ) == TRUE ) { + strcpy ( texture_binding, "PER_VERTEX" ); + } + else if ( leqi ( type, "FACE" ) == TRUE ) { + strcpy ( texture_binding, "PER_FACE" ); + } + + } + + } +/* + C + Specify an RGB color, with R, G, B between 0.0 and 1.0. +*/ + else if ( leqi ( token, "C" ) == TRUE ) { + + sscanf ( next, "%f%n", &r, &width ); + next = next + width; + + sscanf ( next, "%f%n", &g, &width ); + next = next + width; + + sscanf ( next, "%f%n", &b, &width ); + next = next + width; +/* + Set up a temporary material (R,G,B,1.0). + Add the material to the material database, or find the index of + a matching material already in. + Assign the material of the node or face to this index. +*/ + rgba[0] = r; + rgba[1] = g; + rgba[2] = b; + rgba[3] = 1.0; + + if ( material_num < MATERIAL_MAX ) { + + for ( k = 0; k < 4; k++ ) { + material_rgba[k][material_num] = rgba[k]; + } + + imat = material_num; + material_num = material_num + 1; + + } + else { + + imat = 0; + + } + + if ( leqi ( material_binding, "PER_FACE" ) == TRUE ) { + + face_count = face_count + 1; + face_material[face_count] = imat; + + } + else if ( leqi ( material_binding, "PER_VERTEX" ) == TRUE ) { + + node_count = node_count + 1; + cor3_material[node_count] = imat; + + } + else { + + printf ( "\n" ); + printf ( "SMF_READ - Fatal error!\n" ); + printf ( " Material binding undefined!\n" ); + return ERROR; + + } + + } +/* + END + Drop down a level. +*/ + else if ( leqi ( token, "END" ) == TRUE ) { + + level = level - 1; + + if ( level < 0 ) { + printf ( "\n" ); + printf ( "SMF_READ - Fatal error!\n" ); + printf ( " More END statements than BEGINs!\n" ); + return ERROR; + } + } +/* + F V1 V2 V3 + + Face. + A face is defined by the vertices. + Node indices are 1 based rather than 0 based. + So we have to decrement them before loading them into FACE. + Note that vertex indices start back at 0 each time a BEGIN is entered. + The strategy here won't handle nested BEGIN's, just one at a time. +*/ + + else if ( leqi ( token, "F" ) == TRUE ) { + + ivert = 0; + face_order[face_num] = 0; +/* + Read each item in the F definition as a token, and then + take it apart. +*/ + for ( ;; ) { + + count = sscanf ( next, "%s%n", token2, &width ); + next = next + width; + + if ( count != 1 ) { + break; + } + + count = sscanf ( token2, "%d%n", &node, &width ); + + if ( count != 1 ) { + break; + } + + if ( ivert < ORDER_MAX && face_num < FACE_MAX ) { + face[ivert][face_num] = node - 1 + vertex_base; + vertex_material[ivert][face_num] = 0; + face_order[face_num] = face_order[face_num] + 1; + } + ivert = ivert + 1; + } + face_num = face_num + 1; + } +/* + N + Specify a normal vector. +*/ + else if ( leqi ( token, "N" ) == TRUE ) { + + sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + if ( leqi ( normal_binding, "PER_FACE" ) == TRUE ) { + + face_normal[0][iface_normal] = x; + face_normal[1][iface_normal] = y; + face_normal[2][iface_normal] = z; + + iface_normal = iface_normal + 1; + + } + else if ( leqi ( normal_binding, "PER_VERTEX" ) == TRUE ) { + + cor3_normal[0][icor3_normal] = x; + cor3_normal[1][icor3_normal] = y; + cor3_normal[2][icor3_normal] = z; + + icor3_normal = icor3_normal + 1; + + } + else { + + printf ( "\n" ); + printf ( "SMF_READ - Fatal error!\n" ); + printf ( " Normal binding undefined!\n" ); + return ERROR; + + } + } +/* + R + Specify a texture coordinate. +*/ + else if ( leqi ( token, "R" ) == TRUE ) { + + sscanf ( next, "%f%n", &u, &width ); + next = next + width; + + sscanf ( next, "%f%n", &v, &width ); + next = next + width; + + if ( leqi ( texture_binding, "PER_FACE" ) == TRUE ) { + + face_tex_uv[0][iface_tex_uv] = u; + face_tex_uv[1][iface_tex_uv] = v; + + icor3_tex_uv = icor3_tex_uv + 1; + + } + else if ( leqi ( texture_binding, "PER_VERTEX" ) == TRUE ) { + + cor3_tex_uv[0][icor3_tex_uv] = u; + cor3_tex_uv[1][icor3_tex_uv] = v; + + icor3_tex_uv = icor3_tex_uv + 1; + } + else { + printf ( "\n" ); + printf ( "SMF_READ - Fatal error!\n" ); + printf ( " Texture binding undefined!\n" ); + return ERROR; + } + + } +/* + ROT [x|y|z] +*/ + else if ( leqi ( token, "ROT" ) == TRUE ) { + + sscanf ( next, "%c%n", &axis, &width ); + next = next + width; + + sscanf ( next, "%f%n", &angle, &width ); + next = next + width; + + tmat_rot_axis ( transform_matrix, transform_matrix, angle, axis ); + + } +/* + SCALE +*/ + else if ( leqi ( token, "SCALE" ) == TRUE ) { + + sscanf ( next, "%f%n", &sx, &width ); + next = next + width; + + sscanf ( next, "%f%n", &sy, &width ); + next = next + width; + + sscanf ( next, "%f%n", &sz, &width ); + next = next + width; + + tmat_scale ( transform_matrix, transform_matrix, sx, sy, sz ); + } +/* + SET VERTEX_CORRECTION + Specify increment to add to vertex indices in file. +*/ + else if ( leqi ( token, "SET" ) == TRUE ) { + + sscanf ( next, "%s%n", cnr, &width ); + next = next + width; + + sscanf ( next, "%d%n", &vertex_correction, &width ); + next = next + width; + + } +/* + T_SCALE + Specify a scaling to texture coordinates. +*/ + else if ( leqi ( token, "T_SCALE" ) == TRUE ) { + + sscanf ( next, "%f%n", &dx, &width ); + next = next + width; + + sscanf ( next, "%f%n", &dy, &width ); + next = next + width; + + } +/* + T_TRANS + Specify a translation to texture coordinates. +*/ + else if ( leqi ( token, "T_TRANS" ) == TRUE ) { + + sscanf ( next, "%f%n", &dx, &width ); + next = next + width; + + sscanf ( next, "%f%n", &dy, &width ); + next = next + width; + + } +/* + TEX + Specify a filename containing the texture. + (ANY CHANCE THIS IS RIGHT?) +*/ + else if ( leqi ( token, "TEX" ) == TRUE ) { + + sscanf ( next, "%s%n", string, &width ); + + for ( i = 0; i < LINE_MAX_LEN; i++ ) { + texture_name[texture_num][i] = string[i]; + if ( string[i] == '\0' ) { + break; + } + } + + texture_num = texture_num + 1; + + } +/* + TRANS +*/ + else if ( leqi ( token, "TRANS" ) == TRUE ) { + + sscanf ( next, "%f%n", &x, &width ); + next = next + width; + + sscanf ( next, "%f%n", &y, &width ); + next = next + width; + + sscanf ( next, "%f%n", &z, &width ); + next = next + width; + + tmat_trans ( transform_matrix, transform_matrix, x, y, z ); + } +/* + V X Y Z + Geometric vertex. +*/ + else if ( leqi ( token, "V" ) == TRUE ) { + + sscanf ( next, "%e %e %e", &r1, &r2, &r3 ); + + xvec[0] = r1; + xvec[1] = r2; + xvec[2] = r3; +/* + Apply current transformation matrix. + Right now, we can only handle one matrix, not a stack of + matrices representing nested BEGIN/END's. +*/ + tmat_mxp ( transform_matrix, xvec, xvec ); + + if ( cor3_num < COR3_MAX ) { + for ( i = 0; i < 3; i++ ) { + cor3[i][cor3_num] = xvec[i]; + } + } + + cor3_num = cor3_num + 1; + + } +/* + Unrecognized keyword. +*/ + else { + + bad_num = bad_num + 1; + + if ( bad_num <= 10 ) { + printf ( "\n" ); + printf ( "SMF_READ: Bad data on line %d.\n", text_num ); + } + } + + } +/* + Extend the material definition + * from the face to the vertices and nodes, or + * from the vertices to the faces and nodes. +*/ + if ( strcmp ( material_binding, "PER_FACE" ) == 0 ) { + + face_to_vertex_material ( ); + + vertex_to_node_material ( ); + + } + else if ( strcmp ( material_binding, "PER_VERTEX" ) == 0 ) { + + node_to_vertex_material ( ); + + vertex_to_face_material ( ); + + } + + return SUCCESS; +} +/******************************************************************************/ + +int smf_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + SMF_WRITE writes graphics information to an SMF file. + + Example: + + #SMF2.0 + # cube_face.smf + # This example demonstrates how an RGB color can be assigned to + # each face of an object. + # + # First, define the geometry of the cube. + # + v 0.0 0.0 0.0 + v 1.0 0.0 0.0 + v 0.0 1.0 0.0 + v 1.0 1.0 0.0 + v 0.0 0.0 1.0 + v 1.0 0.0 1.0 + v 0.0 1.0 1.0 + v 1.0 1.0 1.0 + f 1 4 2 + f 1 3 4 + f 5 6 8 + f 5 8 7 + f 1 2 6 + f 1 6 5 + f 2 4 8 + f 2 8 6 + f 4 3 7 + f 4 7 8 + f 3 1 5 + f 3 5 7 + # + # Colors will be bound 1 per face. + # + bind c face + c 1.0 0.0 0.0 + c 1.0 0.0 0.0 + c 0.0 1.0 0.0 + c 0.0 1.0 0.0 + c 0.0 0.0 1.0 + c 0.0 0.0 1.0 + c 1.0 1.0 0.0 + c 1.0 1.0 0.0 + c 0.0 1.0 1.0 + c 0.0 1.0 1.0 + c 1.0 0.0 1.0 + c 1.0 0.0 1.0 + # + # Normal vectors will be bound 1 per face. + # + bind n face + n 0.0 0.0 -1.0 + n 0.0 0.0 -1.0 + n 0.0 0.0 1.0 + n 0.0 0.0 1.0 + n 0.0 -1.0 0.0 + n 0.0 -1.0 0.0 + n 1.0 0.0 0.0 + n 1.0 0.0 0.0 + n 0.0 1.0 0.0 + n 0.0 1.0 0.0 + n -1.0 0.0 0.0 + n -1.0 0.0 0.0 + # + # Texture coordinate pairs will be bound 1 per face. + # + bind r face + r 0.0 0.0 + r 0.0 0.1 + r 0.0 0.2 + r 0.0 0.3 + r 0.1 0.0 + r 0.1 0.1 + r 0.1 0.2 + r 0.1 0.3 + r 0.2 0.0 + r 0.2 0.1 + r 0.2 0.2 + r 0.2 0.3 + + Modified: + + 05 July 1999 + + Author: + + John Burkardt +*/ +{ + int i; + int icor3; + int iface; + int imat; + int ivert; + int text_num; +/* + Initialize. +*/ + text_num = 0; + + fprintf ( fileout, "#$SMF 2.0\n" ); + fprintf ( fileout, "#$vertices %d\n", cor3_num ); + fprintf ( fileout, "#$faces %d\n", face_num ); + fprintf ( fileout, "#\n" ); + fprintf ( fileout, "# %s created by IVCON.\n", fileout_name ); + fprintf ( fileout, "# Original data in %s.\n", filein_name ); + fprintf ( fileout, "#\n" ); + + text_num = text_num + 7; +/* + V: vertex coordinates. +*/ + for ( i = 0; i < cor3_num; i++ ) { + fprintf ( fileout, "v %f %f %f\n", + cor3[0][i], cor3[1][i], cor3[2][i] ); + text_num = text_num + 1; + } +/* + F: faces. +*/ + if ( face_num > 0 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, "f" ); + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d", face[ivert][iface]+1 ); + } + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } +/* + Material binding. +*/ + fprintf ( fileout, "bind c vertex\n" ); + text_num = text_num + 1; +/* + Material RGB values at each node. +*/ + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + + imat = cor3_material[icor3]; + + fprintf ( fileout, "c %f %f %f\n", material_rgba[0][imat], + material_rgba[1][imat], material_rgba[2][imat] ); + + text_num = text_num + 1; + } +/* + Normal binding. +*/ + fprintf ( fileout, "bind n vertex\n" ); + text_num = text_num + 1; +/* + Normal vector at each node. +*/ + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + + fprintf ( fileout, "n %f %f %f\n", cor3_normal[0][icor3], + cor3_normal[1][icor3], cor3_normal[2][icor3] ); + + text_num = text_num + 1; + } + + if ( texture_num > 0 ) { +/* + Texture filename. +*/ + fprintf ( fileout, "tex %s\n", texture_name[0] ); + text_num = text_num + 1; +/* + Texture binding. +*/ + fprintf ( fileout, "bind r vertex\n" ); + text_num = text_num + 1; +/* + Texture coordinates at each node. +*/ + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + fprintf ( fileout, "r %f %f\n", cor3_tex_uv[0][icor3], + cor3_tex_uv[1][icor3] ); + text_num = text_num + 1; + } + + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "SMF_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int stla_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + STLA_READ reads an ASCII STL (stereolithography) file. + + Examples: + + solid MYSOLID + facet normal 0.4 0.4 0.2 + outerloop + vertex 1.0 2.1 3.2 + vertex 2.1 3.7 4.5 + vertex 3.1 4.5 6.7 + endloop + endfacet + ... + facet normal 0.2 0.2 0.4 + outerloop + vertex 2.0 2.3 3.4 + vertex 3.1 3.2 6.5 + vertex 4.1 5.5 9.0 + endloop + endfacet + endsolid MYSOLID + + Modified: + + 20 October 1998 + + Author: + + John Burkardt +*/ +{ + int count; + int i; + int icor3; + int ivert; + char *next; + float r1; + float r2; + float r3; + float r4; + float temp[3]; + char token[LINE_MAX_LEN]; + int width; +/* + Read the next line of the file into INPUT. +*/ + while ( fgets ( input, LINE_MAX_LEN, filein ) != NULL ) { + + text_num = text_num + 1; +/* + Advance to the first nonspace character in INPUT. +*/ + for ( next = input; *next != '\0' && isspace(*next); next++ ) { + } +/* + Skip blank lines and comments. +*/ + if ( *next == '\0' || *next == '#' || *next == '!' || *next == '$' ) { + continue; + } +/* + Extract the first word in this line. +*/ + sscanf ( next, "%s%n", token, &width ); +/* + Set NEXT to point to just after this token. +*/ + next = next + width; +/* + FACET +*/ + if ( leqi ( token, "facet" ) == TRUE ) { +/* + Get the XYZ coordinates of the normal vector to the face. +*/ + sscanf ( next, "%*s %e %e %e", &r1, &r2, &r3 ); + + if ( face_num < FACE_MAX ) { + face_normal[0][face_num] = r1; + face_normal[1][face_num] = r2; + face_normal[2][face_num] = r3; + } + + fgets ( input, LINE_MAX_LEN, filein ); + text_num = text_num + 1; + + ivert = 0; + + for ( ;; ) { + + fgets ( input, LINE_MAX_LEN, filein ); + text_num = text_num + 1; + + count = sscanf ( input, "%*s %e %e %e", &r1, &r2, &r3 ); + + if ( count != 3 ) { + break; + } + + temp[0] = r1; + temp[1] = r2; + temp[2] = r3; + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, temp ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + + icor3 = cor3_num; + + if ( cor3_num < COR3_MAX ) { + for ( i = 0; i < 3; i++ ) { + cor3[i][cor3_num] = temp[i]; + } + } + cor3_num = cor3_num + 1; + } + else { + dup_num = dup_num + 1; + } + + if ( ivert < ORDER_MAX && face_num < FACE_MAX ) { + face[ivert][face_num] = icor3; + vertex_material[ivert][face_num] = 0; + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][face_num] = face_normal[i][face_num]; + } + } + + ivert = ivert + 1; + } + + fgets ( input, LINE_MAX_LEN, filein ); + text_num = text_num + 1; + + if ( face_num < FACE_MAX ) { + face_order[face_num] = ivert; + } + + face_num = face_num + 1; + + } +/* + COLOR +*/ + + else if ( leqi ( token, "color" ) == TRUE ) { + sscanf ( next, "%*s %f %f %f %f", &r1, &r2, &r3, &r4 ); + } +/* + SOLID +*/ + else if ( leqi ( token, "solid" ) == TRUE ) { + object_num = object_num + 1; + } +/* + ENDSOLID +*/ + else if ( leqi ( token, "endsolid" ) == TRUE ) { + } +/* + Unexpected or unrecognized. +*/ + else { + printf ( "\n" ); + printf ( "STLA_READ - Fatal error!\n" ); + printf ( " Unrecognized first word on line.\n" ); + return ERROR; + } + + } + return SUCCESS; +} +/******************************************************************************/ + +int stla_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + STLA_WRITE writes an ASCII STL (stereolithography) file. + + Examples: + + solid MYSOLID + facet normal 0.4 0.4 0.2 + outerloop + vertex 1.0 2.1 3.2 + vertex 2.1 3.7 4.5 + vertex 3.1 4.5 6.7 + endloop + endfacet + ... + facet normal 0.2 0.2 0.4 + outerloop + vertex 2.0 2.3 3.4 + vertex 3.1 3.2 6.5 + vertex 4.1 5.5 9.0 + endloop + endfacet + endsolid + + Discussion: + + The polygons in an STL file should only be triangular. This routine + will try to automatically decompose higher-order polygonal faces into + suitable triangles, without actually modifying the internal graphics + data. + + Modified: + + 01 September 1998 + + Author: + + John Burkardt +*/ +{ + int icor3; + int iface; + int jvert; + int face_num2; + int text_num; +/* + Initialize. +*/ + text_num = 0; + face_num2 = 0; + + fprintf ( fileout, "solid MYSOLID created by IVCON, original data in %s\n", + filein_name ); + + text_num = text_num + 1; + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( jvert = 2; jvert < face_order[iface]; jvert++ ) { + + face_num2 = face_num2 + 1; + + fprintf ( fileout, " facet normal %f %f %f\n", + face_normal[0][iface], face_normal[1][iface], face_normal[2][iface] ); + + fprintf ( fileout, " outer loop\n" ); + + icor3 = face[0][iface]; + fprintf ( fileout, " vertex %f %f %f\n", + cor3[0][icor3], cor3[1][icor3], cor3[2][icor3] ); + + icor3 = face[jvert-1][iface]; + fprintf ( fileout, " vertex %f %f %f\n", + cor3[0][icor3], cor3[1][icor3], cor3[2][icor3] ); + + icor3 = face[jvert][iface]; + fprintf ( fileout, " vertex %f %f %f\n", + cor3[0][icor3], cor3[1][icor3], cor3[2][icor3] ); + + fprintf ( fileout, " endloop\n" ); + fprintf ( fileout, " endfacet\n" ); + text_num = text_num + 7; + } + } + + fprintf ( fileout, "endsolid MYSOLID\n" ); + text_num = text_num + 1; +/* + Report. +*/ + printf ( "\n" ); + printf ( "STLA_WRITE - Wrote %d text lines.\n", text_num ); + + if ( face_num != face_num2 ) { + printf ( " Number of faces in original data was %d.\n", face_num ); + printf ( " Number of triangular faces in decomposed data is %d.\n", + face_num2 ); + } + + return SUCCESS; +} +/******************************************************************************/ + +int stlb_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + STLB_READ reads a binary STL (stereolithography) file. + + Example: + + 80 byte string = header containing nothing in particular + + 4 byte int = number of faces + + For each face: + + 3 4-byte floats = components of normal vector to face; + 3 4-byte floats = coordinates of first node; + 3 4-byte floats = coordinates of second node; + 3 4-byte floats = coordinates of third and final node; + 2-byte int = attribute, whose value is 0. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt +*/ +{ + short int attribute = 0; + char c; + float cvec[3]; + int icor3; + int i; + int iface; + int ivert; +/* + 80 byte Header. +*/ + for ( i = 0; i < 80; i++ ) { + c = char_read ( filein ); + if ( debug ) { + printf ( "%d\n", c ); + } + bytes_num = bytes_num + 1; + } +/* + Number of faces. +*/ + face_num = long_int_read ( filein ); + bytes_num = bytes_num + 4; +/* + For each (triangular) face, + components of normal vector, + coordinates of three vertices, + 2 byte "attribute". +*/ + for ( iface = 0; iface < face_num; iface++ ) { + + face_order[iface] = 3; + face_material[iface] = 0; + + for ( i = 0; i < 3; i++ ) { + face_normal[i][iface] = float_read ( filein ); + bytes_num = bytes_num + 4; + } + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + for ( i = 0; i < 3; i++ ) { + cvec[i] = float_read ( filein ); + bytes_num = bytes_num + 4; + } + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, cvec ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + icor3 = cor3_num; + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = cvec[0]; + cor3[1][cor3_num] = cvec[1]; + cor3[2][cor3_num] = cvec[2]; + } + cor3_num = cor3_num + 1; + } + else { + dup_num = dup_num + 1; + } + + face[ivert][iface] = icor3; + + } + attribute = short_int_read ( filein ); + if ( debug ) { + printf ( "ATTRIBUTE = %d\n", attribute ); + } + bytes_num = bytes_num + 2; + } + + return SUCCESS; +} +/******************************************************************************/ + +int stlb_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + STLB_WRITE writes a binary STL (stereolithography) file. + + Example: + + 80 byte string = header containing nothing in particular + + 4 byte int = number of faces + + For each face: + + 3 4-byte floats = components of normal vector to face; + 3 4-byte floats = coordinates of first node; + 3 4-byte floats = coordinates of second node; + 3 4-byte floats = coordinates of third and final node; + 2-byte int = attribute, whose value is 0. + + Discussion: + + The polygons in an STL file should only be triangular. This routine + will try to automatically decompose higher-order polygonal faces into + suitable triangles, without actually modifying the internal graphics + data. + + Modified: + + 24 May 1999 + + Author: + + John Burkardt +*/ +{ + short int attribute = 0; + char c; + int i; + int icor3; + int iface; + int jvert; + int face_num2; +/* + 80 byte Header. +*/ + for ( i = 0; i < 80; i++ ) { + c = ' '; + bytes_num = bytes_num + char_write ( fileout, c ); + } +/* + Number of faces. +*/ + face_num2 = 0; + for ( iface = 0; iface < face_num; iface++ ) { + face_num2 = face_num2 + face_order[iface] - 2; + } + + bytes_num = bytes_num + long_int_write ( fileout, face_num2 ); +/* + For each (triangular) face, + components of normal vector, + coordinates of three vertices, + 2 byte "attribute". +*/ + for ( iface = 0; iface < face_num; iface++ ) { + + for ( jvert = 2; jvert < face_order[iface]; jvert++ ) { + + for ( i = 0; i < 3; i++ ) { + bytes_num = bytes_num + float_write ( fileout, face_normal[i][iface] ); + } + + icor3 = face[0][iface]; + for ( i = 0; i < 3; i++ ) { + bytes_num = bytes_num + float_write ( fileout, cor3[i][icor3] ); + } + + icor3 = face[jvert-1][iface]; + for ( i = 0; i < 3; i++ ) { + bytes_num = bytes_num + float_write ( fileout, cor3[i][icor3] ); + } + + icor3 = face[jvert][iface]; + for ( i = 0; i < 3; i++ ) { + bytes_num = bytes_num + float_write ( fileout, cor3[i][icor3] ); + } + + bytes_num = bytes_num + short_int_write ( fileout, attribute ); + + } + + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "STLB_WRITE - Wrote %d bytes.\n", bytes_num ); + + if ( face_num != face_num2 ) { + printf ( " Number of faces in original data was %d.\n", face_num ); + printf ( " Number of triangular faces in decomposed data is %d.\n", + face_num2 ); + } + + return SUCCESS; +} +/******************************************************************************/ + +void tds_pre_process ( void ) + +/******************************************************************************/ + +/* + Purpose: + + TDS_PRE_PROCESS divides the monolithic object into acceptably small pieces. + + Note: + + The 3DS binary format allows an unsigned short int for the number of + points, and number of faces in an object. This limits such quantities + to 65535. We have at least one interesting object with more faces + than that. So we need to tag faces and nodes somehow. + + Modified: + + 14 October 1998 + + Author: + + John Burkardt +*/ +{ +/* static unsigned short int BIG = 60000; */ + + return; +} +/******************************************************************************/ + +int tds_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + TDS_READ reads a 3D Studio MAX binary 3DS file. + + Modified: + + 20 October 1998 + + Author: + + John Burkardt +*/ +{ + unsigned long int chunk_begin; + unsigned long int chunk_end; + unsigned long int chunk_length; + unsigned long int chunk_length2; + unsigned long int position; + unsigned short int temp_int; + int version; + int views_read; +/* + Initialize. +*/ + views_read = 0; + + temp_int = tds_read_u_short_int ( filein ); + + if ( temp_int == 0x4d4d ) { + + if ( debug ) { + printf ( "TDS_READ: DEBUG: Read magic number %0X.\n", temp_int ); + } +/* + Move to 28 bytes from the beginning of the file. +*/ + position = 28; + fseek ( filein, ( long ) position, SEEK_SET ); + version = fgetc ( filein ); + + if ( version < 3 ) { + printf ( "\n" ); + printf ( "TDS_READ - Fatal error!\n" ); + printf ( " This routine can only read 3DS version 3 or later.\n" ); + printf ( " The input file is version %d.\n" ,version ); + return ERROR; + } + + if ( debug ) { + printf ( "TDS_READ: DEBUG: Version number is %d.\n", version ); + } +/* + Move to 2 bytes from the beginning of the file. + Set CURRENT_POINTER to the first byte of the chunk. + Set CHUNK_LENGTH to the number of bytes in the chunk. +*/ + chunk_begin = 0; + position = 2; + fseek ( filein, ( long ) position, SEEK_SET ); + + chunk_length = tds_read_u_long_int ( filein ); + position = 6; + + chunk_end = chunk_begin + chunk_length; + + if ( debug ) { + printf ( "TDS_READ:\n" ); + printf ( " Chunk begin = %lu.\n", chunk_begin ); + printf ( " Chunk length = %lu.\n", chunk_length ); + printf ( " Chunk end = %lu.\n", chunk_end ); + } + + while ( position + 2 < chunk_end ) { + + temp_int = tds_read_u_short_int ( filein ); + position = position + 2; + + if ( debug ) { + printf ( "TDS_READ: Short int = %0X, position = %lu.\n", temp_int, position ); + } + + if ( temp_int == 0x0002 ) { + if ( debug ) { + printf ( "TDS_READ: Read_Initial_Section:\n" ); + } + chunk_length2 = tds_read_u_long_int ( filein ); + position = position + 4; + position = position - 6 + chunk_length2; + fseek ( filein, ( long ) position, SEEK_SET ); + } + else if ( temp_int == 0x3d3d ) { + if ( debug ) { + printf ( "TDS_READ: Read_Edit_Section:\n" ); + } + position = position - 2; + position = position + tds_read_edit_section ( filein, &views_read ); + } + else if ( temp_int == 0xb000 ) { + if ( debug ) { + printf ( "TDS_READ: Read_Keyframe_Section:\n" ); + } + + position = position - 2; + position = position + tds_read_keyframe_section ( filein, &views_read ); + } + else { + printf ( "\n" ); + printf ( "TDS_READ - Fatal error!\n" ); + printf ( " Unexpected input, position = %lu.\n", position ); + printf ( " TEMP_INT = %hux\n", temp_int ); + return ERROR; + } + } + position = chunk_begin + chunk_length; + fseek ( filein, ( long ) position, SEEK_SET ); + } + else { + printf ( "\n" ); + printf ( "TDS_READ - Fatal error!\n" ); + printf ( " Could not find the main section tag.\n" ); + return ERROR; + } + + return SUCCESS; +} +/******************************************************************************/ + +unsigned long tds_read_ambient_section ( FILE *filein ) + +/******************************************************************************/ + +{ + unsigned long int current_pointer; + unsigned char end_found = FALSE; + int i; + long int pointer; + float rgb_val[3]; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + unsigned char true_c_val[3]; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0x0010: + if ( debug ) { + printf ( " COLOR_F color definition section tag of %0X\n", + temp_int ); + } + for ( i = 0; i < 3; i++ ) { + rgb_val[i] = float_read ( filein ); + } + if ( debug ) { + printf ( "RGB_VAL = %f %f %f\n", rgb_val[0], rgb_val[1], rgb_val[2] ); + } + teller = teller + 3 * sizeof ( float ); + break; + case 0x0011: + if ( debug ) { + printf ( " COLOR_24 24 bit color definition section tag of %0X\n", + temp_int ); + } + + for ( i = 0; i < 3; i++ ) { + true_c_val[i] = fgetc ( filein ); + } + if ( debug ) { + printf ( "TRUE_C_VAL = %d %d %d\n", true_c_val[0], true_c_val[1], + true_c_val[2] ); + } + teller = teller + 3; + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_background_section ( FILE *filein ) + +/******************************************************************************/ + +{ + unsigned long int current_pointer; + unsigned char end_found = FALSE; + int i; + long int pointer; + float rgb_val[3]; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + unsigned char true_c_val[3]; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0x0010: + if ( debug ) { + printf ( " COLOR_F RGB color definition section tag of %0X\n", + temp_int ); + } + for ( i = 0; i < 3; i++ ) { + rgb_val[i] = float_read ( filein ); + } + if ( debug ) { + printf ( "RGB_VAL = %f %f %f\n", rgb_val[0], rgb_val[1], rgb_val[2] ); + } + teller = teller + 3 * sizeof ( float ); + break; + case 0x0011: + if ( debug ) { + printf ( " COLOR_24 24 bit color definition section tag of %0X\n", + temp_int ); + } + + for ( i = 0; i < 3; i++ ) { + true_c_val[i] = fgetc ( filein ); + } + if ( debug ) { + printf ( "TRUE_C_VAL = %d %d %d\n", true_c_val[0], true_c_val[1], + true_c_val[2] ); + } + teller = teller + 3; + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_boolean ( unsigned char *boolean, FILE *filein ) + +/******************************************************************************/ + +{ + unsigned long current_pointer; + long int pointer; + unsigned long temp_pointer; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + *boolean = fgetc ( filein ); + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_camera_section ( FILE *filein ) + +/******************************************************************************/ +{ + float camera_eye[3]; + float camera_focus[3]; + unsigned long int current_pointer; + float lens; + long int pointer; + float rotation; + unsigned long int temp_pointer; + unsigned short int u_short_int_val; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + camera_eye[0] = float_read ( filein ); + camera_eye[1] = float_read ( filein ); + camera_eye[2] = float_read ( filein ); + + camera_focus[0] = float_read ( filein ); + camera_focus[1] = float_read ( filein ); + camera_focus[2] = float_read ( filein ); + + rotation = float_read ( filein ); + lens = float_read ( filein ); + + if ( debug ) { + printf ( " Found camera viewpoint at XYZ = %f %f %f.\n", + camera_eye[0], camera_eye[1], camera_eye[2] ); + printf ( " Found camera focus coordinates at XYZ = %f %f %f.\n", + camera_focus[0], camera_focus[1], camera_focus[2] ); + printf ( " Rotation of camera is: %f.\n", rotation ); + printf ( " Lens in used camera is: %f mm.\n", lens ); + } + + if ( ( temp_pointer-38 ) > 0 ) { + + if ( debug ) { + printf ( " Found extra camera sections.\n" ); + } + + u_short_int_val = tds_read_u_short_int ( filein ); + + if ( u_short_int_val == 0x4710 ) { + if ( debug ) { + printf ( " CAM_SEE_CONE.\n" ); + } + tds_read_unknown_section ( filein ); + } + + u_short_int_val = tds_read_u_short_int ( filein ); + + if ( u_short_int_val == 0x4720 ) { + if ( debug ) { + printf ( " CAM_RANGES.\n" ); + } + tds_read_unknown_section ( filein ); + } + + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_edit_section ( FILE *filein, int *views_read ) + +/******************************************************************************/ + +/* + Modified: + + 18 September 1998 +*/ +{ + unsigned long int chunk_length; + unsigned long int current_pointer; + unsigned char end_found = FALSE; + long int pointer; + unsigned long int teller; + unsigned short int temp_int; + + current_pointer = ftell ( filein ) - 2; + chunk_length = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + if ( debug ) { + printf ( " TDS_READ_EDIT_SECTION processing tag %0X\n", temp_int ); + } + + switch ( temp_int ) { + case 0x1100: + if ( debug ) { + printf ( " BIT_MAP section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x1201: + if ( debug ) { + printf ( " USE_SOLID_BGND section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x1300: + if ( debug ) { + printf ( " V_GRADIENT section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x1400: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x1420: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x1450: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x1500: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x2200: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x2201: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x2210: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x2300: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x2302: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x3000: + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x2100: + if ( debug ) { + printf ( " AMBIENT_LIGHT section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_ambient_section ( filein ); + break; + case 0x1200: + if ( debug ) { + printf ( " SOLID_BGND section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_background_section ( filein ); + break; + case 0x0100: + if ( debug ) { + printf ( " MASTER_SCALE section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x3d3e: + if ( debug ) { + printf ( " MESH_VERSION section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xafff: + if ( debug ) { + printf ( " MAT_ENTRY section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_material_section ( filein ); + break; + case 0x4000: + if ( debug ) { + printf ( " NAMED_OBJECT section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_object_section ( filein ); + break; + case 0x7001: + if ( debug ) { + printf ( " VIEWPORT_LAYOUT section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_view_section ( filein, views_read ); + break; + case 0x7012: + if ( debug ) { + printf ( " VIEWPORT_DATA_3 section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x7011: + if ( debug ) { + printf ( " VIEWPORT_DATA section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x7020: + if ( debug ) { + printf ( " VIEWPORT_SIZE section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + default: + if ( debug ) { + printf ( " Junk.\n" ); + } + break; + } + + if ( teller >= chunk_length ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer + chunk_length ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( chunk_length ); +} +/******************************************************************************/ + +unsigned long tds_read_keyframe_section ( FILE *filein, int *views_read ) + +/******************************************************************************/ +{ + unsigned long int current_pointer; + unsigned char end_found = FALSE; + long int pointer; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0x7001: + if ( debug ) { + printf ( " VIEWPORT_LAYOUT main definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_view_section ( filein, views_read ); + break; + case 0xb008: + if ( debug ) { + printf ( " KFSEG frames section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb002: + if ( debug ) { + printf ( " OBJECT_NODE_TAG object description section tag of %0X\n", + temp_int); + } + teller = teller + tds_read_keyframe_objdes_section ( filein ); + break; + case 0xb009: + if ( debug ) { + printf ( " KFCURTIME section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb00a: + if ( debug ) { + printf ( " KFHDR section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_keyframe_objdes_section ( FILE *filein ) + +/******************************************************************************/ + +/* + Modified: + + 21 September 1998 +*/ +{ + unsigned long int chunk_size; + unsigned long int current_pointer; + unsigned char end_found = FALSE; + long int pointer; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + unsigned long int u_long_int_val; + unsigned short int u_short_int_val; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0xb011: + if ( debug ) { + printf ( " INSTANCE_NAME section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb010: + if ( debug ) { + printf ( " NODE_HDR section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb020: + if ( debug ) { + printf ( " POS_TRACK_TAG section tag of %0X\n", temp_int ); + } + chunk_size = tds_read_u_long_int ( filein ); + if ( debug ) { + printf ( " chunk_size = %d\n", chunk_size ); + } + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_short_int_val = tds_read_u_short_int ( filein ); + u_long_int_val = tds_read_u_long_int ( filein ); + if ( debug ) { + printf ( "u_short_int_val = %d\n", u_short_int_val ); + printf ( "u_long_int_val = %d\n", u_long_int_val ); + } + origin[0] = float_read ( filein ); + origin[1] = float_read ( filein ); + origin[2] = float_read ( filein ); + teller = teller + 32; + break; + case 0xb013: + if ( debug ) { + printf ( " PIVOT section tag of %0X\n", temp_int ); + } + chunk_size = tds_read_u_long_int ( filein ); + pivot[0] = float_read ( filein ); + pivot[1] = float_read ( filein ); + pivot[2] = float_read ( filein ); + teller = teller + 12; + break; + case 0xb014: + if ( debug ) { + printf ( " BOUNDBOX section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb015: + if ( debug ) { + printf ( " MORPH_SMOOTH section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb021: + if ( debug ) { + printf ( " ROT_TRACK_TAG section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb022: + if ( debug ) { + printf ( " SCL_TRACK_TAG section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xb030: + if ( debug ) { + printf ( " NODE_ID section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer+temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_light_section ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned char boolean; + unsigned long int current_pointer; + unsigned char end_found = FALSE; + int i; + float light_coors[3]; + long int pointer; + float rgb_val[3]; + unsigned long int teller; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned char true_c_val[3]; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + light_coors[0] = float_read ( filein ); + light_coors[1] = float_read ( filein ); + light_coors[2] = float_read ( filein ); + + teller = teller + 3 * 4; + + if ( debug ) { + printf ( " Found light at coordinates XYZ = %f %f %f.\n", + light_coors[0], light_coors[1], light_coors[2] ); + } + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0x0010: + if ( debug ) { + printf ( " COLOR_F RGB color definition section tag of %0X\n", + temp_int ); + } + for ( i = 0; i < 3; i++ ) { + rgb_val[i] = float_read ( filein ); + } + if ( debug ) { + printf ( " RGB_VAL value set to %f %f %f\n", rgb_val[0], + rgb_val[1], rgb_val[2] ); + } + teller = teller + 3 * sizeof ( float ); + break; + case 0x0011: + if ( debug ) { + printf ( " COLOR_24 24 bit color definition section tag of %0X\n", + temp_int ); + } + + for ( i = 0; i < 3; i++ ) { + true_c_val[i] = fgetc ( filein ); + } + if ( debug ) { + printf ( " TRUE_C_VAL value set to %d %d %d\n", true_c_val[0], + true_c_val[1], true_c_val[2] ); + } + teller = teller + 3; + break; + case 0x4620: + if ( debug ) { + printf ( " DL_OFF section: %0X\n", temp_int ); + } + teller = teller + tds_read_boolean ( &boolean, filein ); + if ( debug ) { + if ( boolean == TRUE ) { + printf ( " Light is on\n" ); + } + else { + printf ( " Light is off\n" ); + } + } + break; + case 0x4610: + if ( debug ) { + printf ( " DL_SPOTLIGHT section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_spot_section ( filein ); + break; + case 0x465a: + if ( debug ) { + printf ( " DL_OUTER_RANGE section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long int tds_read_u_long_int ( FILE *filein ) + +/******************************************************************************/ + +/* + Modified: + + 01 October 1998 + + Author: + + John Burkardt +*/ +{ + union { + unsigned long int yint; + char ychar[4]; + } y; + + if ( byte_swap == TRUE ) { + y.ychar[3] = fgetc ( filein ); + y.ychar[2] = fgetc ( filein ); + y.ychar[1] = fgetc ( filein ); + y.ychar[0] = fgetc ( filein ); + } + else { + y.ychar[0] = fgetc ( filein ); + y.ychar[1] = fgetc ( filein ); + y.ychar[2] = fgetc ( filein ); + y.ychar[3] = fgetc ( filein ); + } + + return y.yint; +} +/******************************************************************************/ + +int tds_read_long_name ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned char letter; + unsigned int teller; + + teller = 0; + letter = fgetc ( filein ); +/* + Could be a dummy object. +*/ + if ( letter == 0 ) { + strcpy ( temp_name, "Default_name" ); + return -1; + } + + temp_name[teller] = letter; + teller = teller + 1; + + do { + letter = fgetc ( filein ); + temp_name[teller] = letter; + teller = teller + 1; + } while ( letter != 0 ); + + temp_name[teller-1] = 0; + + if ( debug ) { + printf ( " tds_read_long_name found name: %s.\n", temp_name ); + } + + return teller; +} +/******************************************************************************/ + +unsigned long tds_read_matdef_section ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned long int current_pointer; + long int pointer; + int teller; + unsigned long int temp_pointer; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + teller = tds_read_long_name ( filein ); + + if ( teller == -1 ) { + if ( debug ) { + printf ( " No material name found.\n" ); + } + } + else { + strcpy ( mat_name, temp_name ); + if ( debug ) { + printf ( " Material name %s.\n", mat_name ); + } + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_material_section ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned long int current_pointer; + unsigned char end_found = FALSE; + long int pointer; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + + current_pointer = ftell ( filein ) - 2; + + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + + case 0xa000: + if ( debug ) { + printf ( " MAT_NAME definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_matdef_section ( filein ); + break; + case 0xa010: + if ( debug ) { + printf ( " MAT_AMBIENT definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa020: + if ( debug ) { + printf ( " MAT_DIFFUSE definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa030: + if ( debug ) { + printf ( " MAT_SPECULAR definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa040: + if ( debug ) { + printf ( " MAT_SHININESS definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa041: + if ( debug ) { + printf ( " MAT_SHIN2PCT definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa042: + if ( debug ) { + printf ( " MAT_SHIN3PCT definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa050: + if ( debug ) { + printf ( " MAT_TRANSPARENCY definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa052: + if ( debug ) { + printf ( " MAT_XPFALL definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa053: + if ( debug ) { + printf ( " MAT_REFBLUR definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa080: + if ( debug ) { + printf ( " MAT_SELF_ILLUM definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa081: + if ( debug ) { + printf ( " MAT_TWO_SIDE definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa082: + if ( debug ) { + printf ( " MAT_DECAL definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa083: + if ( debug ) { + printf ( " MAT_ADDITIVE definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa084: + if ( debug ) { + printf ( " MAT_SELF_ILPCT definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa085: + if ( debug ) { + printf ( " MAT_WIRE definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa086: + if ( debug ) { + printf ( " MAT_SUPERSMP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa087: + if ( debug ) { + printf ( " MAT_WIRESIZE definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa088: + if ( debug ) { + printf ( " MAT_FACEMAP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa08a: + if ( debug ) { + printf ( " MAT_XPFALLIN definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa08c: + if ( debug ) { + printf ( " MAT_PHONGSOFT definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa08e: + if ( debug ) { + printf ( " MAT_WIREABS definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa100: + if ( debug ) { + printf ( " MAT_SHADING definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa200: + if ( debug ) { + printf ( " MAT_TEXMAP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_texmap_section ( filein ); +/* + teller = teller + tds_read_unknown_section ( filein ); +*/ + break; + case 0xa204: + if ( debug ) { + printf ( " MAT_SPECMAP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa210: + if ( debug ) { + printf ( " MAT_OPACMAP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa220: + if ( debug ) { + printf ( " MAT_REFLMAP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa230: + if ( debug ) { + printf ( " MAT_BUMPMAP definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0xa353: + if ( debug ) { + printf ( " MAT_MAP_TEXBLUR definition section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + default: + if ( debug ) { + printf ( " Junk section tag of %0X\n", temp_int ); + } + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + pointer = ( long ) ( current_pointer + temp_pointer ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +int tds_read_name ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned char letter; + unsigned int teller; + + teller = 0; + letter = fgetc ( filein ); +/* + Could be a dummy object. +*/ + + if ( letter == 0 ) { + strcpy ( temp_name, "Default name" ); + return (-1); + } + + temp_name[teller] = letter; + teller = teller + 1; + + do { + letter = fgetc ( filein ); + temp_name[teller] = letter; + teller = teller + 1; + } while ( ( letter != 0 ) && ( teller < 12 ) ); + + temp_name[teller-1] = 0; + + if ( debug ) { + printf ( " tds_read_name found name: %s.\n", temp_name ); + } + + return 0; +} +/******************************************************************************/ + +unsigned long tds_read_obj_section ( FILE *filein ) + +/******************************************************************************/ + +/* + Comments: + + Thanks to John F Flanagan for some suggested corrections. + + Modified: + + 30 June 2001 +*/ +{ + unsigned short int b; + unsigned long int chunk_size; + unsigned short int color_index; + unsigned long int current_pointer; + unsigned char end_found = FALSE; + unsigned short int g; + int i; + int j; + int cor3_num_base; + int cor3_num_inc; + int face_num_inc; + long int pointer; + unsigned short int r; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int temp_pointer2; + unsigned long int teller; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + cor3_num_base = cor3_num; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + + case 0x4000: + if ( debug ) { + printf ( " NAMED_OBJECT section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + + case 0x4100: + if ( debug ) { + printf ( " N_TRI_OBJECT section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + + case 0x4110: + + if ( debug ) { + printf ( " POINT_ARRAY section tag of %0X\n", temp_int ); + } + + current_pointer = ftell ( filein ) - 2; + temp_pointer2 = tds_read_u_long_int ( filein ); + cor3_num_inc = ( int ) tds_read_u_short_int ( filein ); + + for ( i = cor3_num; i < cor3_num + cor3_num_inc; i++ ) { + cor3[0][i] = float_read ( filein ); + cor3[1][i] = float_read ( filein ); + cor3[2][i] = float_read ( filein ); + } + + cor3_num = cor3_num + cor3_num_inc; + teller = teller + temp_pointer2; + break; + + case 0x4111: + if ( debug ) { + printf ( " POINT_FLAG_ARRAY faces (2) section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + + case 0x4120: + + if ( debug ) { + printf ( " FACE_ARRAY section tag of %0X\n", + temp_int ); + } + + temp_pointer2 = tds_read_u_long_int ( filein ); + face_num_inc = ( int ) tds_read_u_short_int ( filein ); + + for ( i = face_num; i < face_num + face_num_inc; i++ ) { + face[0][i] = tds_read_u_short_int ( filein ) + cor3_num_base; + face[1][i] = tds_read_u_short_int ( filein ) + cor3_num_base; + face[2][i] = tds_read_u_short_int ( filein ) + cor3_num_base; + face_order[i] = 3; + face_flags[i] = tds_read_u_short_int ( filein ); +/* + Color is given per face, and as 24 bit RGB data packed in one word. + Extract RGB from the word, and assign R / 255 to each vertex. + + Just a guess, JVB, 30 June 2001. +*/ + temp_int = face_flags[i] & 0x000F; + r = ( temp_int & 0x0004 ) >> 2; + g = ( temp_int & 0x0002 ) >> 1; + b = ( temp_int & 0x0001 ); + + for ( j = 0; j < 3; j++ ) { + vertex_rgb[0][j][i] = ( float ) r / 255.0; + vertex_rgb[1][j][i] = ( float ) g / 255.0; + vertex_rgb[2][j][i] = ( float ) b / 255.0; + } + + } + + temp_int = tds_read_u_short_int ( filein ); + if ( temp_int == 0x4150 ) { + for ( i = face_num; i < face_num + face_num_inc; i++ ) { + face_smooth[i] = ( int ) tds_read_u_long_int ( filein ) + + cor3_num_base; + } + } + face_num = face_num + face_num_inc; + teller = ftell ( filein ); + break; + + case 0x4130: + if ( debug ) { + printf ( " MSH_MAT_GROUP section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + + case 0x4140: + if ( debug ) { + printf ( " TEX_VERTS section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_tex_verts_section ( filein ); + break; + + case 0x4150: + if ( debug ) { + printf ( " SMOOTH_GROUP section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + + case 0x4160: + + if ( debug ) { + printf ( " MESH_MATRIX section tag of %0X\n", + temp_int ); + } + + tds_read_u_long_int ( filein ); + + for ( j = 0; j < 4; j++ ) { + for ( i = 0; i < 3; i++ ) { + transform_matrix[j][i] = float_read ( filein ); + } + } + transform_matrix[0][3] = 0.0; + transform_matrix[1][3] = 0.0; + transform_matrix[2][3] = 0.0; + transform_matrix[3][3] = 0.0; + + teller = teller + 12 * sizeof ( float ); + break; + + case 0x4165: + + if ( debug ) { + printf ( " MESH_COLOR section tag of %0X\n", temp_int ); + } + + chunk_size = tds_read_u_long_int ( filein ); + + if ( chunk_size == 7 ) { + color_index = fgetc ( filein ); + teller = teller + 5; + } + else { + color_index = tds_read_u_short_int ( filein ); + teller = teller + 6; + } + if ( debug ) { + printf ( " Color index set to %d\n", color_index ); + } + break; + + case 0x4170: + if ( debug ) { + printf ( " MESH_TEXTURE_INFO section tag of %0X\n", + temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + + default: + if ( debug ) { + printf ( " JUNK section tag of %0X\n", temp_int ); + } + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long int ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_object_section ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned char end_found = FALSE; + unsigned long int current_pointer; + int int_val; + long int pointer; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; +/* + Why don't you read and save the name here? +*/ + int_val = tds_read_name ( filein ); + + if ( int_val == -1 ) { + if ( debug ) { + printf ( " Dummy Object found\n" ); + } + } + else { + strcpy ( object_name, temp_name ); + } + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0x4700: + if ( debug ) { + printf ( " N_CAMERA section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_camera_section ( filein ); + break; + case 0x4600: + if ( debug ) { + printf ( " N_DIRECT_LIGHT section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_light_section ( filein ); + break; + case 0x4100: + if ( debug ) { + printf ( " OBJ_TRIMESH section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_obj_section ( filein ); + break; + case 0x4010: + if ( debug ) { + printf ( " OBJ_HIDDEN section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x4012: + if ( debug ) { + printf ( " OBJ_DOESNT_CAST section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long int tds_read_tex_verts_section ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + TDS_READ_TEX_VERTS_SECTION reads the texture vertex data. + + Discussion: + + The texture vertex data seems to be associated with nodes. This routine + distributes that data to vertices (nodes as they make up a particular + face). + + Modified: + + 02 July 1999 + + Author: + + John Burkardt +*/ +{ + unsigned long int current_pointer; + int icor3; + long int pointer; + unsigned long int temp_pointer; + unsigned short int n2; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + pointer = ( long int ) ( current_pointer + temp_pointer ); + + n2 = tds_read_u_short_int ( filein ); + + for ( icor3 = 0; icor3 < n2; icor3++ ) { + cor3_tex_uv[0][icor3] = float_read ( filein ); + cor3_tex_uv[1][icor3] = float_read ( filein ); + } + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_texmap_section ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + TDS_READ_TEXMAP_SECTION tries to get the TEXMAP name from the TEXMAP section. + + Warning: + + The code has room for lots of textures. In this routine, we behave as + though there were only one, and we stick its name in the first name slot. + + Modified: + + 30 June 1999 + + Author: + + John Burkardt +*/ +{ + unsigned long int current_pointer; + long int pointer; + int teller; + unsigned long int temp_pointer; + + texture_num = texture_num + 1; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + tds_read_u_short_int ( filein ); + tds_read_u_short_int ( filein ); + tds_read_u_short_int ( filein ); + tds_read_u_short_int ( filein ); + +/* + This next short int should equal A300. +*/ + tds_read_u_short_int ( filein ); + tds_read_u_long_int ( filein ); +/* + Now read the TEXMAP file name. +*/ + teller = tds_read_long_name ( filein ); + + if ( teller == -1 ) { + if ( debug ) { + printf ( " No TEXMAP name found.\n" ); + } + } + else { + strcpy ( texture_name[0], temp_name ); + if ( debug ) { + printf ( " TEXMAP name %s.\n", texture_name[0] ); + } + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned short int tds_read_u_short_int ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned char c1; + unsigned char c2; + short int ival; + + c1 = fgetc ( filein ); + c2 = fgetc ( filein ); + + ival = c1 | ( c2 << 8 ); + + return ival; +} +/******************************************************************************/ + +unsigned long tds_read_spot_section ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned long int current_pointer; + float falloff; + float hotspot; + long int pointer; + float target[4]; + unsigned long int temp_pointer; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + target[0] = float_read ( filein ); + target[1] = float_read ( filein ); + target[2] = float_read ( filein ); + hotspot = float_read ( filein ); + falloff = float_read ( filein ); + + if ( debug ) { + printf ( " The target of the spot is XYZ = %f %f %f.\n", + target[0], target[1], target[2] ); + printf ( " The hotspot of this light is %f.\n", hotspot ); + printf ( " The falloff of this light is %f.\n", falloff ); + } + + pointer = ( long ) ( current_pointer + temp_pointer ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long int tds_read_unknown_section ( FILE *filein ) + +/******************************************************************************/ +{ + unsigned long int current_pointer; + long int pointer; + unsigned long int temp_pointer; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + pointer = ( long int ) ( current_pointer + temp_pointer ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_view_section ( FILE *filein, int *views_read ) + +/******************************************************************************/ +{ + unsigned long int current_pointer; + unsigned char end_found = FALSE; + long int pointer; + unsigned short int temp_int; + unsigned long int temp_pointer; + unsigned long int teller; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + teller = 6; + + while ( end_found == FALSE ) { + + temp_int = tds_read_u_short_int ( filein ); + teller = teller + 2; + + switch ( temp_int ) { + case 0x7012: + if ( debug ) { + printf ( " VIEWPORT_DATA_3 section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_vp_section ( filein, views_read ); + break; + case 0x7011: + if ( debug ) { + printf ( " VIEWPORT_DATA section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_unknown_section ( filein ); + break; + case 0x7020: + if ( debug ) { + printf ( " VIEWPORT_SIZE section tag of %0X\n", temp_int ); + } + teller = teller + tds_read_vp_section ( filein, views_read ); + break; + default: + break; + } + + if ( teller >= temp_pointer ) { + end_found = TRUE; + } + + if ( *views_read > 3 ) { + end_found = TRUE; + } + } + + pointer = ( long int ) ( current_pointer + temp_pointer ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +unsigned long tds_read_vp_section ( FILE *filein, int *views_read ) + +/******************************************************************************/ +{ + unsigned int attribs; + unsigned long int current_pointer; + int i; + int int_val; + long int pointer; + unsigned int port; + unsigned long int temp_pointer; + char *viewports[11] = { + "Bogus", + "Top", + "Bottom", + "Left", + "Right", + "Front", + "Back", + "User", + "Camera", + "Light", + "Disabled" + }; + + *views_read = *views_read + 1; + + current_pointer = ftell ( filein ) - 2; + temp_pointer = tds_read_u_long_int ( filein ); + + attribs = tds_read_u_short_int ( filein ); + + if ( attribs == 3 ) { + if ( debug ) { + printf ( " active in viewport.\n" ); + } + } + + if ( attribs == 5 ) { + if ( debug ) { + printf ( " active in viewport.\n" ); + } + } +/* + Read 5 INTS to get to the viewport information. +*/ + for ( i = 1; i < 6; i++ ) { + tds_read_u_short_int ( filein ); + } + + port = tds_read_u_short_int ( filein ); +/* + Find camera section. +*/ + if ( ( port == 0xffff ) || ( port == 0 ) ) { + + for ( i = 0; i < 12; i++ ) { + tds_read_u_short_int ( filein ); + } + + int_val = tds_read_name (filein ); + + if ( int_val == -1 ) { + if ( debug ) { + printf ( " No Camera name found\n" ); + } + } + + port = 0x0008; + } + + if ( debug ) { + printf ( "Reading [%s] information with tag:%d\n", viewports[port], port ); + } + + pointer = ( long int ) ( current_pointer + temp_pointer ); + + fseek ( filein, pointer, SEEK_SET ); + + return ( temp_pointer ); +} +/******************************************************************************/ + +int tds_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + TDS_WRITE writes graphics information to a 3D Studio Max 3DS file. + + Modified: + + 14 October 1998 + + Author: + + John Burkardt + +*/ +{ + float float_val; + int i; + int icor3; + int iface; + int j; + long int l0002; + long int l0100; + long int l3d3d; + long int l3d3e; + long int l4000; + long int l4100; + long int l4110; + long int l4120; + long int l4150; + long int l4160; + long int l4d4d; + long int lb000; + long int lb002; + long int lb00a; + long int lb008; + long int lb009; + long int lb010; + long int lb013; + long int lb020; + long int lb021; + long int lb022; + long int lb030; + long int long_int_val; + int name_length; + short int short_int_val; + unsigned short int u_short_int_val; + + bytes_num = 0; + name_length = strlen ( object_name ); + + l0002 = 10; + + l4150 = 2 + 4 + face_num * 4; + l4120 = 2 + 4 + 2 + 4 * face_num * 2 + l4150; + l4160 = 2 + 4 + 4 * 12; + l4110 = 2 + 4 + 2 + cor3_num * 3 * 4; + l4100 = 2 + 4 + l4110 + l4160 + l4120; + l4000 = 2 + 4 + ( name_length + 1 ) + l4100; + l0100 = 2 + 4 + 4; + l3d3e = 2 + 4 + 4; + l3d3d = 2 + 4 + l3d3e + l0100 + l4000; + + lb022 = 2 + 4 + 32; + lb021 = 2 + 4 + 9 * 4; + lb020 = 2 + 4 + 8 * 4; + lb013 = 2 + 4 + 6 * 2; + lb010 = 2 + 4 + ( name_length + 1 ) + 3 * 2; + lb030 = 2 + 4 + 2; + lb002 = 2 + 4 + lb030 + lb010 + lb013 + lb020 + lb021 + lb022; + lb009 = 2 + 4 + 4; + lb008 = 2 + 4 + 2 * 4; + lb00a = 2 + 4 + 2 + 9 + 2 * 2; + lb000 = 2 + 4 + lb00a + lb008 + lb009 + lb002; + + l4d4d = 2 + 4 + l0002 + l3d3d + lb000; +/* + M3DMAGIC begin. + tag, size. +*/ + short_int_val = ( short ) 0x4d4d; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4d4d ); +/* + M3D_VERSION begin. + tag, size, version. +*/ + short_int_val = ( short ) 0x0002; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l0002 ); + long_int_val = 3; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); +/* + M3D_VERSION end. + MDATA begin. + tag, size. +*/ + short_int_val = ( short ) 0x3d3d; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l3d3d ); +/* + MESH_VERSION begin. + tag, size, version. +*/ + short_int_val = ( short ) 0x3d3e; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l3d3e ); + long_int_val = 3; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); +/* + MESH_VERSION end. + MASTER_SCALE begin. + tag, size, scale. +*/ + short_int_val = ( short ) 0x0100; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l0100 ); + float_val = 1.0; + bytes_num = bytes_num + float_write ( fileout, float_val ); +/* + MASTER_SCALE end. + NAMED_OBJECT begin. + tag, size, name. +*/ + short_int_val = ( short ) 0x4000; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4000 ); + bytes_num = bytes_num + tds_write_string ( fileout, object_name ); +/* + N_TRI_OBJECT begin. + tag, size. +*/ + short_int_val = ( short ) 0x4100; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4100 ); +/* + POINT_ARRAY begin. + tag, size, number of points, coordinates of points. + Warning! number of points could exceed a short! +*/ + short_int_val = ( short ) 0x4110; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4110 ); + + u_short_int_val = ( unsigned short ) cor3_num; + bytes_num = bytes_num + tds_write_u_short_int ( fileout, u_short_int_val ); + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + for ( j = 0; j < 3; j++ ) { + bytes_num = bytes_num + float_write ( fileout, cor3[j][icor3] ); + } + } +/* + POINT_ARRAY end. + MESH_MATRIX begin. + tag, size, 4 by 3 matrix. +*/ + short_int_val = ( short ) 0x4160; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4160 ); + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 3; j++ ) { + float_val = transform_matrix[i][j]; + bytes_num = bytes_num + float_write ( fileout, float_val ); + } + } +/* + MESH_MATRIX end. + FACE_ARRAY begin. + tag, size, number of faces, nodes per face. + Warning: number of faces could exceed a short! +*/ + short_int_val = ( short ) 0x4120; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4120 ); + + u_short_int_val = ( unsigned short ) face_num; + bytes_num = bytes_num + tds_write_u_short_int ( fileout, u_short_int_val ); + + for ( iface = 0; iface < face_num; iface++ ) { + for ( j = 0; j < 3; j++ ) { + short_int_val = face[j][iface]; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + } + short_int_val = face_flags[iface]; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + } +/* + SMOOTH_GROUP begin. + tag, size, group for each face. +*/ + short_int_val = ( short ) 0x4150; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, l4150 ); + + for ( iface = 0; iface < face_num; iface++ ) { + long_int_val = face_smooth[iface]; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); + } +/* + SMOOTH_GROUP end. + FACE_ARRAY end. + N_TRI_OBJECT end. + NAMED_OBJECT end. + MDATA end. + KFDATA begin. +*/ + short_int_val = ( short ) 0xb000; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb000 ); +/* + KFHDR begin. + tag, size, revision, filename, animlen. +*/ + short_int_val = ( short ) 0xb00a; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb00a ); + short_int_val = 5; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + tds_write_string ( fileout, "MAXSCENE" ); + short_int_val = 100; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); +/* + KFHDR end. + KFSEG begin. + tag, size, start, end. +*/ + short_int_val = ( short ) 0xb008; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb008 ); + long_int_val = 0; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); + long_int_val = 100; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); +/* + KFSEG end. + KFCURTIME begin. + tag, size, current_frame. +*/ + short_int_val = ( short ) 0xb009; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb009 ); + long_int_val = 0; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); +/* + KFCURTIME end. + OBJECT_NODE_TAG begin. + tag, size. +*/ + short_int_val = ( short ) 0xb002; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb002 ); +/* + NODE_ID begin. + tag, size, id. +*/ + short_int_val = ( short ) 0xb030; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb030 ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); +/* + NODE_ID end. + NODE_HDR begin. + tag, size, object_name, flag1, flag2, hierarchy. +*/ + short_int_val = ( short ) 0xb010; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb010 ); + bytes_num = bytes_num + tds_write_string ( fileout, object_name ); + short_int_val = 16384; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = -1; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); +/* + NODE_HDR end. + PIVOT begin. + tag, size, pivot_x, pivot_y, pivot_z. +*/ + short_int_val = ( short ) 0xb013; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb013 ); + for ( i = 0; i < 3; i++ ) { + float_val = pivot[i]; + bytes_num = bytes_num + float_write ( fileout, float_val ); + } +/* + PIVOT end. + POS_TRACK_TAG begin. + tag, size, flag, i1, i2, i3, i4, i5, i6, frame, l1, pos_x, pos_y, pos_z. +*/ + short_int_val = ( short ) 0xb020; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb020 ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 1; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + long_int_val = 0; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); + for ( i = 0; i < 3; i++ ) { + float_val = origin[i]; + bytes_num = bytes_num + float_write ( fileout, float_val ); + } +/* + POS_TRACK_TAG end. + ROT_TRACK_TAG begin. + tag, size, i1, i2, i3, i4, i5, i6, i7, i8, l1, rad, axis_x, axis_y, axis_z. +*/ + short_int_val = ( short ) 0xb021; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb021 ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 1; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + long_int_val = 0; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); + float_val = 0.0; + bytes_num = bytes_num + float_write ( fileout, float_val ); + bytes_num = bytes_num + float_write ( fileout, float_val ); + bytes_num = bytes_num + float_write ( fileout, float_val ); + bytes_num = bytes_num + float_write ( fileout, float_val ); +/* + ROT_TRACK_TAG end. + SCL_TRACK_TAG begin. + tag, size, i1, i2, i3, i4, i5, i6, i7, i8, l1, scale_x, scale_y, scale_z. +*/ + short_int_val = ( short ) 0xb022; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + bytes_num = bytes_num + long_int_write ( fileout, lb022 ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 1; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + short_int_val = 0; + bytes_num = bytes_num + short_int_write ( fileout, short_int_val ); + long_int_val = 0; + bytes_num = bytes_num + long_int_write ( fileout, long_int_val ); + float_val = 1.0; + bytes_num = bytes_num + float_write ( fileout, float_val ); + bytes_num = bytes_num + float_write ( fileout, float_val ); + bytes_num = bytes_num + float_write ( fileout, float_val ); +/* + SCL_TRACK_TAG end. + OBJECT_NODE_TAG end. + KFDATA end. + M3DMAGIC end. +*/ + +/* + Report. +*/ + printf ( "TDS_WRITE wrote %d bytes.\n", bytes_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int tds_write_string ( FILE *fileout, char *string ) + +/******************************************************************************/ + +/* + Modified: + + 23 September 1998 + + Author: + + John Burkardt +*/ +{ + char *c; + int nchar; + + nchar = 0; + + for ( c = string; nchar < 12; c++ ) { + + fputc ( *c, fileout ); + nchar = nchar + 1; + + if ( *c == 0 ) { + return nchar; + } + + } + + return nchar; +} +/******************************************************************************/ + +int tds_write_u_short_int ( FILE *fileout, unsigned short int short_int_val ) + +/******************************************************************************/ + +/* + Modified: + + 14 October 1998 + + Author: + + John Burkardt +*/ +{ + union { + unsigned short int yint; + char ychar[2]; + } y; + + y.yint = short_int_val; + + if ( byte_swap == TRUE ) { + fputc ( y.ychar[1], fileout ); + fputc ( y.ychar[0], fileout ); + } + else { + fputc ( y.ychar[0], fileout ); + fputc ( y.ychar[1], fileout ); + } + + return 2; +} +/**********************************************************************/ + +int tec_write ( FILE *fileout ) + +/**********************************************************************/ + +/* + Purpose: + + TEC_WRITE writes graphics information to a TECPLOT file. + + Discussion: + + The file format used is appropriate for 3D finite element surface + zone data. Polygons are decomposed into triangles where necessary. + + Example: + + TITLE = "cube.tec created by IVCON." + VARIABLES = "X", "Y", "Z", "R", "G", "B" + ZONE T="TRIANGLES", N=8, E=12, F=FEPOINT, ET=TRIANGLE + 0.0 0.0 0.0 0.0 0.0 0.0 + 1.0 0.0 0.0 1.0 0.0 0.0 + 1.0 1.0 0.0 1.0 1.0 0.0 + 0.0 1.0 0.0 0.0 1.0 0.0 + 0.0 0.0 1.0 0.0 0.0 1.0 + 1.0 0.0 1.0 1.0 0.0 1.0 + 1.0 1.0 1.0 1.0 1.0 1.0 + 0.0 1.0 1.0 0.0 1.0 1.0 + 1 4 2 + 2 4 3 + 1 5 8 + 1 2 5 + 2 6 5 + 2 3 6 + 3 7 6 + 3 4 7 + 4 8 7 + 4 1 8 + 5 6 8 + 6 7 8 + + Modified: + + 09 June 1999 + + Author: + + John Burkardt +*/ +{ + float b; + int face2[3]; + float g; + int icor3; + int iface; + int imat; + int j; + int face_num2; + int text_num; + float r; +/* + Determine the number of triangular faces. +*/ + face_num2 = 0; + for ( iface = 0; iface < face_num; iface++ ) { + for ( j = 0; j < face_order[iface] - 2; j++ ) { + face_num2 = face_num2 + 1; + } + } + + text_num = 0; + + fprintf ( fileout, "\"%s created by IVCON.\"\n", fileout_name ); + fprintf ( fileout, "VARIABLES = \"X\", \"Y\", \"Z\", \"R\", \"G\", \"B\"\n" ); + fprintf ( fileout, + "ZONE T=\"TRIANGLES\", N=%d, E=%d, F=FEPOINT, ET=TRIANGLE\n", + cor3_num, face_num2 ); + + text_num = text_num + 3; +/* + Write out X, Y, Z, R, G, B per node. +*/ + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + imat = cor3_material[icor3]; + r = material_rgba[0][imat]; + g = material_rgba[1][imat]; + b = material_rgba[2][imat]; + fprintf ( fileout, "%f %f %f %f %f %f\n", cor3[0][icor3], cor3[1][icor3], + cor3[2][icor3], r, g, b ); + text_num = text_num + 1; + } +/* + Do the next face. +*/ + for ( iface = 0; iface < face_num; iface++ ) { +/* + Break the face up into triangles, anchored at node 1. +*/ + for ( j = 0; j < face_order[iface] - 2; j++ ) { + + face2[0] = face[ 0][iface] + 1; + face2[1] = face[j+1][iface] + 1; + face2[2] = face[j+2][iface] + 1; + + fprintf ( fileout, "%d %d %d\n", face2[0], face2[1], face2[2] ); + text_num = text_num + 1; + + } + + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "TEC_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} + +/*********************************************************************/ + +void tmat_init ( float a[4][4] ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_INIT initializes the geometric transformation matrix. + + Definition: + + The geometric transformation matrix can be thought of as a 4 by 4 + matrix "A" having components: + + r11 r12 r13 t1 + r21 r22 r23 t2 + r31 r32 r33 t3 + 0 0 0 1 + + This matrix encodes the rotations, scalings and translations that + are applied to graphical objects. + + A point P = (x,y,z) is rewritten in "homogeneous coordinates" as + PH = (x,y,z,1). Then to apply the transformations encoded in A to + the point P, we simply compute A * PH. + + Individual transformations, such as a scaling, can be represented + by simple versions of the transformation matrix. If the matrix + A represents the current set of transformations, and we wish to + apply a new transformation B, { the original points are + transformed twice: B * ( A * PH ). The new transformation B can + be combined with the original one A, to give a single matrix C that + encodes both transformations: C = B * A. + + Modified: + + 19 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the geometric transformation matrix. +*/ +{ + int i; + int j; + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + if ( i == j ) { + a[i][j] = 1.0; + } + else { + a[i][j] = 0.0; + } + } + } + return; +} +/*********************************************************************/ + +void tmat_mxm ( float a[4][4], float b[4][4], float c[4][4] ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_MXM multiplies two geometric transformation matrices. + + Note: + + The product is accumulated in a temporary array, and { assigned + to the result. Therefore, it is legal for any two, or all three, + of the arguments to share memory. + + Modified: + + 19 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the first geometric transformation matrix. + + Input, float B[4][4], the second geometric transformation matrix. + + Output, float C[4][4], the product A * B. +*/ +{ + float d[4][4]; + int i; + int j; + int k; + + for ( i = 0; i < 4; i++ ) { + for ( k = 0; k < 4; k++ ) { + d[i][k] = 0.0; + for ( j = 0; j < 4; j++ ) { + d[i][k] = d[i][k] + a[i][j] * b[j][k]; + } + } + } + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + c[i][j] = d[i][j]; + } + } + return; +} +/*********************************************************************/ + +void tmat_mxp ( float a[4][4], float x[4], float y[4] ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_MXP multiplies a geometric transformation matrix times a point. + + Modified: + + 19 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the geometric transformation matrix. + + Input, float X[4], the point to be multiplied. The fourth component + of X is implicitly assigned the value of 1. + + Output, float Y[4], the result of A*X. The product is accumulated in + a temporary vector, and { assigned to the result. Therefore, it + is legal for X and Y to share memory. +*/ +{ + int i; + int j; + float z[4]; + + for ( i = 0; i < 3; i++ ) { + z[i] = a[i][3]; + for ( j = 0; j < 3; j++ ) { + z[i] = z[i] + a[i][j] * x[j]; + } + } + + for ( i = 0; i < 3; i++ ) { + y[i] = z[i]; + } + return; +} +/*********************************************************************/ + +void tmat_mxp2 ( float a[4][4], float x[][3], float y[][3], int n ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_MXP2 multiplies a geometric transformation matrix times N points. + + Modified: + + 20 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the geometric transformation matrix. + + Input, float X[N][3], the points to be multiplied. + + Output, float Y[N][3], the transformed points. Each product is + accumulated in a temporary vector, and { assigned to the + result. Therefore, it is legal for X and Y to share memory. + +*/ +{ + int i; + int j; + int k; + float z[4]; + + for ( k = 0; k < n; k++ ) { + + for ( i = 0; i < 3; i++ ) { + z[i] = a[i][3]; + for ( j = 0; j < 3; j++ ) { + z[i] = z[i] + a[i][j] * x[k][j]; + } + } + + for ( i = 0; i < 3; i++ ) { + y[k][i] = z[i]; + } + + } + return; +} +/*********************************************************************/ + +void tmat_mxv ( float a[4][4], float x[4], float y[4] ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_MXV multiplies a geometric transformation matrix times a vector. + + Modified: + + 12 August 1999 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the geometric transformation matrix. + + Input, float X[3], the vector to be multiplied. The fourth component + of X is implicitly assigned the value of 1. + + Output, float Y[3], the result of A*X. The product is accumulated in + a temporary vector, and assigned to the result. Therefore, it + is legal for X and Y to share memory. +*/ +{ + int i; + int j; + float z[4]; + + for ( i = 0; i < 3; i++ ) { + z[i] = 0.0; + for ( j = 0; j < 3; j++ ) { + z[i] = z[i] + a[i][j] * x[j]; + } + z[i] = z[i] + a[i][3]; + } + + for ( i = 0; i < 3; i++ ) { + y[i] = z[i]; + } + return; +} +/*********************************************************************/ + +void tmat_rot_axis ( float a[4][4], float b[4][4], float angle, + char axis ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_ROT_AXIS applies an axis rotation to the geometric transformation matrix. + + Modified: + + 19 April 1999 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the current geometric transformation matrix. + + Output, float B[4][4], the modified geometric transformation matrix. + A and B may share the same memory. + + Input, float ANGLE, the angle, in degrees, of the rotation. + + Input, character AXIS, is 'X', 'Y' or 'Z', specifying the coordinate + axis about which the rotation occurs. +*/ +{ + float c[4][4]; + float d[4][4]; + int i; + int j; + float theta; + + theta = angle * DEG_TO_RAD; + + tmat_init ( c ); + + if ( axis == 'X' || axis == 'x' ) { + c[1][1] = cos ( theta ); + c[1][2] = - sin ( theta ); + c[2][1] = sin ( theta ); + c[2][2] = cos ( theta ); + } + else if ( axis == 'Y' || axis == 'y' ) { + c[0][0] = cos ( theta ); + c[0][2] = sin ( theta ); + c[2][0] = - sin ( theta ); + c[2][2] = cos ( theta ); + } + else if ( axis == 'Z' || axis == 'z' ) { + c[0][0] = cos ( theta ); + c[0][1] = - sin ( theta ); + c[1][0] = sin ( theta ); + c[1][1] = cos ( theta ); + } + else { + printf ( "\n" ); + printf ( "TMAT_ROT_AXIS - Fatal error!\n" ); + printf ( " Illegal rotation axis: %c.\n", axis ); + printf ( " Legal choices are 'X', 'Y', or 'Z'.\n" ); + return; + } + + tmat_mxm ( c, a, d ); + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + b[i][j] = d[i][j]; + } + } + return; +} +/*********************************************************************/ + +void tmat_rot_vector ( float a[4][4], float b[4][4], float angle, + float v1, float v2, float v3 ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_ROT_VECTOR applies a rotation about a vector to the geometric transformation matrix. + + Modified: + + 27 July 1999 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the current geometric transformation matrix. + + Output, float B[4][4], the modified geometric transformation matrix. + A and B may share the same memory. + + Input, float ANGLE, the angle, in degrees, of the rotation. + + Input, float V1, V2, V3, the X, Y and Z coordinates of a (nonzero) + point defining a vector from the origin. The rotation will occur + about this axis. +*/ +{ + float c[4][4]; + float ca; + float d[4][4]; + int i; + int j; + float sa; + float theta; + + if ( v1 * v1 + v2 * v2 + v3 * v3 == 0.0 ) { + return; + } + + theta = angle * DEG_TO_RAD; + + tmat_init ( c ); + + ca = cos ( theta ); + sa = sin ( theta ); + + c[0][0] = v1 * v1 + ca * ( 1.0 - v1 * v1 ); + c[0][1] = ( 1.0 - ca ) * v1 * v2 - sa * v3; + c[0][2] = ( 1.0 - ca ) * v1 * v3 + sa * v2; + + c[1][0] = ( 1.0 - ca ) * v2 * v1 + sa * v3; + c[1][1] = v2 * v2 + ca * ( 1.0 - v2 * v2 ); + c[1][2] = ( 1.0 - ca ) * v2 * v3 - sa * v1; + + c[2][0] = ( 1.0 - ca ) * v3 * v1 - sa * v2; + c[2][1] = ( 1.0 - ca ) * v3 * v2 + sa * v1; + c[2][2] = v3 * v3 + ca * ( 1.0 - v3 * v3 ); + + tmat_mxm ( c, a, d ); + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + b[i][j] = d[i][j]; + } + } + return; +} +/*********************************************************************/ + +void tmat_scale ( float a[4][4], float b[4][4], float sx, float sy, + float sz ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_SCALE applies a scaling to the geometric transformation matrix. + + Modified: + + 19 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the current geometric transformation matrix. + + Output, float B[4][4], the modified geometric transformation matrix. + A and B may share the same memory. + + Input, float SX, SY, SZ, the scalings to be applied to the X, Y and + Z coordinates. +*/ +{ + float c[4][4]; + float d[4][4]; + int i; + int j; + + tmat_init ( c ); + + c[0][0] = sx; + c[1][1] = sy; + c[2][2] = sz; + + tmat_mxm ( c, a, d ); + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + b[i][j] = d[i][j]; + } + } + return; +} +/*********************************************************************/ + +void tmat_shear ( float a[4][4], float b[4][4], char *axis, float s ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_SHEAR applies a shear to the geometric transformation matrix. + + Modified: + + 19 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the current geometric transformation matrix. + + Output, float B[4][4], the modified geometric transformation matrix. + A and B may share the same memory. + + Input, character*3 AXIS, is 'XY', 'XZ', 'YX', 'YZ', 'ZX' or 'ZY', + specifying the shear equation: + + XY: x' = x + s * y; + XZ: x' = x + s * z; + YX: y' = y + s * x; + YZ: y' = y + s * z; + ZX: z' = z + s * x; + ZY: z' = z + s * y. + + Input, float S, the shear coefficient. +*/ +{ + float c[4][4]; + float d[4][4]; + int i; + int j; + + tmat_init ( c ); + + if ( strcmp ( axis, "XY" ) == 0 || strcmp ( axis, "xy" ) == 0 ) { + c[0][1] = s; + } + else if ( strcmp ( axis, "XZ" ) == 0 || strcmp ( axis, "xz" ) == 0 ) { + c[0][2] = s; + } + else if ( strcmp ( axis, "YX" ) == 0 || strcmp ( axis, "yx" ) == 0 ) { + c[1][0] = s; + } + else if ( strcmp ( axis, "YZ" ) == 0 || strcmp ( axis, "yz" ) == 0 ) { + c[1][2] = s; + } + else if ( strcmp ( axis, "ZX" ) == 0 || strcmp ( axis, "zx" ) == 0 ) { + c[2][0] = s; + } + else if ( strcmp ( axis, "ZY" ) == 0 || strcmp ( axis, "zy" ) == 0 ) { + c[2][1] = s; + } + else { + printf ( "\n" ); + printf ( "TMAT_SHEAR - Fatal error!\n" ); + printf ( " Illegal shear axis: %s.\n", axis ); + printf ( " Legal choices are XY, XZ, YX, YZ, ZX, or ZY.\n" ); + return; + } + + tmat_mxm ( c, a, d ); + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + b[i][j] = d[i][j]; + } + } + return; +} +/*********************************************************************/ + +void tmat_trans ( float a[4][4], float b[4][4], float x, float y, + float z ) + +/*********************************************************************/ + +/* + Purpose: + + TMAT_TRANS applies a translation to the geometric transformation matrix. + + Modified: + + 19 October 1998 + + Author: + + John Burkardt + + Reference: + + Foley, van Dam, Feiner, Hughes, + Computer Graphics, Principles and Practice, + Addison Wesley, Second Edition, 1990. + + Parameters: + + Input, float A[4][4], the current geometric transformation matrix. + + Output, float B[4][4], the modified transformation matrix. + A and B may share the same memory. + + Input, float X, Y, Z, the translation. This may be thought of as the + point that the origin moves to under the translation. +*/ +{ + int i; + int j; + + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + b[i][j] = a[i][j]; + } + } + b[0][3] = b[0][3] + x; + b[1][3] = b[1][3] + y; + b[2][3] = b[2][3] + z; + + return; +} +/******************************************************************************/ + +int tria_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + TRIA_READ reads an ASCII triangle file. + + Example: + + 12 <-- Number of triangles + + (x,y,z) and (nx,ny,nz) of normal vector at: + + 0.0 0.0 0.0 0.3 0.3 0.3 node 1 of triangle 1. + 1.0 0.0 0.0 0.3 0.1 0.3 node 2 of triangle 1, + 0.0 1.0 0.0 0.3 0.1 0.3 node 3 of triangle 1, + 1.0 0.5 0.0 0.3 0.1 0.3 node 1 of triangle 2, + ... + 0.0 0.5 0.5 0.3 0.1 0.3 node 3 of triangle 12. + + Modified: + + 22 June 1999 + + Author: + + John Burkardt +*/ +{ + float cvec[3]; + int icor3; + int iface; + int iface_hi; + int iface_lo; + int ivert; + int face_num2; + float r1; + float r2; + float r3; + float r4; + float r5; + float r6; +/* + Get the number of triangles. +*/ + fgets ( input, LINE_MAX_LEN, filein ); + text_num = text_num + 1; + sscanf ( input, "%d", &face_num2 ); +/* + For each triangle: +*/ + iface_lo = face_num; + iface_hi = face_num + face_num2; + + for ( iface = iface_lo; iface < iface_hi; iface++ ) { + + if ( iface < FACE_MAX ) { + face_order[iface] = 3; + face_material[iface] = 0; + } +/* + For each face: +*/ + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + fgets ( input, LINE_MAX_LEN, filein ); + text_num = text_num + 1; + sscanf ( input, "%e %e %e %e %e %e", &r1, &r2, &r3, &r4, &r5, &r6 ); + + cvec[0] = r1; + cvec[1] = r2; + cvec[2] = r3; + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, cvec ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + icor3 = cor3_num; + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = cvec[0]; + cor3[1][cor3_num] = cvec[1]; + cor3[2][cor3_num] = cvec[2]; + } + cor3_num = cor3_num + 1; + } + else { + dup_num = dup_num + 1; + } + + if ( iface < FACE_MAX ) { + + face[ivert][iface] = icor3; + vertex_material[ivert][iface] = 0; + vertex_normal[0][ivert][iface] = r4; + vertex_normal[1][ivert][iface] = r5; + vertex_normal[2][ivert][iface] = r6; + } + + } + } + face_num = face_num + face_num2; + + return SUCCESS; +} +/**********************************************************************/ + +int tria_write ( FILE *fileout ) + +/**********************************************************************/ + +/* + Purpose: + + TRIA_WRITE writes the graphics data to an ASCII "triangle" file. + + Discussion: + + This is just a private format that Greg Hood requested from me. + + Example: + + 12 <-- Number of triangles + + (x,y,z) and (nx,ny,nz) of normal vector at: + + 0.0 0.0 0.0 0.3 0.3 0.3 node 1 of triangle 1. + 1.0 0.0 0.0 0.3 0.1 0.3 node 2 of triangle 1, + 0.0 1.0 0.0 0.3 0.1 0.3 node 3 of triangle 1, + 1.0 0.5 0.0 0.3 0.1 0.3 node 1 of triangle 2, + ... + 0.0 0.5 0.5 0.3 0.1 0.3 node 3 of triangle 12. + + Modified: + + 10 June 1999 + + Author: + + John Burkardt +*/ +{ + int face2[3]; + int icor3; + int iface; + int jlo; + int k; + int face_num2; + int text_num; + float nx; + float ny; + float nz; + float x; + float y; + float z; + + text_num = 0; +/* + Determine the number of triangular faces. +*/ + face_num2 = 0; + for ( iface = 0; iface < face_num; iface++ ) { + for ( jlo = 0; jlo < face_order[iface] - 2; jlo ++ ) { + face_num2 = face_num2 + 1; + } + } + + fprintf ( fileout, "%d\n", face_num2 ); + text_num = text_num + 1; +/* + Do the next face. +*/ + for ( iface = 0; iface < face_num; iface++ ) { +/* + Break the face up into triangles, anchored at node 1. +*/ + for ( jlo = 0; jlo < face_order[iface] - 2; jlo ++ ) { + + face2[0] = face[ 0][iface]; + face2[1] = face[jlo+1][iface]; + face2[2] = face[jlo+2][iface]; + + for ( k = 0; k < 3; k++ ) { + + icor3 = face2[k]; + + x = cor3[0][icor3]; + y = cor3[1][icor3]; + z = cor3[2][icor3]; + + nx = cor3_normal[0][icor3]; + ny = cor3_normal[1][icor3]; + nz = cor3_normal[2][icor3]; + + fprintf ( fileout, "%f %f %f %f %f %f\n", x, y, z, nx, ny, nz ); + + text_num = text_num + 1; + + } + + } + + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "TRIA_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int trib_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + TRIB_READ reads a binary triangle file. + + Example: + + 4 byte int = number of triangles + + For each triangular face: + + 3 4-byte floats = coordinates of first node; + 3 4-byte floats = components of normal vector at first node; + 3 4-byte floats = coordinates of second node; + 3 4-byte floats = components of normal vector at second node; + 3 4-byte floats = coordinates of third node; + 3 4-byte floats = components of normal vector at third node. + + Modified: + + 22 June 1999 + + Author: + + John Burkardt +*/ +{ + float cvec[3]; + int icor3; + int i; + int iface; + int iface_hi; + int iface_lo; + int ivert; + int face_num2; +/* + Read the number of triangles in the file. +*/ + face_num2 = long_int_read ( filein ); + bytes_num = bytes_num + 4; +/* + For each (triangular) face, + read the coordinates and normal vectors of three vertices, +*/ + iface_lo = face_num; + iface_hi = face_num + face_num2; + + for ( iface = iface_lo; iface < iface_hi; iface++ ) { + + if ( iface < FACE_MAX ) { + face_order[iface] = 3; + face_material[iface] = 0; + } + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + for ( i = 0; i < 3; i++ ) { + cvec[i] = float_read ( filein ); + bytes_num = bytes_num + 4; + } + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, cvec ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + icor3 = cor3_num; + if ( cor3_num < COR3_MAX ) { + cor3[0][cor3_num] = cvec[0]; + cor3[1][cor3_num] = cvec[1]; + cor3[2][cor3_num] = cvec[2]; + } + cor3_num = cor3_num + 1; + } + else { + dup_num = dup_num + 1; + } + + if ( iface < FACE_MAX ) { + + face[ivert][iface] = icor3; + vertex_material[ivert][iface] = 0; + + for ( i = 0; i < 3; i++ ) { + vertex_normal[i][ivert][iface] = float_read ( filein ); + bytes_num = bytes_num + 4; + } + + } + + } + } + + face_num = face_num + face_num2; + + return SUCCESS; +} +/**********************************************************************/ + +int trib_write ( FILE *fileout ) + +/**********************************************************************/ + +/* + Purpose: + + TRIB_WRITE writes the graphics data to a binary "triangle" file. + + Discussion: + + This is just a private format that Greg Hood requested from me. + + Example: + + 12 Number of triangles + 0.0 x at node 1, triangle 1, + 0.0 y at node 1, triangle 1, + 0.0 z at node 1, triangle 1, + 0.3 nx at node 1, triangle 1, + 0.3 ny at node 1, triangle 1, + 0.3 nz at node 1, triangle 1. + 1.0 x at node 2, triangle 1, + ... + 0.7 nz at node 3, triangle 1. + 1.2 x at node 1, triangle 2, + ... + 0.3 nz at node 3, triangle 2. + 9.3 x at node 1, triangle 3, + ... + 0.3 nz at node 3, triangle 12. + + Modified: + + 16 June 1999 + + Author: + + John Burkardt +*/ +{ + int face2[3]; + int icor3; + int iface; + int jlo; + int k; + int face_num2; + float nx; + float ny; + float nz; + float x; + float y; + float z; + + bytes_num = 0; +/* + Determine the number of triangular faces. +*/ + face_num2 = 0; + for ( iface = 0; iface < face_num; iface++ ) { + for ( jlo = 0; jlo < face_order[iface] - 2; jlo ++ ) { + face_num2 = face_num2 + 1; + } + } + + bytes_num = bytes_num + long_int_write ( fileout, face_num2 ); +/* + Do the next face. +*/ + for ( iface = 0; iface < face_num; iface++ ) { +/* + Break the face up into triangles, anchored at node 1. +*/ + for ( jlo = 0; jlo < face_order[iface] - 2; jlo ++ ) { + + face2[0] = face[ 0][iface]; + face2[1] = face[jlo+1][iface]; + face2[2] = face[jlo+2][iface]; + + for ( k = 0; k < 3; k++ ) { + + icor3 = face2[k]; + + x = cor3[0][icor3]; + y = cor3[1][icor3]; + z = cor3[2][icor3]; + + nx = cor3_normal[0][icor3]; + ny = cor3_normal[1][icor3]; + nz = cor3_normal[2][icor3]; + + bytes_num = bytes_num + float_write ( fileout, x ); + bytes_num = bytes_num + float_write ( fileout, y ); + bytes_num = bytes_num + float_write ( fileout, z ); + bytes_num = bytes_num + float_write ( fileout, nx ); + bytes_num = bytes_num + float_write ( fileout, ny ); + bytes_num = bytes_num + float_write ( fileout, nz ); + + } + + } + + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "TRIB_WRITE - Wrote %d bytes.\n", bytes_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int txt_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + TXT_WRITE writes the graphics data to a text file. + + Modified: + + 25 June 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int iface; + int iline; + int imat; + int ivert; + int nitem; + int text_num; + + text_num = 0; + + fprintf ( fileout, "%s created by IVCON.\n", fileout_name ); + fprintf ( fileout, "Original data in %s.\n", filein_name ); + fprintf ( fileout, "Object name is %s.\n", object_name ); + fprintf ( fileout, "Object origin at %f %f %f.\n", origin[0], origin[1], + origin[2] ); + fprintf ( fileout, "Object pivot at %f %f %f.\n", pivot[0], pivot[1], + pivot[2] ); + text_num = text_num + 5; +/* + TRANSFORMATION MATRIX. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Transformation matrix:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( i = 0; i < 4; i++ ) { + fprintf ( fileout, " %f %f %f %f\n", transform_matrix[i][0], + transform_matrix[i][1], transform_matrix[i][2], transform_matrix[i][3] ); + text_num = text_num + 1; + } +/* + NODES. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, " %d nodes.\n", cor3_num ); + text_num = text_num + 2; + + if ( cor3_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Node coordinate data:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( i = 0; i < cor3_num; i++ ) { + fprintf ( fileout, " %d %f %f %f\n ", i, cor3[0][i], cor3[1][i], + cor3[2][i] ); + text_num = text_num + 1; + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Node normal vectors:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( i = 0; i < cor3_num; i++ ) { + fprintf ( fileout, " %d %f %f %f\n ", i, cor3_normal[0][i], + cor3_normal[1][i], cor3_normal[2][i] ); + text_num = text_num + 1; + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Node materials:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( i = 0; i < cor3_num; i++ ) { + fprintf ( fileout, " %d %d\n ", i, cor3_material[i] ); + text_num = text_num + 1; + } + + if ( texture_num > 0 ) { + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Node texture coordinates:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( i = 0; i < cor3_num; i++ ) { + fprintf ( fileout, " %d %f %f\n ", i, cor3_tex_uv[0][i], + cor3_tex_uv[1][i] ); + text_num = text_num + 1; + } + } + } +/* + LINES. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, " %d line data items.\n", line_num ); + text_num = text_num + 2; + + if ( line_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Line index data:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + nitem = 0; + + for ( iline = 0; iline < line_num; iline++ ) { + + fprintf ( fileout, " %d", line_dex[iline] ); + nitem = nitem + 1; + + if ( iline == line_num - 1 || line_dex[iline] == -1 || nitem >= 10 ) { + nitem = 0; + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Line materials:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + nitem = 0; + + for ( iline = 0; iline < line_num; iline++ ) { + + fprintf ( fileout, " %d", line_material[iline] ); + nitem = nitem + 1; + + if ( iline == line_num - 1 || line_material[iline] == -1 || nitem >= 10 ) { + nitem = 0; + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + } + + } +/* + COLOR DATA +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, " %d colors.\n", color_num ); + text_num = text_num + 2; +/* + FACES. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, " %d faces.\n", face_num ); + text_num = text_num + 2; + + if ( face_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Face, Material, Number of vertices, Smoothing, Flags:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + fprintf ( fileout, " %d %d %d %d %d\n", iface, face_material[iface], + face_order[iface], face_smooth[iface], face_flags[iface] ); + text_num = text_num + 1; + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Face, Vertices\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + + fprintf ( fileout, "%d ", iface ); + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d", face[ivert][iface] ); + } + + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Face normal vectors:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + fprintf ( fileout, " %d %f %f %f\n", iface, face_normal[0][iface], + face_normal[1][iface], face_normal[2][iface] ); + text_num = text_num + 1; + } + + if ( texture_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Face texture coordinates:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + fprintf ( fileout, " %d %f %f\n", iface, face_tex_uv[0][iface], + face_tex_uv[1][iface] ); + text_num = text_num + 1; + } + } + } +/* + VERTICES. +*/ + if ( face_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Vertex normal vectors:\n" ); + text_num = text_num + 2; + + for ( iface = 0; iface < face_num; iface++ ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d %d %f %f %f\n", iface, ivert, + vertex_normal[0][ivert][iface], vertex_normal[1][ivert][iface], + vertex_normal[2][ivert][iface] ); + text_num = text_num + 1; + } + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Vertex materials:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + fprintf ( fileout, "%d", iface ); + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, " %d", vertex_material[ivert][iface] ); + } + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + } + + if ( texture_num > 0 ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Vertex UV texture coordinates:\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, "%d %d %f %f\n", iface, ivert, + vertex_tex_uv[0][ivert][iface], vertex_tex_uv[1][ivert][iface] ); + text_num = text_num + 1; + } + } + } + } +/* + MATERIALS. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, "%d materials.\n", material_num ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Index Name R G B A\n" ); + fprintf ( fileout, "\n" ); + + text_num = text_num + 5; + + for ( imat = 0; imat < material_num; imat++ ) { + fprintf ( fileout, "%d %s %f %f %f %f\n", imat, material_name[imat], + material_rgba[0][imat], material_rgba[1][imat], material_rgba[2][imat], + material_rgba[3][imat] ); + text_num = text_num + 1; + } +/* + TEXTURES. +*/ + fprintf ( fileout, "\n" ); + fprintf ( fileout, "%d textures.\n", texture_num ); + text_num = text_num + 2; + + if ( texture_num > 0 ) { + fprintf ( fileout, "\n" ); + fprintf ( fileout, "Index Name\n" ); + fprintf ( fileout, "\n" ); + for ( i = 0; i < texture_num; i++ ) { + fprintf ( fileout, "%d %s\n", i, texture_name[i] ); + } + text_num = text_num + 3; + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "TXT_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/**********************************************************************/ + +int ucd_write ( FILE *fileout ) + +/**********************************************************************/ + +/* + Purpose: + + UCD_WRITE writes graphics data to an AVS UCD file. + + Examples: + + # cube.ucd created by IVREAD. + # + # Material RGB to hue map: + # + # material R G B Alpha Hue + # + # 0 0.94 0.70 0.15 1.000 0.116 + # 1 0.24 0.70 0.85 1.000 0.541 + # 2 0.24 0.00 0.85 1.000 0.666 + # + # The node data is + # node # / material # / RGBA / Hue + # + 8 6 6 0 0 + 0 0.0 0.0 0.0 + 1 1.0 0.0 0.0 + 2 1.0 1.0 0.0 + 3 0.0 1.0 0.0 + 4 0.0 0.0 1.0 + 5 1.0 0.0 1.0 + 6 1.0 1.0 1.0 + 7 0.0 1.0 1.0 + 0 0 quad 0 1 2 3 + 1 0 quad 0 4 5 1 + 2 0 quad 1 5 6 2 + 3 0 quad 2 6 7 3 + 4 0 quad 3 7 4 0 + 5 0 quad 4 7 6 5 + 3 1 4 1 + material, 0...2 + RGBA, 0-1/0-1/0-1/0-1 + Hue, 0-1 + 0 0 0.94 0.70 0.15 1.0 0.116 + 1 0 0.94 0.70 0.15 1.0 0.116 + 2 0 0.94 0.70 0.15 1.0 0.116 + 3 0 0.94 0.70 0.15 1.0 0.116 + 4 1 0.24 0.70 0.85 1.0 0.541 + 5 1 0.24 0.70 0.85 1.0 0.541 + 6 2 0.24 0.24 0.85 0.0 0.666 + 7 2 0.24 0.24 0.85 0.0 0.666 + + Modified: + + 22 May 1999 + + Author: + + John Burkardt + +*/ +{ + float a; + float b; + float g; + float h; + int i; + int imat; + int j; + int text_num; + float r; + + text_num = 0; + + fprintf ( fileout, "# %s created by IVREAD.\n", fileout_name ); + fprintf ( fileout, "#\n" ); + fprintf ( fileout, "# Material RGB to Hue map:\n" ); + fprintf ( fileout, "#\n" ); + fprintf ( fileout, "# material R G B Alpha Hue\n" ); + fprintf ( fileout, "#\n" ); + + text_num = text_num + 6; + + for ( j = 0; j < material_num; j++ ) { + r = material_rgba[0][j]; + g = material_rgba[1][j]; + b = material_rgba[2][j]; + a = material_rgba[3][j]; + h = rgb_to_hue ( r, g, b ); + fprintf ( fileout, "# %d %f %f %f %f %f\n", j, r, g, b, a, h ); + text_num = text_num + 1; + } + + fprintf ( fileout, "#\n" ); + fprintf ( fileout, "# The node data is\n" ); + fprintf ( fileout, "# node # / material # / RGBA / Hue\n" ); + fprintf ( fileout, "#\n" ); + text_num = text_num + 4; + + fprintf ( fileout, "%d %d 6 0 0\n", cor3_num, face_num ); + text_num = text_num + 1; + + for ( j = 0; j < cor3_num; j++ ) { + fprintf ( fileout, "%d %f %f %f\n", j, cor3[0][j], cor3[1][j], + cor3[2][j] ); + text_num = text_num + 1; + } +/* + NOTE: + UCD only accepts triangles and quadrilaterals, not higher order + polygons. We would need to break polygons up to proceed. +*/ + for ( j = 0; j < face_num; j++ ) { + + fprintf ( fileout, "%d %d", j, face_material[j] ); + + if ( face_order[j] == 3 ) { + fprintf ( fileout, " tri" ); + } + else if ( face_order[j] == 4 ) { + fprintf ( fileout, " quad" ); + } + else { + fprintf ( fileout, " ???" ); + } + + for ( i = 0; i < face_order[j]; i++ ) { + fprintf ( fileout, "%d", face[i][j] ); + } + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + + } + + fprintf ( fileout, "3 1 4 1\n" ); + fprintf ( fileout, "material, 0...%d\n", material_num - 1 ); + fprintf ( fileout, "RGBA, 0-1/0-1/0-1/0-1\n" ); + fprintf ( fileout, "Hue, 0-1\n" ); + text_num = text_num + 4; + + for ( j = 0; j < cor3_num; j++ ) { + imat = cor3_material[j]; + r = material_rgba[0][imat]; + g = material_rgba[1][imat]; + b = material_rgba[2][imat]; + a = material_rgba[3][imat]; + h = rgb_to_hue ( r, g, b ); + + fprintf ( fileout, "%d %d %f %f %f %f %f\n", j, imat, r, g, b, a, h ); + text_num = text_num + 1; + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "UCD_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +void vertex_normal_set ( void ) + +/******************************************************************************/ + +/* + Purpose: + + VERTEX_NORMAL_SET recomputes the face vertex normal vectors. + + Modified: + + 12 October 1998 + + Author: + + John Burkardt +*/ +{ + int i; + int i0; + int i1; + int i2; + int iface; + int ivert; + int jp1; + int jp2; + int nfix; + float norm; + float temp; + float x0; + float x1; + float x2; + float xc; + float y0; + float y1; + float y2; + float yc; + float z0; + float z1; + float z2; + float zc; + + if ( face_num <= 0 ) { + return; + } + + nfix = 0; +/* + Consider each face. +*/ + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + + norm = 0.0; + for ( i = 0; i < 3; i++ ) { + temp = vertex_normal[i][ivert][iface]; + norm = norm + temp * temp; + } + norm = ( float ) sqrt ( norm ); + + if ( norm == 0.0 ) { + + nfix = nfix + 1; + + i0 = face[ivert][iface]; + x0 = cor3[0][i0]; + y0 = cor3[1][i0]; + z0 = cor3[2][i0]; + + jp1 = ivert + 1; + if ( jp1 >= face_order[iface] ) { + jp1 = jp1 - face_order[iface]; + } + i1 = face[jp1][iface]; + x1 = cor3[0][i1]; + y1 = cor3[1][i1]; + z1 = cor3[2][i1]; + + jp2 = ivert + 2; + if ( jp2 >= face_order[iface] ) { + jp2 = jp2 - face_order[iface]; + } + i2 = face[jp2][iface]; + x2 = cor3[0][i2]; + y2 = cor3[1][i2]; + z2 = cor3[2][i2]; + + xc = ( y1 - y0 ) * ( z2 - z0 ) - ( z1 - z0 ) * ( y2 - y0 ); + yc = ( z1 - z0 ) * ( x2 - x0 ) - ( x1 - x0 ) * ( z2 - z0 ); + zc = ( x1 - x0 ) * ( y2 - y0 ) - ( y1 - y0 ) * ( x2 - x0 ); + + norm = ( float ) sqrt ( xc * xc + yc * yc + zc * zc ); + + if ( norm == 0.0 ) { + xc = ( float ) 1.0 / sqrt ( 3.0 ); + yc = ( float ) 1.0 / sqrt ( 3.0 ); + zc = ( float ) 1.0 / sqrt ( 3.0 ); + } + else { + xc = xc / norm; + yc = yc / norm; + zc = zc / norm; + } + + vertex_normal[0][ivert][iface] = xc; + vertex_normal[1][ivert][iface] = yc; + vertex_normal[2][ivert][iface] = zc; + + } + } + } + + if ( nfix > 0 ) { + printf ( "\n" ); + printf ( "VERTEX_NORMAL_SET: Recomputed %d face vertex normals.\n", nfix ); + } + + return; +} +/**********************************************************************/ + +void vertex_to_face_material ( void ) + +/**********************************************************************/ + +/* + Purpose: + + VERTEX_TO_FACE_MATERIAL extends vertex material definitions to faces. + + Discussion: + + Assuming material indices are defined for all the vertices, this + routine assigns to each face the material associated with its + first vertex. + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + int iface; + int ivert; + + ivert = 0; + for ( iface = 0; iface < face_num; iface++ ) { + face_material[iface] = vertex_material[ivert][iface]; + } + + return; +} +/**********************************************************************/ + +void vertex_to_node_material ( void ) + +/**********************************************************************/ + +/* + Purpose: + + VERTEX_TO_NODE_MATERIAL extends vertex material definitions to nodes. + + Discussion: + + A NODE is a point in space. + A VERTEX is a node as used in a particular face. + One node may be used as a vertex in several faces, or none. + This routine simply runs through all the vertices, and assigns + the material of the vertex to the corresponding node. If a + node appears as a vertex several times, then the node will + end up having the material of the vertex that occurs "last". + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + int iface; + int ivert; + int node; + + for ( iface = 0; iface < face_num; iface++ ) { + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + node = face[ivert][iface]; + cor3_material[node] = vertex_material[ivert][iface]; + } + } + + return; +} + +/******************************************************************************/ + +int vla_read ( FILE *filein ) + +/******************************************************************************/ + +/* + Purpose: + + VLA_READ reads a VLA file. + + Examples: + + set comment cube.vla created by IVREAD + set comment Original data in cube.iv. + set comment + set intensity EXPLICIT + set parametric NON_PARAMETRIC + set filecontent LINES + set filetype NEW + set depthcue 0 + set defaultdraw stellar + set coordsys RIGHT + set author IVREAD + set site Buhl Planetarium + set library_id UNKNOWN + P 8.59816 5.55317 -3.05561 1.00000 + L 8.59816 2.49756 0.000000E+00 1.00000 + L 8.59816 2.49756 -3.05561 1.00000 + L 8.59816 5.55317 -3.05561 1.00000 + P 8.59816 5.55317 0.000000E+00 1.00000 + ...etc... + L 2.48695 2.49756 -3.05561 1.00000 + + Modified: + + 23 May 1999 + + Author: + + John Burkardt +*/ +{ + int i; + int icor3; + int dup_num; + char *next; + int text_num; + float r1; + float r2; + float r3; + float temp[3]; + char token[LINE_MAX_LEN]; + int width; +/* + Initialize. +*/ + dup_num = 0; + text_num = 0; +/* + Read the next line of the file into INPUT. +*/ + while ( fgets ( input, LINE_MAX_LEN, filein ) != NULL ) { + + text_num = text_num + 1; +/* + Advance to the first nonspace character in INPUT. +*/ + for ( next = input; *next != '\0' && isspace(*next); next++ ) { + } +/* + Skip blank lines and comments. +*/ + if ( *next == '\0' || *next == ';' ) { + continue; + } +/* + Extract the first word in this line. +*/ + sscanf ( next, "%s%n", token, &width ); +/* + Set NEXT to point to just after this token. +*/ + next = next + width; +/* + SET (ignore) +*/ + if ( leqi ( token, "set" ) == TRUE ) { + } +/* + P (begin a line) + L (continue a line) +*/ + else if ( leqi ( token, "P" ) == TRUE || leqi ( token, "L") == TRUE ) { + + if ( leqi ( token, "P" ) == TRUE ) { + if ( line_num > 0 ) { + if ( line_num < LINES_MAX ) { + line_dex[line_num] = -1; + line_material[line_num] = -1; + line_num = line_num + 1; + } + } + } + + sscanf ( next, "%e %e %e", &r1, &r2, &r3 ); + + temp[0] = r1; + temp[1] = r2; + temp[2] = r3; + + if ( cor3_num < 1000 ) { + icor3 = rcol_find ( cor3, 3, cor3_num, temp ); + } + else { + icor3 = -1; + } + + if ( icor3 == -1 ) { + + icor3 = cor3_num; + + if ( cor3_num < COR3_MAX ) { + for ( i = 0; i < 3; i++ ) { + cor3[i][cor3_num] = temp[i]; + } + } + cor3_num = cor3_num + 1; + } + else { + dup_num = dup_num + 1; + } + + if ( line_num < LINES_MAX ) { + line_dex[line_num] = icor3; + line_material[line_num] = 0; + line_num = line_num + 1; + } + } +/* + Unexpected or unrecognized. +*/ + else { + printf ( "\n" ); + printf ( "VLA_READ - Fatal error!\n" ); + printf ( " Unrecognized first word on line.\n" ); + return ERROR; + } + + } + + if ( line_num > 0 ) { + if ( line_num < LINES_MAX ) { + line_dex[line_num] = -1; + line_material[line_num] = -1; + line_num = line_num + 1; + } + } + + return SUCCESS; +} +/******************************************************************************/ + +int vla_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + VLA_WRITE writes internal graphics information to a VLA file. + + Discussion: + + Comments begin with a semicolon in column 1. + The X, Y, Z coordinates of points begin with a "P" to + denote the beginning of a line, and "L" to denote the + continuation of a line. The fourth entry is intensity, which + should be between 0.0 and 1.0. + + Examples: + + set comment cube.vla created by IVREAD + set comment Original data in cube.iv. + set comment + set intensity EXPLICIT + set parametric NON_PARAMETRIC + set filecontent LINES + set filetype NEW + set depthcue 0 + set defaultdraw stellar + set coordsys RIGHT + set author IVREAD + set site Buhl Planetarium + set library_id UNKNOWN + P 8.59816 5.55317 -3.05561 1.00000 + L 8.59816 2.49756 0.000000E+00 1.00000 + L 8.59816 2.49756 -3.05561 1.00000 + L 8.59816 5.55317 -3.05561 1.00000 + P 8.59816 5.55317 0.000000E+00 1.00000 + ...etc... + L 2.48695 2.49756 -3.05561 1.00000 + + Modified: + + 22 May 1999 + + Author: + + John Burkardt +*/ +{ + char c; + int iline; + float intense = 1.0; + int k; + int text_num; +/* + Initialize. +*/ + text_num = 0; + + fprintf ( fileout, "set comment %s created by IVCON.\n", fileout_name ); + fprintf ( fileout, "set comment Original data in %s.\n", filein_name ); + fprintf ( fileout, "set comment\n" ); + fprintf ( fileout, "set intensity EXPLICIT\n" ); + fprintf ( fileout, "set parametric NON_PARAMETRIC\n" ); + fprintf ( fileout, "set filecontent LINES\n" ); + fprintf ( fileout, "set filetype NEW\n" ); + fprintf ( fileout, "set depthcue 0\n" ); + fprintf ( fileout, "set defaultdraw stellar\n" ); + fprintf ( fileout, "set coordsys RIGHT\n" ); + fprintf ( fileout, "set author IVCON\n" ); + fprintf ( fileout, "set site Buhl Planetarium\n" ); + fprintf ( fileout, "set library_id UNKNOWN\n" ); + + text_num = text_num + 13; + + c = 'P'; + + for ( iline = 0; iline < line_num; iline++ ) { + + k = line_dex[iline]; + + if ( k == -1 ) { + + c = 'P'; + } + else { + + fprintf ( fileout, "%c %f %f %f %f\n", + c, cor3[0][k], cor3[1][k], cor3[2][k], intense ); + + text_num = text_num + 1; + + c = 'L'; + } + } +/* + Report. +*/ + printf ( "\n" ); + printf ( "VLA_WRITE - Wrote %d text lines.\n", text_num ); + + + return SUCCESS; +} + +/**********************************************************************/ + +int wrl_write ( FILE *fileout ) + +/**********************************************************************/ + +/* + Purpose: + + WRL_WRITE writes graphics data to a WRL file. + + Example: + + #VRML V2.0 utf8 + + WorldInfo { + title "cube.iv." + string "WRL file generated by IVREAD. + } + + Group { + children [ + + Shape { + + appearance Appearance { + material Material { + diffuseColor 0.0 0.0 0.0 + emissiveColor 0.0 0.0 0.0 + shininess 1.0 + } + } #end of appearance + + geometry IndexedLineSet { + + coord Coordinate { + point [ + 8.59816 5.55317 -3.05561 + 8.59816 2.49756 0.000000E+00 + ...etc... + 2.48695 2.49756 -3.05561 + ] + } + + coordIndex [ + 0 1 2 -1 3 4 5 6 7 8 - + 9 10 -1 11 12 -1 13 14 15 -1 1 + ...etc... + 191 -1 + ] + + colorPerVertex TRUE + + colorIndex [ + 0 0 0 -1 2 3 1 1 4 7 - + 10 9 -1 7 7 -1 3 2 2 -1 1 + ...etc... + 180 -1 + ] + + } #end of geometry + + } #end of Shape + + ] #end of children + + } #end of Group + + Modified: + + 23 May 1999 + + Author: + + John Burkardt +*/ +{ + int icor3; + int iface; + int itemp; + int ivert; + int j; + int length; + int ndx; + + text_num = 0; + + fprintf ( fileout, "#VRML V2.0 utf8\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, " WorldInfo {\n" ); + fprintf ( fileout, " title \"%s\"\n", fileout_name ); + fprintf ( fileout, " info \"WRL file generated by IVREAD.\"\n" ); + fprintf ( fileout, " info \"Original data in %s\"\n", filein_name ); + fprintf ( fileout, " }\n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, " Group {\n" ); + fprintf ( fileout, " children [\n" ); + fprintf ( fileout, " Shape {\n" ); + fprintf ( fileout, " appearance Appearance {\n" ); + fprintf ( fileout, " material Material {\n" ); + fprintf ( fileout, " diffuseColor 0.0 0.0 0.0\n" ); + fprintf ( fileout, " emissiveColor 0.0 0.0 0.0\n" ); + fprintf ( fileout, " shininess 1.0\n" ); + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " }\n" ); + + text_num = text_num + 18; +/* + IndexedLineSet +*/ + if ( line_num > 0 ) { + + fprintf ( fileout, " geometry IndexedLineSet {\n" ); +/* + IndexedLineSet coord +*/ + fprintf ( fileout, " coord Coordinate {\n" ); + fprintf ( fileout, " point [\n" ); + + text_num = text_num + 3; + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + fprintf ( fileout, " %f %f %f\n", cor3[0][icor3], + cor3[1][icor3], cor3[2][icor3] ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; +/* + IndexedLineSet coordIndex. +*/ + fprintf ( fileout, " coordIndex [\n" ); + + text_num = text_num + 1; + + length = 0; + for ( j = 0; j < line_num; j++ ) { + fprintf ( fileout, "%d ", line_dex[j] ); + length = length + 1; + if ( line_dex[j] == -1 || length >= 10 || j == line_num - 1 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + length = 0; + } + } + + fprintf ( fileout, " ]\n" ); + text_num = text_num + 1; +/* + Colors. (materials) +*/ + fprintf ( fileout, " color Color {\n" ); + fprintf ( fileout, " color [\n" ); + text_num = text_num + 2; + + for ( j = 0; j < material_num; j++ ) { + fprintf ( fileout, " %f %f %f\n", material_rgba[0][j], + material_rgba[1][j], material_rgba[2][j] ); + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " colorPerVertex TRUE\n" ); +/* + IndexedLineset colorIndex +*/ + fprintf ( fileout, " colorIndex [\n" ); + + text_num = text_num + 4; + + length = 0; + for ( j = 0; j < line_num; j++ ) { + fprintf ( fileout, "%d ", line_material[j] ); + length = length + 1; + if ( line_dex[j] == -1 || length >= 10 || j == line_num - 1 ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + length = 0; + } + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + + } +/* + End of IndexedLineSet + + IndexedFaceSet +*/ + if ( face_num > 0 ) { + + fprintf ( fileout, " geometry IndexedFaceSet {\n" ); +/* + IndexedFaceSet coord +*/ + fprintf ( fileout, " coord Coordinate {\n" ); + fprintf ( fileout, " point [\n" ); + + text_num = text_num + 3; + + for ( icor3 = 0; icor3 < cor3_num; icor3++ ) { + fprintf ( fileout, " %f %f %f\n", cor3[0][icor3], + cor3[1][icor3], cor3[2][icor3] ); + + text_num = text_num + 1; + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); +/* + IndexedFaceSet coordIndex. +*/ + fprintf ( fileout, " coordIndex [\n" ); + + text_num = text_num + 3; + + length = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert <= face_order[iface]; ivert++ ) { + + if ( ivert <= face_order[iface] ) { + itemp = face[ivert][iface]; + } + else { + itemp = 0; + } + + fprintf ( fileout, "%d ", itemp ); + length = length + 1; + + if ( itemp == -1 || length >= 10 || + ( iface == face_num - 1 && ivert == face_order[iface] ) ) { + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + length = 0; + } + + } + + } + + fprintf ( fileout, " ]\n" ); + text_num = text_num + 1; +/* + IndexedFaceset colorIndex +*/ + fprintf ( fileout, " colorIndex [\n" ); + text_num = text_num + 1; + + length = 0; + ndx = 0; + + for ( iface = 0; iface < face_num; iface++ ) { + + for ( ivert = 0; ivert <= face_order[iface]; ivert++ ) { + + if ( ivert <= face_order[iface] ) { + itemp = vertex_material[ivert][iface]; + ndx = ndx + 1; + } + else { + itemp = 0; + } + + fprintf ( fileout, "%d ", itemp ); + length = length + 1; + + if ( itemp == -1 || length >= 10 || + ( iface == face_num - 1 && ivert == face_order[iface] ) ) { + + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + length = 0; + + } + + } + + } + + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + text_num = text_num + 2; + + } +/* + End of IndexedFaceSet + + End of: + Shape + children + Group +*/ + fprintf ( fileout, " }\n" ); + fprintf ( fileout, " ]\n" ); + fprintf ( fileout, " }\n" ); + + text_num = text_num + 3; +/* + Report. +*/ + printf ( "\n" ); + printf ( "WRL_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} +/******************************************************************************/ + +int xgl_write ( FILE *fileout ) + +/******************************************************************************/ + +/* + Purpose: + + XGL_WRITE writes an XGL file. + + Discussion: + + Two corrections to the routine were pointed out by + Mike Phillips, msphil@widowmaker.com, on 17 September 2001, + and are gratefully acknowledged. + + Example: + + + + + 0.1, 0.1, 0.1 + + + + 0.2, 0.1, 0.1 + + 0.1, 0.2, 0.1 + 0, 0, 100 + 0.1, 0.1, 0.2 + + + + + +

-0.5, -0.5, 1

+

0.5, -0.5, 1

+

0.5, 0.5, 1

+

-0.5, 0.5, 1

+

0.5, -0.5, 0

+

-0.5, -0.5, 0

+

-0.5, 0.5, 0

+

0.5, 0.5, 0

+ + -0.408248, -0.408248, 0.816497 + 0.666667, -0.666667, 0.333333 + 0.408248, 0.408248, 0.816497 + -0.666667, 0.666667, 0.333333 + 0.408248, -0.408248, -0.816497 + -0.666667, -0.666667, -0.333333 + -0.408248, 0.408248, -0.816497 + 0.666667, 0.666667, -0.333333 + + + 0.9 + 0.1, 0.1, 0.1 + 0.2, 0.1, 0.1 + 0.1, 0.2, 0.1 + 0.8 + 0.1, 0.1, 0.2 + + + + 0 + 0 0 + 1 1 + 2 2 + + + 0 + 0 0 + 2 2 + 3 3 + + + 0 + 4 4 + 5 5 + 6 6 + + + 0 + 4 4 + 6 6 + 7 7 + + + 0 + 5 5 + 0 0 + 3 3 + + + 0 + 5 5 + 3 3 + 6 6 + + + 0 + 1 1 + 4 4 + 7 7 + + + 0 + 1 1 + 7 7 + 2 2 + + + 0 + 5 5 + 4 4 + 1 1 + + + 0 + 5 5 + 1 1 + 0 0 + + + 0 + 3 3 + 2 2 + 7 7 + + + 0 + 3 3 + 7 7 + 6 6 + + + + + + 0, 0, 0 + 0, 0, 0 + 1, 1, 1 + 1, 1, 1 + + 0 + + + + + Reference: + + XGL specification at http://www.xglspec.org/ + + Modified: + + 17 September 2001 + + Author: + + John Burkardt +*/ +{ + int iface; + int ivert; + int j; + float light_ambient_rgb[3]; + float light_diffuse_rgb[3]; + float light_direction[3]; + float light_specular_rgb[3]; + int material; + float material_alpha; + float material_amb_rgb[3]; + float material_diff_rgb[3]; + float material_emiss_rgb[3]; + float material_shine; + float material_spec_rgb[3]; + int mesh; + int mesh_num = 1; + int object; + float transform_forward[3]; + float transform_position[3]; + float transform_scale[3]; + float transform_up[3]; +/* + Make up some placeholder values for now. +*/ + light_ambient_rgb[0] = 0.2; + light_ambient_rgb[1] = 0.1; + light_ambient_rgb[2] = 0.1; + + light_diffuse_rgb[0] = 0.1; + light_diffuse_rgb[1] = 0.2; + light_diffuse_rgb[2] = 0.1; + + light_direction[0] = 0.0; + light_direction[1] = 0.0; + light_direction[2] = 100.0; + + light_specular_rgb[0] = 0.1; + light_specular_rgb[1] = 0.1; + light_specular_rgb[2] = 0.2; + + material_alpha = 0.9; + + material_amb_rgb[0] = 0.1; + material_amb_rgb[1] = 0.1; + material_amb_rgb[2] = 0.1; + + material_diff_rgb[0] = 0.2; + material_diff_rgb[1] = 0.1; + material_diff_rgb[2] = 0.1; + + material_emiss_rgb[0] = 0.1; + material_emiss_rgb[1] = 0.2; + material_emiss_rgb[2] = 0.1; + + material_shine = 0.8; + + material_spec_rgb[0] = 0.1; + material_spec_rgb[1] = 0.1; + material_spec_rgb[2] = 0.2; + + transform_forward[0] = 0.0; + transform_forward[1] = 0.0; + transform_forward[2] = 0.0; + + transform_position[0] = 0.0; + transform_position[1] = 0.0; + transform_position[2] = 0.0; + + transform_scale[0] = 1.0; + transform_scale[1] = 1.0; + transform_scale[2] = 1.0; + + transform_up[0] = 1.0; + transform_up[1] = 1.0; + transform_up[2] = 1.0; + + object_num = 1; + + text_num = 0; + + fprintf ( fileout, "\n" ); + fprintf ( fileout, "\n" ); + + text_num = text_num + 2; + + fprintf ( fileout, " \n" ); + fprintf ( fileout, " %f, %f, %f \n", + background_rgb[0], background_rgb[1], background_rgb[2] ); + fprintf ( fileout, " \n" ); + fprintf ( fileout, "\n" ); + fprintf ( fileout, " \n" ); + fprintf ( fileout, " %f, %f, %f \n", + light_ambient_rgb[0], light_ambient_rgb[1], light_ambient_rgb[2] ); + fprintf ( fileout, " \n" ); + fprintf ( fileout, " %f, %f, %f \n", + light_diffuse_rgb[0], light_diffuse_rgb[1], light_diffuse_rgb[2] ); + fprintf ( fileout, " %f, %f, %f \n", + light_direction[0], light_direction[1], light_direction[2] ); + fprintf ( fileout, " %f, %f, %f \n", + light_specular_rgb[0], light_specular_rgb[1], light_specular_rgb[2] ); + fprintf ( fileout, " \n" ); + fprintf ( fileout, " \n" ); + + text_num = text_num + 12; + + for ( mesh = 0; mesh < mesh_num; mesh++ ) { + + fprintf ( fileout, "\n" ); + fprintf ( fileout, " \n", mesh ); + fprintf ( fileout, "\n" ); + text_num = text_num + 3; + + for ( j = 0; j < cor3_num; j++ ) { + fprintf ( fileout, "

%f, %f, %f

\n", j, + cor3[0][j], cor3[1][j], cor3[2][j] ); + text_num = text_num + 1; + } + + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + for ( j = 0; j < cor3_num; j++ ) { + fprintf ( fileout, " %f, %f, %f \n", j, + cor3_normal[0][j], cor3_normal[1][j], cor3_normal[2][j] ); + text_num = text_num + 1; + } + + for ( material = 0; material < material_num; material++ ) { + fprintf ( fileout, "\n" ); + fprintf ( fileout, " \n", material ); + fprintf ( fileout, " %f \n", material_alpha ); + fprintf ( fileout, " %f, %f, %f \n", + material_amb_rgb[0], material_amb_rgb[1], material_amb_rgb[2] ); + fprintf ( fileout, " %f, %f, %f \n", + material_diff_rgb[0], material_diff_rgb[1], material_diff_rgb[2] ); + fprintf ( fileout, " %f, %f, %f \n", + material_emiss_rgb[0], material_emiss_rgb[1], material_emiss_rgb[2] ); + fprintf ( fileout, " %f \n", material_shine ); + fprintf ( fileout, " %f, %f, %f \n", + material_spec_rgb[0], material_spec_rgb[1], material_spec_rgb[2] ); + fprintf ( fileout, " \n" ); + text_num = text_num + 9; + } + + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + + for ( iface = 0; iface < face_num; iface++ ) { + fprintf ( fileout, " \n" ); + fprintf ( fileout, " %d \n", face_material[iface] ); + text_num = text_num + 2; + for ( ivert = 0; ivert < face_order[iface]; ivert++ ) { + fprintf ( fileout, + " %d %d \n", + ivert+1, face[ivert][iface], face[ivert][iface], ivert+1 ); + text_num = text_num + 1; + } + fprintf ( fileout, " \n" ); + text_num = text_num + 1; + } + + fprintf ( fileout, " \n" ); + text_num = text_num + 1; + + } + + fprintf ( fileout, "\n" ); + text_num = text_num + 1; + + for ( object = 0; object < object_num; object++ ) { + + fprintf ( fileout, " \n" ); + fprintf ( fileout, " \n" ); + fprintf ( fileout, " %f, %f, %f \n", + transform_forward[0], transform_forward[1], transform_forward[2] ); + fprintf ( fileout, " %f, %f, %f \n", + transform_position[0], transform_position[1], transform_position[2] ); + fprintf ( fileout, "' %f, %f, %f \n", + transform_scale[0], transform_scale[1], transform_scale[2] ); + fprintf ( fileout, " %f, %f, %f \n", + transform_up[0], transform_up[1], transform_up[2] ); + fprintf ( fileout, " \n" ); + mesh = 0; + fprintf ( fileout, " %d \n", mesh ); + fprintf ( fileout, " \n" ); + text_num = text_num + 9; + + } + + fprintf ( fileout, "\n" ); + fprintf ( fileout, "\n" ); + text_num = text_num + 2; + +/* + Report. +*/ + printf ( "\n" ); + printf ( "XGL_WRITE - Wrote %d text lines.\n", text_num ); + + return SUCCESS; +} diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt new file mode 100644 index 0000000..2bd8fce --- /dev/null +++ b/kdl_parser/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +rosbuild_add_boost_directories() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#genmsg() +#uncomment if you have defined services +#gensrv() + +rosbuild_add_library(${PROJECT_NAME} src/xml_parser.cpp src/dom_parser.cpp) + +rosbuild_add_executable(example_xml test/example_xml.cpp ) +target_link_libraries(example_xml ${PROJECT_NAME}) + +rosbuild_add_executable(example_dom test/example_dom.cpp ) +target_link_libraries(example_dom ${PROJECT_NAME}) + +rosbuild_add_executable(test_parser test/test_kdl_parser.cpp ) +target_link_libraries(test_parser ${PROJECT_NAME}) + +rosbuild_add_gtest_build_flags(test_parser) +rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch) diff --git a/kdl_parser/Makefile b/kdl_parser/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/kdl_parser/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/kdl_parser/include/kdl_parser/dom_parser.hpp b/kdl_parser/include/kdl_parser/dom_parser.hpp new file mode 100644 index 0000000..2e91c47 --- /dev/null +++ b/kdl_parser/include/kdl_parser/dom_parser.hpp @@ -0,0 +1,54 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef DOM_PARSER_H +#define DOM_PARSER_H + +#include +#include +#include + +using namespace std; + +namespace kdl_parser{ + +bool treeFromFile(const string& file, KDL::Tree& tree); +bool treeFromString(const string& xml, KDL::Tree& tree); +bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree); +bool treeFromRobotModel(urdf::Model& robot_model, KDL::Tree& tree); +} + +#endif diff --git a/kdl_parser/include/kdl_parser/xml_parser.hpp b/kdl_parser/include/kdl_parser/xml_parser.hpp new file mode 100644 index 0000000..89e77e9 --- /dev/null +++ b/kdl_parser/include/kdl_parser/xml_parser.hpp @@ -0,0 +1,53 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef XML_PARSER_H +#define XML_PARSER_H + +#include +#include +#include + +using namespace std; + +namespace KDL{ + +bool treeFromFile(const string& file, Tree& tree); +bool treeFromString(const string& xml, Tree& tree); +bool treeFromXml(TiXmlElement *root, Tree& tree); +} + +#endif diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml new file mode 100644 index 0000000..571b60e --- /dev/null +++ b/kdl_parser/manifest.xml @@ -0,0 +1,23 @@ + + + + The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism. This package provides tools to construct a KDL tree from the robot representation in the urdf package. + + + Wim Meeussen meeussen@willowgarage.com + BSD + + http://pr.willowgarage.com/wiki/ + + + + + + + + + + + + + diff --git a/kdl_parser/pr2.urdf b/kdl_parser/pr2.urdf new file mode 100644 index 0000000..45e35f9c --- /dev/null +++ b/kdl_parser/pr2.urdf @@ -0,0 +1,2542 @@ + + + + + + + + + + + + + + + + + + + true + 1000.0 + + + + + + true + 1.0 + 5 + -10.0 + 1.0 + 10.0 + 1200000.0 + diagnostic + battery_state + self_test + + + + + true + 1000.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_l_wheel_collision + 100.0 + + true + 100.0 + fl_caster_l_wheel_bumper + + + + + + + + + + + + + + 75.05 + + + + + + + + + + + + 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l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + + + + + + + diff --git a/kdl_parser/src/dom_parser.cpp b/kdl_parser/src/dom_parser.cpp new file mode 100644 index 0000000..a9b75dd --- /dev/null +++ b/kdl_parser/src/dom_parser.cpp @@ -0,0 +1,173 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include "kdl_parser/dom_parser.hpp" +#include + + +using namespace std; +using namespace KDL; + +namespace kdl_parser{ + + +// construct vector +Vector toKdl(urdf::Vector3 v) +{ + return Vector(v.x, v.y, v.z); +} + +// construct rotation +Rotation toKdl(urdf::Rotation r) +{ + double roll, pitch, yaw; + r.getRPY(roll, pitch, yaw); + return Rotation::RPY(roll, pitch, yaw); +} + +// construct pose +Frame toKdl(urdf::Pose p) +{ + return Frame(toKdl(p.rotation), toKdl(p.position)); +} + +// construct joint +Joint toKdl(boost::shared_ptr jnt) +{ + Frame F_parent_jnt = toKdl(jnt->parent_to_joint_origin_transform); + + switch (jnt->type){ + case urdf::Joint::FIXED:{ + return Joint(jnt->name, Joint::None); + } + case urdf::Joint::REVOLUTE:{ + Vector axis = toKdl(jnt->axis); + return Joint(jnt->name, F_parent_jnt.p, F_parent_jnt.M * axis, Joint::RotAxis); + } + case urdf::Joint::CONTINUOUS:{ + Vector axis = toKdl(jnt->axis); + return Joint(jnt->name, F_parent_jnt.p, F_parent_jnt.M * axis, Joint::RotAxis); + } + case urdf::Joint::PRISMATIC:{ + Vector axis = toKdl(jnt->axis); + return Joint(jnt->name, F_parent_jnt.p, F_parent_jnt.M * axis, Joint::TransAxis); + } + default:{ + return Joint(jnt->name, Joint::None); + } + } + return Joint(); +} + +// construct inertia +RigidBodyInertia toKdl(boost::shared_ptr i) +{ + Frame origin = toKdl(i->origin); + return origin.M * RigidBodyInertia(i->mass, origin.p, RotationalInertia(i->ixx, i->iyy, i->izz, i->ixy, i->ixz, i->iyz)); +} + + +// recursive function to walk through tree +bool addChildrenToTree(boost::shared_ptr root, Tree& tree) +{ + std::vector > children = root->child_links; + ROS_DEBUG("Link %s had %i children", root->name.c_str(), children.size()); + + // constructs the optional inertia + RigidBodyInertia inert(0); + if (root->inertial) + inert = toKdl(root->inertial); + + // constructs the kdl joint + Joint jnt = toKdl(root->parent_joint); + + // construct the kdl segment + Segment sgm(root->name, jnt, toKdl(root->parent_joint->parent_to_joint_origin_transform)); + + // add segment to tree + tree.addSegment(sgm, root->parent_joint->parent_link_name); + + // recurslively add all children + for (size_t i=0; iname); + + // add all children + for (size_t i=0; ichild_links.size(); i++) + if (!addChildrenToTree(robot_model.getRoot()->child_links[i], tree)) + return false; + + return true; +} + + + +} + diff --git a/kdl_parser/src/xml_parser.cpp b/kdl_parser/src/xml_parser.cpp new file mode 100644 index 0000000..785577a --- /dev/null +++ b/kdl_parser/src/xml_parser.cpp @@ -0,0 +1,365 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include "kdl_parser/xml_parser.hpp" + +using namespace std; + +namespace KDL{ + + +bool isNumber(const char& c) +{ + return (c=='1' || c=='2' ||c=='3' ||c=='4' ||c=='5' ||c=='6' ||c=='7' ||c=='8' ||c=='9' ||c=='0' ||c=='.' ||c=='-' ||c==' '); +} + +bool isNumber(const std::string& s) +{ + for (unsigned int i=0; iAttribute(name.c_str()); + if (!attr_char){ + cerr << "No " << name << " found in xml" << endl; + return false; + } + attr = string(attr_char); + return true; +} + + +bool getVector(TiXmlElement *vector_xml, const string& field, Vector& vector) +{ + if (!vector_xml) return false; + string vector_str; + if (!getAtribute(vector_xml, field, vector_str)) + return false; + + std::vector pieces; + boost::split( pieces, vector_str, boost::is_any_of(" ")); + unsigned int pos=0; + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + if (pos < 3){ + if (!isNumber(pieces[i])) + {cerr << "This is not a valid number: '" << pieces[i] << "'" << endl; return false;} + vector(pos) = atof(pieces[i].c_str()); + } + pos++; + } + } + + if (pos != 3) { + cerr << "Vector did not contain 3 pieces:" << endl; + pos = 1; + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + cerr << " " << pos << ": '" << pieces[i] << "'" << endl; + pos++; + } + } + return false; + } + + return true; +} + +bool getValue(TiXmlElement *value_xml, const string& field, double& value) +{ + if (!value_xml) return false; + string value_str; + if (!getAtribute(value_xml, field, value_str)) return false; + + if (!isNumber(value_str)) + {cerr << "This is not a valid number: '" << value_str << "'" << endl; return false;} + value = atof(value_str.c_str()); + + return true; +} + + +bool getFrame(TiXmlElement *frame_xml, Frame& frame) +{ + if (!frame_xml) return false; + + Vector origin, rpy; + if (!getVector(frame_xml, "xyz", origin)) + {cerr << "Frame does not have xyz" << endl; return false;} + if (!getVector(frame_xml, "rpy", rpy)) + {cerr << "Frame does not have rpy" << endl; return false;} + + frame = Frame(Rotation::RPY(rpy(0), rpy(1), rpy(2)), origin); + return true; +} + + +bool getRotInertia(TiXmlElement *rot_inertia_xml, RotationalInertia& rot_inertia) +{ + if (!rot_inertia_xml) return false; + double Ixx=0, Iyy=0, Izz=0, Ixy=0, Ixz=0, Iyz=0; + if (!getValue(rot_inertia_xml, "ixx", Ixx)) return false; + if (!getValue(rot_inertia_xml, "iyy", Iyy)) return false; + if (!getValue(rot_inertia_xml, "izz", Izz)) return false; + if (!getValue(rot_inertia_xml, "ixy", Ixy)) return false; + if (!getValue(rot_inertia_xml, "ixz", Ixz)) return false; + if (!getValue(rot_inertia_xml, "iyz", Iyz)) return false; + + rot_inertia = RotationalInertia(Ixx, Iyy, Izz, Ixy, Ixz, Iyz); + return true; +} + + +bool getInertia(TiXmlElement *inertia_xml, RigidBodyInertia& inertia) +{ + if (!inertia_xml) return false; + Vector cog; + if (!getVector(inertia_xml->FirstChildElement("com"), "xyz", cog)) + {cerr << "Inertia does not specify center of gravity" << endl; return false;} + double mass = 0.0; + if (!getValue(inertia_xml->FirstChildElement("mass"), "value", mass)) + {cerr << "Inertia does not specify mass" << endl; return false;} + RotationalInertia rot_inertia; + if (!getRotInertia(inertia_xml->FirstChildElement("inertia"), rot_inertia)) + {cerr << "Inertia does not specify rotational inertia" << endl; return false;} + inertia = RigidBodyInertia(mass, cog, rot_inertia); + return true; +} + + + +bool getJoint(TiXmlElement *joint_xml, Joint& joint) +{ + if (!joint_xml) return false; + // get joint name + string joint_name; + if (!getAtribute(joint_xml, "name", joint_name)) + {cerr << "Joint does not have name" << endl; return false;} + + // get joint type + string joint_type; + if (!getAtribute(joint_xml, "type", joint_type)) + {cerr << "Joint does not have type" << endl; return false;} + + if (joint_type == "revolute"){ + Vector axis, origin; + // mandatory axis + if (!getVector(joint_xml->FirstChildElement("axis"), "xyz", axis)) + {cerr << "Revolute joint does not spacify axis" << endl; return false;} + // optional origin + if (!getVector(joint_xml->FirstChildElement("anchor"), "xyz", origin)) + origin = Vector::Zero(); + joint = Joint(joint_name, origin, axis, Joint::RotAxis); + } + else if (joint_type == "prismatic"){ + Vector axis, origin; + // mandatory axis + if (!getVector(joint_xml->FirstChildElement("axis"), "xyz", axis)) + {cerr << "Prismatic joint does not spacify axis" << endl; return false;}; + // optional origin + if (!getVector(joint_xml->FirstChildElement("anchor"), "xyz", origin)) + origin = Vector::Zero(); + joint = Joint(joint_name, origin, axis, Joint::TransAxis); + } + else if (joint_type == "fixed"){ + joint = Joint(joint_name, Joint::None); + } + else{ + cerr << "Unknown joint type '" << joint_type << "'. Using fixed joint instead" << endl; + joint = Joint(joint_name, Joint::None); + } + + return true; +} + + +bool getSegment(TiXmlElement *segment_xml, map& joints, Segment& segment) +{ + if (!segment_xml) return false; + // get segment name + string segment_name; + if (!getAtribute(segment_xml, "name", segment_name)) + {cerr << "Segment does not have name" << endl; return false;} + + // get mandetory frame + Frame frame; + if (!getFrame(segment_xml->FirstChildElement("origin"), frame)) + {cerr << "Segment does not have origin" << endl; return false;} + + // get mandetory joint + string joint_name; + if (!getAtribute(segment_xml->FirstChildElement("joint"), "name", joint_name)) + {cerr << "Segment does not specify joint name" << endl; return false;} + + Joint joint; + map::iterator it = joints.find(joint_name); + if (it != joints.end()) + joint = it->second; + else if (getJoint(segment_xml->FirstChildElement("joint"), joint)); + else {cerr << "Could not find joint " << joint_name << " in segment" << endl; return false;} + + if (joint.getType() != Joint::None) + joint = Joint(joint_name, frame*(joint.JointOrigin()), joint.JointAxis(), joint.getType()); + + // get optional inertia + RigidBodyInertia inertia(0.0); + getInertia(segment_xml->FirstChildElement("inertial"), inertia); + + segment = Segment(segment_name, joint, frame, inertia); + return true; +} + + +void addChildrenToTree(const string& root, const map& segments, const map& parents, Tree& tree) +{ + // add root segments + if (tree.addSegment(segments.find(root)->second, parents.find(root)->second)){ + cout << "Added segment " << root << " to " << parents.find(root)->second << endl; + + // find children + for (map::const_iterator p=parents.begin(); p!=parents.end(); p++) + if (p->second == root) addChildrenToTree(p->first, segments, parents, tree); + } + else {cerr << "Failed to add segment to tree" << endl;} +} + + +bool getTree(TiXmlElement *robot_xml, Tree& tree) +{ + cout << "Parsing robot xml" << endl; + + if (!robot_xml) return false; + + // Constructs the joints + TiXmlElement *joint_xml = NULL; + Joint joint; + map joints; + for (joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")){ + // get joint name + string joint_name; + if (!getAtribute(joint_xml, "name", joint_name)) + {cerr << "Joint does not have name" << endl; return false;} + + // build joint + if (!getJoint(joint_xml, joint)) + {cerr << "Constructing joint " << joint_name << " failed" << endl; return false;} + joints[joint.getName()] = joint; + } + + // Constructs the segments + TiXmlElement *segment_xml = NULL; + Segment segment; + map segments; + map parents; + for (segment_xml = robot_xml->FirstChildElement("link"); segment_xml; segment_xml = segment_xml->NextSiblingElement("link")){ + + // get segment name + string segment_name; + if (!getAtribute(segment_xml, "name", segment_name)) + {cerr << "Segment does not have name" << endl; return false;} + + // get segment parent + string segment_parent; + if (!getAtribute(segment_xml->FirstChildElement("parent"), "name", segment_parent)) + {cerr << "Segment " << segment_name << " does not have parent" << endl; return false;} + + // build segment + if (!getSegment(segment_xml, joints, segment)) + {cerr << "Constructing segment " << segment_name << " failed" << endl; return false;} + segments[segment.getName()] = segment; + parents[segment.getName()] = segment_parent; + } + + // fail if no segments were found + if (segments.empty()){ + cerr << "Did not find any segments" << endl; + return false; + } + + // find the root segment: the parent segment that does not exist + string root; + for (map::const_iterator p=parents.begin(); p!=parents.end(); p++) + if (segments.find(p->second) == segments.end()) + root = p->first; + cout << parents[root] << " is root segment " << endl; + tree = Tree(parents[root]); + + // add all segments to tree + addChildrenToTree(root, segments, parents, tree); + + return true; +} + + +bool treeFromFile(const string& file, Tree& tree) +{ + TiXmlDocument urdf_xml; + urdf_xml.LoadFile(file); + TiXmlElement *root = urdf_xml.FirstChildElement("robot"); + if (!root){ + cerr << "Could not parse the xml" << endl; + return false; + } + return getTree(root, tree); +} + + +bool treeFromString(const string& xml, Tree& tree) +{ + TiXmlDocument urdf_xml; + urdf_xml.Parse(xml.c_str()); + TiXmlElement *root = urdf_xml.FirstChildElement("robot"); + if (!root){ + cerr << "Could not parse the xml" << endl; + return false; + } + return getTree(root, tree); +} + + +bool treeFromXml(TiXmlElement *root, Tree& tree) +{ + return getTree(root, tree); +} + +} + diff --git a/kdl_parser/test/example_dom.cpp b/kdl_parser/test/example_dom.cpp new file mode 100644 index 0000000..f19f718 --- /dev/null +++ b/kdl_parser/test/example_dom.cpp @@ -0,0 +1,105 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include "kdl_parser/dom_parser.hpp" +#include + +using namespace KDL; +using namespace std; +using namespace urdf; + +int main() +{ + Model robot_model; + if (!robot_model.initFile("pr2.urdf")) + {cerr << "Could not generate robot model" << endl; return false;} + + Tree my_tree; + if (!kdl_parser::treeFromRobotModel(robot_model, my_tree)) + {cerr << "Could not extract kdl tree" << endl; return false;} + + // walk through tree + cout << " ======================================" << endl; + SegmentMap::const_iterator root = my_tree.getRootSegment(); + cout << "Found root segment '" << root->second.segment.getName() << "' with " << root->second.children.size() << " children" << endl; + for (unsigned int i=0; isecond.children.size(); i++){ + SegmentMap::const_iterator child = root->second.children[i]; + cout << " - child " << i+1 << ": " << child->second.segment.getName() << " has joint " << child->second.segment.getJoint().getName() + << " and " << child->second.children.size() << " children" << endl; + + for (unsigned int j=0; jsecond.children.size(); j++){ + SegmentMap::const_iterator grandchild = child->second.children[j]; + cout << " - grandchild " << j+1 << ": " << grandchild->second.segment.getName() << " has joint " << grandchild->second.segment.getJoint().getName() + << " and " << grandchild->second.children.size() << " children" << endl; + + } + } + + // extract chains from tree + Chain chain1, chain2; + my_tree.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1); + my_tree.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2); + cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl; + cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl; + + JntArray jnt1(chain1.getNrOfJoints()); + JntArray jnt2(chain1.getNrOfJoints()); + for (int i=0; i<(int)chain1.getNrOfJoints(); i++){ + jnt1(i) = (i+1)*2; + jnt2((int)chain1.getNrOfJoints()-i-1) = -jnt1(i); + } + for (int i=0; i<(int)chain1.getNrOfJoints(); i++) + cout << "jnt 1 -- jnt 2 " << jnt1(i) << " -- " << jnt2(i) << endl; + + ChainFkSolverPos_recursive solver1(chain1); + ChainFkSolverPos_recursive solver2(chain2); + Frame f1, f2; + solver1.JntToCart(jnt1, f1); + solver2.JntToCart(jnt2, f2); + cout << "frame 1 " << f1 << endl; + cout << "frame 2 " << f2.Inverse() << endl; + + // copy tree + Tree copy = my_tree; + copy.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1); + copy.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2); + cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl; + cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl; + +} + diff --git a/kdl_parser/test/example_xml.cpp b/kdl_parser/test/example_xml.cpp new file mode 100644 index 0000000..75a4228 --- /dev/null +++ b/kdl_parser/test/example_xml.cpp @@ -0,0 +1,99 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include "kdl_parser/xml_parser.hpp" +#include + +using namespace KDL; +using namespace std; + + +int main() +{ + Tree my_tree; + if (!treeFromFile("pr2_desc.xml", my_tree)) return -1; + + // walk through tree + SegmentMap::const_iterator root = my_tree.getRootSegment(); + cout << "Found root " << root->second.segment.getName() << " with " << root->second.children.size() << " children" << endl; + for (unsigned int i=0; isecond.children.size(); i++){ + SegmentMap::const_iterator child = root->second.children[i]; + cout << " - child " << i+1 << ": " << child->second.segment.getName() << " has joint " << child->second.segment.getJoint().getName() + << " and " << child->second.children.size() << " children" << endl; + + for (unsigned int j=0; jsecond.children.size(); j++){ + SegmentMap::const_iterator grandchild = child->second.children[j]; + cout << " - grandchild " << j+1 << ": " << grandchild->second.segment.getName() << " has joint " << grandchild->second.segment.getJoint().getName() + << " and " << grandchild->second.children.size() << " children" << endl; + + } + } + + // extract chains from tree + Chain chain1, chain2; + my_tree.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1); + my_tree.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2); + cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl; + cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl; + + JntArray jnt1(chain1.getNrOfJoints()); + JntArray jnt2(chain1.getNrOfJoints()); + for (int i=0; i<(int)chain1.getNrOfJoints(); i++){ + jnt1(i) = (i+1)*2; + jnt2((int)chain1.getNrOfJoints()-i-1) = -jnt1(i); + } + for (int i=0; i<(int)chain1.getNrOfJoints(); i++) + cout << "jnt 1 -- jnt 2 " << jnt1(i) << " -- " << jnt2(i) << endl; + + ChainFkSolverPos_recursive solver1(chain1); + ChainFkSolverPos_recursive solver2(chain2); + Frame f1, f2; + solver1.JntToCart(jnt1, f1); + solver2.JntToCart(jnt2, f2); + cout << "frame 1 " << f1 << endl; + cout << "frame 2 " << f2.Inverse() << endl; + + // copy tree + Tree copy = my_tree; + copy.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1); + copy.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2); + cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl; + cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl; + +} + diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml new file mode 100644 index 0000000..59c6e66 --- /dev/null +++ b/kdl_parser/test/pr2_desc.xml @@ -0,0 +1,3541 @@ + + + + + + + + + + + + + + + + + + + + true + 1000.0 + + + + + + true + 1.0 + 5 + -10.0 + 1.0 + 10.0 + 1200000.0 + diagnostic + battery_state + self_test + + + + + true + 1000.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + base_collision + 100.0 + + true + 100.0 + base_bumper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + 0.0 0.0 0.0 + false + + -100 + 100 + + 0.05 + 10.0 + 0.01 + 20.0 + + 0.005 + true + 20.0 + base_scan + base_laser + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_l_wheel_collision + 100.0 + + true + 100.0 + fl_caster_l_wheel_bumper + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_r_wheel_collision + 100.0 + + true + 100.0 + fl_caster_r_wheel_bumper + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fr_caster_l_wheel_collision + 100.0 + + true + 100.0 + fr_caster_l_wheel_bumper + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fr_caster_r_wheel_collision + 100.0 + + true + 100.0 + fr_caster_r_wheel_bumper + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + bl_caster_l_wheel_collision + 100.0 + + true + 100.0 + bl_caster_l_wheel_bumper + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + bl_caster_r_wheel_collision + 100.0 + + true + 100.0 + bl_caster_r_wheel_bumper + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + br_caster_l_wheel_collision + 100.0 + + true + 100.0 + br_caster_l_wheel_bumper + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + br_caster_r_wheel_collision + 100.0 + + true + 100.0 + br_caster_r_wheel_bumper + + + + + + + + + -75.05 + + + + true + 100.0 + base_link + base_pose_ground_truth + 0.01 + map + 25.7 25.7 0 + 0 0 0 + + + + + + + + + + + + + + -52143.33 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + torso_lift_collision + 100.0 + + true + 100.0 + torso_lift_bumper + + + + + + + + + + + + + + + + 6.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 6.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1024 800 + 60 + 0.1 + 100 + 20.0 + + true + 20.0 + /prosilica/cam_info + /prosilica/image + /prosilica/image_rect + /prosilica/image_rect + high_def_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + stereo/left_image + stereo_l_stereo_camera_frame + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + stereo/right_image + stereo_r_stereo_camera_frame + + + + + + + + + true + 20.0 + stereo_l_sensor + stereo_r_sensor + stereo/raw_stereo + stereo_optical_frame + 320 + 320 + 240 + 320 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 6.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + + 0.0 0.0 0.0 + false + + -80 + 80 + + 0.05 + 10.0 + 0.01 + 20.0 + + 0.005 + true + 20.0 + tilt_scan + laser_tilt_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_shoulder_pan_collision + 100.0 + + true + 100.0 + r_shoulder_pan_bumper + + + + + + + true + + + + + 63.16 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_shoulder_lift_collision + 100.0 + + true + 100.0 + r_r_shoulder_lift_bumper + + + + + + + true + + + + + 61.89 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + 32.65 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_upper_arm_collision + 100.0 + + true + 100.0 + r_upper_arm_bumper + + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_elbow_flex_collision + 100.0 + + true + 100.0 + r_elbow_flex_bumper + + + + + + + true + + + + + -36.17 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + 90.5142857143 + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_forearm_collision + 100.0 + + true + 100.0 + r_forearm_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_wrist_flex_collision + 100.0 + + true + 100.0 + r_wrist_flex_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_wrist_roll_collision + 100.0 + + true + 100.0 + r_wrist_roll_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_gripper_palm_collision + 100.0 + + true + 100.0 + r_gripper_palm_bumper + + + + + + + true + + + + + true + 100.0 + r_gripper_palm_link + r_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + true + 100.0 + r_gripper_tool_frame + r_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_gripper_l_finger_collision + 100.0 + + true + 100.0 + r_gripper_l_finger_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_gripper_r_finger_collision + 100.0 + + true + 100.0 + r_gripper_r_finger_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_gripper_l_finger_tip_collision + 100.0 + + true + 100.0 + r_gripper_l_finger_tip_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + r_gripper_r_finger_tip_collision + 100.0 + + true + 100.0 + r_gripper_r_finger_tip_bumper + + + + + + + true + + + + + + + + + + true + 100.0 + r_gripper_l_finger_link + r_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + r_gripper_l_finger_link + r_gripper_l_finger_force_ground_truth + r_gripper_l_finger_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_shoulder_pan_collision + 100.0 + + true + 100.0 + l_shoulder_pan_bumper + + + + + + + true + + + + + 63.16 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_shoulder_lift_collision + 100.0 + + true + 100.0 + l_r_shoulder_lift_bumper + + + + + + + true + + + + + 61.89 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + 32.65 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_upper_arm_collision + 100.0 + + true + 100.0 + l_upper_arm_bumper + + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_elbow_flex_collision + 100.0 + + true + 100.0 + l_elbow_flex_bumper + + + + + + + true + + + + + -36.17 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + 90.5142857143 + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_forearm_collision + 100.0 + + true + 100.0 + l_forearm_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_wrist_flex_collision + 100.0 + + true + 100.0 + l_wrist_flex_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_wrist_roll_collision + 100.0 + + true + 100.0 + l_wrist_roll_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_gripper_palm_collision + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + + true + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_gripper_l_finger_collision + 100.0 + + true + 100.0 + l_gripper_l_finger_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_gripper_r_finger_collision + 100.0 + + true + 100.0 + l_gripper_r_finger_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_gripper_l_finger_tip_collision + 100.0 + + true + 100.0 + l_gripper_l_finger_tip_bumper + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_gripper_r_finger_tip_collision + 100.0 + + true + 100.0 + l_gripper_r_finger_tip_bumper + + + + + + + true + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_upper_arm_roll_link + r_upper_arm_roll_link + l_elbow_flex_link + r_elbow_flex_link + l_forearm_roll_link + r_forearm_roll_link + l_wrist_flex_link + r_wrist_flex_link + l_wrist_roll_link + r_wrist_roll_link + l_gripper_l_finger_link + l_gripper_r_finger_link + r_gripper_l_finger_link + r_gripper_r_finger_link + r_shoulder_pan_link + r_shoulder_lift_link + l_shoulder_pan_link + l_shoulder_lift_link + torso_lift_link + base_link + + base_link + torso_lift_link + head_pan_link + head_tilt_link + r_shoulder_pan_link + r_shoulder_lift_link + r_upper_arm_roll_link + r_upper_arm_link + r_elbow_flex_link + r_forearm_roll_link + r_forearm_link + r_wrist_flex_link + r_wrist_roll_link + r_gripper_palm_link + r_gripper_l_finger_link + r_gripper_r_finger_link + r_gripper_l_finger_tip_link + r_gripper_r_finger_tip_link + + r_forearm_link + base_link + + r_gripper_palm_link + base_link + + r_gripper_l_finger_link + base_link + + r_gripper_r_finger_link + base_link + + r_gripper_l_finger_tip_link + base_link + + r_gripper_r_finger_tip_link + base_link + + base_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_shoulder_pan_link + l_shoulder_lift_link + l_upper_arm_roll_link + l_upper_arm_link + l_elbow_flex_link + l_forearm_roll_link + l_forearm_link + l_wrist_flex_link + l_wrist_roll_link + + + + + + + + + + + + + + + + r_shoulder_pan_link + r_shoulder_lift_link + r_upper_arm_roll_link + r_upper_arm_link + r_elbow_flex_link + r_forearm_roll_link + r_forearm_link + r_wrist_flex_link + r_wrist_roll_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + base_link + torso_lift_link + l_shoulder_pan_link + l_shoulder_lift_link + l_upper_arm_roll_link + l_upper_arm_link + l_elbow_flex_link + l_forearm_roll_link + l_forearm_link + l_wrist_flex_link + l_wrist_roll_link + + base_link + torso_lift_link + r_shoulder_pan_link + r_shoulder_lift_link + r_upper_arm_roll_link + r_upper_arm_link + r_elbow_flex_link + r_forearm_roll_link + r_forearm_link + r_wrist_flex_link + r_wrist_roll_link + + + + + + + + + + + + + + + + l_shoulder_pan_link + l_shoulder_lift_link + l_upper_arm_roll_link + l_upper_arm_link + l_elbow_flex_link + l_forearm_roll_link + l_forearm_link + l_wrist_flex_link + l_wrist_roll_link + r_shoulder_pan_link + r_shoulder_lift_link + r_upper_arm_roll_link + r_upper_arm_link + r_elbow_flex_link + r_forearm_roll_link + r_forearm_link + r_wrist_flex_link + r_wrist_roll_link + + base_link + torso_lift_link + l_shoulder_pan_link + l_shoulder_lift_link + l_upper_arm_roll_link + l_upper_arm_link + l_elbow_flex_link + l_forearm_roll_link + l_forearm_link + l_wrist_flex_link + l_wrist_roll_link + r_shoulder_pan_link + r_shoulder_lift_link + r_upper_arm_roll_link + r_upper_arm_link + r_elbow_flex_link + r_forearm_roll_link + r_forearm_link + r_wrist_flex_link + r_wrist_roll_link + + + + + + + diff --git a/kdl_parser/test/pr2_desc_bracket.xml b/kdl_parser/test/pr2_desc_bracket.xml new file mode 100644 index 0000000..f512410 --- /dev/null +++ b/kdl_parser/test/pr2_desc_bracket.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/kdl_parser/test/pr2_desc_bracket2.xml b/kdl_parser/test/pr2_desc_bracket2.xml new file mode 100644 index 0000000..f3f2e00 --- /dev/null +++ b/kdl_parser/test/pr2_desc_bracket2.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/kdl_parser/test/pr2_desc_vector.xml b/kdl_parser/test/pr2_desc_vector.xml new file mode 100644 index 0000000..a6a37f3 --- /dev/null +++ b/kdl_parser/test/pr2_desc_vector.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp new file mode 100644 index 0000000..51b6f1f --- /dev/null +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -0,0 +1,93 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include "kdl_parser/xml_parser.hpp" + +using namespace KDL; + +int g_argc; +char** g_argv; + +class TestParser : public testing::Test +{ +public: + Tree my_tree; + +protected: + /// constructor + TestParser() + { + } + + + /// Destructor + ~TestParser() + { + } +}; + + + + +TEST_F(TestParser, test) +{ + for (int i=1; isecond.children.size() == 1); + ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); + SUCCEED(); +} + + + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_kdl_parser"); + g_argc = argc; + g_argv = argv; + return RUN_ALL_TESTS(); +} diff --git a/kdl_parser/test/test_kdl_parser.launch b/kdl_parser/test/test_kdl_parser.launch new file mode 100644 index 0000000..b97a9ba --- /dev/null +++ b/kdl_parser/test/test_kdl_parser.launch @@ -0,0 +1,6 @@ + + + diff --git a/resource_retriever/CMakeLists.txt b/resource_retriever/CMakeLists.txt new file mode 100644 index 0000000..86b5735 --- /dev/null +++ b/resource_retriever/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +include(FindCURL) + +if(NOT CURL_FOUND) +message("CURL not found! Aborting...") +fail() +endif(NOT CURL_FOUND) + +include_directories(${CURL_INCLUDE_DIRS}) +rosbuild_add_library(${PROJECT_NAME} src/retriever.cpp) +target_link_libraries(${PROJECT_NAME} ${CURL_LIBRARIES}) + +add_subdirectory(test EXCLUDE_FROM_ALL) diff --git a/resource_retriever/Makefile b/resource_retriever/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/resource_retriever/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/resource_retriever/include/resource_retriever/retriever.h b/resource_retriever/include/resource_retriever/retriever.h new file mode 100644 index 0000000..a328057 --- /dev/null +++ b/resource_retriever/include/resource_retriever/retriever.h @@ -0,0 +1,85 @@ +/* + * Copyright (C) 2009, Willow Garage, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RESOURCE_RETRIEVER_RETRIEVER_H +#define RESOURCE_RETRIEVER_RETRIEVER_H + +#include +#include +#include + +typedef void CURL; + +namespace resource_retriever +{ + +class Exception : public std::runtime_error +{ +public: + Exception(const std::string& file, const std::string& error_msg) + : std::runtime_error("Error retrieving file [" + file + "]: " + error_msg) + {} +}; + +/** + * \brief A combination of a pointer to data in memory along with the data's size. + */ +struct MemoryResource +{ + MemoryResource() + : size(0) + {} + + boost::shared_array data; + uint32_t size; +}; + +/** + * \brief Retrieves files from from a url. Caches a CURL handle so multiple accesses to a single url + * will keep connections open. + */ +class Retriever +{ +public: + Retriever(); + ~Retriever(); + + /** + * \brief Get a file and store it in memory + * \param url The url to retrieve. package://package/file will be turned into the correct file:// invocation + * \return The file, loaded into memory + * \throws resource_retriever::Exception if anything goes wrong. + */ + MemoryResource get(const std::string& url); + +private: + CURL* curl_handle_; +}; + +} // namespace resource_retriever + +#endif // RESOURCE_RETRIEVER_RETRIEVER_H diff --git a/resource_retriever/mainpage.dox b/resource_retriever/mainpage.dox new file mode 100644 index 0000000..a06a758 --- /dev/null +++ b/resource_retriever/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b resource_retriever is a package used for downloading files from a url. It also provides special handling of the package:// prefix, allowing things to be referenced +by path relative to a package. + + +\section codeapi Code API + + - resource_retriever::Retriever -- Use this class to download files. + + +*/ \ No newline at end of file diff --git a/resource_retriever/manifest.xml b/resource_retriever/manifest.xml new file mode 100644 index 0000000..80058d9 --- /dev/null +++ b/resource_retriever/manifest.xml @@ -0,0 +1,21 @@ + + + + A package for retrieving resources used in a urdf. Uses libcurl to support url-format files, such as http://, ftp://, etc. Translates package:// to a local file:// + + + Josh Faust (jfaust@willowgarage.com) + BSD + + http://pr.willowgarage.com/wiki/resource_retriever + + + + + + + + + + + diff --git a/resource_retriever/src/retriever.cpp b/resource_retriever/src/retriever.cpp new file mode 100644 index 0000000..b09a981 --- /dev/null +++ b/resource_retriever/src/retriever.cpp @@ -0,0 +1,147 @@ +/* + * Copyright (C) 2009, Willow Garage, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "resource_retriever/retriever.h" + +#include + +#include +#include + +#include + +namespace resource_retriever +{ + +class CURLStaticInit +{ +public: + CURLStaticInit() + : initialized_(false) + { + CURLcode ret = curl_global_init(CURL_GLOBAL_ALL); + if (ret != 0) + { + ROS_ERROR("Error initializing libcurl! retcode = %d", ret); + } + else + { + initialized_ = true; + } + } + + ~CURLStaticInit() + { + if (initialized_) + { + curl_global_cleanup(); + } + } + + bool initialized_; +}; +static CURLStaticInit g_curl_init; + +Retriever::Retriever() +{ + curl_handle_ = curl_easy_init(); +} + +Retriever::~Retriever() +{ + if (curl_handle_) + { + curl_easy_cleanup(curl_handle_); + } +} + +struct MemoryBuffer +{ + std::vector v; +}; + +size_t curlWriteFunc(void* buffer, size_t size, size_t nmemb, void* userp) +{ + MemoryBuffer* membuf = (MemoryBuffer*)userp; + + size_t prev_size = membuf->v.size(); + membuf->v.resize(prev_size + size * nmemb); + memcpy(&membuf->v[prev_size], buffer, size * nmemb); + + return size * nmemb; +} + +MemoryResource Retriever::get(const std::string& url) +{ + std::string mod_url = url; + if (url.find("package://") == 0) + { + mod_url.erase(0, strlen("package://")); + size_t pos = mod_url.find("/"); + if (pos == std::string::npos) + { + throw Exception(url, "Could not parse package:// format into file:// format"); + } + + std::string package = mod_url.substr(0, pos); + mod_url.erase(0, pos); + std::string package_path = ros::package::getPath(package); + + if (package_path.empty()) + { + throw Exception(url, "Package [" + package + "] does not exist"); + } + + mod_url = "file://" + package_path + mod_url; + } + + curl_easy_setopt(curl_handle_, CURLOPT_URL, mod_url.c_str()); + curl_easy_setopt(curl_handle_, CURLOPT_WRITEFUNCTION, curlWriteFunc); + + char error_buffer[CURL_ERROR_SIZE]; + curl_easy_setopt(curl_handle_, CURLOPT_ERRORBUFFER , error_buffer); + + MemoryResource res; + MemoryBuffer buf; + curl_easy_setopt(curl_handle_, CURLOPT_WRITEDATA, &buf); + + CURLcode ret = curl_easy_perform(curl_handle_); + if (ret != 0) + { + throw Exception(mod_url, error_buffer); + } + else if (!buf.v.empty()) + { + res.size = buf.v.size(); + res.data.reset(new uint8_t[res.size]); + memcpy(res.data.get(), &buf.v[0], res.size); + } + + return res; +} + +} diff --git a/resource_retriever/test/CMakeLists.txt b/resource_retriever/test/CMakeLists.txt new file mode 100644 index 0000000..7624c4c --- /dev/null +++ b/resource_retriever/test/CMakeLists.txt @@ -0,0 +1,4 @@ +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}) + +rospack_add_gtest(test/utest test.cpp) +target_link_libraries(test/utest ${PROJECT_NAME}) diff --git a/resource_retriever/test/test.cpp b/resource_retriever/test/test.cpp new file mode 100644 index 0000000..b29f40e --- /dev/null +++ b/resource_retriever/test/test.cpp @@ -0,0 +1,140 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#include + +#include +#include +#include + +using namespace resource_retriever; + +TEST(Retriever, getByPackage) +{ + try + { + Retriever r; + MemoryResource res = r.get("package://"ROS_PACKAGE_NAME"/test/test.txt"); + + ASSERT_EQ(res.size, 1); + ASSERT_EQ(res.data[0], 'A'); + } + catch (Exception& e) + { + FAIL(); + } +} + +TEST(Retriever, largeFile) +{ + try + { + std::string path = ros::package::getPath(ROS_PACKAGE_NAME) + "/test/large_file.dat"; + + FILE* f = fopen(path.c_str(), "w"); + + ASSERT_TRUE(f); + + for (int i = 0; i < 1024*1024*50; ++i) + { + fprintf(f, "A"); + } + fclose(f); + + Retriever r; + MemoryResource res = r.get("package://"ROS_PACKAGE_NAME"/test/large_file.dat"); + + ASSERT_EQ(res.size, 1024*1024*50); + } + catch (Exception& e) + { + FAIL(); + } +} + +TEST(Retriever, http) +{ + try + { + Retriever r; + MemoryResource res = r.get("http://pr.willowgarage.com/downloads/svnmerge.py"); + + ASSERT_GT(res.size, 0); + } + catch (Exception& e) + { + FAIL(); + } +} + +TEST(Retriever, invalidFiles) +{ + Retriever r; + + try + { + r.get("file://fail"); + FAIL(); + } + catch (Exception& e) + { + ROS_INFO("%s", e.what()); + } + + try + { + r.get("package://roscpp"); + FAIL(); + } + catch (Exception& e) + { + ROS_INFO("%s", e.what()); + } + + try + { + r.get("package://invalid_package_blah/test.xml"); + FAIL(); + } + catch (Exception& e) + { + ROS_INFO("%s", e.what()); + } +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + diff --git a/resource_retriever/test/test.txt b/resource_retriever/test/test.txt new file mode 100644 index 0000000..8c7e5a6 --- /dev/null +++ b/resource_retriever/test/test.txt @@ -0,0 +1 @@ +A \ No newline at end of file diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt new file mode 100644 index 0000000..71711b7 --- /dev/null +++ b/robot_state_publisher/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() +rosbuild_add_boost_directories() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#genmsg() +#uncomment if you have defined services +#gensrv() + +rosbuild_add_library(${PROJECT_NAME} src/joint_state_listener.cpp src/robot_state_publisher.cpp src/treefksolverposfull_recursive.cpp) + +rosbuild_add_executable(state_publisher src/state_publisher.cpp ) +target_link_libraries(state_publisher ${PROJECT_NAME}) + +rosbuild_add_executable(test_publisher test/test_publisher.cpp ) +target_link_libraries(test_publisher ${PROJECT_NAME}) +rosbuild_add_gtest_build_flags(test_publisher) +rosbuild_declare_test(test_publisher) + +rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_publisher.launch) + +# Download needed data file +rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states.bag test/joint_states.bag) diff --git a/robot_state_publisher/Makefile b/robot_state_publisher/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/robot_state_publisher/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h new file mode 100644 index 0000000..ef2f4fe --- /dev/null +++ b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h @@ -0,0 +1,69 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef JOINT_STATE_LISTENER_H +#define JOINT_STATE_LISTENER_H + +#include +#include +#include +#include "robot_state_publisher/robot_state_publisher.h" + +using namespace std; +using namespace ros; +using namespace KDL; + +typedef boost::shared_ptr JointStateConstPtr; + +namespace robot_state_publisher{ + +class JointStateListener{ +public: + JointStateListener(const KDL::Tree& tree); + ~JointStateListener(); + +private: + void callbackJointState(const JointStateConstPtr& state); + + NodeHandle n_; + Rate publish_rate_; + robot_state_publisher::RobotStatePublisher state_publisher_; + Subscriber joint_state_sub_; +}; +} + + +#endif diff --git a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h new file mode 100644 index 0000000..781082c --- /dev/null +++ b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h @@ -0,0 +1,76 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef ROBOT_STATE_PUBLISHER_H +#define ROBOT_STATE_PUBLISHER_H + +#include +#include +#include +#include +#include "robot_state_publisher/treefksolverposfull_recursive.hpp" + +namespace robot_state_publisher{ + +class RobotStatePublisher +{ +public: + RobotStatePublisher(const KDL::Tree& tree); + ~RobotStatePublisher(){}; + + bool publishTransforms(const std::map& joint_positions, const ros::Time& time); + +private: + ros::NodeHandle n_; + ros::Publisher tf_publisher_; + KDL::Tree tree_; + boost::scoped_ptr solver_; + std::string root_; + std::string tf_prefix_; + tf::tfMessage tf_msg_; + + class empty_tree_exception: public std::exception{ + virtual const char* what() const throw(){ + return "Tree is empty";} + } empty_tree_ex; + +}; + + + +} + +#endif diff --git a/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp b/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp new file mode 100644 index 0000000..4c3e9ea --- /dev/null +++ b/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp @@ -0,0 +1,48 @@ +// Copyright (C) 2009 Willow Garage Inc + +// Version: 1.0 +// Author: Wim Meeussen +// Maintainer: Ruben Smits +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + +#ifndef KDLTREEFKSOLVERPOSFULL_RECURSIVE_HPP +#define KDLTREEFKSOLVERPOSFULL_RECURSIVE_HPP + +#include + +namespace KDL { + +class TreeFkSolverPosFull_recursive + +{ +public: + TreeFkSolverPosFull_recursive(const Tree& _tree); + ~TreeFkSolverPosFull_recursive(); + + int JntToCart(const std::map& q_in, std::map& p_out); + +private: + void addFrameToMap(const std::map& q_in, std::map& p_out, + const Frame& previous_frame, const SegmentMap::const_iterator this_segment); + + Tree tree; + +}; +} + +#endif diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml new file mode 100644 index 0000000..8da7560 --- /dev/null +++ b/robot_state_publisher/manifest.xml @@ -0,0 +1,27 @@ + + + + This package allows you to publish the state of a robot to the transform library topic. Once the state + gets published, it is available to all components in the system using the transform library. + The package takes the joint angles of the robot as input and publishes the 3D poses + of the robot links, using a kinematic tree model of the robot. The package can both be used + as a library and as a ROS node. + + + Wim Meeussen meeussen@willowgarage.com + BSD + + http://pr.willowgarage.com/wiki/robot_state_publisher + + + + + + + + + + + + + diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp new file mode 100644 index 0000000..3ef26a1 --- /dev/null +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -0,0 +1,86 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include "robot_state_publisher/robot_state_publisher.h" +#include "robot_state_publisher/joint_state_listener.h" + +using namespace std; +using namespace ros; +using namespace KDL; +using namespace robot_state_publisher; + + +JointStateListener::JointStateListener(const KDL::Tree& tree) + : publish_rate_(0.0), state_publisher_(tree) +{ + // set publish frequency + double publish_freq; + n_.param("~publish_frequency", publish_freq, 50.0); + publish_rate_ = Rate(publish_freq); + + // subscribe to mechanism state + string joint_state_topic; + n_.param("~joint_state_topic", joint_state_topic, string("joint_states")); + joint_state_sub_ = n_.subscribe(joint_state_topic, 1, &JointStateListener::callbackJointState, this);; +}; + + +JointStateListener::~JointStateListener() +{}; + + +void JointStateListener::callbackJointState(const JointStateConstPtr& state) +{ + if (state->get_name_size() == 0){ + ROS_ERROR("Robot state publisher received an empty joint state vector"); + return; + } + + if (state->get_name_size() != state->get_position_size()){ + ROS_ERROR("Robot state publisher received an invalid joint state vector"); + return; + } + + // get joint positions from state message + map joint_positions; + for (unsigned int i=0; iname.size(); i++) + joint_positions.insert(make_pair(state->name[i], state->position[i])); + state_publisher_.publishTransforms(joint_positions, state->header.stamp); + publish_rate_.sleep(); +} + diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp new file mode 100644 index 0000000..bc996a1 --- /dev/null +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -0,0 +1,106 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include "robot_state_publisher/robot_state_publisher.h" +#include +#include + +using namespace std; +using namespace ros; +using namespace KDL; + + + +namespace robot_state_publisher{ + +RobotStatePublisher::RobotStatePublisher(const Tree& tree) + :tree_(tree) +{ + // get tf prefix + n_.param("~tf_prefix", tf_prefix_, string()); + + // build tree solver + solver_.reset(new TreeFkSolverPosFull_recursive(tree_)); + + // advertise tf message + tf_publisher_ = n_.advertise("/tf_message", 5); + tf_msg_.transforms.resize(tree.getNrOfSegments()-1); + + // get the 'real' root segment of the tree, which is the first child of "root" + SegmentMap::const_iterator root = tree.getRootSegment(); + if (root->second.children.empty()) + throw empty_tree_ex; + + root_ = (*root->second.children.begin())->first; +} + + + +bool RobotStatePublisher::publishTransforms(const map& joint_positions, const Time& time) +{ + // calculate transforms form root to every segment in tree + map link_poses; + solver_->JntToCart(joint_positions, link_poses); + + // publish the transforms to tf, converting the transforms from "root" to the 'real' root + geometry_msgs::TransformStamped trans; + map::const_iterator root = link_poses.find(root_); + if (root == link_poses.end()){ + ROS_ERROR("Did not find root of tree"); + return false; + } + + // remove root from published poses + Frame offset = root->second.Inverse(); + unsigned int i = 0; + // send transforms to tf + for (map::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ + if (f != root){ + Frame frame = offset * f->second; + tf::Transform tf_frame; + tf::TransformKDLToTF(frame, tf_frame); + trans.header.stamp = time; + trans.header.frame_id = tf::remap(tf_prefix_, root->first); + trans.child_frame_id = tf::remap(tf_prefix_, f->first); + tf::transformTFToMsg(tf_frame, trans.transform); + tf_msg_.transforms[i++] = trans; + } + } + tf_publisher_.publish(tf_msg_); + + return true; +} +} diff --git a/robot_state_publisher/src/state_publisher.cpp b/robot_state_publisher/src/state_publisher.cpp new file mode 100644 index 0000000..6fb4143 --- /dev/null +++ b/robot_state_publisher/src/state_publisher.cpp @@ -0,0 +1,77 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include +#include "robot_state_publisher/joint_state_listener.h" + +using namespace std; +using namespace ros; +using namespace KDL; +using namespace robot_state_publisher; + + + +// ---------------------------------- +// ----- MAIN ----------------------- +// ---------------------------------- +int main(int argc, char** argv) +{ + // Initialize ros + ros::init(argc, argv, "robot_state_publisher"); + NodeHandle node; + + // gets the location of the robot description on the parameter server + string param_name, full_param_name; + node.param("~/robot_desc_param", param_name, string("robot_description")); + node.searchParam(param_name,full_param_name); + string robot_desc; + + // constructs a kdl tree from the robot model + node.param(full_param_name, robot_desc, string()); + Tree tree; + if (!kdl_parser::treeFromString(robot_desc, tree)){ + ROS_ERROR("Failed to extract kdl tree from xml robot description"); + return -1; + } + + JointStateListener state_publisher(tree); + + ros::spin(); + return 0; +} diff --git a/robot_state_publisher/src/treefksolverposfull_recursive.cpp b/robot_state_publisher/src/treefksolverposfull_recursive.cpp new file mode 100644 index 0000000..3381a56 --- /dev/null +++ b/robot_state_publisher/src/treefksolverposfull_recursive.cpp @@ -0,0 +1,76 @@ +// Copyright (C) 2009 Willow Garage Inc + +// Version: 1.0 +// Author: Wim Meeussen +// Maintainer: Ruben Smits +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + +#include "robot_state_publisher/treefksolverposfull_recursive.hpp" +#include + +using namespace std; + +namespace KDL { + +TreeFkSolverPosFull_recursive::TreeFkSolverPosFull_recursive(const Tree& _tree): + tree(_tree) +{ +} + +TreeFkSolverPosFull_recursive::~TreeFkSolverPosFull_recursive() +{ +} + +int TreeFkSolverPosFull_recursive::JntToCart(const map& q_in, map& p_out) +{ + // clear output + p_out.clear(); + + addFrameToMap(q_in, p_out, Frame::Identity(), tree.getRootSegment()); + + return 0; +} + + + +void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_in, map& p_out, + const Frame& previous_frame, const SegmentMap::const_iterator this_segment) +{ + // get pose of this segment + Frame this_frame = previous_frame; + double jnt_p = 0; + if (this_segment->second.segment.getJoint().getType() != Joint::None){ + map::const_iterator jnt_pos = q_in.find(this_segment->second.segment.getJoint().getName()); + if (jnt_pos == q_in.end()){ + printf("Could not find value for joint %s\n", this_segment->first.c_str()); + return; + } + jnt_p = jnt_pos->second; + } + this_frame = this_frame * this_segment->second.segment.pose(jnt_p); + if (this_segment->first != tree.getRootSegment()->first) + p_out.insert(make_pair(this_segment->first, this_frame)); + + // get poses of child segments + for (vector::const_iterator child=this_segment->second.children.begin(); child !=this_segment->second.children.end(); child++) + addFrameToMap(q_in, p_out, this_frame, *child); + +} + + +} diff --git a/robot_state_publisher/test/pr2.urdf b/robot_state_publisher/test/pr2.urdf new file mode 100644 index 0000000..c19ab6c --- /dev/null +++ b/robot_state_publisher/test/pr2.urdf @@ -0,0 +1,3117 @@ + + + + + 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l_forearm_bumper + + + + + + true + + l_wrist_flex_link_geom + 100.0 + + true + 100.0 + l_wrist_flex_bumper + + + + + + + + + true + + l_wrist_roll_link_geom + 100.0 + + true + 100.0 + l_wrist_roll_bumper + + + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + + + -36.17 + + + + 90.5142857143 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + l_gripper_l_finger_link_geom + 100.0 + + true + 100.0 + l_gripper_l_finger_bumper + + + + + + + + + + + + + + + + true + + l_gripper_r_finger_link_geom + 100.0 + + true + 100.0 + l_gripper_r_finger_bumper + + + + + + + + + + + + + + + true + + + l_gripper_l_finger_tip_link_geom + 100.0 + + true + 100.0 + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + true + + + l_gripper_r_finger_tip_link_geom + 100.0 + + true + 100.0 + l_gripper_r_finger_tip_bumper + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + + + true + + l_gripper_palm_link_geom + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + true + + + + l_gripper_l_finger_tip_link + l_gripper_float_link + l_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + l_gripper_r_finger_tip_link + l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp new file mode 100644 index 0000000..0a2d122 --- /dev/null +++ b/robot_state_publisher/test/test_publisher.cpp @@ -0,0 +1,136 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include +#include +#include +#include +#include "robot_state_publisher/joint_state_listener.h" + + +using namespace ros; +using namespace tf; +using namespace robot_state_publisher; + + +int g_argc; +char** g_argv; + +#define EPS 0.01 + +class TestPublisher : public testing::Test +{ +public: + JointStateListener* publisher; + +protected: + /// constructor + TestPublisher() + { + // constructs a robot model from the xml file + urdf::Model robot_model; + if (g_argc == 2){ + if (!robot_model.initFile(g_argv[1])) + ROS_ERROR("Failed to construct robot model from xml string"); + } + else + ROS_ERROR("No robot model as argument given"); + + // constructs a kdl tree from the robot model + Tree tree; + if (!kdl_parser::treeFromRobotModel(robot_model, tree)) + ROS_ERROR("Failed to extract kdl tree from robot model"); + + publisher = new JointStateListener(tree); + } + + /// Destructor + ~TestPublisher() + { + delete publisher; + } +}; + + + + + +TEST_F(TestPublisher, test) +{ + ROS_INFO("Creating tf listener"); + TransformListener tf; + + ROS_INFO("Waiting for bag to complete"); + Duration(15.0).sleep(); + + ASSERT_TRUE(tf.canTransform("base_link", "torso_lift_link", Time())); + ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time())); + ASSERT_TRUE(tf.canTransform("base_link", "r_gripper_palm_link", Time())); + ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "r_gripper_palm_link", Time())); + ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time())); + ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time())); + + tf::Stamped t; + tf.lookupTransform("base_link", "r_gripper_palm_link",Time(), t ); + EXPECT_NEAR(t.getOrigin().x(), 0.769198, EPS); + EXPECT_NEAR(t.getOrigin().y(), -0.188800, EPS); + EXPECT_NEAR(t.getOrigin().z(), 0.764914, EPS); + + tf.lookupTransform("l_gripper_palm_link", "r_gripper_palm_link",Time(), t ); + EXPECT_NEAR(t.getOrigin().x(), 0.000384222, EPS); + EXPECT_NEAR(t.getOrigin().y(), -0.376021, EPS); + EXPECT_NEAR(t.getOrigin().z(), -1.0858e-05, EPS); + + SUCCEED(); +} + + + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_robot_state_publisher"); + ros::NodeHandle node; + boost::thread ros_thread(boost::bind(&ros::spin)); + + g_argc = argc; + g_argv = argv; + return RUN_ALL_TESTS(); +} diff --git a/robot_state_publisher/test/test_publisher.launch b/robot_state_publisher/test/test_publisher.launch new file mode 100644 index 0000000..2041edc --- /dev/null +++ b/robot_state_publisher/test/test_publisher.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/stack.xml b/stack.xml new file mode 100644 index 0000000..8aa3a36 --- /dev/null +++ b/stack.xml @@ -0,0 +1,15 @@ + + + These are robot_model-related packages. + + John Hsu johnhsu@willowgarage.com + BSD + + http://ros.org/wiki/robot_model + + + + + + + diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt new file mode 100644 index 0000000..fa9ab91 --- /dev/null +++ b/urdf/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +set(ROS_BUILD_TYPE Debug) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#genmsg() + +rosbuild_gensrv() + +#common commands for building c++ executables and libraries +rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) + +rosbuild_add_executable(parse_test test/parse_test.cpp) +target_link_libraries(parse_test ${PROJECT_NAME}) + +rosbuild_add_executable(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp) +rosbuild_add_gtest_build_flags(test_parser) +target_link_libraries(test_parser ${PROJECT_NAME}) +rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch) diff --git a/urdf/Makefile b/urdf/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/urdf/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/urdf/include/urdf/color.h b/urdf/include/urdf/color.h new file mode 100644 index 0000000..e3a7b3e --- /dev/null +++ b/urdf/include/urdf/color.h @@ -0,0 +1,96 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Josh Faust */ + +#ifndef URDF_COLOR_H +#define URDF_COLOR_H + +#include +#include +#include +#include +#include + +namespace urdf +{ + +class Color +{ +public: + Color() {this->clear();}; + float r; + float g; + float b; + float a; + + void clear() + { + r = g = b = 0.0f; + a = 1.0f; + } + bool init(const std::string &vector_str) + { + this->clear(); + std::vector pieces; + std::vector rgba; + boost::split( pieces, vector_str, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i) + { + if (!pieces[i].empty()) + { + ///@todo: do better atof check if string is a number + rgba.push_back(atof(pieces[i].c_str())); + } + } + + if (rgba.size() != 4) + { + ROS_ERROR("Color contains %i elements instead of 4 elements", (int)rgba.size()); + return false; + } + + this->r = rgba[0]; + this->g = rgba[1]; + this->b = rgba[2]; + this->a = rgba[3]; + + return true; + }; +}; + +} + +#endif + diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h new file mode 100644 index 0000000..3e08308 --- /dev/null +++ b/urdf/include/urdf/joint.h @@ -0,0 +1,204 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_JOINT_H +#define URDF_JOINT_H + +#include +#include +#include +#include + +#include "pose.h" + +namespace urdf{ + +class Link; + +class JointDynamics +{ +public: + JointDynamics() { this->clear(); }; + double damping; + double friction; + + void clear() + { + damping = 0; + friction = 0; + }; + bool initXml(TiXmlElement* config); +}; + +class JointLimits +{ +public: + JointLimits() { this->clear(); }; + double lower; + double upper; + double effort; + double velocity; + + void clear() + { + lower = 0; + upper = 0; + effort = 0; + velocity = 0; + }; + bool initXml(TiXmlElement* config); +}; + +class JointSafety +{ +public: + JointSafety() { this->clear(); }; + double soft_upper_limit; + double soft_lower_limit; + double k_position; + double k_velocity; + + void clear() + { + soft_upper_limit = 0; + soft_lower_limit = 0; + k_position = 0; + k_velocity = 0; + }; + bool initXml(TiXmlElement* config); +}; + + +class JointCalibration +{ +public: + JointCalibration() { this->clear(); }; + double reference_position; + + void clear() + { + reference_position = 0; + }; + bool initXml(TiXmlElement* config); +}; + +class JointMimic +{ +public: + JointMimic() { this->clear(); }; + double offset; + double multiplier; + std::string joint_name; + + void clear() + { + offset = 0; + multiplier = 0; + joint_name.clear(); + }; + bool initXml(TiXmlElement* config); +}; + + +class Joint +{ +public: + + Joint() { this->clear(); }; + + std::string name; + enum + { + UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED + } type; + + /// \brief type_ meaning of axis_ + /// ------------------------------------------------------ + /// UNKNOWN unknown type + /// REVOLUTE rotation axis + /// PRISMATIC translation axis + /// FLOATING N/A + /// PLANAR plane normal axis + /// FIXED N/A + Vector3 axis; + + /// child Link element + /// child link frame is the same as the Joint frame + std::string child_link_name; + + /// parent Link element + /// origin specifies the transform from Parent Link to Joint Frame + std::string parent_link_name; + /// transform from Parent Link frame to Joint frame + Pose parent_to_joint_origin_transform; + + /// @todo: should use weak pointer here + //boost::shared_ptr link; + //boost::shared_ptr parent_link; + + /// Joint Dynamics + boost::shared_ptr dynamics; + + /// Joint Limits + boost::shared_ptr limits; + + /// Unsupported Hidden Feature + boost::shared_ptr safety; + + /// Unsupported Hidden Feature + boost::shared_ptr calibration; + + /// Option to Mimic another Joint + boost::shared_ptr mimic; + + bool initXml(TiXmlElement* xml); + void clear() + { + this->axis.clear(); + this->child_link_name.clear(); + this->parent_link_name.clear(); + this->parent_to_joint_origin_transform.clear(); + this->dynamics.reset(); + this->limits.reset(); + this->safety.reset(); + this->calibration.reset(); + this->type = UNKNOWN; + }; +}; + +} + +#endif diff --git a/urdf/include/urdf/link.h b/urdf/include/urdf/link.h new file mode 100644 index 0000000..b5722fa --- /dev/null +++ b/urdf/include/urdf/link.h @@ -0,0 +1,238 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_LINK_H +#define URDF_LINK_H + +#include +#include +#include +#include + +#include "joint.h" +#include "color.h" + +namespace urdf{ + +class Geometry +{ +public: + enum {SPHERE, BOX, CYLINDER, MESH} type; + + virtual bool initXml(TiXmlElement *) = 0; + +}; + +class Sphere : public Geometry +{ +public: + Sphere() { this->clear(); }; + double radius; + + void clear() + { + radius = 0; + }; + bool initXml(TiXmlElement *); +}; + +class Box : public Geometry +{ +public: + Box() { this->clear(); }; + Vector3 dim; + + void clear() + { + dim.clear(); + }; + bool initXml(TiXmlElement *); +}; + +class Cylinder : public Geometry +{ +public: + Cylinder() { this->clear(); }; + double length; + double radius; + + void clear() + { + length = 0; + radius = 0; + }; + bool initXml(TiXmlElement *); +}; + +class Mesh : public Geometry +{ +public: + Mesh() { this->clear(); }; + std::string filename; + Vector3 scale; + + void clear() + { + filename.clear(); + // default scale + scale.x = 1; + scale.y = 1; + scale.z = 1; + }; + bool initXml(TiXmlElement *); +}; + +class Material +{ +public: + Material() { this->clear(); }; + std::string name; + std::string texture_filename; + Color color; + + void clear() + { + color.clear(); + texture_filename.clear(); + name.clear(); + }; + bool initXml(TiXmlElement* config); +}; + +class Inertial +{ +public: + Inertial() { this->clear(); }; + Pose origin; + double mass; + double ixx,ixy,ixz,iyy,iyz,izz; + + void clear() + { + origin.clear(); + mass = 0; + ixx = ixy = ixz = iyy = iyz = izz = 0; + }; + bool initXml(TiXmlElement* config); +}; + +class Visual +{ +public: + Visual() { this->clear(); }; + Pose origin; + boost::shared_ptr geometry; + + std::string material_name; + boost::shared_ptr material; + + void clear() + { + origin.clear(); + material_name.clear(); + material.reset(); + geometry.reset(); + }; + bool initXml(TiXmlElement* config); +}; + +class Collision +{ +public: + Collision() { this->clear(); }; + Pose origin; + boost::shared_ptr geometry; + + void clear() + { + origin.clear(); + geometry.reset(); + }; + bool initXml(TiXmlElement* config); +}; + + +class Link +{ +public: + Link() { this->clear(); }; + + std::string name; + + /// inertial element + boost::shared_ptr inertial; + + /// visual element + boost::shared_ptr visual; + + /// collision element + boost::shared_ptr collision; + + /// Parent Joint element + /// explicitly stating "parent" because we want directional-ness for tree structure + /// every link can have one parent + boost::shared_ptr parent_joint; + /// Get Parent Link throught the Parent Joint + boost::shared_ptr parent_link; + + std::vector > child_joints; + std::vector > child_links; + + bool initXml(TiXmlElement* config); + void setParent(boost::shared_ptr parent); + + void clear() + { + this->name.clear(); + this->inertial.reset(); + this->visual.reset(); + this->collision.reset(); + this->parent_joint.reset(); + this->parent_link.reset(); + this->child_joints.clear(); + this->child_links.clear(); + }; + void setParentJoint(boost::shared_ptr child); + void addChild(boost::shared_ptr child); + void addChildJoint(boost::shared_ptr child); +}; + + + + +} + +#endif diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h new file mode 100644 index 0000000..8a3fe37 --- /dev/null +++ b/urdf/include/urdf/model.h @@ -0,0 +1,111 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef ROBOT_MODEL_PARSER_H +#define ROBOT_MODEL_PARSER_H + +#include +#include +#include +#include +#include "link.h" + + +namespace urdf{ + + +class Model +{ +public: + Model(); + + bool initXml(TiXmlElement *xml); + bool initXml(TiXmlDocument *xml); + bool initFile(const std::string& filename); + bool initString(const std::string& xmlstring); + + boost::shared_ptr getRoot(void) const{return this->root_link_;}; + boost::shared_ptr getLink(const std::string& name) const; + boost::shared_ptr getJoint(const std::string& name) const; + const std::string& getName() const {return name_;}; + + void getLinks(std::vector >& links) const; + + /// Some accessor functions + boost::shared_ptr getParentLink(const std::string& name) const; + boost::shared_ptr getParentJoint(const std::string& name) const; + boost::shared_ptr getChildLink(const std::string& name) const; + boost::shared_ptr getChildJoint(const std::string& name) const; + + /// Every Robot Description File can be described as a + /// list of Links and Joints + /// The connection between links(nodes) and joints(edges) + /// should define a tree (i.e. 1 parent link, 0+ children links) + std::map > links_; + std::map > joints_; + std::map > materials_; + +private: + void clear(); + + std::string name_; + + /// non-const getLink() + void getLink(const std::string& name,boost::shared_ptr &link) const; + + /// non-const getMaterial() + boost::shared_ptr getMaterial(const std::string& name) const; + + /// in initXml(), onece all links are loaded, + /// it's time to build a tree + bool initTree(std::map &parent_link_tree); + + /// in initXml(), onece tree is built, + /// it's time to find the root Link + bool initRoot(std::map &parent_link_tree); + + + /// Model is restricted to a tree for now, which means there exists one root link + /// typically, root link is the world(inertial). Where world is a special link + /// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? + /// hmm... + boost::shared_ptr root_link_; + +}; + +} + +#endif diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h new file mode 100644 index 0000000..0b76258 --- /dev/null +++ b/urdf/include/urdf/pose.h @@ -0,0 +1,232 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef URDF_POSE_H +#define URDF_POSE_H + +#include +#include +#include +#include +#include + +namespace urdf{ + +class Vector3 +{ +public: + Vector3(double _x,double _y, double _z) {this->x=_x;this->y=_y;this->z=_z;}; + Vector3() {this->clear();}; + double x; + double y; + double z; + + void clear() {this->x=this->y=this->z=0.0;}; + bool init(const std::string &vector_str) + { + this->clear(); + std::vector pieces; + std::vector xyz; + boost::split( pieces, vector_str, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i){ + if (pieces[i] != ""){ + ///@todo: do better atof check if string is a number + xyz.push_back(atof(pieces[i].c_str())); + } + } + + if (xyz.size() != 3) { + ROS_ERROR("Vector contains %i elements instead of 3 elements", (int)xyz.size()); + return false; + } + + this->x = xyz[0]; + this->y = xyz[1]; + this->z = xyz[2]; + + return true; + }; +}; + +class Rotation +{ +public: + Rotation(double _x,double _y, double _z, double _w) {this->x=_x;this->y=_y;this->z=_z;this->w=_w;}; + Rotation() {this->clear();}; + void getQuaternion(double &quat_x,double &quat_y,double &quat_z, double &quat_w) + { + quat_x = this->x; + quat_y = this->y; + quat_z = this->z; + quat_w = this->w; + }; + void getRPY(double &roll,double &pitch,double &yaw) + { + double sqw; + double sqx; + double sqy; + double sqz; + + sqx = this->x * this->x; + sqy = this->y * this->y; + sqz = this->z * this->z; + sqw = this->w * this->w; + + roll = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz); + pitch = asin(-2 * (this->x*this->z - this->w*this->y)); + yaw = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz); + + }; + void setFromQuaternion(double quat_x,double quat_y,double quat_z,double quat_w) + { + this->x = quat_x; + this->y = quat_y; + this->z = quat_z; + this->w = quat_w; + this->normalize(); + }; + void setFromRPY(double roll, double pitch, double yaw) + { + double phi, the, psi; + + phi = roll / 2.0; + the = pitch / 2.0; + psi = yaw / 2.0; + + this->x = sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi); + this->y = cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi); + this->z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi); + this->w = cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi); + + this->normalize(); + }; + + double x,y,z,w; + + bool init(const std::string &rotation_str) + { + this->clear(); + + Vector3 rpy; + + if (!rpy.init(rotation_str)) + return false; + else + { + this->setFromRPY(rpy.x,rpy.y,rpy.z); + return true; + } + + }; + + void clear() { this->x=this->y=this->z=0.0;this->w=1.0; } + + void normalize() + { + double s = sqrt(this->x * this->x + + this->y * this->y + + this->z * this->z + + this->w * this->w); + this->x /= s; + this->y /= s; + this->z /= s; + this->w /= s; + }; +}; + +class Pose +{ +public: + Pose() { this->clear(); }; + + Vector3 position; + Rotation rotation; + + void clear() + { + this->position.clear(); + this->rotation.clear(); + }; + bool initXml(TiXmlElement* xml) + { + this->clear(); + if (!xml) + { + ROS_DEBUG("parsing pose: xml empty"); + return false; + } + else + { + const char* xyz_str = xml->Attribute("xyz"); + if (xyz_str == NULL) + { + ROS_DEBUG("parsing pose: no xyz, using default values."); + return true; + } + else + { + if (!this->position.init(xyz_str)) + { + ROS_ERROR("malformed xyz"); + this->position.clear(); + return false; + } + } + + const char* rpy_str = xml->Attribute("rpy"); + if (rpy_str == NULL) + { + ROS_DEBUG("parsing pose: no rpy, using default values."); + return true; + } + else + { + if (!this->rotation.init(rpy_str)) + { + ROS_ERROR("malformed rpy"); + return false; + this->rotation.clear(); + } + } + + return true; + } + }; +}; + +} + +#endif diff --git a/urdf/mainpage.dox b/urdf/mainpage.dox new file mode 100644 index 0000000..6b3d3b1 --- /dev/null +++ b/urdf/mainpage.dox @@ -0,0 +1,209 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b robot_model is ... + + + +\li RobotModel is a class containing robot model data structure. + +\li Below is an example Robot Description Describing a Parent Link "P", a Child Link "C", and a Joint "J" + +\li OLD URDF: + @verbatim + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @endverbatim +\li NEW URDF XML that corresponds to the current RobotModel data structure: + @verbatim + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @endverbatim + + + +\section codeapi Code API + + + +\section rosapi ROS API + + + + + + + + +*/ diff --git a/urdf/manifest.xml b/urdf/manifest.xml new file mode 100644 index 0000000..09294b4 --- /dev/null +++ b/urdf/manifest.xml @@ -0,0 +1,19 @@ + + + This package containt a parser for the Xml Robot Description Format (URDF). + + Wim Meeussen, John Hsu + BSD + + http://pr.willowgarage.com/wiki/urdf + + + + + + + + + + + diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp new file mode 100644 index 0000000..3f1cfce --- /dev/null +++ b/urdf/src/joint.cpp @@ -0,0 +1,387 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: John Hsu */ + +#include +#include + +namespace urdf{ + +bool JointDynamics::initXml(TiXmlElement* config) +{ + this->clear(); + + // Get joint damping + const char* damping_str = config->Attribute("damping"); + if (damping_str == NULL) + ROS_DEBUG("joint dynamics: no damping"); + else + this->damping = atof(damping_str); + + // Get joint friction + const char* friction_str = config->Attribute("friction"); + if (friction_str == NULL) + ROS_DEBUG("joint dynamics: no friction"); + else + this->friction = atof(friction_str); + + if (damping_str == NULL && friction_str == NULL) + { + ROS_ERROR("joint dynamics element specified with no damping and no friction"); + return false; + } + else{ + ROS_DEBUG("joint dynamics: damping %f and friction %f", damping, friction); + return true; + } +} + +bool JointLimits::initXml(TiXmlElement* config) +{ + this->clear(); + + // Get lower joint limit + const char* lower_str = config->Attribute("lower"); + if (lower_str == NULL) + ROS_DEBUG("joint limit: no lower"); + else + this->lower = atof(lower_str); + + // Get upper joint limit + const char* upper_str = config->Attribute("upper"); + if (upper_str == NULL) + ROS_DEBUG("joint limit: no upper"); + else + this->upper = atof(upper_str); + + // Get joint effort limit + const char* effort_str = config->Attribute("effort"); + if (effort_str == NULL) + ROS_DEBUG("joint limit: no effort"); + else + this->effort = atof(effort_str); + + // Get joint velocity limit + const char* velocity_str = config->Attribute("velocity"); + if (velocity_str == NULL) + ROS_DEBUG("joint limit: no velocity"); + else + this->velocity = atof(velocity_str); + + if (lower_str == NULL && upper_str == NULL && effort_str == NULL && velocity_str == NULL) + { + ROS_ERROR("joint limit element specified with no readable attributes"); + return false; + } + else + return true; +} + +bool JointSafety::initXml(TiXmlElement* config) +{ + this->clear(); + + // Get soft_lower_limit joint limit + const char* soft_lower_limit_str = config->Attribute("soft_lower_limit"); + if (soft_lower_limit_str == NULL) + { + ROS_DEBUG("joint safety: no soft_lower_limit, using default value"); + this->soft_lower_limit = 0; + } + else + this->soft_lower_limit = atof(soft_lower_limit_str); + + // Get soft_upper_limit joint limit + const char* soft_upper_limit_str = config->Attribute("soft_upper_limit"); + if (soft_upper_limit_str == NULL) + { + ROS_DEBUG("joint safety: no soft_upper_limit, using default value"); + this->soft_upper_limit = 0; + } + else + this->soft_upper_limit = atof(soft_upper_limit_str); + + // Get k_position_ safety "position" gain - not exactly position gain + const char* k_position_str = config->Attribute("k_position"); + if (k_position_str == NULL) + { + ROS_DEBUG("joint safety: no k_position, using default value"); + this->k_position = 0; + } + else + this->k_position = atof(k_position_str); + // Get k_velocity_ safety velocity gain + const char* k_velocity_str = config->Attribute("k_velocity"); + if (k_velocity_str == NULL) + { + ROS_DEBUG("joint safety: no k_velocity, using default value"); + this->k_velocity = 0; + } + else + this->k_velocity = atof(k_velocity_str); + + return true; +} + +bool JointCalibration::initXml(TiXmlElement* config) +{ + this->clear(); + + // Get reference_position + const char* reference_position_str = config->Attribute("reference_position"); + if (reference_position_str == NULL) + { + ROS_DEBUG("joint calibration: no reference_position, using default value"); + this->reference_position = 0; + } + else + this->reference_position = atof(reference_position_str); + + return true; +} + +bool JointMimic::initXml(TiXmlElement* config) +{ + this->clear(); + + // Get name of joint to mimic + const char* joint_name_str = config->Attribute("joint"); + if (joint_name_str == NULL) + { + ROS_WARN("joint mimic: no mimic joint specified"); + return false; + } + else + this->joint_name = joint_name_str; + + // Get mimic multiplier + const char* multiplier_str = config->Attribute("multiplier"); + if (multiplier_str == NULL) + { + ROS_DEBUG("joint mimic: no multiplier, using default value of 1"); + this->multiplier = 1; + } + else + this->multiplier = atof(multiplier_str); + + // Get mimic offset + const char* offset_str = config->Attribute("offset"); + if (offset_str == NULL) + { + ROS_DEBUG("joint mimic: no offset, using default value of 0"); + this->offset = 0; + } + else + this->offset = atof(offset_str); + + return true; +} + +bool Joint::initXml(TiXmlElement* config) +{ + this->clear(); + + // Get Joint Name + const char *name = config->Attribute("name"); + if (!name) + { + ROS_ERROR("unnamed joint found"); + return false; + } + this->name = name; + + // Get transform from Parent Link to Joint Frame + TiXmlElement *origin_xml = config->FirstChildElement("origin"); + if (!origin_xml) + { + ROS_DEBUG("Joint '%s' missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", this->name.c_str()); + this->parent_to_joint_origin_transform.clear(); + } + else + { + if (!this->parent_to_joint_origin_transform.initXml(origin_xml)) + { + ROS_ERROR("Malformed parent origin element for joint '%s'", this->name.c_str()); + this->parent_to_joint_origin_transform.clear(); + return false; + } + } + + // Get Parent Link + TiXmlElement *parent_xml = config->FirstChildElement("parent"); + if (parent_xml) + { + const char *pname = parent_xml->Attribute("link"); + if (!pname) + ROS_INFO("no parent link name specified for Joint link '%s'. this might be the root?", this->name.c_str()); + else + { + this->parent_link_name = std::string(pname); + + } + } + + // Get Child Link + TiXmlElement *child_xml = config->FirstChildElement("child"); + if (child_xml) + { + const char *pname = child_xml->Attribute("link"); + if (!pname) + ROS_INFO("no child link name specified for Joint link '%s'.", this->name.c_str()); + else + { + this->child_link_name = std::string(pname); + + } + } + + // Get Joint type + const char* type_char = config->Attribute("type"); + if (!type_char) + { + ROS_ERROR("joint '%s' has no type, check to see if it's a reference.", this->name.c_str()); + return false; + } + std::string type_str = type_char; + if (type_str == "planar") + type = PLANAR; + else if (type_str == "floating") + type = FLOATING; + else if (type_str == "revolute") + type = REVOLUTE; + else if (type_str == "continuous") + type = CONTINUOUS; + else if (type_str == "prismatic") + type = PRISMATIC; + else if (type_str == "fixed") + type = FIXED; + else + { + ROS_ERROR("Joint '%s' has no known type '%s'", this->name.c_str(), type_str.c_str()); + return false; + } + + // Get Joint Axis + if (this->type != FLOATING) + { + // axis + TiXmlElement *axis_xml = config->FirstChildElement("axis"); + if (axis_xml) + { + if (!axis_xml->Attribute("xyz")) + ROS_INFO("no xyz attribute for axis element for Joint link '%s', using default values", this->name.c_str()); + else + { + if (!this->axis.init(axis_xml->Attribute("xyz"))) + { + if (this->type == PLANAR) + ROS_DEBUG("PLANAR Joint '%s' will require an axis tag in the future which indicates the surface normal of the plane.", this->name.c_str()); + else + { + ROS_ERROR("Malformed axis element for joint '%s'", this->name.c_str()); + this->axis.clear(); + return false; + } + } + } + } + } + + // Get limit + TiXmlElement *limit_xml = config->FirstChildElement("limit"); + if (limit_xml) + { + limits.reset(new JointLimits); + if (!limits->initXml(limit_xml)) + { + ROS_ERROR("Could not parse limit element for joint '%s'", this->name.c_str()); + limits.reset(); + } + } + + // Get safety + TiXmlElement *safety_xml = config->FirstChildElement("safety_controller"); + if (safety_xml) + { + safety.reset(new JointSafety); + if (!safety->initXml(safety_xml)) + { + ROS_ERROR("Could not parse safety element for joint '%s'", this->name.c_str()); + safety.reset(); + } + } + + // Get calibration + TiXmlElement *calibration_xml = config->FirstChildElement("calibration"); + if (calibration_xml) + { + calibration.reset(new JointCalibration); + if (!calibration->initXml(calibration_xml)) + { + ROS_ERROR("Could not parse calibration element for joint '%s'", this->name.c_str()); + calibration.reset(); + } + } + + // Get Joint Mimic + TiXmlElement *mimic_xml = config->FirstChildElement("mimic"); + if (mimic_xml) + { + mimic.reset(new JointMimic); + if (!mimic->initXml(mimic_xml)) + { + ROS_WARN("Could not parse mimic element for joint '%s'", this->name.c_str()); + mimic.reset(); + } + } + + // Get Dynamics + TiXmlElement *prop_xml = config->FirstChildElement("dynamics"); + if (prop_xml) + { + dynamics.reset(new JointDynamics); + if (!dynamics->initXml(prop_xml)) + { + ROS_ERROR("Could not parse joint_dynamics element for joint '%s'", this->name.c_str()); + dynamics.reset(); + } + } + + return true; +} + + + +} diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp new file mode 100644 index 0000000..a979a67 --- /dev/null +++ b/urdf/src/link.cpp @@ -0,0 +1,434 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + + +#include "urdf/link.h" +#include + +namespace urdf{ + +boost::shared_ptr parseGeometry(TiXmlElement *g) +{ + boost::shared_ptr geom; + if (!g) return geom; + + TiXmlElement *shape = g->FirstChildElement(); + if (!shape) + { + ROS_ERROR("Geometry tag contains no child element."); + return geom; + } + + std::string type_name = shape->ValueStr(); + if (type_name == "sphere") + geom.reset(new Sphere); + else if (type_name == "box") + geom.reset(new Box); + else if (type_name == "cylinder") + geom.reset(new Cylinder); + else if (type_name == "mesh") + geom.reset(new Mesh); + else + { + ROS_ERROR("Unknown geometry type '%s'", type_name.c_str()); + return geom; + } + + if (!geom->initXml(shape)) + return geom; + + return geom; +} + +bool Material::initXml(TiXmlElement *config) +{ + bool has_rgb = false; + bool has_filename = false; + + this->clear(); + + if (!config->Attribute("name")) + { + ROS_ERROR("Material must contain a name attribute"); + return false; + } + + this->name = config->Attribute("name"); + + // texture + TiXmlElement *t = config->FirstChildElement("texture"); + if (t) + { + if (t->Attribute("filename")) + { + this->texture_filename = t->Attribute("filename"); + has_filename = true; + } + else + { + ROS_ERROR("texture has no filename for Material %s",this->name.c_str()); + } + } + + // color + TiXmlElement *c = config->FirstChildElement("color"); + if (c) + { + if (c->Attribute("rgba")) + { + if (!this->color.init(c->Attribute("rgba"))) + { + ROS_ERROR("Material %s has malformed color rgba values.",this->name.c_str()); + this->color.clear(); + return false; + } + else + has_rgb = true; + } + else + { + ROS_ERROR("Material %s color has no rgba",this->name.c_str()); + } + } + + return (has_rgb || has_filename); +} + +bool Inertial::initXml(TiXmlElement *config) +{ + this->clear(); + + // Origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (!o) + { + ROS_INFO("Origin tag not present for inertial element, using default (Identity)"); + this->origin.clear(); + } + else + { + if (!this->origin.initXml(o)) + { + ROS_ERROR("Inertial has a malformed origin tag"); + this->origin.clear(); + return false; + } + } + + TiXmlElement *mass_xml = config->FirstChildElement("mass"); + if (!mass_xml) + { + ROS_ERROR("Inertial element must have mass element"); + return false; + } + if (!mass_xml->Attribute("value")) + { + ROS_ERROR("Inertial: mass element must have value attributes"); + return false; + } + mass = atof(mass_xml->Attribute("value")); + + TiXmlElement *inertia_xml = config->FirstChildElement("inertia"); + if (!inertia_xml) + { + ROS_ERROR("Inertial element must have inertia element"); + return false; + } + if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") && + inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") && + inertia_xml->Attribute("izz"))) + { + ROS_ERROR("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes"); + return false; + } + ixx = atof(inertia_xml->Attribute("ixx")); + ixy = atof(inertia_xml->Attribute("ixy")); + ixz = atof(inertia_xml->Attribute("ixz")); + iyy = atof(inertia_xml->Attribute("iyy")); + iyz = atof(inertia_xml->Attribute("iyz")); + izz = atof(inertia_xml->Attribute("izz")); + + return true; +} + +bool Visual::initXml(TiXmlElement *config) +{ + this->clear(); + + // Origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (!o) + { + ROS_DEBUG("Origin tag not present for visual element, using default (Identity)"); + this->origin.clear(); + } + else if (!this->origin.initXml(o)) + { + ROS_ERROR("Visual has a malformed origin tag"); + this->origin.clear(); + return false; + } + + // Geometry + TiXmlElement *geom = config->FirstChildElement("geometry"); + geometry = parseGeometry(geom); + if (!geometry) + { + ROS_ERROR("Malformed geometry for Visual element"); + return false; + } + + // Material + TiXmlElement *mat = config->FirstChildElement("material"); + if (!mat) + { + ROS_DEBUG("visual element has no material tag."); + } + else + { + // get material name + if (!mat->Attribute("name")) + { + ROS_ERROR("Visual material must contain a name attribute"); + return false; + } + this->material_name = mat->Attribute("name"); + + // try to parse material element in place + this->material.reset(new Material); + if (!this->material->initXml(mat)) + { + ROS_DEBUG("Could not parse material element in Visual block, maybe defined outside."); + this->material.reset(); + } + else + { + ROS_DEBUG("Parsed material element in Visual block."); + } + } + + return true; +} + +bool Collision::initXml(TiXmlElement* config) +{ + this->clear(); + + // Origin + TiXmlElement *o = config->FirstChildElement("origin"); + if (!o) + { + ROS_INFO("Origin tag not present for collision element, using default (Identity)"); + this->origin.clear(); + } + else if (!this->origin.initXml(o)) + { + ROS_ERROR("Collision has a malformed origin tag"); + this->origin.clear(); + return false; + } + + // Geometry + TiXmlElement *geom = config->FirstChildElement("geometry"); + geometry = parseGeometry(geom); + if (!geometry) + { + ROS_ERROR("Malformed geometry for Collision element"); + return false; + } + + return true; +} + +bool Sphere::initXml(TiXmlElement *c) +{ + this->clear(); + + this->type = SPHERE; + if (!c->Attribute("radius")) + { + ROS_ERROR("Sphere shape must have a radius attribute"); + return false; + } + + radius = atof(c->Attribute("radius")); + return false; +} + +bool Box::initXml(TiXmlElement *c) +{ + this->clear(); + + this->type = BOX; + if (!c->Attribute("size")) + { + ROS_ERROR("Box shape has no size attribute"); + return false; + } + if (!dim.init(c->Attribute("size"))) + { + ROS_ERROR("Box shape has malformed size attribute"); + dim.clear(); + return false; + } + return true; +} + +bool Cylinder::initXml(TiXmlElement *c) +{ + this->clear(); + + this->type = CYLINDER; + if (!c->Attribute("length") || + !c->Attribute("radius")) + { + ROS_ERROR("Cylinder shape must have both length and radius attributes"); + return false; + } + + length = atof(c->Attribute("length")); + radius = atof(c->Attribute("radius")); + return true; +} + +bool Mesh::initXml(TiXmlElement *c) +{ + this->clear(); + + this->type = MESH; + if (!c->Attribute("filename")) + { + ROS_ERROR("Mesh must contain a filename attribute"); + return false; + } + + filename = c->Attribute("filename"); + + if (c->Attribute("scale")) + { + if (!this->scale.init(c->Attribute("scale"))) + { + ROS_ERROR("Mesh scale was specified, but could not be parsed"); + this->scale.clear(); + return false; + } + } + else + ROS_DEBUG("Mesh scale was not specified, default to (1,1,1)"); + + return true; +} + + +bool Link::initXml(TiXmlElement* config) +{ + this->clear(); + + const char *name_char = config->Attribute("name"); + if (!name_char) + { + ROS_ERROR("No name given for the link."); + return false; + } + name = std::string(name_char); + + // Inertial + TiXmlElement *i = config->FirstChildElement("inertial"); + if (i) + { + inertial.reset(new Inertial); + if (!inertial->initXml(i)) + { + ROS_ERROR("Could not parse inertial element for Link '%s'", this->name.c_str()); + inertial.reset(); + } + } + + // Visual + TiXmlElement *v = config->FirstChildElement("visual"); + if (v) + { + visual.reset(new Visual); + if (!visual->initXml(v)) + { + ROS_ERROR("Could not parse visual element for Link '%s'", this->name.c_str()); + visual.reset(); + } + } + + // Collision + TiXmlElement *col = config->FirstChildElement("collision"); + if (col) + { + collision.reset(new Collision); + if (!collision->initXml(col)) + { + ROS_ERROR("Could not parse collision element for Link '%s'", this->name.c_str()); + collision.reset(); + } + } + + return true; +} + +void Link::setParent(boost::shared_ptr parent) +{ + this->parent_link = parent; + ROS_DEBUG("set parent Link '%s' for Link '%s'", parent->name.c_str(), this->name.c_str()); +} + +void Link::setParentJoint(boost::shared_ptr parent) +{ + this->parent_joint = parent; + ROS_DEBUG("set parent joint '%s' to Link '%s'", parent->name.c_str(), this->name.c_str()); +} + +void Link::addChild(boost::shared_ptr child) +{ + this->child_links.push_back(child); + ROS_DEBUG("added child Link '%s' to Link '%s'", child->name.c_str(), this->name.c_str()); +} + +void Link::addChildJoint(boost::shared_ptr child) +{ + this->child_joints.push_back(child); + ROS_DEBUG("added child Joint '%s' to Link '%s'", child->name.c_str(), this->name.c_str()); +} + + + +} + diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp new file mode 100644 index 0000000..106e3d5 --- /dev/null +++ b/urdf/src/model.cpp @@ -0,0 +1,409 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include "urdf/model.h" + +namespace urdf{ + + +Model::Model() +{ + this->clear(); +} + +void Model::clear() +{ + name_.clear(); + this->links_.clear(); + this->joints_.clear(); + this->materials_.clear(); + this->root_link_.reset(); +} + + +bool Model::initFile(const std::string& filename) +{ + TiXmlDocument xml_doc; + xml_doc.LoadFile(filename); + + return initXml(&xml_doc); +} + + +bool Model::initString(const std::string& xml_string) +{ + TiXmlDocument xml_doc; + xml_doc.Parse(xml_string.c_str()); + + return initXml(&xml_doc); +} + + +bool Model::initXml(TiXmlDocument *xml_doc) +{ + if (!xml_doc) + { + ROS_ERROR("Could not parse the xml"); + return false; + } + + TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot"); + if (!robot_xml) + { + ROS_ERROR("Could not find the 'robot' element in the xml file"); + return false; + } + return initXml(robot_xml); +} + +bool Model::initXml(TiXmlElement *robot_xml) +{ + this->clear(); + + ROS_DEBUG("Parsing robot xml"); + if (!robot_xml) return false; + + // Get robot name + const char *name = robot_xml->Attribute("name"); + if (!name) + { + ROS_ERROR("No name given for the robot."); + return false; + } + this->name_ = std::string(name); + + // Get all Material elements + for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material")) + { + boost::shared_ptr material; + material.reset(new Material); + + if (material->initXml(material_xml)) + { + if (this->getMaterial(material->name)) + { + ROS_ERROR("material '%s' is not unique.", material->name.c_str()); + material.reset(); + return false; + } + else + { + this->materials_.insert(make_pair(material->name,material)); + ROS_DEBUG("successfully added a new material '%s'", material->name.c_str()); + } + } + else + { + ROS_ERROR("material xml is not initialized correctly"); + material.reset(); + } + } + + // Get all Link elements + for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) + { + boost::shared_ptr link; + link.reset(new Link); + + if (link->initXml(link_xml)) + { + if (this->getLink(link->name)) + { + ROS_ERROR("link '%s' is not unique.", link->name.c_str()); + link.reset(); + return false; + } + else + { + // set link visual material + ROS_DEBUG("setting link '%s' material", link->name.c_str()); + if (link->visual) + { + if (!link->visual->material_name.empty()) + { + if (this->getMaterial(link->visual->material_name)) + { + ROS_DEBUG("setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str()); + link->visual->material = this->getMaterial( link->visual->material_name.c_str() ); + } + else + { + if (link->visual->material) + { + ROS_DEBUG("link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str()); + this->materials_.insert(make_pair(link->visual->material->name,link->visual->material)); + } + else + { + ROS_ERROR("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str()); + link.reset(); + return false; + } + } + } + } + + this->links_.insert(make_pair(link->name,link)); + ROS_DEBUG("successfully added a new link '%s'", link->name.c_str()); + } + } + else + { + ROS_ERROR("link xml is not initialized correctly"); + link.reset(); + } + } + // Get all Joint elements + for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) + { + boost::shared_ptr joint; + joint.reset(new Joint); + + if (joint->initXml(joint_xml)) + { + if (this->getJoint(joint->name)) + { + ROS_ERROR("joint '%s' is not unique.", joint->name.c_str()); + joint.reset(); + return false; + } + else + { + this->joints_.insert(make_pair(joint->name,joint)); + ROS_DEBUG("successfully added a new joint '%s'", joint->name.c_str()); + } + } + else + { + ROS_ERROR("joint xml is not initialized correctly"); + joint.reset(); + } + } + + + // every link has children links and joints, but no parents, so we create a + // local convenience data structure for keeping child->parent relations + std::map parent_link_tree; + parent_link_tree.clear(); + + // building tree: name mapping + if (!this->initTree(parent_link_tree)) + { + ROS_ERROR("failed to build tree"); + return false; + } + + // find the root link + if (!this->initRoot(parent_link_tree)) + { + ROS_ERROR("failed to find root link"); + return false; + } + + return true; +} + +bool Model::initTree(std::map &parent_link_tree) +{ + // loop through all joints, for every link, assign children links and children joints + for (std::map >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) + { + std::string parent_link_name = joint->second->parent_link_name; + std::string child_link_name = joint->second->child_link_name; + + ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); + + /// add an empty "world" link + if (parent_link_name == "world") + { + if (this->getLink(parent_link_name)) + { + ROS_DEBUG(" parent link '%s' already exists.", parent_link_name.c_str()); + } + else + { + ROS_DEBUG(" parent link '%s' is a special case, adding fake link.", parent_link_name.c_str()); + boost::shared_ptr link; + link.reset(new Link); + link->name = "world"; + this->links_.insert(make_pair(link->name,link)); + ROS_DEBUG(" successfully added new link '%s'", link->name.c_str()); + } + } + + if (parent_link_name.empty()) + { + ROS_DEBUG(" Joint %s: does not have parent link name specified. Joint is an abstract joint.",(joint->second)->name.c_str()); + } + else if (child_link_name.empty()) + { + ROS_DEBUG(" Joint %s: does not have child link name specified. Joint is an abstract joint.",(joint->second)->name.c_str()); + } + else + { + // find parent link + boost::shared_ptr parent_link; + this->getLink(parent_link_name, parent_link); + + if (!parent_link) + { + ROS_ERROR(" parent link '%s' is not found", parent_link_name.c_str()); + return false; + } + else + { + // find child link + boost::shared_ptr child_link; + this->getLink(child_link_name, child_link); + + if (!child_link) + { + ROS_ERROR(" for joint: %s child link '%s' is not found",joint->first.c_str(),child_link_name.c_str()); + return false; + } + else + { + //set parent link for child link + child_link->setParent(parent_link); + + //set parent joint for child link + child_link->setParentJoint(joint->second); + + //set child joint for parent link + parent_link->addChildJoint(joint->second); + + //set child link for parent link + parent_link->addChild(child_link); + + // fill in child/parent string map + parent_link_tree[child_link->name] = parent_link_name; + + ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size()); + } + } + } + } + + return true; +} + + + +bool Model::initRoot(std::map &parent_link_tree) +{ + + this->root_link_.reset(); + + for (std::map::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++) + { + if (parent_link_tree.find(p->second) == parent_link_tree.end()) + { + if (this->root_link_) + { + ROS_DEBUG("child '%s', parent '%s', root '%s'", p->first.c_str(), p->second.c_str(), this->root_link_->name.c_str()); + if (this->root_link_->name != p->second) + { + ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), p->second.c_str()); + return false; + } + } + else + getLink(p->second,this->root_link_); + } + } + if (!this->root_link_) + { + ROS_ERROR("No root link found. The robot xml is empty or not a tree."); + return false; + } + ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str()); + + return true; +} + +boost::shared_ptr Model::getMaterial(const std::string& name) const +{ + boost::shared_ptr ptr; + if (this->materials_.find(name) == this->materials_.end()) + ptr.reset(); + else + ptr = this->materials_.find(name)->second; + return ptr; +} + +boost::shared_ptr Model::getLink(const std::string& name) const +{ + boost::shared_ptr ptr; + if (this->links_.find(name) == this->links_.end()) + ptr.reset(); + else + ptr = this->links_.find(name)->second; + return ptr; +} + +void Model::getLinks(std::vector >& links) const +{ + for (std::map >::const_iterator link = this->links_.begin();link != this->links_.end(); link++) + { + links.push_back(link->second); + } +} + +void Model::getLink(const std::string& name,boost::shared_ptr &link) const +{ + boost::shared_ptr ptr; + if (this->links_.find(name) == this->links_.end()) + ptr.reset(); + else + ptr = this->links_.find(name)->second; + link = ptr; +} + +boost::shared_ptr Model::getJoint(const std::string& name) const +{ + boost::shared_ptr ptr; + if (this->joints_.find(name) == this->joints_.end()) + ptr.reset(); + else + ptr = this->joints_.find(name)->second; + return ptr; +} + +} + diff --git a/urdf/test/parse_test.cpp b/urdf/test/parse_test.cpp new file mode 100644 index 0000000..93f6b6f --- /dev/null +++ b/urdf/test/parse_test.cpp @@ -0,0 +1,104 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include "urdf/model.h" +#include + +using namespace urdf; + +void printTree(boost::shared_ptr link,int level = 0) +{ + level+=2; + int count = 0; + for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + { + if (*child) + { + for(int j=0;jname + << " with mass: " << (*child)->inertial->mass + << std::endl; + // first grandchild + printTree(*child,level); + } + else + { + for(int j=0;jname << " has a null child!" << *child << std::endl; + } + } + +} + + +int main(int argc, char** argv) +{ + if (argc < 2){ + std::cerr << "Expect xml file to parse" << std::endl; + return -1; + } + TiXmlDocument robot_model_xml; + robot_model_xml.LoadFile(argv[1]); + TiXmlElement *robot_xml = robot_model_xml.FirstChildElement("robot"); + if (!robot_xml){ + std::cerr << "ERROR: Could not load the xml into TiXmlElement" << std::endl; + return -1; + } + + Model robot; + if (!robot.initXml(robot_xml)){ + std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; + return -1; + } + + std::cout << "robot name is: " << robot.getName() << std::endl; + + // get info from parser + std::cout << "---------- Finished Loading from Model XML, Now Checking Model structure ------------" << std::endl; + // get root link + boost::shared_ptr root_link=robot.getRoot(); + if (!root_link) return -1; + + std::cout << "root Link: " << root_link->name << std::endl; + if (!root_link->child_links.empty()) + std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " children" << std::endl; + + + // print entire tree + printTree(root_link); + return 0; +} + diff --git a/urdf/test/pr2_desc.xml b/urdf/test/pr2_desc.xml new file mode 100644 index 0000000..46efbc9 --- /dev/null +++ b/urdf/test/pr2_desc.xml @@ -0,0 +1,2542 @@ + + + + + + + + + + + + + + + + + + + true + 1000.0 + + + + + + true + 1.0 + 5 + -10.0 + 1.0 + 10.0 + 1200000.0 + diagnostic + battery_state + self_test + + + + + true + 1000.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_l_wheel_collision + 100.0 + + true + 100.0 + fl_caster_l_wheel_bumper + + + + + + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_r_wheel_collision + 100.0 + + true + 100.0 + fl_caster_r_wheel_bumper + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fr_caster_l_wheel_collision + 100.0 + + true + 100.0 + fr_caster_l_wheel_bumper + + + + + + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fr_caster_r_wheel_collision + 100.0 + + true + 100.0 + fr_caster_r_wheel_bumper + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + bl_caster_l_wheel_collision + 100.0 + + true + 100.0 + bl_caster_l_wheel_bumper + + + + + + + + + + + + + + 75.05 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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r_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + r_gripper_r_finger_tip_link + r_gripper_float_link + r_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + r_gripper_palm_link + r_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + l_shoulder_pan_collision + 100.0 + + true + 100.0 + l_shoulder_pan_bumper + + + + + true + + + + + l_shoulder_lift_collision_geom + 100.0 + + 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l_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + l_gripper_r_finger_tip_link + l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_bracket.xml b/urdf/test/pr2_desc_bracket.xml new file mode 100644 index 0000000..d0caaa8 --- /dev/null +++ b/urdf/test/pr2_desc_bracket.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_double.xml b/urdf/test/pr2_desc_double.xml new file mode 100644 index 0000000..10bbd4c --- /dev/null +++ b/urdf/test/pr2_desc_double.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_double_joint.xml b/urdf/test/pr2_desc_double_joint.xml new file mode 100644 index 0000000..2974a7a --- /dev/null +++ b/urdf/test/pr2_desc_double_joint.xml @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_loop.xml b/urdf/test/pr2_desc_loop.xml new file mode 100644 index 0000000..ab21024 --- /dev/null +++ b/urdf/test/pr2_desc_loop.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_no_joint.xml b/urdf/test/pr2_desc_no_joint.xml new file mode 100644 index 0000000..0f17fe0 --- /dev/null +++ b/urdf/test/pr2_desc_no_joint.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_no_joint2.xml b/urdf/test/pr2_desc_no_joint2.xml new file mode 100644 index 0000000..7b37fbe --- /dev/null +++ b/urdf/test/pr2_desc_no_joint2.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_parent_itself.xml b/urdf/test/pr2_desc_parent_itself.xml new file mode 100644 index 0000000..5eda24d --- /dev/null +++ b/urdf/test/pr2_desc_parent_itself.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc_two_trees.xml b/urdf/test/pr2_desc_two_trees.xml new file mode 100644 index 0000000..415e74c --- /dev/null +++ b/urdf/test/pr2_desc_two_trees.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp new file mode 100644 index 0000000..efef0fb --- /dev/null +++ b/urdf/test/test_robot_model_parser.cpp @@ -0,0 +1,98 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include "urdf/model.h" + +// Including ros, just to be able to call ros::init(), to remove unwanted +// args from command-line. +#include + +using namespace urdf; + +int g_argc; +char** g_argv; + +class TestParser : public testing::Test +{ +public: + Model robot; + +protected: + /// constructor + TestParser() + { + } + + + /// Destructor + ~TestParser() + { + } +}; + + + + +TEST_F(TestParser, test) +{ + for (int i=1; i + + From c30e3247121f976bcdccd31d38285c756f387361 Mon Sep 17 00:00:00 2001 From: meeussen Date: Wed, 9 Sep 2009 00:28:23 +0000 Subject: [PATCH 002/245] tf publishes on new topic: \tf. See ticket #2381 --- robot_state_publisher/src/robot_state_publisher.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index bc996a1..d214eaa 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -56,7 +56,7 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree) solver_.reset(new TreeFkSolverPosFull_recursive(tree_)); // advertise tf message - tf_publisher_ = n_.advertise("/tf_message", 5); + tf_publisher_ = n_.advertise("/tf", 5); tf_msg_.transforms.resize(tree.getNrOfSegments()-1); // get the 'real' root segment of the tree, which is the first child of "root" From 4e72237dee5248dda44cfc1b920e95cf76285ae2 Mon Sep 17 00:00:00 2001 From: meeussen Date: Wed, 9 Sep 2009 16:45:42 +0000 Subject: [PATCH 003/245] make robot state publisher compabible with ros 0.8 --- robot_state_publisher/src/joint_state_listener.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 3ef26a1..89ba292 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -46,16 +46,16 @@ using namespace robot_state_publisher; JointStateListener::JointStateListener(const KDL::Tree& tree) - : publish_rate_(0.0), state_publisher_(tree) + : n_("~"), publish_rate_(0.0), state_publisher_(tree) { // set publish frequency double publish_freq; - n_.param("~publish_frequency", publish_freq, 50.0); + n_.param("publish_frequency", publish_freq, 50.0); publish_rate_ = Rate(publish_freq); // subscribe to mechanism state string joint_state_topic; - n_.param("~joint_state_topic", joint_state_topic, string("joint_states")); + n_.param("joint_state_topic", joint_state_topic, string("/joint_states")); joint_state_sub_ = n_.subscribe(joint_state_topic, 1, &JointStateListener::callbackJointState, this);; }; From 9d943ae2222a4ee6a84245fc5118179126df8f88 Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 10 Sep 2009 01:04:59 +0000 Subject: [PATCH 004/245] updating to release 0.2 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 84534d8..cd2f50e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.1.0) +rosbuild_make_distribution(0.2.0) From 0bef72740924f185fd81371a01dfbb1a007fbf03 Mon Sep 17 00:00:00 2001 From: jfaust Date: Fri, 18 Sep 2009 01:16:00 +0000 Subject: [PATCH 005/245] Remove ros/node.h inclusion --- robot_state_publisher/test/test_publisher.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp index 0a2d122..3255e3a 100644 --- a/robot_state_publisher/test/test_publisher.cpp +++ b/robot_state_publisher/test/test_publisher.cpp @@ -36,7 +36,7 @@ #include #include -#include +#include #include #include #include From 0e2f7794aa2f99850e2fab9050e4647b50afa3c4 Mon Sep 17 00:00:00 2001 From: meeussen Date: Tue, 22 Sep 2009 18:59:19 +0000 Subject: [PATCH 006/245] remove pr2 urdf file --- kdl_parser/pr2.urdf | 2542 ------------------------------------------- 1 file changed, 2542 deletions(-) delete mode 100644 kdl_parser/pr2.urdf diff --git a/kdl_parser/pr2.urdf b/kdl_parser/pr2.urdf deleted file mode 100644 index 45e35f9c..0000000 --- a/kdl_parser/pr2.urdf +++ /dev/null @@ -1,2542 +0,0 @@ - - - - - - - - - - - - - - - - - - - true - 1000.0 - - - - - - true - 1.0 - 5 - -10.0 - 1.0 - 10.0 - 1200000.0 - diagnostic - battery_state - self_test - - - - - true - 1000.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - fl_caster_l_wheel_collision - 100.0 - - true - 100.0 - fl_caster_l_wheel_bumper - - - - - - - - - - - - - - 75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - fl_caster_r_wheel_collision - 100.0 - - true - 100.0 - fl_caster_r_wheel_bumper - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - fr_caster_l_wheel_collision - 100.0 - - true - 100.0 - fr_caster_l_wheel_bumper - - - - - - - - - - - - - - 75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - fr_caster_r_wheel_collision - 100.0 - - true - 100.0 - fr_caster_r_wheel_bumper - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - bl_caster_l_wheel_collision - 100.0 - - true - 100.0 - bl_caster_l_wheel_bumper - - - - - - - - - - - - - - 75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - bl_caster_r_wheel_collision - 100.0 - - true - 100.0 - bl_caster_r_wheel_bumper - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - br_caster_l_wheel_collision - 100.0 - - true - 100.0 - br_caster_l_wheel_bumper - - - - - - - - - - - - - - 75.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - br_caster_r_wheel_collision - 100.0 - - true - 100.0 - br_caster_r_wheel_bumper - - - - - - - - - - - - - - -75.05 - - - base_collision - 100.0 - - true - 100.0 - base_bumper - - - - - - - - - - true - 100.0 - base_link - base_pose_ground_truth - 0.01 - map - 25.7 25.7 0 - 0 0 0 - - - - - 640 - 640 - 1 - 0.0 0.0 0.0 - false - - -100 - 100 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser - - - - - - - - true - 100.0 - plug_magnet - plug_magnet_pose_ground_truth - 0.01 - map - 0 0 0 - 0 0 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -52143.33 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - r_shoulder_pan_collision - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - - true - - - - - r_shoulder_lift_collision_geom - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - r_upper_arm_collision_geom - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - - true - - - - r_elbow_flex_collision_geom - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - - - - true - - - - true - - true - - r_forearm_collision - 100.0 - - true - 100.0 - r_forearm_bumper - - - - - - true - - r_wrist_flex_collision - 100.0 - - true - 100.0 - r_wrist_flex_bumper - - - - - - - - true - - r_wrist_roll_collision - 100.0 - - true - 100.0 - r_wrist_roll_bumper - - - - - - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - -36.17 - - - - 90.5142857143 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - r_gripper_l_finger_collision - 100.0 - - true - 100.0 - r_gripper_l_finger_bumper - - - - - - - - - - - - - - - true - - r_gripper_r_finger_collision - 100.0 - - true - 100.0 - r_gripper_r_finger_bumper - - - - - - - - - - - - - - - - - - true - - - r_gripper_l_finger_tip_collision - 100.0 - - true - 100.0 - r_gripper_l_finger_tip_bumper - - - - - - - - - - - - - - - - - true - - - r_gripper_r_finger_tip_collision - 100.0 - - true - 100.0 - r_gripper_r_finger_tip_bumper - - - - - - - - - - - - - - - - - true - 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_pose_ground_truth - 0.0 - map - - - - true - 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_force_ground_truth - r_gripper_l_finger_link - - - - - - - - - - - - - - - - true - - r_gripper_palm_collision - 100.0 - - true - 100.0 - r_gripper_palm_bumper - - - - - - true - - - r_gripper_l_finger_tip_link - r_gripper_float_link - r_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - r_gripper_r_finger_tip_link - r_gripper_float_link - r_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - - true - 100.0 - r_gripper_palm_link - r_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l_shoulder_pan_collision - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - - true - - - - - l_shoulder_lift_collision_geom - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - l_upper_arm_collision_geom - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - - true - - - - l_elbow_flex_collision_geom - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - - - - true - - - - true - - true - - l_forearm_collision - 100.0 - - true - 100.0 - l_forearm_bumper - - - - - - true - - l_wrist_flex_collision - 100.0 - - true - 100.0 - l_wrist_flex_bumper - - - - - - - - true - - l_wrist_roll_collision - 100.0 - - true - 100.0 - l_wrist_roll_bumper - - - - - - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - -36.17 - - - - 90.5142857143 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - l_gripper_l_finger_collision - 100.0 - - true - 100.0 - l_gripper_l_finger_bumper - - - - - - - - - - - - - - - true - - l_gripper_r_finger_collision - 100.0 - - true - 100.0 - l_gripper_r_finger_bumper - - - - - - - - - - - - - - - - - - true - - - l_gripper_l_finger_tip_collision - 100.0 - - true - 100.0 - l_gripper_l_finger_tip_bumper - - - - - - - - - - - - - - - - - true - - - l_gripper_r_finger_tip_collision - 100.0 - - true - 100.0 - l_gripper_r_finger_tip_bumper - - - - - - - - - - - - - - - - - true - 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_pose_ground_truth - 0.0 - map - - - - true - 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - - - - - - - - - - - true - - l_gripper_palm_collision - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - true - - - l_gripper_l_finger_tip_link - l_gripper_float_link - l_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - l_gripper_r_finger_tip_link - l_gripper_float_link - l_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - - true - 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - true - - - - - - - - - - - - - - - - - - - - - From ab45fcb1f79cbbf0fc2417d045b916385a9c9715 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 22 Sep 2009 22:33:00 +0000 Subject: [PATCH 007/245] update urdf api review status --- urdf/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/manifest.xml b/urdf/manifest.xml index 09294b4..7a41c5a 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -4,7 +4,7 @@ Wim Meeussen, John Hsu BSD - + http://pr.willowgarage.com/wiki/urdf From 3b4cca5502d12aa878a323f73a10779300e39513 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 22 Sep 2009 22:47:49 +0000 Subject: [PATCH 008/245] update comment. --- convex_decomposition/manifest.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index b061753..4966ea7 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -3,6 +3,10 @@ Convex Mesh Generation Library +This package is used to auto generate convex decomposed meshes for collision and visualization of robot links. +We are using the latest and the only version available. We plan on deprecating this package once we find a better +alternative. + John Ratcliff MIT From 29b6edeafb27695e063bc357d3835334d11f6d05 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 22 Sep 2009 22:58:47 +0000 Subject: [PATCH 009/245] udpate manifest comments. --- convex_decomposition/manifest.xml | 6 ++++-- ivcon/manifest.xml | 4 ++++ 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index 4966ea7..b74c13a 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -4,8 +4,10 @@ Convex Mesh Generation Library This package is used to auto generate convex decomposed meshes for collision and visualization of robot links. -We are using the latest and the only version available. We plan on deprecating this package once we find a better -alternative. +We are using the latest and the only version available. We plan on deprecating this package once we find a better alternative. +This package is not provided by any of the major OS package managers, so it is downloaded as a zipped archive. +There are local patches needed for this package to compile. No plans for submitting the patches back to the author since there appears to be no revision control for the package. +There are no local modifications to this package. John Ratcliff diff --git a/ivcon/manifest.xml b/ivcon/manifest.xml index 2f770e0..6cb1109 100644 --- a/ivcon/manifest.xml +++ b/ivcon/manifest.xml @@ -3,6 +3,10 @@ Mesh Conversion Utility +Used to generate '.iv' files from '.stl' files. This package has not been changed since 2001 and appears to be very stable. We plan on keeping this package in this revision for mesh conversions. +This package is only available as a single source file for download. +There are no local modifications to this package. + John Burkardt GPL From 50df33fc7b61664b0a4045c4f64d01ff58d44ab6 Mon Sep 17 00:00:00 2001 From: meeussen Date: Tue, 22 Sep 2009 23:18:03 +0000 Subject: [PATCH 010/245] update api doc --- .../include/robot_state_publisher/joint_state_listener.h | 5 +++++ .../robot_state_publisher/robot_state_publisher.h | 9 +++++++++ 2 files changed, 14 insertions(+) diff --git a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h index ef2f4fe..d07d1ac 100644 --- a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h +++ b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h @@ -52,7 +52,12 @@ namespace robot_state_publisher{ class JointStateListener{ public: + /** Constructor + * \param tree The kinematic model of a robot, represented by a KDL Tree + */ JointStateListener(const KDL::Tree& tree); + + /// Destructor ~JointStateListener(); private: diff --git a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h index 781082c..755c288 100644 --- a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h +++ b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h @@ -48,9 +48,18 @@ namespace robot_state_publisher{ class RobotStatePublisher { public: + /** Constructor + * \param tree The kinematic model of a robot, represented by a KDL Tree + */ RobotStatePublisher(const KDL::Tree& tree); + + /// Destructor ~RobotStatePublisher(){}; + /** Publish transforms to tf + * \param joint_positions A map of joint names and joint positions. + * \param time The time at which the joint positions were recorded + */ bool publishTransforms(const std::map& joint_positions, const ros::Time& time); private: From f3e3ecec0b137d984cc16722f4b36f8c0033e3b2 Mon Sep 17 00:00:00 2001 From: meeussen Date: Tue, 22 Sep 2009 23:20:11 +0000 Subject: [PATCH 011/245] add mainpage --- robot_state_publisher/doc.dox | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 robot_state_publisher/doc.dox diff --git a/robot_state_publisher/doc.dox b/robot_state_publisher/doc.dox new file mode 100644 index 0000000..ed23c6a --- /dev/null +++ b/robot_state_publisher/doc.dox @@ -0,0 +1,10 @@ +/** +@mainpage + +@htmlinclude manifest.html + +This package contains the robot state publisher, which can be used as a library or as a ROS node. + \li LIbrary use: robot_state_publisher::RobotStatePublisher + \li Node use: robot_state_publisher::JointStateListener + +**/ From 3105a9f3863eaac8af020719641c43b7ac35bcd9 Mon Sep 17 00:00:00 2001 From: meeussen Date: Tue, 22 Sep 2009 23:37:53 +0000 Subject: [PATCH 012/245] add deprecate warning at compile and at run time. Update regression tests to dom parser --- kdl_parser/include/kdl_parser/dom_parser.hpp | 7 + kdl_parser/include/kdl_parser/xml_parser.hpp | 2 + kdl_parser/src/xml_parser.cpp | 4 +- kdl_parser/test/pr2_desc.xml | 4499 +++++++----------- kdl_parser/test/test_kdl_parser.cpp | 12 +- 5 files changed, 1768 insertions(+), 2756 deletions(-) diff --git a/kdl_parser/include/kdl_parser/dom_parser.hpp b/kdl_parser/include/kdl_parser/dom_parser.hpp index 2e91c47..31d6af4 100644 --- a/kdl_parser/include/kdl_parser/dom_parser.hpp +++ b/kdl_parser/include/kdl_parser/dom_parser.hpp @@ -45,9 +45,16 @@ using namespace std; namespace kdl_parser{ +/// Constructs a KDL tree from a file, given the file name bool treeFromFile(const string& file, KDL::Tree& tree); + +/// Constructs a KDL tree from a string containing xml bool treeFromString(const string& xml, KDL::Tree& tree); + +/// Constructs a KDL tree from a TiXmlDocument bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree); + +/// Constructs a KDL tree from a URDF robot model bool treeFromRobotModel(urdf::Model& robot_model, KDL::Tree& tree); } diff --git a/kdl_parser/include/kdl_parser/xml_parser.hpp b/kdl_parser/include/kdl_parser/xml_parser.hpp index 89e77e9..4ab0eb1 100644 --- a/kdl_parser/include/kdl_parser/xml_parser.hpp +++ b/kdl_parser/include/kdl_parser/xml_parser.hpp @@ -37,6 +37,8 @@ #ifndef XML_PARSER_H #define XML_PARSER_H +#warning ____YOU ARE INCLUDING THE DEPRECATED KDL PARSER. PLEASE SWITCH TO THE NEW KDL PARSER. SEE www.ros.org/wiki/kdl_parser FOR DETAILS____ + #include #include #include diff --git a/kdl_parser/src/xml_parser.cpp b/kdl_parser/src/xml_parser.cpp index 785577a..b5336ca 100644 --- a/kdl_parser/src/xml_parser.cpp +++ b/kdl_parser/src/xml_parser.cpp @@ -36,7 +36,7 @@ #include #include "kdl_parser/xml_parser.hpp" - +#include using namespace std; namespace KDL{ @@ -265,6 +265,8 @@ void addChildrenToTree(const string& root, const map& segments, bool getTree(TiXmlElement *robot_xml, Tree& tree) { + ROS_ERROR("You are using the deprecated kdl parser. Please update to the new kdl parser. See www.ros.org/wiki/kdl_parser for more details"); + cout << "Parsing robot xml" << endl; if (!robot_xml) return false; diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index 59c6e66..46efbc9 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -4,17 +4,16 @@ - - - - - - - - - - - + + + + + + + + + + true @@ -42,140 +41,116 @@ 1000.0 + - - - - - - + - + + + - - + + - - - - - - - + + + + - - - + + + - - - - base_collision - 100.0 - - true - 100.0 - base_bumper - - - - - - - - - - - + + + + + - + - - - - - - - + + + + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - - - - 640 - 640 - 1 - 0.0 0.0 0.0 - false - - -100 - 100 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser - - - - - - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -183,148 +158,133 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fl_caster_l_wheel_collision - 100.0 - - true - 100.0 - fl_caster_l_wheel_bumper - - - - - - + + + fl_caster_l_wheel_collision + 100.0 + + true + 100.0 + fl_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fl_caster_r_wheel_collision - 100.0 - - true - 100.0 - fl_caster_r_wheel_bumper - - - - - - + + + fl_caster_r_wheel_collision + 100.0 + + true + 100.0 + fl_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -332,148 +292,133 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fr_caster_l_wheel_collision - 100.0 - - true - 100.0 - fr_caster_l_wheel_bumper - - - - - - + + + fr_caster_l_wheel_collision + 100.0 + + true + 100.0 + fr_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - fr_caster_r_wheel_collision - 100.0 - - true - 100.0 - fr_caster_r_wheel_bumper - - - - - - + + + fr_caster_r_wheel_collision + 100.0 + + true + 100.0 + fr_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -481,148 +426,133 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - bl_caster_l_wheel_collision - 100.0 - - true - 100.0 - bl_caster_l_wheel_bumper - - - - - - + + + bl_caster_l_wheel_collision + 100.0 + + true + 100.0 + bl_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - bl_caster_r_wheel_collision - 100.0 - - true - 100.0 - bl_caster_r_wheel_bumper - - - - - - + + + bl_caster_r_wheel_collision + 100.0 + + true + 100.0 + bl_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - + - - - - - - + + + + - + + + - + - + - - - - - + + - + - + @@ -630,2909 +560,1980 @@ -75.05 - + + + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - br_caster_l_wheel_collision - 100.0 - - true - 100.0 - br_caster_l_wheel_bumper - - - - - - + + + br_caster_l_wheel_collision + 100.0 + + true + 100.0 + br_caster_l_wheel_bumper + + + + + + + + + + + 75.05 - + - - - - - - - + + + + + + - + - + - - - - - - + + - + - + - - - - - - - - - - br_caster_r_wheel_collision - 100.0 - - true - 100.0 - br_caster_r_wheel_bumper - - - - - - + + + br_caster_r_wheel_collision + 100.0 + + true + 100.0 + br_caster_r_wheel_bumper + + + + + + + + + + + -75.05 - - - + + + base_collision + 100.0 + true 100.0 - base_link - base_pose_ground_truth - 0.01 - map - 25.7 25.7 0 - 0 0 0 - - - - + base_bumper + + + + + + + + + + true + 100.0 + base_link + base_pose_ground_truth + 0.01 + map + 25.7 25.7 0 + 0 0 0 + + + + + 640 + 640 + 1 + 0.0 0.0 0.0 + false + + -100 + 100 + + 0.05 + 10.0 + 0.01 + 20.0 + + 0.005 + true + 20.0 + base_scan + base_laser + + + + + + + + true + 100.0 + plug_magnet + plug_magnet_pose_ground_truth + 0.01 + map + 0 0 0 + 0 0 0 + + + + + + + - - - - - - - -52143.33 - - + + + + + + - + + + - + - + - - - - - + + - + - + - - - - torso_lift_collision - 100.0 - - true - 100.0 - torso_lift_bumper - - - - - - + + + + -52143.33 + + + - - - - - - - 6.0 - - + + + + - + + + + - + - + - - - - - + + - + - + - - - - - - - - + + + + + 6.0 - - + + + + + + + + - + + + + - + - + - - - - - + + - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1024 800 - 60 - 0.1 - 100 - 20.0 - - true - 20.0 - /prosilica/cam_info - /prosilica/image - /prosilica/image_rect - /prosilica/image_rect - high_def_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - stereo/left_image - stereo_l_stereo_camera_frame - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - stereo/right_image - stereo_r_stereo_camera_frame - - - - - - - - - true - 20.0 - stereo_l_sensor - stereo_r_sensor - stereo/raw_stereo - stereo_optical_frame - 320 - 320 - 240 - 320 - 0 - 0 - 0 - 0 - 0 - -0.09 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + 6.0 - - - - - - - + + + + + + - - - + + + - + - - + + - + - - + + + + + + + - - - - 640 - 640 - 1 - - 0.0 0.0 0.0 - false - - -80 - 80 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - tilt_scan - laser_tilt_link - - - - - - - + + + + + + + + + + + + + - - + + + + + + - - - - - - - - + + - + - + + - - - - - + + + - - - - + + + + + - - - - r_shoulder_pan_collision - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - - - - true - - - - - 63.16 - + - - - - - - - - - - - + + + + + - + + + + - + - + + - - - - - + + + - - - - + + + + + - - - - r_shoulder_lift_collision - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - - - - - true - - - - - 61.89 - + - - - - - - - - - - - - - - + + + + + + + + + - + - + + - - - - - + + - + + - + - - true - - - - - 32.65 - - + - + + + - + - + - - - - - + + - - - - + + + + - - - - r_upper_arm_collision - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - r_elbow_flex_collision - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - - - - true - - - - - -36.17 - - - - - + - - - + + + - - - - - - - + + + + + - + - + - - - - - + + - + - + - - true - - - - - 90.5142857143 - - + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - r_forearm_collision - 100.0 - - true - 100.0 - r_forearm_bumper - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - r_wrist_flex_collision - 100.0 - - true - 100.0 - r_wrist_flex_bumper - - - - - - - true - - + - + - - - - - - - + + + - + - + - - - - - + + - + - + - - - - r_wrist_roll_collision - 100.0 - - true - 100.0 - r_wrist_roll_bumper - - - - - - - true - - + + + r_shoulder_pan_collision + 100.0 + + true + 100.0 + r_shoulder_pan_bumper + + + + + true + + + + + r_shoulder_lift_collision_geom + 100.0 + + true + 100.0 + r_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + r_upper_arm_collision_geom + 100.0 + + true + 100.0 + r_upper_arm_bumper + + + + true + + + + r_elbow_flex_collision_geom + 100.0 + + true + 100.0 + r_elbow_flex_bumper + + + + + + + true + + + + true + + true + + r_forearm_collision + 100.0 + + true + 100.0 + r_forearm_bumper + + + + + + true + + r_wrist_flex_collision + 100.0 + + true + 100.0 + r_wrist_flex_bumper + + + + + + + + true + + r_wrist_roll_collision + 100.0 + + true + 100.0 + r_wrist_roll_bumper + + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + + + -36.17 + + + + 90.5142857143 + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - - - - - + + + + - - - - - - - r_gripper_palm_collision - 100.0 - - true - 100.0 - r_gripper_palm_bumper - - - - - - - true - - - - - true - 100.0 - r_gripper_palm_link - r_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - + - + - - true - - - - - true - 100.0 - r_gripper_tool_frame - r_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - + - - - - - - - - - - - - - - - - - + + + + + + + + + - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_l_finger_collision - 100.0 - - true - 100.0 - r_gripper_l_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_r_finger_collision - 100.0 - - true - 100.0 - r_gripper_r_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_l_finger_tip_collision - 100.0 - - true - 100.0 - r_gripper_l_finger_tip_bumper - - - - - - - true - - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - r_gripper_r_finger_tip_collision - 100.0 - - true - 100.0 - r_gripper_r_finger_tip_bumper - - - - - - - true - - - - - - - - - + + true + + r_gripper_l_finger_collision + 100.0 + true 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_pose_ground_truth - 0.0 - map - - - + r_gripper_l_finger_bumper + + + + + + + + + + + + + + + true + + r_gripper_r_finger_collision + 100.0 + true 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_force_ground_truth - r_gripper_l_finger_link - - - - - - + + + + + true + + + r_gripper_l_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_pose_ground_truth - 0.0 - map - - - + r_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + + + r_gripper_r_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_force_ground_truth - map - - - --> - - - - - - - - - - - - - - - - - - - - - - - - - + r_gripper_r_finger_tip_bumper + + + + + + + + + + + + + + + + + true + 100.0 + r_gripper_l_finger_link + r_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + r_gripper_l_finger_link + r_gripper_l_finger_force_ground_truth + r_gripper_l_finger_link + + + + + + + + + + + - - + + + + true + + r_gripper_palm_collision + 100.0 + + true + 100.0 + r_gripper_palm_bumper + + + + + + true + + + r_gripper_l_finger_tip_link + r_gripper_float_link + r_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + r_gripper_r_finger_tip_link + r_gripper_float_link + r_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + r_gripper_palm_link + r_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + + + + + - - + + + + + + - - - - - - - - + + - + - + + - - - - - + + + - - - - + + + + + - - - - l_shoulder_pan_collision - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - - - - true - - - - - 63.16 - + - - - - - - - - - - - + + + + + - + + + + - + - + + - - - - - + + + - - - - + + + + + - - - - l_shoulder_lift_collision - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - - - - - true - - - - - 61.89 - + - - - - - - - - - - - - - - + + + + + + + + + - + - + + - - - - - + + - + + - + - - true - - - - - 32.65 - - + - + + + - + - + - - - - - + + - - - - + + + + - - - - l_upper_arm_collision - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - l_elbow_flex_collision - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - - - - true - - - - - -36.17 - - - - - + - - - + + + - - - - - - - + + + + + - + - + - - - - - + + - + - + - - true - - - - - 90.5142857143 - - + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - l_forearm_collision - 100.0 - - true - 100.0 - l_forearm_bumper - - - - - - - true - - - - - - - - - - - - - + + + + - + + + + - + - + + - - - - - + + - - - - + + + + + - - - - l_wrist_flex_collision - 100.0 - - true - 100.0 - l_wrist_flex_bumper - - - - - - - true - - + - + - - - - - - - + + + - + - + - - - - - + + - + - + - - - - l_wrist_roll_collision - 100.0 - - true - 100.0 - l_wrist_roll_bumper - - - - - - - true - - + + + l_shoulder_pan_collision + 100.0 + + true + 100.0 + l_shoulder_pan_bumper + + + + + true + + + + + l_shoulder_lift_collision_geom + 100.0 + + true + 100.0 + l_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + l_upper_arm_collision_geom + 100.0 + + true + 100.0 + l_upper_arm_bumper + + + + true + + + + l_elbow_flex_collision_geom + 100.0 + + true + 100.0 + l_elbow_flex_bumper + + + + + + + true + + + + true + + true + + l_forearm_collision + 100.0 + + true + 100.0 + l_forearm_bumper + + + + + + true + + l_wrist_flex_collision + 100.0 + + true + 100.0 + l_wrist_flex_bumper + + + + + + + + true + + l_wrist_roll_collision + 100.0 + + true + 100.0 + l_wrist_roll_bumper + + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + + + -36.17 + + + + 90.5142857143 + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - - - - - + + + + - - - - - - - l_gripper_palm_collision - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - - true - - - - - true - 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - + - - - - - + + - + - + - - true - - - - - true - 100.0 - l_gripper_tool_frame - l_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - + - - - - - - - - - - - - - - - - - + + + + + + + + + - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_l_finger_collision - 100.0 - - true - 100.0 - l_gripper_l_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_r_finger_collision - 100.0 - - true - 100.0 - l_gripper_r_finger_bumper - - - - - - - true - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_l_finger_tip_collision - 100.0 - - true - 100.0 - l_gripper_l_finger_tip_bumper - - - - - - - true - - - - - - - - - - + + + - - - - - - - - - - - - - - - - + + + + - - + - + - - - - - + + - - - - + + + + - - - - - - - l_gripper_r_finger_tip_collision - 100.0 - - true - 100.0 - l_gripper_r_finger_tip_bumper - - - - - - - true - - - - - - - - - + + true + + l_gripper_l_finger_collision + 100.0 + true 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_pose_ground_truth - 0.0 - map - - - + l_gripper_l_finger_bumper + + + + + + + + + + + + + + + true + + l_gripper_r_finger_collision + 100.0 + true 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - + + + + + true + + + l_gripper_l_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_pose_ground_truth - 0.0 - map - - - + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + + + l_gripper_r_finger_tip_collision + 100.0 + true 100.0 - ${prefix}_l_finger_tip_link - ${prefix}_l_finger_tip_force_ground_truth - map - - - --> - - - - - - - - - - - - - - - - - - - - - - - - - + l_gripper_r_finger_tip_bumper + + + + + + + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + - - - - - - - - l_upper_arm_roll_link - r_upper_arm_roll_link - l_elbow_flex_link - r_elbow_flex_link - l_forearm_roll_link - r_forearm_roll_link - l_wrist_flex_link - r_wrist_flex_link - l_wrist_roll_link - r_wrist_roll_link - l_gripper_l_finger_link - l_gripper_r_finger_link - r_gripper_l_finger_link - r_gripper_r_finger_link - r_shoulder_pan_link - r_shoulder_lift_link - l_shoulder_pan_link - l_shoulder_lift_link - torso_lift_link - base_link - - base_link - torso_lift_link - head_pan_link - head_tilt_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - r_gripper_palm_link - r_gripper_l_finger_link - r_gripper_r_finger_link - r_gripper_l_finger_tip_link - r_gripper_r_finger_tip_link - - r_forearm_link - base_link - - r_gripper_palm_link - base_link - - r_gripper_l_finger_link - base_link - - r_gripper_r_finger_link - base_link - - r_gripper_l_finger_tip_link - base_link - - r_gripper_r_finger_tip_link - base_link - - base_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - - - - - - - - - - - - - - - - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - base_link - torso_lift_link - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - - base_link - torso_lift_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - - - - - - - - - - - - - - - - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - - base_link - torso_lift_link - l_shoulder_pan_link - l_shoulder_lift_link - l_upper_arm_roll_link - l_upper_arm_link - l_elbow_flex_link - l_forearm_roll_link - l_forearm_link - l_wrist_flex_link - l_wrist_roll_link - r_shoulder_pan_link - r_shoulder_lift_link - r_upper_arm_roll_link - r_upper_arm_link - r_elbow_flex_link - r_forearm_roll_link - r_forearm_link - r_wrist_flex_link - r_wrist_roll_link - + + + + true + + l_gripper_palm_collision + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + true + + + l_gripper_l_finger_tip_link + l_gripper_float_link + l_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + l_gripper_r_finger_tip_link + l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + + + + + + + + + + + + + + + diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 51b6f1f..7a09bfd 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -37,9 +37,9 @@ #include #include #include -#include "kdl_parser/xml_parser.hpp" +#include "kdl_parser/dom_parser.hpp" -using namespace KDL; +using namespace kdl_parser; int g_argc; char** g_argv; @@ -47,7 +47,7 @@ char** g_argv; class TestParser : public testing::Test { public: - Tree my_tree; + KDL::Tree my_tree; protected: /// constructor @@ -72,10 +72,10 @@ TEST_F(TestParser, test) } ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); - ASSERT_TRUE(my_tree.getNrOfJoints() == 38); - ASSERT_TRUE(my_tree.getNrOfSegments() == 51); + ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)39); + ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)51); ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); - ASSERT_TRUE(my_tree.getRootSegment()->second.children.size() == 1); + ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); SUCCEED(); } From 75d02234ffc4aa6a049a9e586036c0b689386418 Mon Sep 17 00:00:00 2001 From: meeussen Date: Tue, 22 Sep 2009 23:45:05 +0000 Subject: [PATCH 013/245] doc review passed --- convex_decomposition/manifest.xml | 16 ++++++++++------ ivcon/manifest.xml | 10 ++++++---- 2 files changed, 16 insertions(+), 10 deletions(-) diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index b74c13a..e9d8413 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -3,16 +3,20 @@ Convex Mesh Generation Library -This package is used to auto generate convex decomposed meshes for collision and visualization of robot links. -We are using the latest and the only version available. We plan on deprecating this package once we find a better alternative. -This package is not provided by any of the major OS package managers, so it is downloaded as a zipped archive. -There are local patches needed for this package to compile. No plans for submitting the patches back to the author since there appears to be no revision control for the package. -There are no local modifications to this package. +This package is used to auto generate convex decomposed meshes for +collision and visualization of robot links. We are using the latest +and the only version available. We plan on deprecating this package +once we find a better alternative. This package is not provided by +any of the major OS package managers, so it is downloaded as a zipped +archive. There are local patches needed for this package to compile. +No plans for submitting the patches back to the author since there +appears to be no revision control for the package. There are no local +modifications to this package. John Ratcliff MIT - + http://www.amillionpixels.us/ConvexDecomposition.zip diff --git a/ivcon/manifest.xml b/ivcon/manifest.xml index 6cb1109..c9cf53c 100644 --- a/ivcon/manifest.xml +++ b/ivcon/manifest.xml @@ -3,14 +3,16 @@ Mesh Conversion Utility -Used to generate '.iv' files from '.stl' files. This package has not been changed since 2001 and appears to be very stable. We plan on keeping this package in this revision for mesh conversions. -This package is only available as a single source file for download. -There are no local modifications to this package. +Used to generate '.iv' files from '.stl' files. This package has not +been changed since 2001 and appears to be very stable. We plan on +keeping this package in this revision for mesh conversions. This +package is only available as a single source file for download. There +are no local modifications to this package. John Burkardt GPL - + https://sourceforge.net/projects/ivcon/ From a173462840da6fe0b0464f706fb20b97bf6710c3 Mon Sep 17 00:00:00 2001 From: meeussen Date: Wed, 23 Sep 2009 16:29:50 +0000 Subject: [PATCH 014/245] updating to release 0.3.0 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index cd2f50e..0f82be8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.2.0) +rosbuild_make_distribution(0.3.0) From 45a08f37e33c48b9c25c0899a06dafcb18e05533 Mon Sep 17 00:00:00 2001 From: meeussen Date: Wed, 23 Sep 2009 23:48:19 +0000 Subject: [PATCH 015/245] vijay comments on api review --- robot_state_publisher/CMakeLists.txt | 2 +- robot_state_publisher/doc.dox | 7 ++++--- .../include/robot_state_publisher/robot_state_publisher.h | 1 + robot_state_publisher/src/joint_state_listener.cpp | 4 +--- ...{state_publisher.cpp => robot_state_publisher_node.cpp} | 5 ++--- 5 files changed, 9 insertions(+), 10 deletions(-) rename robot_state_publisher/src/{state_publisher.cpp => robot_state_publisher_node.cpp} (94%) diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt index 71711b7..3cffa58 100644 --- a/robot_state_publisher/CMakeLists.txt +++ b/robot_state_publisher/CMakeLists.txt @@ -24,7 +24,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_add_library(${PROJECT_NAME} src/joint_state_listener.cpp src/robot_state_publisher.cpp src/treefksolverposfull_recursive.cpp) -rosbuild_add_executable(state_publisher src/state_publisher.cpp ) +rosbuild_add_executable(state_publisher src/robot_state_publisher_node.cpp ) target_link_libraries(state_publisher ${PROJECT_NAME}) rosbuild_add_executable(test_publisher test/test_publisher.cpp ) diff --git a/robot_state_publisher/doc.dox b/robot_state_publisher/doc.dox index ed23c6a..9267270 100644 --- a/robot_state_publisher/doc.dox +++ b/robot_state_publisher/doc.dox @@ -3,8 +3,9 @@ @htmlinclude manifest.html -This package contains the robot state publisher, which can be used as a library or as a ROS node. - \li LIbrary use: robot_state_publisher::RobotStatePublisher - \li Node use: robot_state_publisher::JointStateListener +This package contains the robot state publisher, which can be used as +a library or as a ROS node. The API documentation for the library can +be found here: robot_state_publisher::RobotStatePublisher + **/ diff --git a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h index 755c288..e889420 100644 --- a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h +++ b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h @@ -59,6 +59,7 @@ public: /** Publish transforms to tf * \param joint_positions A map of joint names and joint positions. * \param time The time at which the joint positions were recorded + * returns true on success; return false when the joint positions don't match the kinematic robot model */ bool publishTransforms(const std::map& joint_positions, const ros::Time& time); diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 89ba292..2505130 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -54,9 +54,7 @@ JointStateListener::JointStateListener(const KDL::Tree& tree) publish_rate_ = Rate(publish_freq); // subscribe to mechanism state - string joint_state_topic; - n_.param("joint_state_topic", joint_state_topic, string("/joint_states")); - joint_state_sub_ = n_.subscribe(joint_state_topic, 1, &JointStateListener::callbackJointState, this);; + joint_state_sub_ = n_.subscribe("/joint_states", 1, &JointStateListener::callbackJointState, this);; }; diff --git a/robot_state_publisher/src/state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp similarity index 94% rename from robot_state_publisher/src/state_publisher.cpp rename to robot_state_publisher/src/robot_state_publisher_node.cpp index 6fb4143..137cafc 100644 --- a/robot_state_publisher/src/state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher_node.cpp @@ -57,9 +57,8 @@ int main(int argc, char** argv) NodeHandle node; // gets the location of the robot description on the parameter server - string param_name, full_param_name; - node.param("~/robot_desc_param", param_name, string("robot_description")); - node.searchParam(param_name,full_param_name); + string full_param_name; + node.searchParam("robot_description",full_param_name); string robot_desc; // constructs a kdl tree from the robot model From f1aa1653845be88145ce017c49d5026856d69e14 Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 00:52:51 +0000 Subject: [PATCH 016/245] update doc. more detailled explanation in the wiki --- .../include/robot_state_publisher/robot_state_publisher.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h index e889420..e2c5248 100644 --- a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h +++ b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h @@ -59,7 +59,7 @@ public: /** Publish transforms to tf * \param joint_positions A map of joint names and joint positions. * \param time The time at which the joint positions were recorded - * returns true on success; return false when the joint positions don't match the kinematic robot model + * returns true on success; return false when the robot model is empty or not all the joints in the robot model are specified in the joint map. */ bool publishTransforms(const std::map& joint_positions, const ros::Time& time); From 52e16fec86514258357f2e7102c29bc922cf19de Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 00:54:56 +0000 Subject: [PATCH 017/245] api review finished --- robot_state_publisher/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml index 8da7560..083d62c 100644 --- a/robot_state_publisher/manifest.xml +++ b/robot_state_publisher/manifest.xml @@ -10,7 +10,7 @@ Wim Meeussen meeussen@willowgarage.com BSD - + http://pr.willowgarage.com/wiki/robot_state_publisher From 64b62bae13fe9a3d3ab133f411c269d645622e07 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 24 Sep 2009 18:55:18 +0000 Subject: [PATCH 018/245] update error messages. --- urdf/src/model.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 106e3d5..9b301a4 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -283,7 +283,7 @@ bool Model::initTree(std::map &parent_link_tree) if (!parent_link) { - ROS_ERROR(" parent link '%s' is not found", parent_link_name.c_str()); + ROS_ERROR(" parent link '%s' of joint '%s' not found", parent_link_name.c_str(), joint->first.c_str() ); return false; } else @@ -294,7 +294,7 @@ bool Model::initTree(std::map &parent_link_tree) if (!child_link) { - ROS_ERROR(" for joint: %s child link '%s' is not found",joint->first.c_str(),child_link_name.c_str()); + ROS_ERROR(" child link '%s' of joint: %s not found",child_link_name.c_str(),joint->first.c_str()); return false; } else From 98cc89c86fea5ff7d2ba4ca307c324daf9d172f4 Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 20:24:19 +0000 Subject: [PATCH 019/245] api review kdl_parser --- kdl_parser/CMakeLists.txt | 6 +- kdl_parser/include/kdl_parser/dom_parser.hpp | 61 +------------ kdl_parser/include/kdl_parser/kdl_parser.hpp | 86 +++++++++++++++++++ kdl_parser/manifest.xml | 2 +- .../src/{dom_parser.cpp => kdl_parser.cpp} | 11 ++- .../test/{example_dom.cpp => example.cpp} | 4 +- kdl_parser/test/test_kdl_parser.cpp | 2 +- 7 files changed, 103 insertions(+), 69 deletions(-) create mode 100644 kdl_parser/include/kdl_parser/kdl_parser.hpp rename kdl_parser/src/{dom_parser.cpp => kdl_parser.cpp} (93%) rename kdl_parser/test/{example_dom.cpp => example.cpp} (97%) diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt index 2bd8fce..bc12b36 100644 --- a/kdl_parser/CMakeLists.txt +++ b/kdl_parser/CMakeLists.txt @@ -23,13 +23,13 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) #uncomment if you have defined services #gensrv() -rosbuild_add_library(${PROJECT_NAME} src/xml_parser.cpp src/dom_parser.cpp) +rosbuild_add_library(${PROJECT_NAME} src/xml_parser.cpp src/kdl_parser.cpp) rosbuild_add_executable(example_xml test/example_xml.cpp ) target_link_libraries(example_xml ${PROJECT_NAME}) -rosbuild_add_executable(example_dom test/example_dom.cpp ) -target_link_libraries(example_dom ${PROJECT_NAME}) +rosbuild_add_executable(example test/example.cpp ) +target_link_libraries(example ${PROJECT_NAME}) rosbuild_add_executable(test_parser test/test_kdl_parser.cpp ) target_link_libraries(test_parser ${PROJECT_NAME}) diff --git a/kdl_parser/include/kdl_parser/dom_parser.hpp b/kdl_parser/include/kdl_parser/dom_parser.hpp index 31d6af4..c29d67c 100644 --- a/kdl_parser/include/kdl_parser/dom_parser.hpp +++ b/kdl_parser/include/kdl_parser/dom_parser.hpp @@ -1,61 +1,4 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2008, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ -/* Author: Wim Meeussen */ +#warning ____YOU ARE INCLUDING THE DEPRECATED KDL PARSER. PLEASE SWITCH TO THE NEW KDL PARSER. SEE www.ros.org/wiki/kdl_parser FOR DETAILS____ -#ifndef DOM_PARSER_H -#define DOM_PARSER_H - -#include -#include -#include - -using namespace std; - -namespace kdl_parser{ - -/// Constructs a KDL tree from a file, given the file name -bool treeFromFile(const string& file, KDL::Tree& tree); - -/// Constructs a KDL tree from a string containing xml -bool treeFromString(const string& xml, KDL::Tree& tree); - -/// Constructs a KDL tree from a TiXmlDocument -bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree); - -/// Constructs a KDL tree from a URDF robot model -bool treeFromRobotModel(urdf::Model& robot_model, KDL::Tree& tree); -} - -#endif +#include diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp new file mode 100644 index 0000000..de84705 --- /dev/null +++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp @@ -0,0 +1,86 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#ifndef KDL_PARSER_H +#define KDL_PARSER_H + +#include +#include +#include + +using namespace std; + +namespace kdl_parser{ + +/** Constructs a KDL tree from a file, given the file name + * \param file The filename from where to read the xml + * \param tree The resulting KDL Tree + * returns true on success, false on failure + */ +bool treeFromFile(const string& file, KDL::Tree& tree); + +/** Constructs a KDL tree from a string containing xml + * \param xml A string containting the xml description of the robot + * \param tree The resulting KDL Tree + * returns true on success, false on failure + */ +bool treeFromString(const string& xml, KDL::Tree& tree); + +/** Constructs a KDL tree from a TiXmlDocument + * \param xml_doc The TiXmlDocument containting the xml description of the robot + * \param tree The resulting KDL Tree + * returns true on success, false on failure + */ +bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree); + + +/** Constructs a KDL tree from a URDF robot model + * \param robot_model The URDF robot model + * \param tree The resulting KDL Tree + * returns true on success, false on failure + */ +bool treeFromRobotModel(const urdf::Model& robot_model, KDL::Tree& tree); + + +/** Constructs a KDL tree from a URDF robot model + * \param robot_model The URDF robot model + * \param tree The resulting KDL Tree + * returns true on success, false on failure + */ +bool treeFromUrdfModel(const urdf::Model& robot_model, KDL::Tree& tree); +} + +#endif diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml index 571b60e..76f390a 100644 --- a/kdl_parser/manifest.xml +++ b/kdl_parser/manifest.xml @@ -6,7 +6,7 @@ Wim Meeussen meeussen@willowgarage.com BSD - + http://pr.willowgarage.com/wiki/ diff --git a/kdl_parser/src/dom_parser.cpp b/kdl_parser/src/kdl_parser.cpp similarity index 93% rename from kdl_parser/src/dom_parser.cpp rename to kdl_parser/src/kdl_parser.cpp index a9b75dd..a6d5858 100644 --- a/kdl_parser/src/dom_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -34,7 +34,7 @@ /* Author: Wim Meeussen */ -#include "kdl_parser/dom_parser.hpp" +#include "kdl_parser/kdl_parser.hpp" #include @@ -151,11 +151,11 @@ bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree) ROS_ERROR("Could not generate robot model"); return false; } - return treeFromRobotModel(robot_model, tree); + return treeFromUrdfModel(robot_model, tree); } -bool treeFromRobotModel(urdf::Model& robot_model, Tree& tree) +bool treeFromUrdfModel(const urdf::Model& robot_model, Tree& tree) { tree = Tree(robot_model.getRoot()->name); @@ -167,6 +167,11 @@ bool treeFromRobotModel(urdf::Model& robot_model, Tree& tree) return true; } +bool treeFromRobotModel(const urdf::Model& robot_model, Tree& tree) +{ + ROS_ERROR("treeFromRobotModel function is deprecated and replaces by treeFromUrdfModel"); + return treeFromUrdfModel(robot_model, tree); +} } diff --git a/kdl_parser/test/example_dom.cpp b/kdl_parser/test/example.cpp similarity index 97% rename from kdl_parser/test/example_dom.cpp rename to kdl_parser/test/example.cpp index f19f718..edb3a76 100644 --- a/kdl_parser/test/example_dom.cpp +++ b/kdl_parser/test/example.cpp @@ -36,7 +36,7 @@ #include #include -#include "kdl_parser/dom_parser.hpp" +#include "kdl_parser/kdl_parser.hpp" #include using namespace KDL; @@ -50,7 +50,7 @@ int main() {cerr << "Could not generate robot model" << endl; return false;} Tree my_tree; - if (!kdl_parser::treeFromRobotModel(robot_model, my_tree)) + if (!kdl_parser::treeFromUrdfModel(robot_model, my_tree)) {cerr << "Could not extract kdl tree" << endl; return false;} // walk through tree diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 7a09bfd..d301058 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -37,7 +37,7 @@ #include #include #include -#include "kdl_parser/dom_parser.hpp" +#include "kdl_parser/kdl_parser.hpp" using namespace kdl_parser; From 1252dd756626fb78f47c2619f453e875388f1240 Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 21:00:56 +0000 Subject: [PATCH 020/245] function deprectation warning at compile time --- kdl_parser/include/kdl_parser/kdl_parser.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp index de84705..99aa30f 100644 --- a/kdl_parser/include/kdl_parser/kdl_parser.hpp +++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp @@ -72,7 +72,7 @@ bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree); * \param tree The resulting KDL Tree * returns true on success, false on failure */ -bool treeFromRobotModel(const urdf::Model& robot_model, KDL::Tree& tree); +bool treeFromRobotModel(const urdf::Model& robot_model, KDL::Tree& tree) __attribute__((deprecated));; /** Constructs a KDL tree from a URDF robot model From 8fbaa701b0eed8c4d027bfb4cdbefedc1a4c5627 Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 21:04:08 +0000 Subject: [PATCH 021/245] move away from deprecated functions, and do not use root namespace for subscription --- .../robot_state_publisher/joint_state_listener.h | 2 +- robot_state_publisher/manifest.xml | 12 +++++++----- robot_state_publisher/src/joint_state_listener.cpp | 6 +++--- .../src/robot_state_publisher_node.cpp | 2 +- robot_state_publisher/test/test_publisher.cpp | 6 +++--- 5 files changed, 15 insertions(+), 13 deletions(-) diff --git a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h index d07d1ac..2990c4c 100644 --- a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h +++ b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h @@ -63,7 +63,7 @@ public: private: void callbackJointState(const JointStateConstPtr& state); - NodeHandle n_; + NodeHandle n_, n_tilde_; Rate publish_rate_; robot_state_publisher::RobotStatePublisher state_publisher_; Subscriber joint_state_sub_; diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml index 083d62c..2999a6a 100644 --- a/robot_state_publisher/manifest.xml +++ b/robot_state_publisher/manifest.xml @@ -1,11 +1,13 @@ - This package allows you to publish the state of a robot to the transform library topic. Once the state - gets published, it is available to all components in the system using the transform library. - The package takes the joint angles of the robot as input and publishes the 3D poses - of the robot links, using a kinematic tree model of the robot. The package can both be used - as a library and as a ROS node. + This package allows you to publish the state of a robot to the + transform library topic. Once the state gets published, it is + available to all components in the system using the transform + library. The package takes the joint angles of the robot as input + and publishes the 3D poses of the robot links, using a kinematic + tree model of the robot. The package can both be used as a library + and as a ROS node. Wim Meeussen meeussen@willowgarage.com diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 2505130..4bb67b4 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -46,15 +46,15 @@ using namespace robot_state_publisher; JointStateListener::JointStateListener(const KDL::Tree& tree) - : n_("~"), publish_rate_(0.0), state_publisher_(tree) + : n_tilde_("~"), publish_rate_(0.0), state_publisher_(tree) { // set publish frequency double publish_freq; - n_.param("publish_frequency", publish_freq, 50.0); + n_tilde_.param("publish_frequency", publish_freq, 50.0); publish_rate_ = Rate(publish_freq); // subscribe to mechanism state - joint_state_sub_ = n_.subscribe("/joint_states", 1, &JointStateListener::callbackJointState, this);; + joint_state_sub_ = n_.subscribe("joint_states", 1, &JointStateListener::callbackJointState, this);; }; diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp index 137cafc..ec7be7c 100644 --- a/robot_state_publisher/src/robot_state_publisher_node.cpp +++ b/robot_state_publisher/src/robot_state_publisher_node.cpp @@ -36,7 +36,7 @@ #include #include -#include +#include #include #include "robot_state_publisher/joint_state_listener.h" diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp index 3255e3a..ae321fd 100644 --- a/robot_state_publisher/test/test_publisher.cpp +++ b/robot_state_publisher/test/test_publisher.cpp @@ -40,7 +40,7 @@ #include #include #include -#include +#include #include "robot_state_publisher/joint_state_listener.h" @@ -74,7 +74,7 @@ protected: // constructs a kdl tree from the robot model Tree tree; - if (!kdl_parser::treeFromRobotModel(robot_model, tree)) + if (!kdl_parser::treeFromUrdfModel(robot_model, tree)) ROS_ERROR("Failed to extract kdl tree from robot model"); publisher = new JointStateListener(tree); @@ -106,7 +106,7 @@ TEST_F(TestPublisher, test) ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time())); ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time())); - tf::Stamped t; + tf::StampedTransform t; tf.lookupTransform("base_link", "r_gripper_palm_link",Time(), t ); EXPECT_NEAR(t.getOrigin().x(), 0.769198, EPS); EXPECT_NEAR(t.getOrigin().y(), -0.188800, EPS); From bb95b34b880b94230d5e06a33e5a2ca7d14882bf Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 21:09:01 +0000 Subject: [PATCH 022/245] add line about stability --- robot_state_publisher/manifest.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml index 2999a6a..6f93254 100644 --- a/robot_state_publisher/manifest.xml +++ b/robot_state_publisher/manifest.xml @@ -7,7 +7,8 @@ library. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot. The package can both be used as a library - and as a ROS node. + and as a ROS node. This package has been well tested and the code + is stable. No major changes are planned in the near future Wim Meeussen meeussen@willowgarage.com From e93e556ca1a41adf2cea5d6572ffd0717df345dc Mon Sep 17 00:00:00 2001 From: meeussen Date: Thu, 24 Sep 2009 21:38:08 +0000 Subject: [PATCH 023/245] kdl parser is doc reviewed --- kdl_parser/manifest.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml index 76f390a..f98b019 100644 --- a/kdl_parser/manifest.xml +++ b/kdl_parser/manifest.xml @@ -6,8 +6,8 @@ Wim Meeussen meeussen@willowgarage.com BSD - - http://pr.willowgarage.com/wiki/ + + http://ros.org/wiki/kdl_parser From 14f9aef082a0f4c8684ae3d28b40b20c3ef3ad6f Mon Sep 17 00:00:00 2001 From: kwc Date: Tue, 29 Sep 2009 20:44:09 +0000 Subject: [PATCH 024/245] updated stack description and removed old stack properties --- stack.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/stack.xml b/stack.xml index 8aa3a36..9b6193a 100644 --- a/stack.xml +++ b/stack.xml @@ -1,6 +1,6 @@ - + - These are robot_model-related packages. + robot_model contains packages for modeling various aspects of robot information. John Hsu johnhsu@willowgarage.com BSD From 6028e8a3f2c2db5abf27aeb9e48c12f6c05f369a Mon Sep 17 00:00:00 2001 From: kwc Date: Tue, 29 Sep 2009 20:48:56 +0000 Subject: [PATCH 025/245] updated description --- convex_decomposition/manifest.xml | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index e9d8413..a2e0ac2 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -1,17 +1,21 @@ -Convex Mesh Generation Library - -This package is used to auto generate convex decomposed meshes for -collision and visualization of robot links. We are using the latest -and the only version available. We plan on deprecating this package -once we find a better alternative. This package is not provided by -any of the major OS package managers, so it is downloaded as a zipped -archive. There are local patches needed for this package to compile. -No plans for submitting the patches back to the author since there -appears to be no revision control for the package. There are no local -modifications to this package. +

+convex_decomposition contains the Convex Mesh Generation Library, by John Ratcliff. This library is used to auto-generate convex decomposed meshes for +collision and visualization of robot links. +

+

+We are using the latest and the only version available. We plan on deprecating this package +once we find a better alternative. +

+

+The Convex Mesh Generation Library is not provided by +any of the major OS package managers, and this version provided +here contains patches required for compilation. +These patches have not been submitted back as there +appears to be no available revision control. +

 John Ratcliff From 083ba9b828d48f35e7c589dc3df9965c95a4bd03 Mon Sep 17 00:00:00 2001 From: kwc Date: Tue, 29 Sep 2009 20:50:19 +0000 Subject: [PATCH 026/245] updated description --- kdl_parser/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml index f98b019..6c6c552 100644 --- a/kdl_parser/manifest.xml +++ b/kdl_parser/manifest.xml @@ -1,7 +1,7 @@ - The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism. This package provides tools to construct a KDL tree from the robot representation in the urdf package. + The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism. kdl_parser provides tools to construct a KDL tree from the robot representation in the urdf package. Wim Meeussen meeussen@willowgarage.com From 834777c9a72a1075fc55236f9b6c7720503b5142 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 30 Sep 2009 01:52:56 +0000 Subject: [PATCH 027/245] update doxygen. --- urdf/include/urdf/model.h | 16 +++++--- urdf/mainpage.dox | 78 ++++++++------------------------------- 2 files changed, 26 insertions(+), 68 deletions(-) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index 8a3fe37..c54ba52 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -52,9 +52,13 @@ class Model public: Model(); + /// \brief Load Model from TiXMLElement bool initXml(TiXmlElement *xml); + /// \brief Load Model from TiXMLDocument bool initXml(TiXmlDocument *xml); + /// \brief Load Model given a filename bool initFile(const std::string& filename); + /// \brief Load Model from a XML-string bool initString(const std::string& xmlstring); boost::shared_ptr getRoot(void) const{return this->root_link_;}; @@ -64,18 +68,20 @@ public: void getLinks(std::vector >& links) const; - /// Some accessor functions + /// \brief get parent Link of a Link given name boost::shared_ptr getParentLink(const std::string& name) const; + /// \brief get parent Joint of a Link given name boost::shared_ptr getParentJoint(const std::string& name) const; + /// \brief get child Link of a Link given name boost::shared_ptr getChildLink(const std::string& name) const; + /// \brief get child Joint of a Link given name boost::shared_ptr getChildJoint(const std::string& name) const; - /// Every Robot Description File can be described as a - /// list of Links and Joints - /// The connection between links(nodes) and joints(edges) - /// should define a tree (i.e. 1 parent link, 0+ children links) + /// \brief complete list of Links std::map > links_; + /// \brief complete list of Joints std::map > joints_; + /// \brief complete list of Materials std::map > materials_; private: diff --git a/urdf/mainpage.dox b/urdf/mainpage.dox index 6b3d3b1..05db9ca 100644 --- a/urdf/mainpage.dox +++ b/urdf/mainpage.dox @@ -2,58 +2,11 @@ \mainpage \htmlinclude manifest.html -\b robot_model is ... - - - -\li RobotModel is a class containing robot model data structure. - -\li Below is an example Robot Description Describing a Parent Link "P", a Child Link "C", and a Joint "J" - -\li OLD URDF: - @verbatim - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @endverbatim -\li NEW URDF XML that corresponds to the current RobotModel data structure: +URDF is a class containing robot model data structure. +Every Robot Description File can be described as a list of Links and Joints. +The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links). +Below is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J' +\li NEW URDF XML that corresponds to the current URDF data structure: @verbatim @@ -105,20 +58,19 @@ You can then link to this documentation page from the Wiki. \section codeapi Code API +The URDF parser API contains the following methods: + \li Parse from XML: urdf::Model::initXml + \li Parse from File: urdf::Model::initFile + \li Parse from String: urdf::Model::initString + \li Get Root Link: urdf::Model::getRoot + \li Get Link by name urdf::Model::getLink + \li Get all Link's urdf::Model::getLinks + \li Get Joint by name urdf::Model::getJoint + \li etc. + - \section rosapi ROS API - - - - + + + + @@ -14,6 +16,13 @@ + + + true + 1000.0 + + + true @@ -42,6 +51,7 @@ + @@ -62,6 +72,15 @@ + + + @@ -74,23 +93,24 @@ - - - + + + - - - - - + + + + + - + @@ -101,44 +121,22 @@ - - - + + + - - - + + + - - - - - - - - - - - - - - - - - - - - - - @@ -156,25 +154,25 @@ - + - + - + - + - -75.05 + -75.0676691729 @@ -189,17 +187,17 @@ - + - + - + - + @@ -222,7 +220,7 @@ - 75.05 + 75.0676691729 @@ -237,17 +235,17 @@ - + - + - + - + @@ -270,7 +268,7 @@ - -75.05 + -75.0676691729 @@ -288,25 +286,25 @@ - + - + - + - + - -75.05 + -75.0676691729 @@ -321,17 +319,17 @@ - + - + - + - + @@ -354,7 +352,7 @@ - 75.05 + 75.0676691729 @@ -369,17 +367,17 @@ - + - + - + - + @@ -402,7 +400,7 @@ - -75.05 + -75.0676691729 @@ -420,25 +418,25 @@ - + - + - + - + - -75.05 + -75.0676691729 @@ -453,17 +451,17 @@ - + - + - + - + @@ -486,7 +484,7 @@ - 75.05 + 75.0676691729 @@ -501,17 +499,17 @@ - + - + - + - + @@ -534,7 +532,7 @@ - -75.05 + -75.0676691729 @@ -552,25 +550,25 @@ - + - + - + - + - -75.05 + -75.0676691729 @@ -585,17 +583,17 @@ - + - + - + - + @@ -618,7 +616,7 @@ - 75.05 + 75.0676691729 @@ -633,17 +631,17 @@ - + - + - + - + @@ -666,8 +664,9 @@ - -75.05 + -75.0676691729 + base_link_geom 100.0 @@ -678,12 +677,13 @@ - - - + + + + base_link true 100.0 @@ -695,16 +695,16 @@ 0 0 0 - + true 100.0 - plug_magnet - plug_magnet_pose_ground_truth + plug_holder + plug_holder_pose_ground_truth 0.01 map 0 0 0 0 0 0 - + @@ -714,8 +714,8 @@ 0.0 0.0 0.0 false - -100 - 100 + -135 + 135 0.05 10.0 @@ -731,9 +731,37 @@ - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -749,6 +777,7 @@ + @@ -759,22 +788,48 @@ - - + - + + - + + + torso_lift_link_geom + 100.0 + + true + 100.0 + torso_lift_bumper + + + + + + + true + 100.0 + torso_lift_link + imu_data + 0.01 + map + 0 0 0 + 0 0 0 + + + -52143.33 + @@ -820,7 +875,7 @@ - + @@ -927,18 +982,18 @@ - + - + - + - + @@ -956,24 +1011,24 @@ - + - + - + - + - B8G8R8 + R8G8B8 2448 2050 45 0.1 @@ -982,11 +1037,11 @@ true 20.0 - /prosilica/cam_info - /prosilica/image - /prosilica/image_rect - /prosilica/cam_info_service - /prosilica/poll + prosilica/cam_info + prosilica/image + prosilica/image_rect + prosilica/cam_info_service + prosilica/poll hight_def_optical_frame 1224.5 1224.5 @@ -1144,65 +1199,7 @@ - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - wide_stereo/left_image - wide_stereo_l_stereo_camera_frame - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - wide_stereo/right_image - wide_stereo_r_stereo_camera_frame - - - - - - - true - 20.0 - wide_stereo_l_sensor - wide_stereo_r_sensor - wide_stereo/raw_stereo - wide_stereo_optical_frame - 320 - 320 - 240 - 320 - 0 - 0 - 0 - 0 - 0 - -0.09 - - - + @@ -1314,7 +1311,67 @@ - + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + wide_stereo/left_image + wide_stereo_l_stereo_camera_frame + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + wide_stereo/right_image + wide_stereo_r_stereo_camera_frame + + + + + + + true + 20.0 + wide_stereo_l_sensor + wide_stereo_r_sensor + wide_stereo/raw_stereo + wide_stereo_optical_frame + 320 + 320 + 240 + 320 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + @@ -1322,7 +1379,7 @@ 640 480 L8 - 90 + 45 0.1 100 20.0 @@ -1339,7 +1396,7 @@ 640 480 L8 - 90 + 45 0.1 100 20.0 @@ -1363,7 +1420,7 @@ 320 320 240 - 320 + 772.55 0 0 0 @@ -1372,15 +1429,13 @@ -0.09 - - - + - + @@ -1438,7 +1493,6 @@ - @@ -1456,11 +1510,11 @@ 0.05 10.0 0.01 - 20.0 + 40.0 0.005 true - 20.0 + 40.0 tilt_scan laser_tilt_link @@ -1794,7 +1848,6 @@ - true @@ -1931,9 +1984,31 @@ + + + + + + + + + + + + + + + + + + + + + + - + @@ -1966,22 +2041,20 @@ - - + - + - + - - + @@ -2077,7 +2150,7 @@ - + @@ -2108,7 +2181,7 @@ - + @@ -2132,7 +2205,7 @@ - + @@ -2154,7 +2227,7 @@ - + @@ -2172,12 +2245,12 @@ - + - + - + @@ -2195,9 +2268,9 @@ - + - + true @@ -2218,13 +2291,13 @@ - + - + true @@ -2279,7 +2352,18 @@ map - + + true + 100.0 + r_gripper_tool_frame + r_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + true @@ -2613,7 +2697,6 @@ - true @@ -2750,9 +2833,31 @@ + + + + + + + + + + + + + + + + + + + + + + - + @@ -2785,22 +2890,20 @@ - - + - + - + - - + @@ -2896,7 +2999,7 @@ - + @@ -2927,7 +3030,7 @@ - + @@ -2951,7 +3054,7 @@ - + @@ -2973,7 +3076,7 @@ - + @@ -2991,12 +3094,12 @@ - + - + - + @@ -3014,9 +3117,9 @@ - + - + true @@ -3037,13 +3140,13 @@ - + - + true @@ -3098,7 +3201,18 @@ map - + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + true @@ -3110,7 +3224,153 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + l_forearm_cam/image + l_forearm_cam_frame + + + + true + PR2/Blue + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + r_forearm_cam/image + r_forearm_cam_frame + + + + true + PR2/Blue + + true + + + From 969b5e6d7a5a6ecba007979183a6e18ca6b24e0a Mon Sep 17 00:00:00 2001 From: meeussen Date: Mon, 26 Oct 2009 19:51:25 +0000 Subject: [PATCH 053/245] fix optional-required field checking --- urdf/src/joint.cpp | 71 +- urdf/src/model.cpp | 3 + urdf/test/pr2_desc.xml | 1773 +++++++++++++++++++++++++++++----------- 3 files changed, 1353 insertions(+), 494 deletions(-) diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index 3f1cfce..345ad49 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -1,5 +1,5 @@ /********************************************************************* -* Software License Agreement (BSD License) +* Software Ligcense Agreement (BSD License) * * Copyright (c) 2008, Willow Garage, Inc. * All rights reserved. @@ -45,15 +45,19 @@ bool JointDynamics::initXml(TiXmlElement* config) // Get joint damping const char* damping_str = config->Attribute("damping"); - if (damping_str == NULL) - ROS_DEBUG("joint dynamics: no damping"); + if (damping_str == NULL){ + ROS_DEBUG("joint dynamics: no damping, defaults to 0"); + this->damping = 0; + } else this->damping = atof(damping_str); // Get joint friction const char* friction_str = config->Attribute("friction"); - if (friction_str == NULL) - ROS_DEBUG("joint dynamics: no friction"); + if (friction_str == NULL){ + ROS_DEBUG("joint dynamics: no friction, defaults to 0"); + this->friction = 0; + } else this->friction = atof(friction_str); @@ -74,39 +78,41 @@ bool JointLimits::initXml(TiXmlElement* config) // Get lower joint limit const char* lower_str = config->Attribute("lower"); - if (lower_str == NULL) - ROS_DEBUG("joint limit: no lower"); + if (lower_str == NULL){ + ROS_DEBUG("joint limit: no lower, defaults to 0"); + this->lower = 0; + } else this->lower = atof(lower_str); // Get upper joint limit const char* upper_str = config->Attribute("upper"); - if (upper_str == NULL) - ROS_DEBUG("joint limit: no upper"); + if (upper_str == NULL){ + ROS_DEBUG("joint limit: no upper, , defaults to 0"); + this->upper = 0; + } else this->upper = atof(upper_str); // Get joint effort limit const char* effort_str = config->Attribute("effort"); - if (effort_str == NULL) - ROS_DEBUG("joint limit: no effort"); + if (effort_str == NULL){ + ROS_ERROR("joint limit: no effort"); + return false; + } else this->effort = atof(effort_str); // Get joint velocity limit const char* velocity_str = config->Attribute("velocity"); - if (velocity_str == NULL) - ROS_DEBUG("joint limit: no velocity"); - else - this->velocity = atof(velocity_str); - - if (lower_str == NULL && upper_str == NULL && effort_str == NULL && velocity_str == NULL) - { - ROS_ERROR("joint limit element specified with no readable attributes"); + if (velocity_str == NULL){ + ROS_ERROR("joint limit: no velocity"); return false; } else - return true; + this->velocity = atof(velocity_str); + + return true; } bool JointSafety::initXml(TiXmlElement* config) @@ -146,8 +152,8 @@ bool JointSafety::initXml(TiXmlElement* config) const char* k_velocity_str = config->Attribute("k_velocity"); if (k_velocity_str == NULL) { - ROS_DEBUG("joint safety: no k_velocity, using default value"); - this->k_velocity = 0; + ROS_ERROR("joint safety: no k_velocity"); + return false; } else this->k_velocity = atof(k_velocity_str); @@ -180,8 +186,8 @@ bool JointMimic::initXml(TiXmlElement* config) const char* joint_name_str = config->Attribute("joint"); if (joint_name_str == NULL) { - ROS_WARN("joint mimic: no mimic joint specified"); - return false; + ROS_ERROR("joint mimic: no mimic joint specified"); + //return false; } else this->joint_name = joint_name_str; @@ -328,8 +334,19 @@ bool Joint::initXml(TiXmlElement* config) { ROS_ERROR("Could not parse limit element for joint '%s'", this->name.c_str()); limits.reset(); + return false; } } + else if (this->type == REVOLUTE) + { + ROS_ERROR("Joint '%s' is of type REVOLUTE but it does not specify limits", this->name.c_str()); + return false; + } + else if (this->type == REVOLUTE || this->type == PRISMATIC) + { + ROS_ERROR("Joint '%s' is of type REVOLUTE but it does not specify limits", this->name.c_str()); + limits.reset(); + } // Get safety TiXmlElement *safety_xml = config->FirstChildElement("safety_controller"); @@ -340,6 +357,7 @@ bool Joint::initXml(TiXmlElement* config) { ROS_ERROR("Could not parse safety element for joint '%s'", this->name.c_str()); safety.reset(); + return false; } } @@ -352,6 +370,7 @@ bool Joint::initXml(TiXmlElement* config) { ROS_ERROR("Could not parse calibration element for joint '%s'", this->name.c_str()); calibration.reset(); + return false; } } @@ -362,8 +381,9 @@ bool Joint::initXml(TiXmlElement* config) mimic.reset(new JointMimic); if (!mimic->initXml(mimic_xml)) { - ROS_WARN("Could not parse mimic element for joint '%s'", this->name.c_str()); + ROS_ERROR("Could not parse mimic element for joint '%s'", this->name.c_str()); mimic.reset(); + return false; } } @@ -376,6 +396,7 @@ bool Joint::initXml(TiXmlElement* config) { ROS_ERROR("Could not parse joint_dynamics element for joint '%s'", this->name.c_str()); dynamics.reset(); + return false; } } diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 9b301a4..ee3fa9c 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -132,6 +132,7 @@ bool Model::initXml(TiXmlElement *robot_xml) { ROS_ERROR("material xml is not initialized correctly"); material.reset(); + return false; } } @@ -187,6 +188,7 @@ bool Model::initXml(TiXmlElement *robot_xml) { ROS_ERROR("link xml is not initialized correctly"); link.reset(); + return false; } } // Get all Joint elements @@ -213,6 +215,7 @@ bool Model::initXml(TiXmlElement *robot_xml) { ROS_ERROR("joint xml is not initialized correctly"); joint.reset(); + return false; } } diff --git a/urdf/test/pr2_desc.xml b/urdf/test/pr2_desc.xml index 46efbc9..de8f6ed 100644 --- a/urdf/test/pr2_desc.xml +++ b/urdf/test/pr2_desc.xml @@ -1,19 +1,28 @@ - + - - - - - - - - - + + + + + + + + + + + + + true + 1000.0 + + + true @@ -42,7 +51,36 @@ + + + + + + + + + + + + + + + + + + + + + + + @@ -55,22 +93,24 @@ - - - - + + + + + - - - - + + + + + - - + @@ -81,46 +121,19 @@ - - - - + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + @@ -141,26 +154,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -174,22 +187,23 @@ - + - - + + + - + - + - fl_caster_l_wheel_collision + fl_caster_l_wheel_link_geom 100.0 true @@ -198,17 +212,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -223,22 +235,23 @@ - + - - + + + - + - + - fl_caster_r_wheel_collision + fl_caster_r_wheel_link_geom 100.0 true @@ -247,17 +260,15 @@ + - - - - + - -75.05 + -75.0676691729 @@ -275,26 +286,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -308,22 +319,23 @@ - + - - + + + - + - + - fr_caster_l_wheel_collision + fr_caster_l_wheel_link_geom 100.0 true @@ -332,17 +344,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -357,22 +367,23 @@ - + - - + + + - + - + - fr_caster_r_wheel_collision + fr_caster_r_wheel_link_geom 100.0 true @@ -381,17 +392,15 @@ + - - - - + - -75.05 + -75.0676691729 @@ -409,26 +418,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -442,22 +451,23 @@ - + - - + + + - + - + - bl_caster_l_wheel_collision + bl_caster_l_wheel_link_geom 100.0 true @@ -466,17 +476,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -491,22 +499,23 @@ - + - - + + + - + - + - bl_caster_r_wheel_collision + bl_caster_r_wheel_link_geom 100.0 true @@ -515,17 +524,15 @@ + - - - - + - -75.05 + -75.0676691729 @@ -543,26 +550,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -576,22 +583,23 @@ - + - - + + + - + - + - br_caster_l_wheel_collision + br_caster_l_wheel_link_geom 100.0 true @@ -600,17 +608,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -625,22 +631,23 @@ - + - - + + + - + - + - br_caster_r_wheel_collision + br_caster_r_wheel_link_geom 100.0 true @@ -649,20 +656,19 @@ + - - - - + - -75.05 + -75.0676691729 + - base_collision + base_link_geom 100.0 true @@ -671,11 +677,13 @@ - - - + + + + + base_link true 100.0 @@ -687,6 +695,17 @@ 0 0 0 + + true + 100.0 + plug_holder + plug_holder_pose_ground_truth + 0.01 + map + 0 0 0 + 0 0 0 + + 640 @@ -695,8 +714,8 @@ 0.0 0.0 0.0 false - -100 - 100 + -135 + 135 0.05 10.0 @@ -712,24 +731,37 @@ - + - - true - 100.0 - plug_magnet - plug_magnet_pose_ground_truth - 0.01 - map - 0 0 0 - 0 0 0 - - - - - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -745,6 +777,7 @@ + @@ -753,24 +786,50 @@ - + + - + - + + - + + + torso_lift_link_geom + 100.0 + + true + 100.0 + torso_lift_bumper + + + + + + + true + 100.0 + torso_lift_link + imu_data + 0.01 + map + 0 0 0 + 0 0 0 + + + -52143.33 - - - + + @@ -792,8 +851,10 @@ - + + + @@ -809,14 +870,12 @@ 6.0 - - - + - + @@ -832,8 +891,10 @@ - + + + @@ -844,9 +905,7 @@ - - - + 6.0 @@ -867,6 +926,8 @@ + + @@ -877,19 +938,593 @@ - - - + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + R8G8B8 + 2448 2050 + 45 + 0.1 + 100 + 20.0 + + true + 20.0 + prosilica/cam_info + prosilica/image + prosilica/image_rect + prosilica/cam_info_service + prosilica/poll + hight_def_optical_frame + 1224.5 + 1224.5 + 1025.5 + 2955 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + wide_stereo/left_image + wide_stereo_l_stereo_camera_frame + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + wide_stereo/right_image + wide_stereo_r_stereo_camera_frame + + + + + + + true + 20.0 + wide_stereo_l_sensor + wide_stereo_r_sensor + wide_stereo/raw_stereo + wide_stereo_optical_frame + 320 + 320 + 240 + 320 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + + + + + + + 640 480 + L8 + 45 + 0.1 + 100 + 20.0 + + true + 20.0 + narrow_stereo/left_image + narrow_stereo_l_stereo_camera_frame + + + + + + + 640 480 + L8 + 45 + 0.1 + 100 + 20.0 + + true + 20.0 + narrow_stereo/right_image + narrow_stereo_r_stereo_camera_frame + + + + + + + true + 20.0 + narrow_stereo_l_sensor + narrow_stereo_r_sensor + narrow_stereo/raw_stereo + narrow_stereo_optical_frame + 320 + 320 + 240 + 772.55 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + + 0.0 0.0 0.0 + false + + -80 + 80 + + 0.05 + 10.0 + 0.01 + 40.0 + + 0.005 + true + 40.0 + tilt_scan + laser_tilt_link + + + + + + + 6.0 + @@ -917,15 +1552,15 @@ - + - + - + @@ -934,7 +1569,7 @@ - + @@ -951,15 +1586,15 @@ - + - + - + @@ -984,8 +1619,10 @@ - + + + @@ -1010,14 +1647,16 @@ - + + + - + @@ -1042,14 +1681,16 @@ - + + + - + @@ -1074,8 +1715,10 @@ - + + + @@ -1098,14 +1741,16 @@ - + + + - + @@ -1128,19 +1773,22 @@ - + + + - + - + + @@ -1156,8 +1804,10 @@ - + + + @@ -1168,7 +1818,7 @@ - r_shoulder_pan_collision + r_shoulder_pan_link_geom 100.0 true @@ -1179,11 +1829,12 @@ true + - r_shoulder_lift_collision_geom + r_shoulder_lift_link_geom 100.0 true @@ -1193,18 +1844,19 @@ true + - true + - r_upper_arm_collision_geom + r_upper_arm_link_geom 100.0 true @@ -1217,7 +1869,7 @@ - r_elbow_flex_collision_geom + r_elbow_flex_link_geom 100.0 true @@ -1227,17 +1879,19 @@ + true + - true - true + + true - r_forearm_collision + r_forearm_link_geom 100.0 true @@ -1250,7 +1904,7 @@ true - r_wrist_flex_collision + r_wrist_flex_link_geom 100.0 true @@ -1260,12 +1914,13 @@ + true - r_wrist_roll_collision + r_wrist_roll_link_geom 100.0 true @@ -1275,6 +1930,7 @@ + @@ -1301,25 +1957,7 @@ - - - - - - - - - - - - - - - - - - - + @@ -1334,19 +1972,43 @@ - + + + - + + + + + + + + + + + + + + + + + + + + + + + - - + + @@ -1364,6 +2026,8 @@ + + @@ -1377,20 +2041,20 @@ - - + - + - + + - + @@ -1416,23 +2080,24 @@ - + + + - + - + - - + @@ -1446,23 +2111,24 @@ - + + + - + - + - - + @@ -1476,23 +2142,24 @@ - + + + - + - + - - + @@ -1506,20 +2173,22 @@ - + + + - + true - r_gripper_l_finger_collision + r_gripper_l_finger_link_geom 100.0 true @@ -1534,14 +2203,15 @@ + - + true - r_gripper_r_finger_collision + r_gripper_r_finger_link_geom 100.0 true @@ -1555,19 +2225,16 @@ + - + - - - - true - r_gripper_l_finger_tip_collision + r_gripper_l_finger_tip_link_geom 100.0 true @@ -1578,21 +2245,19 @@ - + - + + - + - - - true - r_gripper_r_finger_tip_collision + r_gripper_r_finger_tip_link_geom 100.0 true @@ -1603,16 +2268,10 @@ - + - - - - - - - - + + true 100.0 @@ -1630,22 +2289,19 @@ r_gripper_l_finger_link - - - - - - - - - + + + + + + - + true - r_gripper_palm_collision + r_gripper_palm_link_geom 100.0 true @@ -1658,6 +2314,7 @@ true + r_gripper_l_finger_tip_link r_gripper_float_link @@ -1683,7 +2340,7 @@ 0.08 --> - + true 100.0 @@ -1695,16 +2352,21 @@ map - + + true + 100.0 + r_gripper_tool_frame + r_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + true - - - - - - - + @@ -1739,15 +2401,15 @@ - + - + - + @@ -1756,7 +2418,7 @@ - + @@ -1773,15 +2435,15 @@ - + - + - + @@ -1806,8 +2468,10 @@ - + + + @@ -1832,14 +2496,16 @@ - + + + - + @@ -1864,14 +2530,16 @@ - + + + - + @@ -1896,8 +2564,10 @@ - + + + @@ -1920,14 +2590,16 @@ - + + + - + @@ -1950,19 +2622,22 @@ - + + + - + - + + @@ -1978,8 +2653,10 @@ - + + + @@ -1990,7 +2667,7 @@ - l_shoulder_pan_collision + l_shoulder_pan_link_geom 100.0 true @@ -2001,11 +2678,12 @@ true + - l_shoulder_lift_collision_geom + l_shoulder_lift_link_geom 100.0 true @@ -2015,18 +2693,19 @@ true + - true + - l_upper_arm_collision_geom + l_upper_arm_link_geom 100.0 true @@ -2039,7 +2718,7 @@ - l_elbow_flex_collision_geom + l_elbow_flex_link_geom 100.0 true @@ -2049,17 +2728,19 @@ + true + - true - true + + true - l_forearm_collision + l_forearm_link_geom 100.0 true @@ -2072,7 +2753,7 @@ true - l_wrist_flex_collision + l_wrist_flex_link_geom 100.0 true @@ -2082,12 +2763,13 @@ + true - l_wrist_roll_collision + l_wrist_roll_link_geom 100.0 true @@ -2097,6 +2779,7 @@ + @@ -2123,25 +2806,7 @@ - - - - - - - - - - - - - - - - - - - + @@ -2156,19 +2821,43 @@ - + + + - + + + + + + + + + + + + + + + + + + + + + + + - - + + @@ -2186,6 +2875,8 @@ + + @@ -2199,20 +2890,20 @@ - - + - + - + + - + @@ -2238,23 +2929,24 @@ - + + + - + - + - - + @@ -2268,23 +2960,24 @@ - + + + - + - + - - + @@ -2298,23 +2991,24 @@ - + + + - + - + - - + @@ -2328,20 +3022,22 @@ - + + + - + true - l_gripper_l_finger_collision + l_gripper_l_finger_link_geom 100.0 true @@ -2356,14 +3052,15 @@ + - + true - l_gripper_r_finger_collision + l_gripper_r_finger_link_geom 100.0 true @@ -2377,19 +3074,16 @@ + - + - - - - true - l_gripper_l_finger_tip_collision + l_gripper_l_finger_tip_link_geom 100.0 true @@ -2400,21 +3094,19 @@ - + - + + - + - - - true - l_gripper_r_finger_tip_collision + l_gripper_r_finger_tip_link_geom 100.0 true @@ -2425,16 +3117,10 @@ - + - - - - - - - - + + true 100.0 @@ -2452,22 +3138,19 @@ l_gripper_l_finger_link - - - - - - - - - + + + + + + - + true - l_gripper_palm_collision + l_gripper_palm_link_geom 100.0 true @@ -2480,6 +3163,7 @@ true + l_gripper_l_finger_tip_link l_gripper_float_link @@ -2505,7 +3189,7 @@ 0.08 --> - + true 100.0 @@ -2517,16 +3201,21 @@ map - + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + true - - - - - - - + @@ -2535,7 +3224,153 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + l_forearm_cam/image + l_forearm_cam_frame + + + + true + PR2/Blue + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + r_forearm_cam/image + r_forearm_cam_frame + + + + true + PR2/Blue + + true + + + From a5b5ad1665725db920d4b273aeb445f3949c890f Mon Sep 17 00:00:00 2001 From: meeussen Date: Mon, 26 Oct 2009 20:55:28 +0000 Subject: [PATCH 054/245] update expected test results to new xml file --- kdl_parser/test/pr2_desc.xml | 1773 ++++++++++++++++++++------- kdl_parser/test/test_kdl_parser.cpp | 4 +- 2 files changed, 1306 insertions(+), 471 deletions(-) diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index 46efbc9..de8f6ed 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -1,19 +1,28 @@ - + - - - - - - - - - + + + + + + + + + + + + + true + 1000.0 + + + true @@ -42,7 +51,36 @@ + + + + + + + + + + + + + + + + + + + + + + + @@ -55,22 +93,24 @@ - - - - + + + + + - - - - + + + + + - - + @@ -81,46 +121,19 @@ - - - - + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + @@ -141,26 +154,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -174,22 +187,23 @@ - + - - + + + - + - + - fl_caster_l_wheel_collision + fl_caster_l_wheel_link_geom 100.0 true @@ -198,17 +212,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -223,22 +235,23 @@ - + - - + + + - + - + - fl_caster_r_wheel_collision + fl_caster_r_wheel_link_geom 100.0 true @@ -247,17 +260,15 @@ + - - - - + - -75.05 + -75.0676691729 @@ -275,26 +286,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -308,22 +319,23 @@ - + - - + + + - + - + - fr_caster_l_wheel_collision + fr_caster_l_wheel_link_geom 100.0 true @@ -332,17 +344,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -357,22 +367,23 @@ - + - - + + + - + - + - fr_caster_r_wheel_collision + fr_caster_r_wheel_link_geom 100.0 true @@ -381,17 +392,15 @@ + - - - - + - -75.05 + -75.0676691729 @@ -409,26 +418,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -442,22 +451,23 @@ - + - - + + + - + - + - bl_caster_l_wheel_collision + bl_caster_l_wheel_link_geom 100.0 true @@ -466,17 +476,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -491,22 +499,23 @@ - + - - + + + - + - + - bl_caster_r_wheel_collision + bl_caster_r_wheel_link_geom 100.0 true @@ -515,17 +524,15 @@ + - - - - + - -75.05 + -75.0676691729 @@ -543,26 +550,26 @@ - + - - + + + + - + - + - -75.05 - - - + -75.0676691729 + @@ -576,22 +583,23 @@ - + - - + + + - + - + - br_caster_l_wheel_collision + br_caster_l_wheel_link_geom 100.0 true @@ -600,17 +608,15 @@ + - - - - + - 75.05 + 75.0676691729 @@ -625,22 +631,23 @@ - + - - + + + - + - + - br_caster_r_wheel_collision + br_caster_r_wheel_link_geom 100.0 true @@ -649,20 +656,19 @@ + - - - - + - -75.05 + -75.0676691729 + - base_collision + base_link_geom 100.0 true @@ -671,11 +677,13 @@ - - - + + + + + base_link true 100.0 @@ -687,6 +695,17 @@ 0 0 0 + + true + 100.0 + plug_holder + plug_holder_pose_ground_truth + 0.01 + map + 0 0 0 + 0 0 0 + + 640 @@ -695,8 +714,8 @@ 0.0 0.0 0.0 false - -100 - 100 + -135 + 135 0.05 10.0 @@ -712,24 +731,37 @@ - + - - true - 100.0 - plug_magnet - plug_magnet_pose_ground_truth - 0.01 - map - 0 0 0 - 0 0 0 - - - - - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -745,6 +777,7 @@ + @@ -753,24 +786,50 @@ - + + - + - + + - + + + torso_lift_link_geom + 100.0 + + true + 100.0 + torso_lift_bumper + + + + + + + true + 100.0 + torso_lift_link + imu_data + 0.01 + map + 0 0 0 + 0 0 0 + + + -52143.33 - - - + + @@ -792,8 +851,10 @@ - + + + @@ -809,14 +870,12 @@ 6.0 - - - + - + @@ -832,8 +891,10 @@ - + + + @@ -844,9 +905,7 @@ - - - + 6.0 @@ -867,6 +926,8 @@ + + @@ -877,19 +938,593 @@ - - - + - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + R8G8B8 + 2448 2050 + 45 + 0.1 + 100 + 20.0 + + true + 20.0 + prosilica/cam_info + prosilica/image + prosilica/image_rect + prosilica/cam_info_service + prosilica/poll + hight_def_optical_frame + 1224.5 + 1224.5 + 1025.5 + 2955 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + wide_stereo/left_image + wide_stereo_l_stereo_camera_frame + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + wide_stereo/right_image + wide_stereo_r_stereo_camera_frame + + + + + + + true + 20.0 + wide_stereo_l_sensor + wide_stereo_r_sensor + wide_stereo/raw_stereo + wide_stereo_optical_frame + 320 + 320 + 240 + 320 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + + + + + + + 640 480 + L8 + 45 + 0.1 + 100 + 20.0 + + true + 20.0 + narrow_stereo/left_image + narrow_stereo_l_stereo_camera_frame + + + + + + + 640 480 + L8 + 45 + 0.1 + 100 + 20.0 + + true + 20.0 + narrow_stereo/right_image + narrow_stereo_r_stereo_camera_frame + + + + + + + true + 20.0 + narrow_stereo_l_sensor + narrow_stereo_r_sensor + narrow_stereo/raw_stereo + narrow_stereo_optical_frame + 320 + 320 + 240 + 772.55 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + + 0.0 0.0 0.0 + false + + -80 + 80 + + 0.05 + 10.0 + 0.01 + 40.0 + + 0.005 + true + 40.0 + tilt_scan + laser_tilt_link + + + + + + + 6.0 + @@ -917,15 +1552,15 @@ - + - + - + @@ -934,7 +1569,7 @@ - + @@ -951,15 +1586,15 @@ - + - + - + @@ -984,8 +1619,10 @@ - + + + @@ -1010,14 +1647,16 @@ - + + + - + @@ -1042,14 +1681,16 @@ - + + + - + @@ -1074,8 +1715,10 @@ - + + + @@ -1098,14 +1741,16 @@ - + + + - + @@ -1128,19 +1773,22 @@ - + + + - + - + + @@ -1156,8 +1804,10 @@ - + + + @@ -1168,7 +1818,7 @@ - r_shoulder_pan_collision + r_shoulder_pan_link_geom 100.0 true @@ -1179,11 +1829,12 @@ true + - r_shoulder_lift_collision_geom + r_shoulder_lift_link_geom 100.0 true @@ -1193,18 +1844,19 @@ true + - true + - r_upper_arm_collision_geom + r_upper_arm_link_geom 100.0 true @@ -1217,7 +1869,7 @@ - r_elbow_flex_collision_geom + r_elbow_flex_link_geom 100.0 true @@ -1227,17 +1879,19 @@ + true + - true - true + + true - r_forearm_collision + r_forearm_link_geom 100.0 true @@ -1250,7 +1904,7 @@ true - r_wrist_flex_collision + r_wrist_flex_link_geom 100.0 true @@ -1260,12 +1914,13 @@ + true - r_wrist_roll_collision + r_wrist_roll_link_geom 100.0 true @@ -1275,6 +1930,7 @@ + @@ -1301,25 +1957,7 @@ - - - - - - - - - - - - - - - - - - - + @@ -1334,19 +1972,43 @@ - + + + - + + + + + + + + + + + + + + + + + + + + + + + - - + + @@ -1364,6 +2026,8 @@ + + @@ -1377,20 +2041,20 @@ - - + - + - + + - + @@ -1416,23 +2080,24 @@ - + + + - + - + - - + @@ -1446,23 +2111,24 @@ - + + + - + - + - - + @@ -1476,23 +2142,24 @@ - + + + - + - + - - + @@ -1506,20 +2173,22 @@ - + + + - + true - r_gripper_l_finger_collision + r_gripper_l_finger_link_geom 100.0 true @@ -1534,14 +2203,15 @@ + - + true - r_gripper_r_finger_collision + r_gripper_r_finger_link_geom 100.0 true @@ -1555,19 +2225,16 @@ + - + - - - - true - r_gripper_l_finger_tip_collision + r_gripper_l_finger_tip_link_geom 100.0 true @@ -1578,21 +2245,19 @@ - + - + + - + - - - true - r_gripper_r_finger_tip_collision + r_gripper_r_finger_tip_link_geom 100.0 true @@ -1603,16 +2268,10 @@ - + - - - - - - - - + + true 100.0 @@ -1630,22 +2289,19 @@ r_gripper_l_finger_link - - - - - - - - - + + + + + + - + true - r_gripper_palm_collision + r_gripper_palm_link_geom 100.0 true @@ -1658,6 +2314,7 @@ true + r_gripper_l_finger_tip_link r_gripper_float_link @@ -1683,7 +2340,7 @@ 0.08 --> - + true 100.0 @@ -1695,16 +2352,21 @@ map - + + true + 100.0 + r_gripper_tool_frame + r_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + true - - - - - - - + @@ -1739,15 +2401,15 @@ - + - + - + @@ -1756,7 +2418,7 @@ - + @@ -1773,15 +2435,15 @@ - + - + - + @@ -1806,8 +2468,10 @@ - + + + @@ -1832,14 +2496,16 @@ - + + + - + @@ -1864,14 +2530,16 @@ - + + + - + @@ -1896,8 +2564,10 @@ - + + + @@ -1920,14 +2590,16 @@ - + + + - + @@ -1950,19 +2622,22 @@ - + + + - + - + + @@ -1978,8 +2653,10 @@ - + + + @@ -1990,7 +2667,7 @@ - l_shoulder_pan_collision + l_shoulder_pan_link_geom 100.0 true @@ -2001,11 +2678,12 @@ true + - l_shoulder_lift_collision_geom + l_shoulder_lift_link_geom 100.0 true @@ -2015,18 +2693,19 @@ true + - true + - l_upper_arm_collision_geom + l_upper_arm_link_geom 100.0 true @@ -2039,7 +2718,7 @@ - l_elbow_flex_collision_geom + l_elbow_flex_link_geom 100.0 true @@ -2049,17 +2728,19 @@ + true + - true - true + + true - l_forearm_collision + l_forearm_link_geom 100.0 true @@ -2072,7 +2753,7 @@ true - l_wrist_flex_collision + l_wrist_flex_link_geom 100.0 true @@ -2082,12 +2763,13 @@ + true - l_wrist_roll_collision + l_wrist_roll_link_geom 100.0 true @@ -2097,6 +2779,7 @@ + @@ -2123,25 +2806,7 @@ - - - - - - - - - - - - - - - - - - - + @@ -2156,19 +2821,43 @@ - + + + - + + + + + + + + + + + + + + + + + + + + + + + - - + + @@ -2186,6 +2875,8 @@ + + @@ -2199,20 +2890,20 @@ - - + - + - + + - + @@ -2238,23 +2929,24 @@ - + + + - + - + - - + @@ -2268,23 +2960,24 @@ - + + + - + - + - - + @@ -2298,23 +2991,24 @@ - + + + - + - + - - + @@ -2328,20 +3022,22 @@ - + + + - + true - l_gripper_l_finger_collision + l_gripper_l_finger_link_geom 100.0 true @@ -2356,14 +3052,15 @@ + - + true - l_gripper_r_finger_collision + l_gripper_r_finger_link_geom 100.0 true @@ -2377,19 +3074,16 @@ + - + - - - - true - l_gripper_l_finger_tip_collision + l_gripper_l_finger_tip_link_geom 100.0 true @@ -2400,21 +3094,19 @@ - + - + + - + - - - true - l_gripper_r_finger_tip_collision + l_gripper_r_finger_tip_link_geom 100.0 true @@ -2425,16 +3117,10 @@ - + - - - - - - - - + + true 100.0 @@ -2452,22 +3138,19 @@ l_gripper_l_finger_link - - - - - - - - - + + + + + + - + true - l_gripper_palm_collision + l_gripper_palm_link_geom 100.0 true @@ -2480,6 +3163,7 @@ true + l_gripper_l_finger_tip_link l_gripper_float_link @@ -2505,7 +3189,7 @@ 0.08 --> - + true 100.0 @@ -2517,16 +3201,21 @@ map - + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + true - - - - - - - + @@ -2535,7 +3224,153 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + l_forearm_cam/image + l_forearm_cam_frame + + + + true + PR2/Blue + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + r_forearm_cam/image + r_forearm_cam_frame + + + + true + PR2/Blue + + true + + + diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index d301058..1a51da7 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -72,8 +72,8 @@ TEST_F(TestParser, test) } ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); - ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)39); - ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)51); + ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)40); + ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)71); ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); From db7c417438d358cf7a24d4e742ea89ac98816a1e Mon Sep 17 00:00:00 2001 From: meeussen Date: Mon, 26 Oct 2009 20:55:50 +0000 Subject: [PATCH 055/245] preparing bugfix release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7a86d00..dbd9db3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.0) +rosbuild_make_distribution(0.6.1) From 32b088274deb1786bc2196df6df138704125607f Mon Sep 17 00:00:00 2001 From: meeussen Date: Mon, 26 Oct 2009 22:03:38 +0000 Subject: [PATCH 056/245] joint state listener should not keep buffer --- robot_state_publisher/src/joint_state_listener.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index e240b67..4bb67b4 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -54,7 +54,7 @@ JointStateListener::JointStateListener(const KDL::Tree& tree) publish_rate_ = Rate(publish_freq); // subscribe to mechanism state - joint_state_sub_ = n_.subscribe("joint_states", 500, &JointStateListener::callbackJointState, this);; + joint_state_sub_ = n_.subscribe("joint_states", 1, &JointStateListener::callbackJointState, this);; }; From 1711b830daf8b030bbfdb2c72a1f50ece338d986 Mon Sep 17 00:00:00 2001 From: meeussen Date: Mon, 26 Oct 2009 22:11:05 +0000 Subject: [PATCH 057/245] bugfix release for robot model --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index dbd9db3..9042359 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.1) +rosbuild_make_distribution(0.6.2) From 848abcdd207ad49e8194f4d97ada229b1c1738ea Mon Sep 17 00:00:00 2001 From: rphilippsen Date: Fri, 30 Oct 2009 18:51:30 +0000 Subject: [PATCH 058/245] Bugfix: URDF inertia was not added to KDL::Segment, which ended up always having zero mass and inertia. (Yet another case of default ctor args standing in the way of development). --- kdl_parser/src/kdl_parser.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index 2478250..717661f 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -115,7 +115,7 @@ bool addChildrenToTree(boost::shared_ptr root, Tree& tree) Joint jnt = toKdl(root->parent_joint); // construct the kdl segment - Segment sgm(root->name, jnt, toKdl(root->parent_joint->parent_to_joint_origin_transform)); + Segment sgm(root->name, jnt, toKdl(root->parent_joint->parent_to_joint_origin_transform), inert); // add segment to tree tree.addSegment(sgm, root->parent_joint->parent_link_name); From b5c98fddfdf291f11e07332cb665ec9b2886fa3b Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 16 Nov 2009 19:49:30 +0000 Subject: [PATCH 059/245] make get methods const. Ticket #3273 --- urdf/include/urdf/pose.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h index 0b76258..3a46a9d 100644 --- a/urdf/include/urdf/pose.h +++ b/urdf/include/urdf/pose.h @@ -86,14 +86,14 @@ class Rotation public: Rotation(double _x,double _y, double _z, double _w) {this->x=_x;this->y=_y;this->z=_z;this->w=_w;}; Rotation() {this->clear();}; - void getQuaternion(double &quat_x,double &quat_y,double &quat_z, double &quat_w) + void getQuaternion(double &quat_x,double &quat_y,double &quat_z, double &quat_w) const { quat_x = this->x; quat_y = this->y; quat_z = this->z; quat_w = this->w; }; - void getRPY(double &roll,double &pitch,double &yaw) + void getRPY(double &roll,double &pitch,double &yaw) const { double sqw; double sqx; From b5936c14af79e129571ac25e04c10203624d5b59 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 19 Nov 2009 00:43:50 +0000 Subject: [PATCH 060/245] when visual, inertial or collision is specified but fails to parse, the parser should fail --- urdf/src/link.cpp | 19 +- urdf/test/pr2_desc_no_filename_in_mesh.xml | 3377 ++++++++++++++++++++ urdf/test/test_robot_model_parser.launch | 2 +- 3 files changed, 3389 insertions(+), 9 deletions(-) create mode 100644 urdf/test/pr2_desc_no_filename_in_mesh.xml diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp index 11aa9ea..f0adc1d 100644 --- a/urdf/src/link.cpp +++ b/urdf/src/link.cpp @@ -67,8 +67,11 @@ boost::shared_ptr parseGeometry(TiXmlElement *g) return geom; } - if (!geom->initXml(shape)) - return geom; + // clear geom object when fails to initialize + if (!geom->initXml(shape)){ + ROS_ERROR("Geometry failed to parse"); + geom.reset(); + } return geom; } @@ -365,7 +368,7 @@ bool Link::initXml(TiXmlElement* config) } name = std::string(name_char); - // Inertial + // Inertial (optional) TiXmlElement *i = config->FirstChildElement("inertial"); if (i) { @@ -373,11 +376,11 @@ bool Link::initXml(TiXmlElement* config) if (!inertial->initXml(i)) { ROS_ERROR("Could not parse inertial element for Link '%s'", this->name.c_str()); - inertial.reset(); + return false; } } - // Visual + // Visual (optional) TiXmlElement *v = config->FirstChildElement("visual"); if (v) { @@ -385,11 +388,11 @@ bool Link::initXml(TiXmlElement* config) if (!visual->initXml(v)) { ROS_ERROR("Could not parse visual element for Link '%s'", this->name.c_str()); - visual.reset(); + return false; } } - // Collision + // Collision (optional) TiXmlElement *col = config->FirstChildElement("collision"); if (col) { @@ -397,7 +400,7 @@ bool Link::initXml(TiXmlElement* config) if (!collision->initXml(col)) { ROS_ERROR("Could not parse collision element for Link '%s'", this->name.c_str()); - collision.reset(); + return false; } } diff --git a/urdf/test/pr2_desc_no_filename_in_mesh.xml b/urdf/test/pr2_desc_no_filename_in_mesh.xml new file mode 100644 index 0000000..21c98b8 --- /dev/null +++ b/urdf/test/pr2_desc_no_filename_in_mesh.xml @@ -0,0 +1,3377 @@ + + + + + + + + + + + + + + + + + + + + true + 1000.0 + + + + + + true + 1000.0 + + + + + + true + 1.0 + 5 + -10.0 + 1.0 + 10.0 + 1200000.0 + diagnostic + battery_state + self_test + + + + + true + 1000.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.0676691729 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_l_wheel_link_geom + 100.0 + + true + 100.0 + fl_caster_l_wheel_bumper + + + + + + + + + + + + 75.0676691729 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + fl_caster_r_wheel_link_geom + 100.0 + + true + 100.0 + fl_caster_r_wheel_bumper + + + + + + + + + + + + -75.0676691729 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -75.0676691729 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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r_gripper_l_finger_tip_link + r_gripper_float_link + r_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + r_gripper_r_finger_tip_link + r_gripper_float_link + r_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + r_gripper_palm_link + r_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + 100.0 + r_gripper_tool_frame + r_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + true + + l_gripper_palm_link_geom + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + true + + + + l_gripper_l_finger_tip_link + l_gripper_float_link + l_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + l_gripper_r_finger_tip_link + l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + l_forearm_cam/image + l_forearm_cam_frame + + + + true + PR2/Blue + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 20.0 + + true + 20.0 + r_forearm_cam/image + r_forearm_cam_frame + + + + true + PR2/Blue + + true + + + + + + + diff --git a/urdf/test/test_robot_model_parser.launch b/urdf/test/test_robot_model_parser.launch index fc0662e..66d8df1 100644 --- a/urdf/test/test_robot_model_parser.launch +++ b/urdf/test/test_robot_model_parser.launch @@ -1,3 +1,3 @@ - + From c1ff68a28eb564d78f390188d411a932e2f6a571 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 19 Nov 2009 18:12:08 +0000 Subject: [PATCH 061/245] Give better error message when no links were found --- urdf/src/model.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index ee3fa9c..708e074 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -232,6 +232,12 @@ bool Model::initXml(TiXmlElement *robot_xml) return false; } + // make sure tree is not empty + if (parent_link_tree.empty()){ + ROS_ERROR("The robot xml does not contain any valid links. Are you parsing an empty file, or an un-processed xacro file?"); + return false; + } + // find the root link if (!this->initRoot(parent_link_tree)) { @@ -352,7 +358,7 @@ bool Model::initRoot(std::map &parent_link_tree) } if (!this->root_link_) { - ROS_ERROR("No root link found. The robot xml is empty or not a tree."); + ROS_ERROR("No root link found. The robot xml is not a valid tree."); return false; } ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str()); From d4fa8bc8e3537001b4edef6b4046903b0a522934 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 19 Nov 2009 19:15:05 +0000 Subject: [PATCH 062/245] add regression test for parsing the inertia --- kdl_parser/src/kdl_parser.cpp | 1 + kdl_parser/test/test_kdl_parser.cpp | 2 ++ 2 files changed, 3 insertions(+) diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index 717661f..e2d768e 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -96,6 +96,7 @@ Joint toKdl(boost::shared_ptr jnt) RigidBodyInertia toKdl(boost::shared_ptr i) { Frame origin = toKdl(i->origin); + // kdl specifies the inertia in the reference frame of the link, the urdf specifies the inertia in the inertia reference frame return origin.M * RigidBodyInertia(i->mass, origin.p, RotationalInertia(i->ixx, i->iyy, i->izz, i->ixy, i->ixz, i->iyz)); } diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 1a51da7..7d6c99e 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -77,6 +77,8 @@ TEST_F(TestParser, test) ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); + ASSERT_EQ(my_tree.getSegment("base_link")->second.segment.getInertia().getMass(), 116.0); + ASSERT_NEAR(my_tree.getSegment("base_link")->second.segment.getInertia().getRotationalInertia().data[0], 15.6107, 0.001); SUCCEED(); } From f36a1a4ac5b6a187c25ea4d6f84c1eaec18a5c0a Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 19 Nov 2009 19:22:29 +0000 Subject: [PATCH 063/245] preparing for 0.6.3 bugfix release of robot model stack --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9042359..8be5573 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.2) +rosbuild_make_distribution(0.6.3) From 630eb4fdb10a6a340431f8e311c62e57ad6b351d Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 19 Nov 2009 21:31:52 +0000 Subject: [PATCH 064/245] use most recent robot description --- urdf/test/pr2_desc.xml | 1987 +++++++++++++++++++++------------------- 1 file changed, 1029 insertions(+), 958 deletions(-) diff --git a/urdf/test/pr2_desc.xml b/urdf/test/pr2_desc.xml index de8f6ed..a1e15b8 100644 --- a/urdf/test/pr2_desc.xml +++ b/urdf/test/pr2_desc.xml @@ -1,57 +1,49 @@ - + - + + - - - - - - + + + + + + + + + + + + + - - + true 1000.0 - - + + - - - true - 1000.0 - - - - - + true 1.0 5 - -10.0 - 1.0 - 10.0 - 1200000.0 - diagnostic - battery_state - self_test - - - - true - 1000.0 - - + power_state + 10.0 + 87.78 + -474 + 525 + 15.52 + 16.41 + - + @@ -64,9 +56,11 @@ - + + + - + @@ -74,7 +68,7 @@ - - + + - + - - + + - + - + - - fl_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - fl_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -231,45 +237,37 @@ - - + + - + - - + + - + - + - - fl_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - fl_caster_r_wheel_bumper - - - - + - -75.0676691729 - + -79.2380952381 + + + @@ -289,7 +287,7 @@ - + @@ -304,7 +302,7 @@ - -75.0676691729 + -79.2380952381 @@ -315,44 +313,34 @@ - - + + - + - - + + - + - + - - fr_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - fr_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -363,45 +351,37 @@ - - + + - + - - + + - + - + - - fr_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - fr_caster_r_wheel_bumper - - - - + - -75.0676691729 - + -79.2380952381 + + + @@ -421,7 +401,7 @@ - + @@ -436,7 +416,7 @@ - -75.0676691729 + -79.2380952381 @@ -447,44 +427,34 @@ - - + + - + - - + + - + - + - - bl_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - bl_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -495,45 +465,37 @@ - - + + - + - - + + - + - + - - bl_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - bl_caster_r_wheel_bumper - - - - + - -75.0676691729 - + -79.2380952381 + + + @@ -553,7 +515,7 @@ - + @@ -568,7 +530,7 @@ - -75.0676691729 + -79.2380952381 @@ -579,44 +541,34 @@ - - + + - + - - + + - + - + - - br_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - br_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -627,64 +579,51 @@ - - + + - + - - + + - + - + - - br_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - br_caster_r_wheel_bumper - - - - + - -75.0676691729 - - + -79.2380952381 + + + + true base_link_geom 100.0 - + true 100.0 base_bumper - + - - - - - base_link - + true 100.0 base_link @@ -694,74 +633,8 @@ 25.7 25.7 0 0 0 0 - - - true - 100.0 - plug_holder - plug_holder_pose_ground_truth - 0.01 - map - 0 0 0 - 0 0 0 - - - - - 640 - 640 - 1 - 0.0 0.0 0.0 - false - - -135 - 135 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + @@ -777,7 +650,6 @@ - @@ -786,8 +658,9 @@ - + + @@ -802,26 +675,14 @@ torso_lift_link_geom 100.0 - + true 100.0 torso_lift_bumper - - + + - - - true - 100.0 - torso_lift_link - imu_data - 0.01 - map - 0 0 0 - 0 0 0 - - @@ -829,12 +690,12 @@ + numerical values that were specified in common.xacro which was included above --> - - - + + + @@ -851,7 +712,7 @@ - + @@ -872,9 +733,9 @@ 6.0 - - - + + + @@ -891,7 +752,7 @@ - + @@ -983,11 +844,11 @@ - + + - + - @@ -1012,11 +873,11 @@ - + + - + - @@ -1034,14 +895,14 @@ 0.1 100 20.0 - + true 20.0 - prosilica/cam_info - prosilica/image - prosilica/image_rect - prosilica/cam_info_service - prosilica/poll + /prosilica/cam_info + /prosilica/image + /prosilica/image_rect + /prosilica/cam_info_service + /prosilica/poll hight_def_optical_frame 1224.5 1224.5 @@ -1053,7 +914,7 @@ 0 0 - + @@ -1072,18 +933,17 @@ - + - + - - + - + @@ -1099,18 +959,18 @@ - + - + - + - + @@ -1127,19 +987,19 @@ - + - - + + - + - - + + @@ -1148,58 +1008,198 @@ - + - - + + - + - + - - - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + B8G8R8 + 90.0 + 0.1 + 100 + 25.0 + + true + 25.0 + wide_stereo/left/image_raw + wide_stereo/left/camera_info + wide_stereo_optical_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + - + - - + + - + - + - - - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + B8G8R8 + 90.0 + 0.1 + 100 + 25.0 + + true + 25.0 + wide_stereo/right/image_raw + wide_stereo/right/camera_info + wide_stereo_optical_frame + 0.09 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + + + + + + + true + 20.0 + wide_stereo_l_stereo_camera_sensor + wide_stereo_r_stereo_camera_sensor + wide_stereo/raw_stereo + wide_stereo_optical_frame + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + @@ -1211,18 +1211,18 @@ - + - + - + - + @@ -1239,19 +1239,19 @@ - + - - + + - + - - + + @@ -1260,167 +1260,189 @@ - + - - + + - + - + - - - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 45.0 + 0.1 + 100 + 25.0 + + true + 25.0 + narrow_stereo/left/image_raw + narrow_stereo/left/camera_info + narrow_stereo_optical_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 772.55 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + - + - - + + - + - + - - - + - + - - - - - - - - - - 640 480 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 L8 - 90 + 45.0 0.1 100 - 20.0 - + 25.0 + true - 20.0 - wide_stereo/left_image - wide_stereo_l_stereo_camera_frame - - + 25.0 + narrow_stereo/right/image_raw + narrow_stereo/right/camera_info + narrow_stereo_optical_frame + 0.09 + 320.5 + 320.5 + 240.5 + + + 772.55 + 0 + 0 + 0 + 0 + 0 + + - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - wide_stereo/right_image - wide_stereo_r_stereo_camera_frame - - - - - - - true - 20.0 - wide_stereo_l_sensor - wide_stereo_r_sensor - wide_stereo/raw_stereo - wide_stereo_optical_frame - 320 - 320 - 240 - 320 - 0 - 0 - 0 - 0 - 0 - -0.09 - - + true + PR2/Blue + + true - - - 640 480 - L8 - 45 - 0.1 - 100 - 20.0 - - true - 20.0 - narrow_stereo/left_image - narrow_stereo_l_stereo_camera_frame - - - - - - - 640 480 - L8 - 45 - 0.1 - 100 - 20.0 - - true - 20.0 - narrow_stereo/right_image - narrow_stereo_r_stereo_camera_frame - - - - - - + + true 20.0 - narrow_stereo_l_sensor - narrow_stereo_r_sensor + narrow_stereo_l_stereo_camera_sensor + narrow_stereo_r_stereo_camera_sensor narrow_stereo/raw_stereo narrow_stereo_optical_frame - 320 - 320 - 240 - 772.55 + 320.5 + 320.5 + 240.5 + + + 772.55 0 0 0 @@ -1428,15 +1450,17 @@ 0 -0.09 - + + + - - + + @@ -1453,7 +1477,7 @@ - + @@ -1471,31 +1495,25 @@ - - - + - + - - - + - + - - - + 640 640 @@ -1511,24 +1529,27 @@ 10.0 0.01 40.0 - + 0.005 true 40.0 tilt_scan laser_tilt_link - - + + + + - 6.0 + -6.05 + - + @@ -1552,7 +1573,7 @@ - + @@ -1560,7 +1581,7 @@ - + @@ -1568,7 +1589,7 @@ - + @@ -1586,7 +1607,7 @@ - + @@ -1594,7 +1615,7 @@ - + @@ -1619,9 +1640,9 @@ - + - + @@ -1631,7 +1652,58 @@ - + + + r_shoulder_pan_link_geom + 100.0 + + true + 100.0 + r_shoulder_pan_bumper + + + + + true + + + + + + r_shoulder_lift_link_geom + 100.0 + + true + 100.0 + r_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + @@ -1647,23 +1719,24 @@ - + - + - + - - + + + @@ -1681,52 +1754,96 @@ - + - + - + - - - - + - + - + - + + + - + + + r_upper_arm_link_geom + 100.0 + + true + 100.0 + r_upper_arm_bumper + + + + true + + + -1.0 + + + r_elbow_flex_link_geom + 100.0 + + true + 100.0 + r_elbow_flex_bumper + + + + + true + + + + + + true + + + + + + -36.17 + + + + 90.5142857143 + + @@ -1741,24 +1858,24 @@ - + - + - + - - + + - + @@ -1773,16 +1890,16 @@ - + - + - + @@ -1790,7 +1907,7 @@ - + @@ -1804,9 +1921,9 @@ - + - + @@ -1816,89 +1933,17 @@ - - - r_shoulder_pan_link_geom - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - - true - - - - - - r_shoulder_lift_link_geom - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - - r_upper_arm_link_geom - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - - true - - - - r_elbow_flex_link_geom - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - - true - - - - - - true - - - + true r_forearm_link_geom 100.0 - + true 100.0 r_forearm_bumper - - + + @@ -1906,12 +1951,12 @@ r_wrist_flex_link_geom 100.0 - + true 100.0 r_wrist_flex_bumper - - + + @@ -1922,42 +1967,23 @@ r_wrist_roll_link_geom 100.0 - + true 100.0 r_wrist_roll_bumper - - + + - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - -36.17 - - - - 90.5142857143 - + + @@ -2006,36 +2032,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -2190,12 +2186,12 @@ r_gripper_l_finger_link_geom 100.0 - + true 100.0 r_gripper_l_finger_bumper - - + + @@ -2205,7 +2201,7 @@ - + @@ -2213,12 +2209,12 @@ r_gripper_r_finger_link_geom 100.0 - + true 100.0 r_gripper_r_finger_bumper - - + + @@ -2227,52 +2223,52 @@ - + true - + false r_gripper_l_finger_tip_link_geom 100.0 - + true 100.0 r_gripper_l_finger_tip_bumper - - + + - + - + true - + false r_gripper_r_finger_tip_link_geom 100.0 - + true 100.0 r_gripper_r_finger_tip_bumper - - + + - + - + true 100.0 r_gripper_l_finger_link @@ -2280,41 +2276,79 @@ 0.0 map - - + + true 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link - + - + - + true r_gripper_palm_link_geom 100.0 - + true 100.0 r_gripper_palm_bumper - - + + true + + + true + 0.01 + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + 0 + 0 + 0 + 0.82025 0.188 0.790675 + 0 -0 0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + unit_box + PR2/White + + + true + false + + + r_gripper_float_link + r_gripper_palm_link + r_gripper_float_link + 1 0 0 + -0.05 + 0.001 + r_gripper_l_finger_tip_link r_gripper_float_link @@ -2341,7 +2375,7 @@ --> - + true 100.0 r_gripper_palm_link @@ -2351,8 +2385,8 @@ 0.0 map - - + + true 100.0 r_gripper_tool_frame @@ -2362,13 +2396,13 @@ 0.0 /map - + true - + @@ -2401,7 +2435,7 @@ - + @@ -2409,7 +2443,7 @@ - + @@ -2417,7 +2451,7 @@ - + @@ -2435,7 +2469,7 @@ - + @@ -2443,7 +2477,7 @@ - + @@ -2468,9 +2502,9 @@ - + - + @@ -2480,7 +2514,58 @@ - + + + l_shoulder_pan_link_geom + 100.0 + + true + 100.0 + l_shoulder_pan_bumper + + + + + true + + + + + + l_shoulder_lift_link_geom + 100.0 + + true + 100.0 + l_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + @@ -2496,23 +2581,24 @@ - + - + - + - - + + + @@ -2530,52 +2616,96 @@ - + - + - + - - - - + - + - + - + + + - + + + l_upper_arm_link_geom + 100.0 + + true + 100.0 + l_upper_arm_bumper + + + + true + + + -1.0 + + + l_elbow_flex_link_geom + 100.0 + + true + 100.0 + l_elbow_flex_bumper + + + + + true + + + + + + true + + + + + + -36.17 + + + + 90.5142857143 + + @@ -2590,24 +2720,24 @@ - + - + - + - - + + - + @@ -2622,16 +2752,16 @@ - + - + - + @@ -2639,7 +2769,7 @@ - + @@ -2653,9 +2783,9 @@ - + - + @@ -2665,89 +2795,17 @@ - - - l_shoulder_pan_link_geom - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - - true - - - - - - l_shoulder_lift_link_geom - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - - l_upper_arm_link_geom - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - - true - - - - l_elbow_flex_link_geom - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - - true - - - - - - true - - - + true l_forearm_link_geom 100.0 - + true 100.0 l_forearm_bumper - - + + @@ -2755,12 +2813,12 @@ l_wrist_flex_link_geom 100.0 - + true 100.0 l_wrist_flex_bumper - - + + @@ -2771,42 +2829,23 @@ l_wrist_roll_link_geom 100.0 - + true 100.0 l_wrist_roll_bumper - - + + - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - -36.17 - - - - 90.5142857143 - + + @@ -2855,36 +2894,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -3039,12 +3048,12 @@ l_gripper_l_finger_link_geom 100.0 - + true 100.0 l_gripper_l_finger_bumper - - + + @@ -3054,7 +3063,7 @@ - + @@ -3062,12 +3071,12 @@ l_gripper_r_finger_link_geom 100.0 - + true 100.0 l_gripper_r_finger_bumper - - + + @@ -3076,52 +3085,52 @@ - + true - + false l_gripper_l_finger_tip_link_geom 100.0 - + true 100.0 l_gripper_l_finger_tip_bumper - - + + - + - + true - + false l_gripper_r_finger_tip_link_geom 100.0 - + true 100.0 l_gripper_r_finger_tip_bumper - - + + - + - + true 100.0 l_gripper_l_finger_link @@ -3129,41 +3138,79 @@ 0.0 map - - + + true 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link - + - + - + true l_gripper_palm_link_geom 100.0 - + true 100.0 l_gripper_palm_bumper - - + + true + + + true + 0.01 + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + 0 + 0 + 0 + 0.82025 0.188 0.790675 + 0 -0 0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + unit_box + PR2/White + + + true + false + + + l_gripper_float_link + l_gripper_palm_link + l_gripper_float_link + 1 0 0 + -0.05 + 0.001 + l_gripper_l_finger_tip_link l_gripper_float_link @@ -3190,7 +3237,7 @@ --> - + true 100.0 l_gripper_palm_link @@ -3200,8 +3247,8 @@ 0.0 map - - + + true 100.0 l_gripper_tool_frame @@ -3211,13 +3258,13 @@ 0.0 /map - + true - + @@ -3237,16 +3284,16 @@ - + - + - + - + @@ -3263,34 +3310,48 @@ - + - + - + - + - 640 480 + + 640 480 L8 - 90 + 90.0 0.1 100 - 20.0 - + 25.0 + true - 20.0 - l_forearm_cam/image + 25.0 + l_forearm_cam/image_raw + l_forearm_cam/camera_info l_forearm_cam_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 - + true PR2/Blue @@ -3309,16 +3370,16 @@ - + - + - + - + @@ -3335,34 +3396,48 @@ - + - + - + - + - 640 480 + + 640 480 L8 - 90 + 90.0 0.1 100 - 20.0 - + 25.0 + true - 20.0 - r_forearm_cam/image + 25.0 + r_forearm_cam/image_raw + r_forearm_cam/camera_info r_forearm_cam_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 - + true PR2/Blue @@ -3370,8 +3445,4 @@ true - - - - From bde86260445c75651a57c68dc03f59ab49738e05 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 19 Nov 2009 21:33:45 +0000 Subject: [PATCH 065/245] update test to latest robot description --- kdl_parser/test/pr2_desc.xml | 1987 ++++++++++++++------------- kdl_parser/test/test_kdl_parser.cpp | 4 +- 2 files changed, 1031 insertions(+), 960 deletions(-) diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index de8f6ed..a1e15b8 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -1,57 +1,49 @@ - + - + + - - - - - - + + + + + + + + + + + + + - - + true 1000.0 - - + + - - - true - 1000.0 - - - - - + true 1.0 5 - -10.0 - 1.0 - 10.0 - 1200000.0 - diagnostic - battery_state - self_test - - - - true - 1000.0 - - + power_state + 10.0 + 87.78 + -474 + 525 + 15.52 + 16.41 + - + @@ -64,9 +56,11 @@ - + + + - + @@ -74,7 +68,7 @@ - - + + - + - - + + - + - + - - fl_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - fl_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -231,45 +237,37 @@ - - + + - + - - + + - + - + - - fl_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - fl_caster_r_wheel_bumper - - - - + - -75.0676691729 - + -79.2380952381 + + + @@ -289,7 +287,7 @@ - + @@ -304,7 +302,7 @@ - -75.0676691729 + -79.2380952381 @@ -315,44 +313,34 @@ - - + + - + - - + + - + - + - - fr_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - fr_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -363,45 +351,37 @@ - - + + - + - - + + - + - + - - fr_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - fr_caster_r_wheel_bumper - - - - + - -75.0676691729 - + -79.2380952381 + + + @@ -421,7 +401,7 @@ - + @@ -436,7 +416,7 @@ - -75.0676691729 + -79.2380952381 @@ -447,44 +427,34 @@ - - + + - + - - + + - + - + - - bl_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - bl_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -495,45 +465,37 @@ - - + + - + - - + + - + - + - - bl_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - bl_caster_r_wheel_bumper - - - - + - -75.0676691729 - + -79.2380952381 + + + @@ -553,7 +515,7 @@ - + @@ -568,7 +530,7 @@ - -75.0676691729 + -79.2380952381 @@ -579,44 +541,34 @@ - - + + - + - - + + - + - + - - br_caster_l_wheel_link_geom - 100.0 - - true - 100.0 - br_caster_l_wheel_bumper - - - - + - 75.0676691729 + 79.2380952381 @@ -627,64 +579,51 @@ - - + + - + - - + + - + - + - - br_caster_r_wheel_link_geom - 100.0 - - true - 100.0 - br_caster_r_wheel_bumper - - - - + - -75.0676691729 - - + -79.2380952381 + + + + true base_link_geom 100.0 - + true 100.0 base_bumper - + - - - - - base_link - + true 100.0 base_link @@ -694,74 +633,8 @@ 25.7 25.7 0 0 0 0 - - - true - 100.0 - plug_holder - plug_holder_pose_ground_truth - 0.01 - map - 0 0 0 - 0 0 0 - - - - - 640 - 640 - 1 - 0.0 0.0 0.0 - false - - -135 - 135 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + @@ -777,7 +650,6 @@ - @@ -786,8 +658,9 @@ - + + @@ -802,26 +675,14 @@ torso_lift_link_geom 100.0 - + true 100.0 torso_lift_bumper - - + + - - - true - 100.0 - torso_lift_link - imu_data - 0.01 - map - 0 0 0 - 0 0 0 - - @@ -829,12 +690,12 @@ + numerical values that were specified in common.xacro which was included above --> - - - + + + @@ -851,7 +712,7 @@ - + @@ -872,9 +733,9 @@ 6.0 - - - + + + @@ -891,7 +752,7 @@ - + @@ -983,11 +844,11 @@ - + + - + - @@ -1012,11 +873,11 @@ - + + - + - @@ -1034,14 +895,14 @@ 0.1 100 20.0 - + true 20.0 - prosilica/cam_info - prosilica/image - prosilica/image_rect - prosilica/cam_info_service - prosilica/poll + /prosilica/cam_info + /prosilica/image + /prosilica/image_rect + /prosilica/cam_info_service + /prosilica/poll hight_def_optical_frame 1224.5 1224.5 @@ -1053,7 +914,7 @@ 0 0 - + @@ -1072,18 +933,17 @@ - + - + - - + - + @@ -1099,18 +959,18 @@ - + - + - + - + @@ -1127,19 +987,19 @@ - + - - + + - + - - + + @@ -1148,58 +1008,198 @@ - + - - + + - + - + - - - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + B8G8R8 + 90.0 + 0.1 + 100 + 25.0 + + true + 25.0 + wide_stereo/left/image_raw + wide_stereo/left/camera_info + wide_stereo_optical_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + - + - - + + - + - + - - - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + B8G8R8 + 90.0 + 0.1 + 100 + 25.0 + + true + 25.0 + wide_stereo/right/image_raw + wide_stereo/right/camera_info + wide_stereo_optical_frame + 0.09 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + + + + + + + true + 20.0 + wide_stereo_l_stereo_camera_sensor + wide_stereo_r_stereo_camera_sensor + wide_stereo/raw_stereo + wide_stereo_optical_frame + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + -0.09 + + + @@ -1211,18 +1211,18 @@ - + - + - + - + @@ -1239,19 +1239,19 @@ - + - - + + - + - - + + @@ -1260,167 +1260,189 @@ - + - - + + - + - + - - - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 45.0 + 0.1 + 100 + 25.0 + + true + 25.0 + narrow_stereo/left/image_raw + narrow_stereo/left/camera_info + narrow_stereo_optical_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 772.55 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + - + - - + + - + - + - - - + - + - - - - - - - - - - 640 480 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 L8 - 90 + 45.0 0.1 100 - 20.0 - + 25.0 + true - 20.0 - wide_stereo/left_image - wide_stereo_l_stereo_camera_frame - - + 25.0 + narrow_stereo/right/image_raw + narrow_stereo/right/camera_info + narrow_stereo_optical_frame + 0.09 + 320.5 + 320.5 + 240.5 + + + 772.55 + 0 + 0 + 0 + 0 + 0 + + - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - wide_stereo/right_image - wide_stereo_r_stereo_camera_frame - - - - - - - true - 20.0 - wide_stereo_l_sensor - wide_stereo_r_sensor - wide_stereo/raw_stereo - wide_stereo_optical_frame - 320 - 320 - 240 - 320 - 0 - 0 - 0 - 0 - 0 - -0.09 - - + true + PR2/Blue + + true - - - 640 480 - L8 - 45 - 0.1 - 100 - 20.0 - - true - 20.0 - narrow_stereo/left_image - narrow_stereo_l_stereo_camera_frame - - - - - - - 640 480 - L8 - 45 - 0.1 - 100 - 20.0 - - true - 20.0 - narrow_stereo/right_image - narrow_stereo_r_stereo_camera_frame - - - - - - + + true 20.0 - narrow_stereo_l_sensor - narrow_stereo_r_sensor + narrow_stereo_l_stereo_camera_sensor + narrow_stereo_r_stereo_camera_sensor narrow_stereo/raw_stereo narrow_stereo_optical_frame - 320 - 320 - 240 - 772.55 + 320.5 + 320.5 + 240.5 + + + 772.55 0 0 0 @@ -1428,15 +1450,17 @@ 0 -0.09 - + + + - - + + @@ -1453,7 +1477,7 @@ - + @@ -1471,31 +1495,25 @@ - - - + - + - - - + - + - - - + 640 640 @@ -1511,24 +1529,27 @@ 10.0 0.01 40.0 - + 0.005 true 40.0 tilt_scan laser_tilt_link - - + + + + - 6.0 + -6.05 + - + @@ -1552,7 +1573,7 @@ - + @@ -1560,7 +1581,7 @@ - + @@ -1568,7 +1589,7 @@ - + @@ -1586,7 +1607,7 @@ - + @@ -1594,7 +1615,7 @@ - + @@ -1619,9 +1640,9 @@ - + - + @@ -1631,7 +1652,58 @@ - + + + r_shoulder_pan_link_geom + 100.0 + + true + 100.0 + r_shoulder_pan_bumper + + + + + true + + + + + + r_shoulder_lift_link_geom + 100.0 + + true + 100.0 + r_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + @@ -1647,23 +1719,24 @@ - + - + - + - - + + + @@ -1681,52 +1754,96 @@ - + - + - + - - - - + - + - + - + + + - + + + r_upper_arm_link_geom + 100.0 + + true + 100.0 + r_upper_arm_bumper + + + + true + + + -1.0 + + + r_elbow_flex_link_geom + 100.0 + + true + 100.0 + r_elbow_flex_bumper + + + + + true + + + + + + true + + + + + + -36.17 + + + + 90.5142857143 + + @@ -1741,24 +1858,24 @@ - + - + - + - - + + - + @@ -1773,16 +1890,16 @@ - + - + - + @@ -1790,7 +1907,7 @@ - + @@ -1804,9 +1921,9 @@ - + - + @@ -1816,89 +1933,17 @@ - - - r_shoulder_pan_link_geom - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - - true - - - - - - r_shoulder_lift_link_geom - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - - r_upper_arm_link_geom - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - - true - - - - r_elbow_flex_link_geom - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - - true - - - - - - true - - - + true r_forearm_link_geom 100.0 - + true 100.0 r_forearm_bumper - - + + @@ -1906,12 +1951,12 @@ r_wrist_flex_link_geom 100.0 - + true 100.0 r_wrist_flex_bumper - - + + @@ -1922,42 +1967,23 @@ r_wrist_roll_link_geom 100.0 - + true 100.0 r_wrist_roll_bumper - - + + - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - -36.17 - - - - 90.5142857143 - + + @@ -2006,36 +2032,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -2190,12 +2186,12 @@ r_gripper_l_finger_link_geom 100.0 - + true 100.0 r_gripper_l_finger_bumper - - + + @@ -2205,7 +2201,7 @@ - + @@ -2213,12 +2209,12 @@ r_gripper_r_finger_link_geom 100.0 - + true 100.0 r_gripper_r_finger_bumper - - + + @@ -2227,52 +2223,52 @@ - + true - + false r_gripper_l_finger_tip_link_geom 100.0 - + true 100.0 r_gripper_l_finger_tip_bumper - - + + - + - + true - + false r_gripper_r_finger_tip_link_geom 100.0 - + true 100.0 r_gripper_r_finger_tip_bumper - - + + - + - + true 100.0 r_gripper_l_finger_link @@ -2280,41 +2276,79 @@ 0.0 map - - + + true 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link - + - + - + true r_gripper_palm_link_geom 100.0 - + true 100.0 r_gripper_palm_bumper - - + + true + + + true + 0.01 + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + 0 + 0 + 0 + 0.82025 0.188 0.790675 + 0 -0 0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + unit_box + PR2/White + + + true + false + + + r_gripper_float_link + r_gripper_palm_link + r_gripper_float_link + 1 0 0 + -0.05 + 0.001 + r_gripper_l_finger_tip_link r_gripper_float_link @@ -2341,7 +2375,7 @@ --> - + true 100.0 r_gripper_palm_link @@ -2351,8 +2385,8 @@ 0.0 map - - + + true 100.0 r_gripper_tool_frame @@ -2362,13 +2396,13 @@ 0.0 /map - + true - + @@ -2401,7 +2435,7 @@ - + @@ -2409,7 +2443,7 @@ - + @@ -2417,7 +2451,7 @@ - + @@ -2435,7 +2469,7 @@ - + @@ -2443,7 +2477,7 @@ - + @@ -2468,9 +2502,9 @@ - + - + @@ -2480,7 +2514,58 @@ - + + + l_shoulder_pan_link_geom + 100.0 + + true + 100.0 + l_shoulder_pan_bumper + + + + + true + + + + + + l_shoulder_lift_link_geom + 100.0 + + true + 100.0 + l_r_shoulder_lift_bumper + + + + true + + + + + + true + + + + + + + + 63.16 + + + + 61.89 + + + + 32.65 + + @@ -2496,23 +2581,24 @@ - + - + - + - - + + + @@ -2530,52 +2616,96 @@ - + - + - + - - - - + - + - + - + + + - + + + l_upper_arm_link_geom + 100.0 + + true + 100.0 + l_upper_arm_bumper + + + + true + + + -1.0 + + + l_elbow_flex_link_geom + 100.0 + + true + 100.0 + l_elbow_flex_bumper + + + + + true + + + + + + true + + + + + + -36.17 + + + + 90.5142857143 + + @@ -2590,24 +2720,24 @@ - + - + - + - - + + - + @@ -2622,16 +2752,16 @@ - + - + - + @@ -2639,7 +2769,7 @@ - + @@ -2653,9 +2783,9 @@ - + - + @@ -2665,89 +2795,17 @@ - - - l_shoulder_pan_link_geom - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - - true - - - - - - l_shoulder_lift_link_geom - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - - l_upper_arm_link_geom - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - - true - - - - l_elbow_flex_link_geom - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - - true - - - - - - true - - - + true l_forearm_link_geom 100.0 - + true 100.0 l_forearm_bumper - - + + @@ -2755,12 +2813,12 @@ l_wrist_flex_link_geom 100.0 - + true 100.0 l_wrist_flex_bumper - - + + @@ -2771,42 +2829,23 @@ l_wrist_roll_link_geom 100.0 - + true 100.0 l_wrist_roll_bumper - - + + - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - -36.17 - - - - 90.5142857143 - + + @@ -2855,36 +2894,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -3039,12 +3048,12 @@ l_gripper_l_finger_link_geom 100.0 - + true 100.0 l_gripper_l_finger_bumper - - + + @@ -3054,7 +3063,7 @@ - + @@ -3062,12 +3071,12 @@ l_gripper_r_finger_link_geom 100.0 - + true 100.0 l_gripper_r_finger_bumper - - + + @@ -3076,52 +3085,52 @@ - + true - + false l_gripper_l_finger_tip_link_geom 100.0 - + true 100.0 l_gripper_l_finger_tip_bumper - - + + - + - + true - + false l_gripper_r_finger_tip_link_geom 100.0 - + true 100.0 l_gripper_r_finger_tip_bumper - - + + - + - + true 100.0 l_gripper_l_finger_link @@ -3129,41 +3138,79 @@ 0.0 map - - + + true 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link - + - + - + true l_gripper_palm_link_geom 100.0 - + true 100.0 l_gripper_palm_bumper - - + + true + + + true + 0.01 + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + 0 + 0 + 0 + 0.82025 0.188 0.790675 + 0 -0 0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + unit_box + PR2/White + + + true + false + + + l_gripper_float_link + l_gripper_palm_link + l_gripper_float_link + 1 0 0 + -0.05 + 0.001 + l_gripper_l_finger_tip_link l_gripper_float_link @@ -3190,7 +3237,7 @@ --> - + true 100.0 l_gripper_palm_link @@ -3200,8 +3247,8 @@ 0.0 map - - + + true 100.0 l_gripper_tool_frame @@ -3211,13 +3258,13 @@ 0.0 /map - + true - + @@ -3237,16 +3284,16 @@ - + - + - + - + @@ -3263,34 +3310,48 @@ - + - + - + - + - 640 480 + + 640 480 L8 - 90 + 90.0 0.1 100 - 20.0 - + 25.0 + true - 20.0 - l_forearm_cam/image + 25.0 + l_forearm_cam/image_raw + l_forearm_cam/camera_info l_forearm_cam_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 - + true PR2/Blue @@ -3309,16 +3370,16 @@ - + - + - + - + @@ -3335,34 +3396,48 @@ - + - + - + - + - 640 480 + + 640 480 L8 - 90 + 90.0 0.1 100 - 20.0 - + 25.0 + true - 20.0 - r_forearm_cam/image + 25.0 + r_forearm_cam/image_raw + r_forearm_cam/camera_info r_forearm_cam_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 - + true PR2/Blue @@ -3370,8 +3445,4 @@ true - - - - diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 7d6c99e..52ea5ff 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -72,8 +72,8 @@ TEST_F(TestParser, test) } ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); - ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)40); - ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)71); + ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)38); + ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)72); ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); From a0ffa1a8b841284c16f5f991b40f37560fa7fe31 Mon Sep 17 00:00:00 2001 From: wim Date: Fri, 20 Nov 2009 23:30:56 +0000 Subject: [PATCH 066/245] depend on unzip. Ticket #3301 --- convex_decomposition/manifest.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index a2e0ac2..568adb9 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -22,6 +22,7 @@ appears to be no available revision control. MIT http://www.amillionpixels.us/ConvexDecomposition.zip + From ac0782a7fabdb8d78ccb56c7960d70b696b1bb70 Mon Sep 17 00:00:00 2001 From: wim Date: Sat, 21 Nov 2009 01:18:39 +0000 Subject: [PATCH 067/245] deprecate 'bug' where you are allowed to not specify the root link if you call it 'world' --- urdf/src/model.cpp | 26 +++++++++----------------- urdf/src/urdf_check.cpp | 2 +- 2 files changed, 10 insertions(+), 18 deletions(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 708e074..af4b30e 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -257,23 +257,15 @@ bool Model::initTree(std::map &parent_link_tree) std::string child_link_name = joint->second->child_link_name; ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); - - /// add an empty "world" link - if (parent_link_name == "world") - { - if (this->getLink(parent_link_name)) - { - ROS_DEBUG(" parent link '%s' already exists.", parent_link_name.c_str()); - } - else - { - ROS_DEBUG(" parent link '%s' is a special case, adding fake link.", parent_link_name.c_str()); - boost::shared_ptr link; - link.reset(new Link); - link->name = "world"; - this->links_.insert(make_pair(link->name,link)); - ROS_DEBUG(" successfully added new link '%s'", link->name.c_str()); - } + + /// deal with deprecated case + if (parent_link_name == "world" && !this->getLink(parent_link_name)){ + ROS_WARN("Joint %s specifies the world link as its parent, but there in no link called world. This used to be allowed, but this behavior has been deprecated. You need to explicitly specify each link in your tree.", joint->first.c_str()); + boost::shared_ptr link; + link.reset(new Link); + link->name = "world"; + this->links_.insert(make_pair(link->name,link)); + ROS_DEBUG(" successfully added new link '%s'", link->name.c_str()); } if (parent_link_name.empty()) diff --git a/urdf/src/urdf_check.cpp b/urdf/src/urdf_check.cpp index 748537e..7712060 100644 --- a/urdf/src/urdf_check.cpp +++ b/urdf/src/urdf_check.cpp @@ -91,7 +91,7 @@ int main(int argc, char** argv) if (!root_link) return -1; if (!root_link->child_links.empty()) - std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " children" << std::endl; + std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl; // print entire tree From c2ed97c01ce367452d485051c00baf3b43ce77c7 Mon Sep 17 00:00:00 2001 From: wim Date: Sat, 21 Nov 2009 01:22:45 +0000 Subject: [PATCH 068/245] kdl parser should warn when converting unknown joint type into fixed joint --- kdl_parser/src/kdl_parser.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index e2d768e..d1b88ca 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -86,6 +86,7 @@ Joint toKdl(boost::shared_ptr jnt) return Joint(jnt->name, F_parent_jnt.p, F_parent_jnt.M * axis, Joint::TransAxis); } default:{ + ROS_WARN("Converting unknown joint type of joint '%s' into a fixed joint", jnt->name.c_str()); return Joint(jnt->name, Joint::None); } } From efb5225fc3efd420c6ca42512ef243a1be116252 Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 23 Nov 2009 23:28:33 +0000 Subject: [PATCH 069/245] rename example to check_kdl_parser to match urdf --- kdl_parser/CMakeLists.txt | 4 ++-- kdl_parser/{test/example.cpp => src/check_kdl_parser.cpp} | 8 ++++++-- 2 files changed, 8 insertions(+), 4 deletions(-) rename kdl_parser/{test/example.cpp => src/check_kdl_parser.cpp} (96%) diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt index 15ea318..1f81968 100644 --- a/kdl_parser/CMakeLists.txt +++ b/kdl_parser/CMakeLists.txt @@ -25,8 +25,8 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_add_library(${PROJECT_NAME} src/kdl_parser.cpp) -rosbuild_add_executable(example test/example.cpp ) -target_link_libraries(example ${PROJECT_NAME}) +rosbuild_add_executable(check_kdl_parser src/check_kdl_parser.cpp ) +target_link_libraries(check_kdl_parser ${PROJECT_NAME}) rosbuild_add_executable(test_parser test/test_kdl_parser.cpp ) target_link_libraries(test_parser ${PROJECT_NAME}) diff --git a/kdl_parser/test/example.cpp b/kdl_parser/src/check_kdl_parser.cpp similarity index 96% rename from kdl_parser/test/example.cpp rename to kdl_parser/src/check_kdl_parser.cpp index edb3a76..904d6bd 100644 --- a/kdl_parser/test/example.cpp +++ b/kdl_parser/src/check_kdl_parser.cpp @@ -43,10 +43,14 @@ using namespace KDL; using namespace std; using namespace urdf; -int main() +int main(int argc, char** argv) { + if (argc < 2){ + std::cerr << "Expect xml file to parse" << std::endl; + return -1; + } Model robot_model; - if (!robot_model.initFile("pr2.urdf")) + if (!robot_model.initFile(argv[1])) {cerr << "Could not generate robot model" << endl; return false;} Tree my_tree; From e72682fe0b35aad683dde4ed37c9aac562fc5282 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 24 Nov 2009 17:41:11 +0000 Subject: [PATCH 070/245] make joint to root mandatory (as in documentation), add visualization tool, and add regression test --- urdf/CMakeLists.txt | 7 +- urdf/include/urdf/model.h | 5 - urdf/src/{urdf_check.cpp => check_urdf.cpp} | 0 urdf/src/model.cpp | 142 +- urdf/src/urdf_to_graphiz.cpp | 117 + urdf/test/pr2_desc_explicit_world.xml | 3448 +++++++++++++++++++ urdf/test/test_robot_model_parser.launch | 2 +- 7 files changed, 3626 insertions(+), 95 deletions(-) rename urdf/src/{urdf_check.cpp => check_urdf.cpp} (100%) create mode 100644 urdf/src/urdf_to_graphiz.cpp create mode 100644 urdf/test/pr2_desc_explicit_world.xml diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 76c8c7f..232de10 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -27,8 +27,11 @@ rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp) rosbuild_add_boost_directories() #rosbuild_link_boost(${PROJECT_NAME} thread) -rosbuild_add_executable(urdf_check src/urdf_check.cpp) -target_link_libraries(urdf_check ${PROJECT_NAME}) +rosbuild_add_executable(check_urdf src/check_urdf.cpp) +target_link_libraries(check_urdf ${PROJECT_NAME}) + +rosbuild_add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp) +target_link_libraries(urdf_to_graphiz ${PROJECT_NAME}) rosbuild_add_executable(mem_test test/memtest.cpp) target_link_libraries(mem_test ${PROJECT_NAME}) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index c54ba52..cf7160b 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -99,11 +99,6 @@ private: /// it's time to build a tree bool initTree(std::map &parent_link_tree); - /// in initXml(), onece tree is built, - /// it's time to find the root Link - bool initRoot(std::map &parent_link_tree); - - /// Model is restricted to a tree for now, which means there exists one root link /// typically, root link is the world(inertial). Where world is a special link /// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? diff --git a/urdf/src/urdf_check.cpp b/urdf/src/check_urdf.cpp similarity index 100% rename from urdf/src/urdf_check.cpp rename to urdf/src/check_urdf.cpp diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index af4b30e..d22305b 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -238,126 +238,94 @@ bool Model::initXml(TiXmlElement *robot_xml) return false; } - // find the root link - if (!this->initRoot(parent_link_tree)) - { - ROS_ERROR("failed to find root link"); - return false; - } - return true; } bool Model::initTree(std::map &parent_link_tree) { + this->root_link_.reset(); + // loop through all joints, for every link, assign children links and children joints for (std::map >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) { std::string parent_link_name = joint->second->parent_link_name; std::string child_link_name = joint->second->child_link_name; - ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); + ROS_DEBUG(" Build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); - /// deal with deprecated case - if (parent_link_name == "world" && !this->getLink(parent_link_name)){ - ROS_WARN("Joint %s specifies the world link as its parent, but there in no link called world. This used to be allowed, but this behavior has been deprecated. You need to explicitly specify each link in your tree.", joint->first.c_str()); - boost::shared_ptr link; - link.reset(new Link); - link->name = "world"; - this->links_.insert(make_pair(link->name,link)); - ROS_DEBUG(" successfully added new link '%s'", link->name.c_str()); + // case where joint is not connected to any link + if (parent_link_name.empty() && !child_link_name.empty()) + { + ROS_ERROR(" Joint %s specifies only parent link but not child link",(joint->second)->name.c_str()); + return false; + } + else if (!parent_link_name.empty() && child_link_name.empty()) + { + ROS_ERROR(" Joint %s specifies only child link but not parent link",(joint->second)->name.c_str()); + return false; + } + else if (parent_link_name.empty() && child_link_name.empty()) + { + ROS_DEBUG(" Joint %s has not parent or child link, it is an abstract joint.",(joint->second)->name.c_str()); } - if (parent_link_name.empty()) - { - ROS_DEBUG(" Joint %s: does not have parent link name specified. Joint is an abstract joint.",(joint->second)->name.c_str()); - } - else if (child_link_name.empty()) - { - ROS_DEBUG(" Joint %s: does not have child link name specified. Joint is an abstract joint.",(joint->second)->name.c_str()); - } + // normal joint case else { - // find parent link - boost::shared_ptr parent_link; + // find child and parent link of joint + boost::shared_ptr child_link, parent_link; + this->getLink(child_link_name, child_link); this->getLink(parent_link_name, parent_link); - - if (!parent_link) + if (!child_link) { - ROS_ERROR(" parent link '%s' of joint '%s' not found", parent_link_name.c_str(), joint->first.c_str() ); + ROS_ERROR(" Child link '%s' of joint: %s not found",child_link_name.c_str(),joint->first.c_str()); return false; } - else + if (!parent_link) { - // find child link - boost::shared_ptr child_link; - this->getLink(child_link_name, child_link); - - if (!child_link) + if (root_link_) { - ROS_ERROR(" child link '%s' of joint: %s not found",child_link_name.c_str(),joint->first.c_str()); - return false; - } - else - { - //set parent link for child link - child_link->setParent(parent_link); - - //set parent joint for child link - child_link->setParentJoint(joint->second); - - //set child joint for parent link - parent_link->addChildJoint(joint->second); - - //set child link for parent link - parent_link->addChild(child_link); - - // fill in child/parent string map - parent_link_tree[child_link->name] = parent_link_name; - - ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size()); + ROS_ERROR("This tree contains two root links"); + return false; } + ROS_DEBUG(" Parent link '%s' of joint '%s' not found. This should be the root link.", parent_link_name.c_str(), joint->first.c_str() ); + parent_link.reset(new Link); + parent_link->name = parent_link_name; + root_link_ = parent_link; + this->links_.insert(make_pair(parent_link_name, parent_link)); } + + //set parent link for child link + child_link->setParent(parent_link); + + //set parent joint for child link + child_link->setParentJoint(joint->second); + + //set child joint for parent link + parent_link->addChildJoint(joint->second); + + //set child link for parent link + parent_link->addChild(child_link); + + // fill in child/parent string map + parent_link_tree[child_link->name] = parent_link_name; + + ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size()); } } - return true; -} - - - -bool Model::initRoot(std::map &parent_link_tree) -{ - - this->root_link_.reset(); - - for (std::map::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++) - { - if (parent_link_tree.find(p->second) == parent_link_tree.end()) - { - if (this->root_link_) - { - ROS_DEBUG("child '%s', parent '%s', root '%s'", p->first.c_str(), p->second.c_str(), this->root_link_->name.c_str()); - if (this->root_link_->name != p->second) - { - ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), p->second.c_str()); - return false; - } - } - else - getLink(p->second,this->root_link_); - } - } - if (!this->root_link_) - { - ROS_ERROR("No root link found. The robot xml is not a valid tree."); + // we should have found root + if (!root_link_){ + ROS_ERROR("The tree does not contain a root link"); return false; } - ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str()); return true; } + + + boost::shared_ptr Model::getMaterial(const std::string& name) const { boost::shared_ptr ptr; diff --git a/urdf/src/urdf_to_graphiz.cpp b/urdf/src/urdf_to_graphiz.cpp new file mode 100644 index 0000000..3541128 --- /dev/null +++ b/urdf/src/urdf_to_graphiz.cpp @@ -0,0 +1,117 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include "urdf/model.h" +#include +#include + +using namespace urdf; +using namespace std; + +void addChildLinkNames(boost::shared_ptr link, ofstream& os) +{ + os << "\"" << link->name << "\" [label=\"" << link->name << "\"];" << endl; + for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + addChildLinkNames(*child, os); +} + +void addChildJointNames(boost::shared_ptr link, ofstream& os) +{ + double r, p, y; + for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){ + (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y); + os << "\"" << link->name << "\" -> \"" << (*child)->parent_joint->name + << "\" [label=\"xyz: " + << (*child)->parent_joint->parent_to_joint_origin_transform.position.x << " " + << (*child)->parent_joint->parent_to_joint_origin_transform.position.y << " " + << (*child)->parent_joint->parent_to_joint_origin_transform.position.z << " " + << "\\nrpy: " << r << " " << p << " " << y << "\"]" << endl; + os << "\"" << (*child)->parent_joint->name << "\" -> \"" << (*child)->name << "\"" << endl; + addChildJointNames(*child, os); + } +} + + +void printTree(boost::shared_ptr link, string file) +{ + std::ofstream os; + os.open(file.c_str()); + os << "digraph G {" << endl; + + os << "node [shape=box];" << endl; + addChildLinkNames(link, os); + + os << "node [shape=ellipse, color=blue, fontcolor=blue];" << endl; + addChildJointNames(link, os); + + os << "}" << endl; + os.close(); +} + + + +int main(int argc, char** argv) +{ + if (argc != 2){ + std::cerr << "Usage: urdf_to_graphiz input.xml" << std::endl; + return -1; + } + + TiXmlDocument robot_model_xml; + robot_model_xml.LoadFile(argv[1]); + TiXmlElement *robot_xml = robot_model_xml.FirstChildElement("robot"); + if (!robot_xml){ + std::cerr << "ERROR: Could not load the xml into TiXmlElement" << std::endl; + return -1; + } + + Model robot; + if (!robot.initXml(robot_xml)){ + std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; + return -1; + } + string output = robot.getName(); + + // print entire tree to file + printTree(robot.getRoot(), output+".gv"); + cout << "Created file " << output << ".gv" << endl; + + string command = "dot -Tpdf "+output+".gv -o "+output+".pdf"; + system(command.c_str()); + cout << "Created file " << output << ".pdf" << endl; + return 0; +} + diff --git a/urdf/test/pr2_desc_explicit_world.xml b/urdf/test/pr2_desc_explicit_world.xml new file mode 100644 index 0000000..ff3db28 --- /dev/null +++ b/urdf/test/pr2_desc_explicit_world.xml @@ -0,0 +1,3448 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 1000.0 + + + + + true + 1.0 + 5 + + power_state + 10.0 + 87.78 + -474 + 525 + 15.52 + 16.41 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + + 0.0 0.0 0.0 + false + + -80 + 80 + + 0.05 + 10.0 + 0.01 + 20.0 + + 0.005 + true + 20.0 + base_scan + base_laser_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 79.2380952381 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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l_wrist_roll_link_geom + 100.0 + + true + 100.0 + l_wrist_roll_bumper + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + l_gripper_l_finger_link_geom + 100.0 + + true + 100.0 + l_gripper_l_finger_bumper + + + + + + + + + + + + + + + + true + + l_gripper_r_finger_link_geom + 100.0 + + true + 100.0 + l_gripper_r_finger_bumper + + + + + + + + + + + + + + + true + false + + l_gripper_l_finger_tip_link_geom + 100.0 + + true + 100.0 + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + true + false + + l_gripper_r_finger_tip_link_geom + 100.0 + + true + 100.0 + l_gripper_r_finger_tip_bumper + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + map + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + + + true + + l_gripper_palm_link_geom + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + true + + + + + true + 0.01 + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + 0 + 0 + 0 + 0.82025 0.188 0.790675 + 0 -0 0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + + 0 0 0 + 0 -0 0 + 0.0 0.0 0.0 + unit_box + PR2/White + + + true + false + + + l_gripper_float_link + l_gripper_palm_link + l_gripper_float_link + 1 0 0 + -0.05 + 0.001 + + + l_gripper_l_finger_tip_link + l_gripper_float_link + l_gripper_l_finger_tip_link + 0 1 0 + 0 0 0 + + + l_gripper_r_finger_tip_link + l_gripper_float_link + l_gripper_r_finger_tip_link + 0 1 0 + 0 0 0 + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90.0 + 0.1 + 100 + 25.0 + + true + 25.0 + l_forearm_cam/image_raw + l_forearm_cam/camera_info + l_forearm_cam_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90.0 + 0.1 + 100 + 25.0 + + true + 25.0 + r_forearm_cam/image_raw + r_forearm_cam/camera_info + r_forearm_cam_frame + 0.0 + 320.5 + 320.5 + 240.5 + + + 320.0 + 0 + 0 + 0 + 0 + 0 + + + + true + PR2/Blue + + true + + + diff --git a/urdf/test/test_robot_model_parser.launch b/urdf/test/test_robot_model_parser.launch index 66d8df1..582529a 100644 --- a/urdf/test/test_robot_model_parser.launch +++ b/urdf/test/test_robot_model_parser.launch @@ -1,3 +1,3 @@ - + From f641312f0a212258b8d40da9cbf9ada250ee21ab Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 24 Nov 2009 21:04:39 +0000 Subject: [PATCH 071/245] update to latests design with optional root link --- urdf/include/urdf/model.h | 5 ++ urdf/src/model.cpp | 86 +++++++++++++++++---------- urdf/test/test_robot_model_parser.cpp | 2 +- 3 files changed, 61 insertions(+), 32 deletions(-) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index cf7160b..c54ba52 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -99,6 +99,11 @@ private: /// it's time to build a tree bool initTree(std::map &parent_link_tree); + /// in initXml(), onece tree is built, + /// it's time to find the root Link + bool initRoot(std::map &parent_link_tree); + + /// Model is restricted to a tree for now, which means there exists one root link /// typically, root link is the world(inertial). Where world is a special link /// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index d22305b..648c33c 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -238,63 +238,62 @@ bool Model::initXml(TiXmlElement *robot_xml) return false; } + // find the root link + if (!this->initRoot(parent_link_tree)) + { + ROS_ERROR("failed to find root link"); + return false; + } + return true; } bool Model::initTree(std::map &parent_link_tree) { - this->root_link_.reset(); - // loop through all joints, for every link, assign children links and children joints for (std::map >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) { std::string parent_link_name = joint->second->parent_link_name; std::string child_link_name = joint->second->child_link_name; - ROS_DEBUG(" Build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); + ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); - // case where joint is not connected to any link if (parent_link_name.empty() && !child_link_name.empty()) { - ROS_ERROR(" Joint %s specifies only parent link but not child link",(joint->second)->name.c_str()); + ROS_ERROR(" Joint %s specifies child link but not parent link.",(joint->second)->name.c_str()); return false; } - else if (!parent_link_name.empty() && child_link_name.empty()) + else if (!parent_link_name.empty() && child_link_name.empty()) { - ROS_ERROR(" Joint %s specifies only child link but not parent link",(joint->second)->name.c_str()); + ROS_ERROR(" Joint %s specifies parent link but not child link.",(joint->second)->name.c_str()); return false; } else if (parent_link_name.empty() && child_link_name.empty()) { - ROS_DEBUG(" Joint %s has not parent or child link, it is an abstract joint.",(joint->second)->name.c_str()); + ROS_DEBUG(" Joint %s specifies no parent link and no child link. This is an abstract joint.",(joint->second)->name.c_str()); } - - // normal joint case else { - // find child and parent link of joint + // find child and parent links boost::shared_ptr child_link, parent_link; this->getLink(child_link_name, child_link); - this->getLink(parent_link_name, parent_link); if (!child_link) { - ROS_ERROR(" Child link '%s' of joint: %s not found",child_link_name.c_str(),joint->first.c_str()); + ROS_ERROR(" child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() ); return false; } + this->getLink(parent_link_name, parent_link); if (!parent_link) { - if (root_link_) - { - ROS_ERROR("This tree contains two root links"); - return false; - } - ROS_DEBUG(" Parent link '%s' of joint '%s' not found. This should be the root link.", parent_link_name.c_str(), joint->first.c_str() ); + ROS_DEBUG(" parent link '%s' of joint '%s' not found. Automatically adding it. This must be the root link", + parent_link_name.c_str(), joint->first.c_str() ); + parent_link.reset(new Link); parent_link->name = parent_link_name; - root_link_ = parent_link; - this->links_.insert(make_pair(parent_link_name, parent_link)); + this->links_.insert(make_pair(parent_link->name, parent_link)); + ROS_DEBUG(" successfully added new link '%s'", parent_link->name.c_str()); } - + //set parent link for child link child_link->setParent(parent_link); @@ -303,28 +302,53 @@ bool Model::initTree(std::map &parent_link_tree) //set child joint for parent link parent_link->addChildJoint(joint->second); - + //set child link for parent link parent_link->addChild(child_link); - + // fill in child/parent string map parent_link_tree[child_link->name] = parent_link_name; - + ROS_DEBUG(" now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size()); } } - // we should have found root - if (!root_link_){ - ROS_ERROR("The tree does not contain a root link"); - return false; - } - return true; } +bool Model::initRoot(std::map &parent_link_tree) +{ + + this->root_link_.reset(); + + for (std::map::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++) + { + if (parent_link_tree.find(p->second) == parent_link_tree.end()) + { + if (this->root_link_) + { + ROS_DEBUG("child '%s', parent '%s', root '%s'", p->first.c_str(), p->second.c_str(), this->root_link_->name.c_str()); + if (this->root_link_->name != p->second) + { + ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), p->second.c_str()); + return false; + } + } + else + getLink(p->second,this->root_link_); + } + } + if (!this->root_link_) + { + ROS_ERROR("No root link found. The robot xml is not a valid tree."); + return false; + } + ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str()); + + return true; +} boost::shared_ptr Model::getMaterial(const std::string& name) const { diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp index efef0fb..ef46eb1 100644 --- a/urdf/test/test_robot_model_parser.cpp +++ b/urdf/test/test_robot_model_parser.cpp @@ -76,7 +76,7 @@ TEST_F(TestParser, test) robot_model_xml.LoadFile(g_argv[i]); TiXmlElement *robot_xml = robot_model_xml.FirstChildElement("robot"); ASSERT_TRUE(robot_xml != NULL); - if (i == g_argc-1) + if (i >= g_argc-2) ASSERT_TRUE(robot.initXml(robot_xml)); else ASSERT_FALSE(robot.initXml(robot_xml)); From 3117f697bc6ffb7c8b6c6fa781f0ae6966bfcae8 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 24 Nov 2009 21:44:17 +0000 Subject: [PATCH 072/245] publish tf from root of robot --- .../src/robot_state_publisher.cpp | 39 ++++++------------- .../src/robot_state_publisher_node.cpp | 7 +++- 2 files changed, 18 insertions(+), 28 deletions(-) diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index a59b1c5..7e3c29b 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -60,12 +60,9 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree) NodeHandle n; tf_publisher_ = n.advertise("/tf", 5); - // get the 'real' root segment of the tree, which is the first child of "root" + // get the root segment of the tree SegmentMap::const_iterator root = tree.getRootSegment(); - if (root->second.children.empty()) - throw empty_tree_ex; - - root_ = (*root->second.children.begin())->first; + root_ = root->first; } @@ -79,31 +76,19 @@ bool RobotStatePublisher::publishTransforms(const map& joint_pos ROS_ERROR("Could not compute link poses. The tree or the state is invalid."); return false; } - tf_msg_.transforms.resize(link_poses.size()-1); + tf_msg_.transforms.resize(link_poses.size()); - // publish the transforms to tf, converting the transforms from "root" to the 'real' root - geometry_msgs::TransformStamped trans; - map::const_iterator root = link_poses.find(root_); - if (root == link_poses.end()){ - ROS_ERROR("Did not find root of tree"); - return false; - } - - // remove root from published poses - Frame offset = root->second.Inverse(); - unsigned int i = 0; // send transforms to tf + geometry_msgs::TransformStamped trans; + tf::Transform tf_frame; + unsigned int i = 0; for (map::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ - if (f != root){ - Frame frame = offset * f->second; - tf::Transform tf_frame; - tf::TransformKDLToTF(frame, tf_frame); - trans.header.stamp = time; - trans.header.frame_id = tf::remap(tf_prefix_, root->first); - trans.child_frame_id = tf::remap(tf_prefix_, f->first); - tf::transformTFToMsg(tf_frame, trans.transform); - tf_msg_.transforms[i++] = trans; - } + tf::TransformKDLToTF(f->second, tf_frame); + trans.header.stamp = time; + trans.header.frame_id = tf::remap(tf_prefix_, root_); + trans.child_frame_id = tf::remap(tf_prefix_, f->first); + tf::transformTFToMsg(tf_frame, trans.transform); + tf_msg_.transforms[i++] = trans; } tf_publisher_.publish(tf_msg_); diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp index ec7be7c..c60b253 100644 --- a/robot_state_publisher/src/robot_state_publisher_node.cpp +++ b/robot_state_publisher/src/robot_state_publisher_node.cpp @@ -69,7 +69,12 @@ int main(int argc, char** argv) return -1; } - JointStateListener state_publisher(tree); + if (tree.getNrOfSegments() == 0) + ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf"); + else if (tree.getNrOfSegments() == 1) + ROS_WARN("Robot state publisher got a tree with only one segment and cannot publish any state to tf"); + else + JointStateListener state_publisher(tree); ros::spin(); return 0; From b83664adcf749505a6f657e3bbb533e6d18624da Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 24 Nov 2009 21:57:49 +0000 Subject: [PATCH 073/245] fix scope problem --- .../src/robot_state_publisher_node.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp index c60b253..ccff5ed 100644 --- a/robot_state_publisher/src/robot_state_publisher_node.cpp +++ b/robot_state_publisher/src/robot_state_publisher_node.cpp @@ -69,13 +69,17 @@ int main(int argc, char** argv) return -1; } - if (tree.getNrOfSegments() == 0) + if (tree.getNrOfSegments() == 0){ ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf"); - else if (tree.getNrOfSegments() == 1) + ros::spin(); + } + else if (tree.getNrOfSegments() == 1){ ROS_WARN("Robot state publisher got a tree with only one segment and cannot publish any state to tf"); - else + ros::spin(); + } + else{ JointStateListener state_publisher(tree); - - ros::spin(); + ros::spin(); + } return 0; } From d300f6e8fa3790b7cb8e23cbab9b916f9b61ea55 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 25 Nov 2009 05:07:28 +0000 Subject: [PATCH 074/245] minor change: rename base_laser to base_laser_link in test xml. --- urdf/test/pr2_desc_no_filename_in_mesh.xml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/urdf/test/pr2_desc_no_filename_in_mesh.xml b/urdf/test/pr2_desc_no_filename_in_mesh.xml index 21c98b8..88d75b3 100644 --- a/urdf/test/pr2_desc_no_filename_in_mesh.xml +++ b/urdf/test/pr2_desc_no_filename_in_mesh.xml @@ -112,8 +112,8 @@ - - + + @@ -706,8 +706,8 @@ 0 0 0 - - + + 640 640 1 @@ -721,13 +721,13 @@ 10.0 0.01 20.0 - + 0.005 true 20.0 base_scan - base_laser - + base_laser_link + From db0983460a19dc58546108c935def14ca46c0e29 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 25 Nov 2009 05:07:50 +0000 Subject: [PATCH 075/245] bug fix, sphere initXml always fails. --- urdf/src/link.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp index f0adc1d..74ab9c9 100644 --- a/urdf/src/link.cpp +++ b/urdf/src/link.cpp @@ -288,7 +288,7 @@ bool Sphere::initXml(TiXmlElement *c) } radius = atof(c->Attribute("radius")); - return false; + return true; } bool Box::initXml(TiXmlElement *c) From 713b6d6f5256756267b3c61b235ecf745ac19a95 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 25 Nov 2009 17:56:05 +0000 Subject: [PATCH 076/245] preparing for the 0.6.4 release of robot_model --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8be5573..0b6790c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.3) +rosbuild_make_distribution(0.6.4) From 379fbc84eb1e8903956e72b328bb04aa36510a31 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 25 Nov 2009 17:58:49 +0000 Subject: [PATCH 077/245] minor change, base_laser --> base_laser_link link name update in test xmls. --- kdl_parser/test/pr2_desc.xml | 6 +++--- robot_state_publisher/test/pr2.urdf | 14 +++++++------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index a1e15b8..df794c6 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -129,7 +129,7 @@ - + 640 640 1 @@ -144,13 +144,13 @@ 10.0 0.01 20.0 - + 0.005 true 20.0 base_scan base_laser_link - + diff --git a/robot_state_publisher/test/pr2.urdf b/robot_state_publisher/test/pr2.urdf index de8f6ed..81f8d79 100644 --- a/robot_state_publisher/test/pr2.urdf +++ b/robot_state_publisher/test/pr2.urdf @@ -112,8 +112,8 @@ - - + + @@ -706,8 +706,8 @@ 0 0 0 - - + + 640 640 1 @@ -721,13 +721,13 @@ 10.0 0.01 20.0 - + 0.005 true 20.0 base_scan - base_laser - + base_laser_link + From 9eed0abfa00abc5a28ed1aeeb1d4c18465c4fa08 Mon Sep 17 00:00:00 2001 From: wheeler Date: Tue, 1 Dec 2009 01:23:38 +0000 Subject: [PATCH 078/245] Remove use of deprecated rosbuild macros --- ivcon/CMakeLists.txt | 4 ++-- kdl_parser/CMakeLists.txt | 4 ++-- resource_retriever/test/CMakeLists.txt | 2 +- robot_state_publisher/CMakeLists.txt | 4 ++-- urdf/CMakeLists.txt | 2 +- 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ivcon/CMakeLists.txt b/ivcon/CMakeLists.txt index 8169c5a..fa1a311 100644 --- a/ivcon/CMakeLists.txt +++ b/ivcon/CMakeLists.txt @@ -1,9 +1,9 @@ cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) -rospack(ivcon) +rosbuild_init() #uncomment for profiling set(ROS_LINK_FLAGS "-lm" ${ROS_LINK_FLAGS}) -rospack_add_executable(bin/ivcon src/ivcon.c) +rosbuild_add_executable(bin/ivcon src/ivcon.c) diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt index 1f81968..6625169 100644 --- a/kdl_parser/CMakeLists.txt +++ b/kdl_parser/CMakeLists.txt @@ -19,9 +19,9 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) #uncomment if you have defined messages -#genmsg() +#rosbuild_genmsg() #uncomment if you have defined services -#gensrv() +#rosbuild_gensrv() rosbuild_add_library(${PROJECT_NAME} src/kdl_parser.cpp) diff --git a/resource_retriever/test/CMakeLists.txt b/resource_retriever/test/CMakeLists.txt index 7624c4c..f1c0fa6 100644 --- a/resource_retriever/test/CMakeLists.txt +++ b/resource_retriever/test/CMakeLists.txt @@ -1,4 +1,4 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}) -rospack_add_gtest(test/utest test.cpp) +rosbuild_add_gtest(test/utest test.cpp) target_link_libraries(test/utest ${PROJECT_NAME}) diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt index 9f9e7f5..56f67f7 100644 --- a/robot_state_publisher/CMakeLists.txt +++ b/robot_state_publisher/CMakeLists.txt @@ -18,9 +18,9 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) #uncomment if you have defined messages -#genmsg() +#rosbuild_genmsg() #uncomment if you have defined services -#gensrv() +#rosbuild_gensrv() rosbuild_add_library(${PROJECT_NAME} src/joint_state_listener.cpp src/robot_state_publisher.cpp src/treefksolverposfull_recursive.cpp) diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 232de10..4dceb93 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -17,7 +17,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) #uncomment if you have defined messages -#genmsg() +#rosbuild_genmsg() rosbuild_gensrv() From d5285c6385462ad807e47d24fb26f396d7ecb1c6 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 2 Dec 2009 00:24:24 +0000 Subject: [PATCH 079/245] allow empty joint vector for publishing of tree with all fixed joints --- robot_state_publisher/src/joint_state_listener.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 4bb67b4..268117b 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -64,11 +64,6 @@ JointStateListener::~JointStateListener() void JointStateListener::callbackJointState(const JointStateConstPtr& state) { - if (state->get_name_size() == 0){ - ROS_ERROR("Robot state publisher received an empty joint state vector"); - return; - } - if (state->get_name_size() != state->get_position_size()){ ROS_ERROR("Robot state publisher received an invalid joint state vector"); return; From 16e54bbb3a4062a33d9b284463a1b98eaa6489f9 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 3 Dec 2009 00:20:55 +0000 Subject: [PATCH 080/245] adding test with no visual --- urdf/test/no_visual.urdf | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 urdf/test/no_visual.urdf diff --git a/urdf/test/no_visual.urdf b/urdf/test/no_visual.urdf new file mode 100644 index 0000000..0554bac --- /dev/null +++ b/urdf/test/no_visual.urdf @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + From cd316a83f34624172c09c84b9ad3d1329d6e1865 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 3 Dec 2009 00:21:35 +0000 Subject: [PATCH 081/245] adding test cases --- urdf/test/one_link.urdf | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 urdf/test/one_link.urdf diff --git a/urdf/test/one_link.urdf b/urdf/test/one_link.urdf new file mode 100644 index 0000000..15e64d5 --- /dev/null +++ b/urdf/test/one_link.urdf @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + From 55b415368187f3abd4c652435093c63ddadb5efd Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 3 Dec 2009 00:28:02 +0000 Subject: [PATCH 082/245] adding test. --- urdf/test/two_links_one_joint.urdf | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 urdf/test/two_links_one_joint.urdf diff --git a/urdf/test/two_links_one_joint.urdf b/urdf/test/two_links_one_joint.urdf new file mode 100644 index 0000000..e1e0062 --- /dev/null +++ b/urdf/test/two_links_one_joint.urdf @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + From 47864e32e0a66de823af2c2a13d852e26a0c838d Mon Sep 17 00:00:00 2001 From: wim Date: Fri, 11 Dec 2009 17:16:24 +0000 Subject: [PATCH 083/245] 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; } From d207c62dea5af099e4ce7f5b0a86a7b9e3167a70 Mon Sep 17 00:00:00 2001 From: gerkey Date: Mon, 21 Dec 2009 01:36:46 +0000 Subject: [PATCH 084/245] Added missing name attributes in launch files --- robot_state_publisher/test/test_publisher.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/test/test_publisher.launch b/robot_state_publisher/test/test_publisher.launch index 2041edc..43d8fae 100644 --- a/robot_state_publisher/test/test_publisher.launch +++ b/robot_state_publisher/test/test_publisher.launch @@ -1,5 +1,5 @@ - + From 9a5537a01601bdd2f4d9d36aeb3b26a8fe8dc547 Mon Sep 17 00:00:00 2001 From: hsu Date: Mon, 28 Dec 2009 22:11:40 +0000 Subject: [PATCH 085/245] adding some comments on JointSafety for safety controllers #3442 --- urdf/include/urdf/joint.h | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h index 6151527..bd1279d 100644 --- a/urdf/include/urdf/joint.h +++ b/urdf/include/urdf/joint.h @@ -82,10 +82,42 @@ public: bool initXml(TiXmlElement* config); }; +/// \brief Parameters for Joint Safety Controllers class JointSafety { public: + /// clear variables on construction JointSafety() { this->clear(); }; + + /// + /// IMPORTANT: The safety controller support is very much PR2 specific, not intended for generic usage. + /// + /// Basic safety controller operation is as follows + /// + /// current safety controllers will take effect on joints outside the ranges below: + /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, + /// JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position] + /// if (joint position is outside of the position range above) + /// velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) + /// velocity_limit_max = JointLimits::velocity - JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) + /// else + /// velocity_limit_min = -JointLimits::velocity + /// velocity_limit_max = JointLimits::velocity + /// + /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, + /// velocity_limit_max - JointLimits::effort / JointSafety::k_velocity] + /// + /// if (joint velocity is outside of the velocity range above) + /// effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) + /// effort_limit_max = JointLimits::effort - JointSafety::k_velocity * (joint_velocity - velocity_limit_max) + /// else + /// effort_limit_min = -JointLimits::effort + /// effort_limit_max = JointLimits::effort + /// + /// Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max] + /// + /// Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits + /// double soft_upper_limit; double soft_lower_limit; double k_position; From da22ba17d128a6275a16d6db0cbe16bb0eee1e40 Mon Sep 17 00:00:00 2001 From: hsu Date: Mon, 28 Dec 2009 22:13:36 +0000 Subject: [PATCH 086/245] minor comment fixes --- urdf/include/urdf/joint.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h index bd1279d..edd8c6f 100644 --- a/urdf/include/urdf/joint.h +++ b/urdf/include/urdf/joint.h @@ -94,10 +94,12 @@ public: /// /// Basic safety controller operation is as follows /// - /// current safety controllers will take effect on joints outside the ranges below: - /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, + /// current safety controllers will take effect on joints outside the position range below: + /// + /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, /// JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position] - /// if (joint position is outside of the position range above) + /// + /// if (joint_position is outside of the position range above) /// velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) /// velocity_limit_max = JointLimits::velocity - JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) /// else @@ -107,7 +109,7 @@ public: /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, /// velocity_limit_max - JointLimits::effort / JointSafety::k_velocity] /// - /// if (joint velocity is outside of the velocity range above) + /// if (joint_velocity is outside of the velocity range above) /// effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) /// effort_limit_max = JointLimits::effort - JointSafety::k_velocity * (joint_velocity - velocity_limit_max) /// else From 8327d2110c3de9d4e18fc3bd02959d02db0a6a9f Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 29 Dec 2009 00:05:58 +0000 Subject: [PATCH 087/245] update stack xml file --- stack.xml | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/stack.xml b/stack.xml index 9e526ac..34114b5 100644 --- a/stack.xml +++ b/stack.xml @@ -1,4 +1,4 @@ - + robot_model contains packages for modeling various aspects of robot information, specified in the Xml Robot @@ -8,12 +8,11 @@ John Hsu johnhsu@willowgarage.com, Wim Meeussen BSD - + http://ros.org/wiki/robot_model - - + + - - + From 685b28779779b7375216f97f8587fd463f1484fb Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 30 Dec 2009 00:01:07 +0000 Subject: [PATCH 088/245] typo in comments explaining safety controller stuff --- urdf/include/urdf/joint.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h index edd8c6f..54064e6 100644 --- a/urdf/include/urdf/joint.h +++ b/urdf/include/urdf/joint.h @@ -101,7 +101,7 @@ public: /// /// if (joint_position is outside of the position range above) /// velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) - /// velocity_limit_max = JointLimits::velocity - JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) + /// velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) /// else /// velocity_limit_min = -JointLimits::velocity /// velocity_limit_max = JointLimits::velocity @@ -111,7 +111,7 @@ public: /// /// if (joint_velocity is outside of the velocity range above) /// effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) - /// effort_limit_max = JointLimits::effort - JointSafety::k_velocity * (joint_velocity - velocity_limit_max) + /// effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max) /// else /// effort_limit_min = -JointLimits::effort /// effort_limit_max = JointLimits::effort From 6d2c516a7152f2eef553545914f46db85ea15139 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 6 Jan 2010 01:07:47 +0000 Subject: [PATCH 089/245] removing exports, #3482 --- convex_decomposition/manifest.xml | 3 --- 1 file changed, 3 deletions(-) diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index 568adb9..97580c9 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -23,7 +23,4 @@ appears to be no available revision control. http://www.amillionpixels.us/ConvexDecomposition.zip - - - From 155a36f88c5294619326b795d6ffaf3830f99d48 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 6 Jan 2010 20:07:25 +0000 Subject: [PATCH 090/245] remove using namespace in header --- kdl_parser/include/kdl_parser/kdl_parser.hpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp index d882e90..65720e3 100644 --- a/kdl_parser/include/kdl_parser/kdl_parser.hpp +++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp @@ -41,7 +41,6 @@ #include #include -using namespace std; namespace kdl_parser{ @@ -50,14 +49,14 @@ namespace kdl_parser{ * \param tree The resulting KDL Tree * returns true on success, false on failure */ -bool treeFromFile(const string& file, KDL::Tree& tree); +bool treeFromFile(const std::string& file, KDL::Tree& tree); /** Constructs a KDL tree from a string containing xml * \param xml A string containting the xml description of the robot * \param tree The resulting KDL Tree * returns true on success, false on failure */ -bool treeFromString(const string& xml, KDL::Tree& tree); +bool treeFromString(const std::string& xml, KDL::Tree& tree); /** Constructs a KDL tree from a TiXmlDocument * \param xml_doc The TiXmlDocument containting the xml description of the robot From 16eae8784cd90a5a03c0711e8e0607b3875c710e Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 6 Jan 2010 20:10:13 +0000 Subject: [PATCH 091/245] getting ready for bugfix release 0.6.5 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0b6790c..dd4d044 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.4) +rosbuild_make_distribution(0.6.5) From 3cb8a7a40f725030a1b1f6c429e164a49fda21d4 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 7 Jan 2010 22:23:43 +0000 Subject: [PATCH 092/245] fix for rising and falling fields in calibration element --- urdf/include/urdf/joint.h | 3 ++- urdf/src/joint.cpp | 8 ++++---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h index 54064e6..551e2c6 100644 --- a/urdf/include/urdf/joint.h +++ b/urdf/include/urdf/joint.h @@ -140,7 +140,8 @@ class JointCalibration { public: JointCalibration() { this->clear(); }; - double reference_position, rising, falling; + double reference_position; + boost::shared_ptr rising, falling; void clear() { diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index 0f2fecc..5a1adab 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -180,20 +180,20 @@ bool JointCalibration::initXml(TiXmlElement* config) if (rising_position_str == NULL) { ROS_DEBUG("joint calibration: no rising, using default value"); - this->rising = 0; + this->rising.reset(); } else - this->rising = atof(rising_position_str); + this->rising.reset(new double(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; + this->falling.reset(); } else - this->falling = atof(falling_position_str); + this->falling.reset(new double(atof(falling_position_str))); return true; } From 0b54062a1b2a6f1396de2dddfcac0ee631bfbfea Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 7 Jan 2010 22:25:10 +0000 Subject: [PATCH 093/245] getting ready for 0.6.6 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index dd4d044..fa87c02 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.5) +rosbuild_make_distribution(0.6.6) From 0882e2635ad24a50ad3771475edd33d480723463 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 13 Jan 2010 22:45:33 +0000 Subject: [PATCH 094/245] robot_model: preparing 1.0.0 release. Minor updates to descriptions --- CMakeLists.txt | 2 +- robot_state_publisher/manifest.xml | 8 ++++---- stack.xml | 16 ++++++++-------- urdf/manifest.xml | 10 ++++------ 4 files changed, 17 insertions(+), 19 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fa87c02..3a471d2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(0.6.6) +rosbuild_make_distribution(1.0.0) diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml index 9b0e7bc..20eda96 100644 --- a/robot_state_publisher/manifest.xml +++ b/robot_state_publisher/manifest.xml @@ -1,10 +1,10 @@ - This package allows you to publish the state of a robot to the - transform library topic. Once the state gets published, it is - available to all components in the system using the transform - library. The package takes the joint angles of the robot as input + This package allows you to publish the state of a robot to + tf. Once the state gets published, it is + available to all components in the system that also use tf. + The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot. The package can both be used as a library and as a ROS node. This package has been well tested and the code diff --git a/stack.xml b/stack.xml index 34114b5..e907ec8 100644 --- a/stack.xml +++ b/stack.xml @@ -1,18 +1,18 @@ - - + + robot_model contains packages for modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF). The core package of this stack - is urdf, which parses URDF files, and constructs an + is urdf, which parses URDF files, and constructs an object model (C++) of the robot. John Hsu johnhsu@willowgarage.com, Wim Meeussen - BSD + BSD,GPL,MIT http://ros.org/wiki/robot_model - - - - + + + + diff --git a/urdf/manifest.xml b/urdf/manifest.xml index f19eba7..87ecdd8 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -1,11 +1,9 @@ - This package contains a C++ parser for the Xml Robot Description - Format (URDF). It replaces the previous - wg_description_parser. This package is relatively new (July 2009) - so it might still have some minor issues. The code API of the - parser has been through our review process and will remain - backwards compatible in the coming releases. + This package contains a C++ parser for the Unified Robot Description + Format (URDF), which is an XML format for representing a robot model. + The code API of the parser has been through our review process and will remain + backwards compatible in future releases. Wim Meeussen, John Hsu BSD From 3f0382697aae4bc43896b13c0ada168bbf6eeacc Mon Sep 17 00:00:00 2001 From: rusu Date: Thu, 28 Jan 2010 03:29:09 +0000 Subject: [PATCH 095/245] added the correct lflags to manifest --- robot_state_publisher/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml index 20eda96..83f1e2d 100644 --- a/robot_state_publisher/manifest.xml +++ b/robot_state_publisher/manifest.xml @@ -24,7 +24,7 @@ - + From 2d630925c4dccee6a9a04965e547720439cf4313 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 28 Jan 2010 20:50:52 +0000 Subject: [PATCH 096/245] remove usage of deprecated remap tf functionality --- robot_state_publisher/src/robot_state_publisher.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index 7e3c29b..b299e40 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -85,8 +85,8 @@ bool RobotStatePublisher::publishTransforms(const map& joint_pos for (map::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ tf::TransformKDLToTF(f->second, tf_frame); trans.header.stamp = time; - trans.header.frame_id = tf::remap(tf_prefix_, root_); - trans.child_frame_id = tf::remap(tf_prefix_, f->first); + trans.header.frame_id = tf::resolve(tf_prefix_, root_); + trans.child_frame_id = tf::resolve(tf_prefix_, f->first); tf::transformTFToMsg(tf_frame, trans.transform); tf_msg_.transforms[i++] = trans; } From 9efcb7c56f997cf41341d47c861b99448927f4fd Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 28 Jan 2010 20:54:00 +0000 Subject: [PATCH 097/245] fix warning --- kdl_parser/src/kdl_parser.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index d1b88ca..ae23ac4 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -106,7 +106,7 @@ RigidBodyInertia toKdl(boost::shared_ptr i) bool addChildrenToTree(boost::shared_ptr root, Tree& tree) { std::vector > children = root->child_links; - ROS_DEBUG("Link %s had %i children", root->name.c_str(), children.size()); + ROS_DEBUG("Link %s had %u children", root->name.c_str(), children.size()); // constructs the optional inertia RigidBodyInertia inert(0); From a57bd32cd2ceb6d25c83b6a7228b44fb6600ab03 Mon Sep 17 00:00:00 2001 From: hsu Date: Fri, 26 Feb 2010 19:09:02 +0000 Subject: [PATCH 098/245] replacing atof with boost::lexical_casts #3391 --- urdf/include/urdf/color.h | 12 ++- urdf/include/urdf/pose.h | 12 ++- urdf/src/joint.cpp | 181 ++++++++++++++++++++++++++++++++++---- urdf/src/link.cpp | 71 ++++++++++++--- 4 files changed, 247 insertions(+), 29 deletions(-) diff --git a/urdf/include/urdf/color.h b/urdf/include/urdf/color.h index e3a7b3e..c132da4 100644 --- a/urdf/include/urdf/color.h +++ b/urdf/include/urdf/color.h @@ -42,6 +42,7 @@ #include #include #include +#include namespace urdf { @@ -70,8 +71,15 @@ public: { if (!pieces[i].empty()) { - ///@todo: do better atof check if string is a number - rgba.push_back(atof(pieces[i].c_str())); + try + { + rgba.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("color rgba element (%s) is not a valid float",pieces[i].c_str()); + return false; + } } } diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h index 3a46a9d..48e57ab 100644 --- a/urdf/include/urdf/pose.h +++ b/urdf/include/urdf/pose.h @@ -42,6 +42,7 @@ #include #include #include +#include namespace urdf{ @@ -63,8 +64,15 @@ public: boost::split( pieces, vector_str, boost::is_any_of(" ")); for (unsigned int i = 0; i < pieces.size(); ++i){ if (pieces[i] != ""){ - ///@todo: do better atof check if string is a number - xyz.push_back(atof(pieces[i].c_str())); + try + { + xyz.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("Vector3 xyz element (%s) is not a valid float",pieces[i].c_str()); + return false; + } } } diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index 5a1adab..09bc94e 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -36,6 +36,7 @@ #include #include +#include namespace urdf{ @@ -50,7 +51,17 @@ bool JointDynamics::initXml(TiXmlElement* config) this->damping = 0; } else - this->damping = atof(damping_str); + { + try + { + this->damping = boost::lexical_cast(damping_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("damping value (%s) is not a float",damping_str); + return false; + } + } // Get joint friction const char* friction_str = config->Attribute("friction"); @@ -59,7 +70,17 @@ bool JointDynamics::initXml(TiXmlElement* config) this->friction = 0; } else - this->friction = atof(friction_str); + { + try + { + this->friction = boost::lexical_cast(friction_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("friction value (%s) is not a float",friction_str); + return false; + } + } if (damping_str == NULL && friction_str == NULL) { @@ -83,7 +104,17 @@ bool JointLimits::initXml(TiXmlElement* config) this->lower = 0; } else - this->lower = atof(lower_str); + { + try + { + this->lower = boost::lexical_cast(lower_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("lower value (%s) is not a float",lower_str); + return false; + } + } // Get upper joint limit const char* upper_str = config->Attribute("upper"); @@ -92,7 +123,17 @@ bool JointLimits::initXml(TiXmlElement* config) this->upper = 0; } else - this->upper = atof(upper_str); + { + try + { + this->upper = boost::lexical_cast(upper_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("upper value (%s) is not a float",upper_str); + return false; + } + } // Get joint effort limit const char* effort_str = config->Attribute("effort"); @@ -101,7 +142,17 @@ bool JointLimits::initXml(TiXmlElement* config) return false; } else - this->effort = atof(effort_str); + { + try + { + this->effort = boost::lexical_cast(effort_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("effort value (%s) is not a float",effort_str); + return false; + } + } // Get joint velocity limit const char* velocity_str = config->Attribute("velocity"); @@ -110,7 +161,17 @@ bool JointLimits::initXml(TiXmlElement* config) return false; } else - this->velocity = atof(velocity_str); + { + try + { + this->velocity = boost::lexical_cast(velocity_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("velocity value (%s) is not a float",velocity_str); + return false; + } + } return true; } @@ -127,7 +188,17 @@ bool JointSafety::initXml(TiXmlElement* config) this->soft_lower_limit = 0; } else - this->soft_lower_limit = atof(soft_lower_limit_str); + { + try + { + this->soft_lower_limit = boost::lexical_cast(soft_lower_limit_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("soft_lower_limit value (%s) is not a float",soft_lower_limit_str); + return false; + } + } // Get soft_upper_limit joint limit const char* soft_upper_limit_str = config->Attribute("soft_upper_limit"); @@ -137,7 +208,17 @@ bool JointSafety::initXml(TiXmlElement* config) this->soft_upper_limit = 0; } else - this->soft_upper_limit = atof(soft_upper_limit_str); + { + try + { + this->soft_upper_limit = boost::lexical_cast(soft_upper_limit_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("soft_upper_limit value (%s) is not a float",soft_upper_limit_str); + return false; + } + } // Get k_position_ safety "position" gain - not exactly position gain const char* k_position_str = config->Attribute("k_position"); @@ -147,7 +228,17 @@ bool JointSafety::initXml(TiXmlElement* config) this->k_position = 0; } else - this->k_position = atof(k_position_str); + { + try + { + this->k_position = boost::lexical_cast(k_position_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("k_position value (%s) is not a float",k_position_str); + return false; + } + } // Get k_velocity_ safety velocity gain const char* k_velocity_str = config->Attribute("k_velocity"); if (k_velocity_str == NULL) @@ -156,7 +247,17 @@ bool JointSafety::initXml(TiXmlElement* config) return false; } else - this->k_velocity = atof(k_velocity_str); + { + try + { + this->k_velocity = boost::lexical_cast(k_velocity_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("k_velocity value (%s) is not a float",k_velocity_str); + return false; + } + } return true; } @@ -173,7 +274,17 @@ bool JointCalibration::initXml(TiXmlElement* config) this->reference_position = 0; } else - this->reference_position = atof(reference_position_str); + { + try + { + this->reference_position = boost::lexical_cast(reference_position_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("reference_position value (%s) is not a float",reference_position_str); + return false; + } + } // Get rising edge position const char* rising_position_str = config->Attribute("rising"); @@ -183,7 +294,17 @@ bool JointCalibration::initXml(TiXmlElement* config) this->rising.reset(); } else - this->rising.reset(new double(atof(rising_position_str))); + { + try + { + this->rising.reset(new double(boost::lexical_cast(rising_position_str))); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("risingvalue (%s) is not a float",rising_position_str); + return false; + } + } // Get falling edge position const char* falling_position_str = config->Attribute("falling"); @@ -193,7 +314,17 @@ bool JointCalibration::initXml(TiXmlElement* config) this->falling.reset(); } else - this->falling.reset(new double(atof(falling_position_str))); + { + try + { + this->falling.reset(new double(boost::lexical_cast(falling_position_str))); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("fallingvalue (%s) is not a float",falling_position_str); + return false; + } + } return true; } @@ -220,7 +351,17 @@ bool JointMimic::initXml(TiXmlElement* config) this->multiplier = 1; } else - this->multiplier = atof(multiplier_str); + { + try + { + this->multiplier = boost::lexical_cast(multiplier_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("multiplier value (%s) is not a float",multiplier_str); + return false; + } + } // Get mimic offset const char* offset_str = config->Attribute("offset"); @@ -230,7 +371,17 @@ bool JointMimic::initXml(TiXmlElement* config) this->offset = 0; } else - this->offset = atof(offset_str); + { + try + { + this->offset = boost::lexical_cast(offset_str); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("offset value (%s) is not a float",offset_str); + return false; + } + } return true; } diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp index 74ab9c9..ef057cc 100644 --- a/urdf/src/link.cpp +++ b/urdf/src/link.cpp @@ -37,6 +37,7 @@ #include "urdf/link.h" #include +#include namespace urdf{ @@ -162,7 +163,16 @@ bool Inertial::initXml(TiXmlElement *config) ROS_ERROR("Inertial: mass element must have value attributes"); return false; } - mass = atof(mass_xml->Attribute("value")); + + try + { + mass = boost::lexical_cast(mass_xml->Attribute("value")); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("mass (%s) is not a float",mass_xml->Attribute("value")); + return false; + } TiXmlElement *inertia_xml = config->FirstChildElement("inertia"); if (!inertia_xml) @@ -177,12 +187,26 @@ bool Inertial::initXml(TiXmlElement *config) ROS_ERROR("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes"); return false; } - ixx = atof(inertia_xml->Attribute("ixx")); - ixy = atof(inertia_xml->Attribute("ixy")); - ixz = atof(inertia_xml->Attribute("ixz")); - iyy = atof(inertia_xml->Attribute("iyy")); - iyz = atof(inertia_xml->Attribute("iyz")); - izz = atof(inertia_xml->Attribute("izz")); + try + { + ixx = boost::lexical_cast(inertia_xml->Attribute("ixx")); + ixy = boost::lexical_cast(inertia_xml->Attribute("ixy")); + ixz = boost::lexical_cast(inertia_xml->Attribute("ixz")); + iyy = boost::lexical_cast(inertia_xml->Attribute("iyy")); + iyz = boost::lexical_cast(inertia_xml->Attribute("iyz")); + izz = boost::lexical_cast(inertia_xml->Attribute("izz")); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("one of the inertia elements: ixx (%s) ixy (%s) ixz (%s) iyy (%s) iyz (%s) izz (%s) is not a valid double", + inertia_xml->Attribute("ixx"), + inertia_xml->Attribute("ixy"), + inertia_xml->Attribute("ixz"), + inertia_xml->Attribute("iyy"), + inertia_xml->Attribute("iyz"), + inertia_xml->Attribute("izz")); + return false; + } return true; } @@ -287,7 +311,16 @@ bool Sphere::initXml(TiXmlElement *c) return false; } - radius = atof(c->Attribute("radius")); + try + { + radius = boost::lexical_cast(c->Attribute("radius")); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("radius (%s) is not a valid float",c->Attribute("radius")); + return false; + } + return true; } @@ -322,8 +355,26 @@ bool Cylinder::initXml(TiXmlElement *c) return false; } - length = atof(c->Attribute("length")); - radius = atof(c->Attribute("radius")); + try + { + length = boost::lexical_cast(c->Attribute("length")); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("length (%s) is not a valid float",c->Attribute("length")); + return false; + } + + try + { + radius = boost::lexical_cast(c->Attribute("radius")); + } + catch (boost::bad_lexical_cast &e) + { + ROS_ERROR("radius (%s) is not a valid float",c->Attribute("radius")); + return false; + } + return true; } From e2e0c38a212386ee110f56f7fbf7b3b343e8b71f Mon Sep 17 00:00:00 2001 From: hsu Date: Fri, 26 Feb 2010 19:17:04 +0000 Subject: [PATCH 099/245] adding assimp #3857 --- assimp/Makefile | 50 +++++++++++++++++++++++++++++++++++++ assimp/assimp.patch | 61 +++++++++++++++++++++++++++++++++++++++++++++ assimp/manifest.xml | 22 ++++++++++++++++ 3 files changed, 133 insertions(+) create mode 100644 assimp/Makefile create mode 100644 assimp/assimp.patch create mode 100644 assimp/manifest.xml diff --git a/assimp/Makefile b/assimp/Makefile new file mode 100644 index 0000000..c635316 --- /dev/null +++ b/assimp/Makefile @@ -0,0 +1,50 @@ +all: installed + +REVISION=258 +PACKAGE_NAME=`rospack find assimp` +# Regular download +TARBALL_NAME = assimp-r$(REVISION) +TARBALL = build/$(TARBALL_NAME).tar.gz +TARBALL_URL = http://pr.willowgarage.com/downloads/$(TARBALL_NAME).tar.gz +TARBALL_PATCH = assimp.patch +UNPACK_CMD = tar xzf +SOURCE_DIR = build/assimp_svn +include $(shell rospack find mk)/download_unpack_build.mk + +# SVN checkout (only for package maintainers) +SVN_DIR = $(SOURCE_DIR) +#build/assimp_svn +SVN_REVISION = -r $(REVISION) +SVN_URL = https://assimp.svn.sourceforge.net/svnroot/assimp/trunk +include $(shell rospack find mk)/svn_checkout.mk + +ASSIMP_DIR = $(shell rospack find assimp) +BOOST_INCLUDE_DIRS = $(shell rosboost-cfg --include_dirs) +BOOST_LIBRARY_DIRS = $(shell rosboost-cfg --lib_dirs signals,thread) +BOOST_LIBRARIES = $(shell rosboost-cfg --lflags signals,thread) +CMAKE_ARGS = -D CMAKE_INSTALL_PREFIX=$(PACKAGE_NAME) \ + -D CMAKE_BUILD_TYPE=RelWithDebInfo \ + -D boost_include_dirs=$(BOOST_INCLUDE_DIRS) \ + -D boost_library_dirs=$(BOOST_LIBRARY_DIRS) \ + -D boost_libraries="$(BOOST_LIBRARIES)" + +# Build tarball (only for package maintainers) +build_tarball: $(SVN_DIR) + -cd $(SVN_DIR)/build && make clean + -cd $(SVN_DIR) && rm -rf build + cd build && tar --exclude="test" --exclude="workspaces" --exclude="tools" --exclude="scripts" --exclude="samples" --exclude="port" --exclude="obj" --exclude="bin" --exclude=".svn" -czf ../$(TARBALL) assimp_svn + +installed: $(SOURCE_DIR)/unpacked + cd $(SOURCE_DIR) && mkdir -p build && cd build && cmake $(CMAKE_ARGS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) && make install + mkdir -p $(PACKAGE_NAME)/include/assimp + cp -r $(SOURCE_DIR)/include/* $(PACKAGE_NAME)/include/assimp/ + #touch installed + +clean: + -cd $(SVN_DIR)/build && make clean + -rm -f installed + -rm -rf include lib + +wipe: clean + rm -rf build + diff --git a/assimp/assimp.patch b/assimp/assimp.patch new file mode 100644 index 0000000..346edd7 --- /dev/null +++ b/assimp/assimp.patch @@ -0,0 +1,61 @@ +Index: code/CMakeLists.txt +=================================================================== +--- code/CMakeLists.txt (revision 526) ++++ code/CMakeLists.txt (working copy) +@@ -1,6 +1,16 @@ + + SET( HEADER_PATH ../include/ ) + ++message(status " debug: ${boost_include_dirs}" ) ++INCLUDE_DIRECTORIES( ++ include ++ ${boost_include_dirs} ++) ++ ++LINK_DIRECTORIES( ++ ${boost_library_dirs} ++) ++ + SOURCE_GROUP( Logging FILES + ${HEADER_PATH}/DefaultLogger.h + ${HEADER_PATH}/IOStream.h +@@ -583,6 +593,10 @@ + ) + ADD_DEFINITIONS(-DASSIMP_BUILD_DLL_EXPORT) + ++TARGET_LINK_LIBRARIES( assimp ${boost_libraries}) ++ ++INSTALL (TARGETS assimp DESTINATION ${CMAKE_INSTALL_PREFIX}/lib) ++ + if (WIN32) + if ( MSVC80 ) + ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS ) +Index: CMakeLists.txt +=================================================================== +--- CMakeLists.txt (revision 526) ++++ CMakeLists.txt (working copy) +@@ -1,13 +1,24 @@ + cmake_minimum_required( VERSION 2.6 ) + PROJECT( AssetImporter ) + ++SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to override automatic detection.") ++SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to override automatic detection.") ++SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override automatic detection.") ++ ++message(status " debug: ${boost_include_dirs}" ) ++ + SET( CMAKE_CURRENT_SOURCE_DIR ${CMAKE_HOME_DIRECTORY}/code ) + SET( CMAKE_CURRENT_BINARY_DIR ${CMAKE_HOME_DIRECTORY}/bin ) + + INCLUDE_DIRECTORIES( + include ++ ${boost_include_dirs} + ) + ++LINK_DIRECTORIES( ++ ${boost_library_dirs} ++) ++ + SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_HOME_DIRECTORY}/lib ) + SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_HOME_DIRECTORY}/bin ) + diff --git a/assimp/manifest.xml b/assimp/manifest.xml new file mode 100644 index 0000000..31154bf --- /dev/null +++ b/assimp/manifest.xml @@ -0,0 +1,22 @@ + + + + Open Asset Import Library (Short name: Assimp) is a free library to import various well-known 3D model formats + into applications. The library has been designed for maximum stability and efficiency. Written in C++, it is + licensed under the BSD license. The API is provided for both C and C++. Wrappers for Python and D are available, + more bindings are in development. + + The library loads models in a straightforward in-memory format that can be easily read and processed by applications. + Various post processing steps can be executed on the imported data to optimize it for a particular purpose. + + + + ASSIMP Development Team + BSD + + http://assimp.sourceforge.net/ + + + + + From b610e3f23c6c6a7851682617769093fa3296ea89 Mon Sep 17 00:00:00 2001 From: wim Date: Sat, 27 Feb 2010 23:33:56 +0000 Subject: [PATCH 100/245] prepare for 1.0.1 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3a471d2..417a3e3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.0.0) +rosbuild_make_distribution(1.0.1) From 8b3bd76735c39de4d8f87b231862716cc88442e6 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 3 Mar 2010 23:11:04 +0000 Subject: [PATCH 101/245] adding collada document object model --- colladadom/Makefile | 34 +++++++++++++++++++++++++++ colladadom/collada-dom-2.2.zip.md5sum | 1 + colladadom/mainpage.dox | 26 ++++++++++++++++++++ colladadom/manifest.xml | 14 +++++++++++ colladadom/use_1_5.patch | 22 +++++++++++++++++ 5 files changed, 97 insertions(+) create mode 100644 colladadom/Makefile create mode 100644 colladadom/collada-dom-2.2.zip.md5sum create mode 100644 colladadom/mainpage.dox create mode 100644 colladadom/manifest.xml create mode 100644 colladadom/use_1_5.patch diff --git a/colladadom/Makefile b/colladadom/Makefile new file mode 100644 index 0000000..af611a8 --- /dev/null +++ b/colladadom/Makefile @@ -0,0 +1,34 @@ +all: installed +TARBALL = build/collada-dom-2.2.zip +TARBALL_URL = http://sourceforge.net/projects/collada-dom/files/Collada%20DOM/Collada%20DOM%202.2/collada-dom-2.2.zip/download +SOURCE_DIR = build/colladadom +INITIAL_DIR = build/collada-dom/dom +UNPACK_CMD = unzip +TARBALL_PATCH=use_1_5.patch +MD5SUM_FILE = collada-dom-2.2.zip.md5sum + +include $(shell rospack find mk)/download_unpack_build.mk + +ROOT = $(shell rospack find colladadom)/colladadom + +installed: wiped $(SOURCE_DIR)/unpacked + @echo "making it" + cd $(SOURCE_DIR) && make install + @echo "ROOT is: $(ROOT)" + -mkdir -p $(ROOT) + #cd $(SOURCE_DIR) ; make $(ROS_PARALLEL_JOBS); + #mv $(SOURCE_DIR)/boost $(ROOT)/ + touch installed + +wiped: Makefile + make wipe + touch wiped + +clean: + -cd $(SOURCE_DIR) && make clean + rm -rf $(ROOT) installed + +wipe: clean + rm -rf build + +.PHONY : clean download wipe diff --git a/colladadom/collada-dom-2.2.zip.md5sum b/colladadom/collada-dom-2.2.zip.md5sum new file mode 100644 index 0000000..2ba20f4 --- /dev/null +++ b/colladadom/collada-dom-2.2.zip.md5sum @@ -0,0 +1 @@ +bbb76ef2a8037c945c5cdf26829dcb7d build/collada-dom-2.2.zip diff --git a/colladadom/mainpage.dox b/colladadom/mainpage.dox new file mode 100644 index 0000000..386e4a1 --- /dev/null +++ b/colladadom/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b colladadom is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml new file mode 100644 index 0000000..bbc7dc3 --- /dev/null +++ b/colladadom/manifest.xml @@ -0,0 +1,14 @@ + + + + collada-dom + + + John Hsu + BSD + + http://ros.org/wiki/colladadom + + + + diff --git a/colladadom/use_1_5.patch b/colladadom/use_1_5.patch new file mode 100644 index 0000000..94d7f8d --- /dev/null +++ b/colladadom/use_1_5.patch @@ -0,0 +1,22 @@ +Index: Makefile +=================================================================== +--- Makefile 2008-10-02 17:48:30.000000000 -0700 ++++ Makefile 2010-03-03 14:44:09.162398249 -0800 +@@ -55,7 +55,7 @@ + conf := release + + # Collada version: '1.4', '1.5', or 'all' +-colladaVersion := 1.4 ++colladaVersion := 1.5 + + # parser: 'libxml', 'tinyxml', or 'all'. + parser := libxml +@@ -188,7 +188,7 @@ + ifneq ($(filter install uninstall installTest,$(MAKECMDGOALS)),) + # You can only install on Mac or Linux. Check for that. + ifeq ($(oss),linux) +-prefix := /usr/local ++prefix := ../../colladadom + else ifeq ($(oss),mac) + prefix := /Library/Frameworks + else From 8931941e9de17e10d56c17c9a28bf6e2be40aff3 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 3 Mar 2010 23:15:19 +0000 Subject: [PATCH 102/245] update install, still need to update exports from manifest --- colladadom/Makefile | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index af611a8..16ee9e9 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -12,10 +12,13 @@ include $(shell rospack find mk)/download_unpack_build.mk ROOT = $(shell rospack find colladadom)/colladadom installed: wiped $(SOURCE_DIR)/unpacked - @echo "making it" - cd $(SOURCE_DIR) && make install @echo "ROOT is: $(ROOT)" -mkdir -p $(ROOT) + -mkdir -p $(ROOT)/include + -mkdir -p $(ROOT)/include/colladadom + -mkdir -p $(ROOT)/lib + @echo "making it" + cd $(SOURCE_DIR) && make && make install #cd $(SOURCE_DIR) ; make $(ROS_PARALLEL_JOBS); #mv $(SOURCE_DIR)/boost $(ROOT)/ touch installed From d35626c3302140f7ac60ebe8895137ff1423ac86 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 4 Mar 2010 00:04:59 +0000 Subject: [PATCH 103/245] update colladadom import, install and export --- colladadom/Makefile | 14 +++++++------- colladadom/manifest.xml | 4 ++++ colladadom/use_1_5.patch | 8 ++++---- 3 files changed, 15 insertions(+), 11 deletions(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index 16ee9e9..5b094cc 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -2,25 +2,25 @@ all: installed TARBALL = build/collada-dom-2.2.zip TARBALL_URL = http://sourceforge.net/projects/collada-dom/files/Collada%20DOM/Collada%20DOM%202.2/collada-dom-2.2.zip/download SOURCE_DIR = build/colladadom -INITIAL_DIR = build/collada-dom/dom +INITIAL_DIR = build/collada-dom UNPACK_CMD = unzip TARBALL_PATCH=use_1_5.patch MD5SUM_FILE = collada-dom-2.2.zip.md5sum include $(shell rospack find mk)/download_unpack_build.mk -ROOT = $(shell rospack find colladadom)/colladadom +ROOT = $(shell rospack find colladadom) installed: wiped $(SOURCE_DIR)/unpacked @echo "ROOT is: $(ROOT)" - -mkdir -p $(ROOT) -mkdir -p $(ROOT)/include -mkdir -p $(ROOT)/include/colladadom -mkdir -p $(ROOT)/lib @echo "making it" - cd $(SOURCE_DIR) && make && make install - #cd $(SOURCE_DIR) ; make $(ROS_PARALLEL_JOBS); - #mv $(SOURCE_DIR)/boost $(ROOT)/ + cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS) + cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/colladadom/ + mv $(ROOT)/include/1.5/dom $(ROOT)/include/dom + cp -f $(SOURCE_DIR)/dom/build/linux-1.5/*.* $(ROOT)/lib/ touch installed wiped: Makefile @@ -29,7 +29,7 @@ wiped: Makefile clean: -cd $(SOURCE_DIR) && make clean - rm -rf $(ROOT) installed + rm -rf $(ROOT)/include $(ROOT)/lib installed wipe: clean rm -rf build diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index bbc7dc3..6bd76f3 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -9,6 +9,10 @@ http://ros.org/wiki/colladadom + + + + diff --git a/colladadom/use_1_5.patch b/colladadom/use_1_5.patch index 94d7f8d..e8a739c 100644 --- a/colladadom/use_1_5.patch +++ b/colladadom/use_1_5.patch @@ -1,7 +1,7 @@ -Index: Makefile +Index: dom/Makefile =================================================================== ---- Makefile 2008-10-02 17:48:30.000000000 -0700 -+++ Makefile 2010-03-03 14:44:09.162398249 -0800 +--- dom/Makefile 2008-10-02 17:48:30.000000000 -0700 ++++ dom/Makefile 2010-03-03 14:44:09.162398249 -0800 @@ -55,7 +55,7 @@ conf := release @@ -16,7 +16,7 @@ Index: Makefile # You can only install on Mac or Linux. Check for that. ifeq ($(oss),linux) -prefix := /usr/local -+prefix := ../../colladadom ++prefix := ../../../ else ifeq ($(oss),mac) prefix := /Library/Frameworks else From db7760d310e3d709ed7bc0a0b0d7853ac5c3e622 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 4 Mar 2010 00:07:49 +0000 Subject: [PATCH 104/245] update exports --- colladadom/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 6bd76f3..09e3af5 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -10,7 +10,7 @@ http://ros.org/wiki/colladadom - + From 4421d1881f186c8698007ac29d54cf54507f72a3 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 4 Mar 2010 00:31:02 +0000 Subject: [PATCH 105/245] fix install --- colladadom/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index 5b094cc..76a3bcf 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -19,7 +19,7 @@ installed: wiped $(SOURCE_DIR)/unpacked @echo "making it" cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS) cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/colladadom/ - mv $(ROOT)/include/1.5/dom $(ROOT)/include/dom + mv $(ROOT)/include/colladadom/1.5/dom $(ROOT)/include/colladadom/dom cp -f $(SOURCE_DIR)/dom/build/linux-1.5/*.* $(ROOT)/lib/ touch installed From 3751d10997fe854df48cce96afe39f6e1fb5ed78 Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 4 Mar 2010 00:44:43 +0000 Subject: [PATCH 106/245] moving tar ball to pr.willowgarage.com --- colladadom/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index 76a3bcf..5cb0a2a 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -1,6 +1,6 @@ all: installed TARBALL = build/collada-dom-2.2.zip -TARBALL_URL = http://sourceforge.net/projects/collada-dom/files/Collada%20DOM/Collada%20DOM%202.2/collada-dom-2.2.zip/download +TARBALL_URL = http://pr.willowgarage.com/downloads/collada-dom-2.2.zip SOURCE_DIR = build/colladadom INITIAL_DIR = build/collada-dom UNPACK_CMD = unzip From 1b302c0596d51969b8f35acb29dec8296bb13af0 Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 4 Mar 2010 01:26:48 +0000 Subject: [PATCH 107/245] colladom: changing exported include dir --- colladadom/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 09e3af5..59b7739 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -10,7 +10,7 @@ http://ros.org/wiki/colladadom - + From 7f64944a6c174e9feea4465037baeae49275298e Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 4 Mar 2010 01:32:28 +0000 Subject: [PATCH 108/245] removing a layer from header install directory --- colladadom/Makefile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index 5cb0a2a..5c7e513 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -14,12 +14,12 @@ ROOT = $(shell rospack find colladadom) installed: wiped $(SOURCE_DIR)/unpacked @echo "ROOT is: $(ROOT)" -mkdir -p $(ROOT)/include - -mkdir -p $(ROOT)/include/colladadom + -mkdir -p $(ROOT)/include -mkdir -p $(ROOT)/lib @echo "making it" cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS) - cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/colladadom/ - mv $(ROOT)/include/colladadom/1.5/dom $(ROOT)/include/colladadom/dom + cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/ + mv $(ROOT)/include/1.5/dom $(ROOT)/include/dom cp -f $(SOURCE_DIR)/dom/build/linux-1.5/*.* $(ROOT)/lib/ touch installed From 661cc1cea7665cbf9f296e3c9c3e480ad84fe6f5 Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 4 Mar 2010 01:46:18 +0000 Subject: [PATCH 109/245] collada_urdf: initial commit of package to convert URDF to COLLADA --- collada_urdf/CMakeLists.txt | 6 + collada_urdf/Makefile | 1 + collada_urdf/ROS_BUILD_BLACKLIST | 1 + collada_urdf/manifest.xml | 15 + collada_urdf/src/urdf_to_collada.cpp | 570 ++ collada_urdf/test/base.dae | 63 + collada_urdf/test/ir663.dae | 5517 ++++++++++ collada_urdf/test/kr150.dae | 13484 +++++++++++++++++++++++++ collada_urdf/test/ped_welder.dae | 2206 ++++ collada_urdf/test/pr2.urdf | 3399 +++++++ collada_urdf/test/simple.dae | 392 + 11 files changed, 25654 insertions(+) create mode 100644 collada_urdf/CMakeLists.txt create mode 100644 collada_urdf/Makefile create mode 100644 collada_urdf/ROS_BUILD_BLACKLIST create mode 100644 collada_urdf/manifest.xml create mode 100644 collada_urdf/src/urdf_to_collada.cpp create mode 100644 collada_urdf/test/base.dae create mode 100644 collada_urdf/test/ir663.dae create mode 100644 collada_urdf/test/kr150.dae create mode 100644 collada_urdf/test/ped_welder.dae create mode 100644 collada_urdf/test/pr2.urdf create mode 100644 collada_urdf/test/simple.dae diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt new file mode 100644 index 0000000..037d9e2 --- /dev/null +++ b/collada_urdf/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) +set(ROS_BUILD_TYPE Debug) +rosbuild_init() +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp) diff --git a/collada_urdf/Makefile b/collada_urdf/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/collada_urdf/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/collada_urdf/ROS_BUILD_BLACKLIST b/collada_urdf/ROS_BUILD_BLACKLIST new file mode 100644 index 0000000..22710e9 --- /dev/null +++ b/collada_urdf/ROS_BUILD_BLACKLIST @@ -0,0 +1 @@ +Experimental code. diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml new file mode 100644 index 0000000..cf11812 --- /dev/null +++ b/collada_urdf/manifest.xml @@ -0,0 +1,15 @@ + + + This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents. + + Tim Field + BSD + + http://ros.org/wiki/collada_urdf + + + + + + + diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp new file mode 100644 index 0000000..647baf0 --- /dev/null +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -0,0 +1,570 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Tim Field */ + +#include "dae.h" +#include "dae/daeErrorHandler.h" +#include "dom/domCOLLADA.h" + +#include "dae/domAny.h" +#include "dom/domConstants.h" +#include "dom/domTriangles.h" +#include "dae/daeDocument.h" +#include "dom/domTypes.h" +#include "dom/domElements.h" + +#include "assimp/assimp.hpp" +#include "assimp/aiScene.h" +#include "assimp/aiPostProcess.h" + +#include "urdf/model.h" +#include "urdf/pose.h" + +using namespace std; + +class ColladaWriter : public daeErrorHandler +{ +public: + struct SCENE + { + domVisual_sceneRef vscene; + domKinematics_sceneRef kscene; + domPhysics_sceneRef pscene; + domInstance_with_extraRef viscene; + domInstance_kinematics_sceneRef kiscene; + domInstance_with_extraRef piscene; + }; + + struct LINKOUTPUT + { + list listusedlinks; + daeElementRef plink; + domNodeRef pnode; + }; + + urdf::Model* robot_; + + Assimp::Importer importer_; + + boost::shared_ptr collada_; + domCOLLADA* dom_; + domCOLLADA::domSceneRef scene_; + domLibrary_jointsRef jointsLib_; + + domLibrary_visual_scenesRef visualScenesLib_; + domLibrary_kinematics_scenesRef kinematicsScenesLib_; + domLibrary_kinematics_modelsRef kinematicsModelsLib_; + domLibrary_articulated_systemsRef articulatedSystemsLib_; + domLibrary_physics_scenesRef physicsScenesLib_; + domLibrary_materialsRef materialsLib_; + domLibrary_effectsRef effectsLib_; + domLibrary_geometriesRef geometriesLib_; + +public: + ColladaWriter(urdf::Model* robot) : robot_(robot) { + daeErrorHandler::setErrorHandler(this); + + collada_.reset(new DAE()); + collada_->setIOPlugin(NULL); + collada_->setDatabase(NULL); + + string documentName("mycollada.dae"); + daeDocument* doc = NULL; + daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root + if (error != DAE_OK || doc == NULL) + { + cerr << "Failed to create new document\n"; + throw; + } + + dom_ = daeSafeCast(doc->getDomRoot()); + dom_->setAttribute("xmlns:math","http://www.w3.org/1998/Math/MathML"); + + // Create the required asset tag + domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); + { + domAsset::domCreatedRef created = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_CREATED)); + created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + domAsset::domModifiedRef modified = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED)); + modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + + domAsset::domContributorRef contrib = daeSafeCast(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR)); + domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); + authoringtool->setValue("URDF Collada Writer"); + + domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); + units->setMeter(1); + units->setName("meter"); + + domAsset::domUp_axisRef zup = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS)); + zup->setValue(UP_AXIS_Z_UP); + } + + scene_ = dom_->getScene(); + if (!scene_) + scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); + + visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); + visualScenesLib_->setId("visual_scenes"); + geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); + geometriesLib_->setId("geometries"); + effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); + effectsLib_->setId("effects"); + materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); + materialsLib_->setId("materials"); + kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); + kinematicsModelsLib_->setId("kinematics_models"); + articulatedSystemsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); + articulatedSystemsLib_->setId("articulated_systems"); + kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); + kinematicsScenesLib_->setId("kinematics_scenes"); + physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + physicsScenesLib_->setId("physics_scenes"); + jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); + jointsLib_->setId("joints"); + } + + virtual ~ColladaWriter() { + collada_.reset(); + DAE::cleanup(); + } + + SCENE createScene() { + SCENE s; + + // Create visual scene + s.vscene = daeSafeCast(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE)); + s.vscene->setId("visual_scene"); + s.vscene->setName("URDF Visual Scene"); + + // Create kinematics scene + s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); + s.kscene->setId("kinematics_scene"); + s.kscene->setName("URDF Kinematics Scene"); + + // Create physic scene + s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); + s.pscene->setId("physics_scene"); + s.pscene->setName("URDF Physics Scene"); + + // Create instance visual scene + s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); + s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); + + // Create instance kinematics scene + s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); + s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); + + // Create instance physics scene + s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); + s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); + + return s; + } + + virtual void handleError(daeString msg) { + cerr << "COLLADA error: " << msg << "\n"; + } + + virtual void handleWarning(daeString msg) { + cerr << "COLLADA warning: " << msg << "\n"; + } + + bool write() { + SCENE scene = createScene(); + + domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // Create gravity + domTargetable_float3Ref g = daeSafeCast(common->createAndPlace (COLLADA_ELEMENT_GRAVITY)); + g->getValue().set3(0.0, 0.0, 1.0); + + addJoints(); + addKinematics(); + addGeometries(); + + collada_->writeAll(); + + return true; + } + + void addGeometries() { + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + switch (urdf_link->visual->geometry->type) { + case urdf::Geometry::MESH: { + urdf::Mesh* mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); + + string filename = mesh->filename; + urdf::Vector3 scale = mesh->scale; + + domGeometryRef geometry = daeSafeCast(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY)); + loadMesh(filename, geometry); + + break; + } + case urdf::Geometry::SPHERE: { + cerr << "Geometry type SPHERE of link " << urdf_link->name << " is unsupported" << endl; + break; + } + case urdf::Geometry::BOX: { + cerr << "Geometry type BOX of link " << urdf_link->name << " is unsupported" << endl; + break; + } + case urdf::Geometry::CYLINDER: { + cerr << "Geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << endl; + break; + } + default: { + cerr << "Geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << endl; + break; + } + } + } + } + + void loadMesh(const string& filename, domGeometryRef mesh) { + const aiScene* scene = importer_.ReadFile(filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + if (!scene) + cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; + else + buildMesh(scene->mRootNode, mesh); + } + + void buildMesh(aiNode* node, daeElementRef parent) { + if (node == NULL) + return; + + const aiScene* scene = importer_.GetScene(); + + aiMatrix4x4 transform = node->mTransformation; + + aiNode* pnode = node->mParent; + while (pnode) { + // Don't convert to y-up orientation, which is what the root node in Assimp does + if (pnode->mParent != NULL) + transform = pnode->mTransformation * transform; + pnode = pnode->mParent; + } + + string parentid("mesh"); + + for (unsigned int i = 0; i < node->mNumMeshes; i++) { + aiMesh* aMesh = scene->mMeshes[i]; + + domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); + { + // Add in the indices for each face + for (unsigned int j = 0; j < aMesh->mNumFaces; j++) { + aiFace* aFace = &(aMesh->mFaces[j]); + for (unsigned int k = 0; k < aFace->mNumIndices; k++) { + int index = aFace->mIndices[k]; + // @todo add index + //subMesh->AddIndex(aFace->mIndices[k]); + } + } + + domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); + { + positions_source->setId((parentid + string(".positions")).c_str()); + + domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); + positions_array->setId((parentid + string(".positions-array")).c_str()); + positions_array->setCount(aMesh->mNumVertices); + positions_array->setDigits(6); // 6 decimal places + positions_array->getValue().setCount(3 * aMesh->mNumVertices); + + for (unsigned int j = 0; j < aMesh->mNumVertices; j++) { + aiVector3D p; + p.x = aMesh->mVertices[j].x; + p.y = aMesh->mVertices[j].y; + p.z = aMesh->mVertices[j].z; + + p *= transform; + + positions_array->getValue()[j] = p.x; + positions_array->getValue()[j] = p.y; + positions_array->getValue()[j] = p.z; + + /* + if (aMesh->HasNormals()) { + p.x = aMesh->mNormals[j].x; + p.y = aMesh->mNormals[j].y; + p.z = aMesh->mNormals[j].z; + } + + // @todo add normal + //subMesh->AddNormal(p.x, p.y, p.z); + + // @todo add tex coord + //if (aMesh->mNumUVComponents[0]) + // subMesh->AddTexCoord(aMesh->mTextureCoords[0][j].x, 1.0 -aMesh->mTextureCoords[0][j].y); + //else + // subMesh->AddTexCoord(0,0); + */ + } + + /* + domSource::domTechnique_commonRef psourcetec = daeSafeCast(pvertsource->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domAccessorRef pacc = daeSafeCast(psourcetec->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); + pacc->setCount(aMesh->mNumVertices); + pacc->setSource(xsAnyURI(*positions_array, string("#") + parentid + string(".positions-array"))); + pacc->setStride(3); + + domParamRef px = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + */ + } + + domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); + { + triangles->setCount(aMesh->mNumFaces / 3); + //triangles->setMaterial("mat0"); + + /* + domInput_local_offsetRef pvertoffset = daeSafeCast(ptris->createAndPlace(COLLADA_ELEMENT_INPUT)); + pvertoffset->setSemantic("VERTEX"); + pvertoffset->setOffset(0); + pvertoffset->setSource(domUrifragment(*pverts, string("#") + parentid + string("/vertices"))); + domPRef pindices = daeSafeCast(ptris->createAndPlace(COLLADA_ELEMENT_P)); + pindices->getValue().setCount(mesh.indices.size()); + for (size_t ind = 0; ind < mesh.indices.size(); ++ind) + pindices->getValue()[ind] = mesh.indices[ind]; + */ + } + } + + for (unsigned int i = 0; i < node->mNumChildren; i++) + buildMesh(node->mChildren[i], mesh); + } + } + + /* + domGeometryRef writeGeometry(const string& parentid) { + domVerticesRef pverts = daeSafeCast(pdommesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); + { + pverts->setId("vertices"); + domInput_localRef pvertinput = daeSafeCast(pverts->createAndPlace(COLLADA_ELEMENT_INPUT)); + pvertinput->setSemantic("POSITION"); + pvertinput->setSource(domUrifragment(*pvertsource, string("#")+parentid+string(".positions"))); + } + } + */ + + void addJoints() { + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + boost::shared_ptr urdf_joint = i->second; + + // Create COLLADA joint + domJointRef joint = daeSafeCast(jointsLib_->createAndPlace(COLLADA_ELEMENT_JOINT)); + + joint->setId(urdf_joint->name.c_str()); + joint->setName(urdf_joint->name.c_str()); + + switch (urdf_joint->type) + { + case urdf::Joint::REVOLUTE: { + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + + // joint.limits + domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + break; + } + case urdf::Joint::CONTINUOUS: { + // Model as a REVOLUTE joint without limits + + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + break; + } + case urdf::Joint::PRISMATIC: { + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + + // joint.limits + domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + break; + } + case urdf::Joint::FIXED: { + // Model as a PRISMATIC joint with no limits + + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + + // joint.limits + domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; + break; + } + case urdf::Joint::UNKNOWN: { + cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + case urdf::Joint::FLOATING: { + cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + case urdf::Joint::PLANAR: { + cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + default: { + cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + } + } + } + + void addKinematics() + { + // Create kinematics model + domKinematics_modelRef model = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); + model->setId("kinematics_model"); + + // Create kinematics model technique common + domKinematics_model_techniqueRef technique = daeSafeCast(model->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // Create the instance_joints + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + domInstance_jointRef instance_joint = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT)); + instance_joint->setUrl("#joint_1"); + } + + addLink(technique, robot_->getRoot()); + } + + void addLink(daeElementRef parent, boost::shared_ptr urdf_link) { + // Create link + domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); + link->setName(urdf_link->name.c_str()); + + for (vector >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) { + boost::shared_ptr urdf_joint = *i; + + // Create attachment full + domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); + attachment_full->setJoint(urdf_joint->name.c_str()); + + // Create translation, rotation + addTransformation(attachment_full, urdf_joint->parent_to_joint_origin_transform); + + // Create child links + addLink(attachment_full, robot_->getLink(urdf_joint->child_link_name)); + } + } + + void addTransformation(daeElementRef parent, const urdf::Pose& pose) + { + domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); + trans->getValue().setCount(3); + trans->getValue()[0] = pose.position.x; + trans->getValue()[1] = pose.position.y; + trans->getValue()[2] = pose.position.z; + + domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); + rot->getValue().setCount(4); + rot->getValue()[0] = pose.rotation.x; + rot->getValue()[1] = pose.rotation.y; + rot->getValue()[2] = pose.rotation.z; + rot->getValue()[3] = pose.rotation.w; + } +}; + +int main(int argc, char** argv) +{ + if (argc != 2) { + std::cerr << "Usage: urdf_to_collada input.urdf" << std::endl; + return -1; + } + + TiXmlDocument robot_model_xml; + robot_model_xml.LoadFile(argv[1]); + TiXmlElement* robot_xml = robot_model_xml.FirstChildElement("robot"); + if (!robot_xml) { + std::cerr << "ERROR: Could not load the xml into TiXmlElement" << std::endl; + return -1; + } + + urdf::Model robot; + if (!robot.initXml(robot_xml)) { + std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; + return -1; + } + + ColladaWriter* writer = new ColladaWriter(&robot); + writer->write(); + delete writer; + + return 0; +} diff --git a/collada_urdf/test/base.dae b/collada_urdf/test/base.dae new file mode 100644 index 0000000..b1e4d14 --- /dev/null +++ b/collada_urdf/test/base.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Sat Dec 26 05:44:16 2009 + Sat Dec 26 05:44:16 2009 + + + + + + + + + 0.245 0.03 0.182 0.305 0.03 0.182 0.245 -0.03 0.2201 0.245 0.00235022 0.2201 0.305 -0.03 0.2201 0.245 -0.03 0.182 0.305 -0.03 0.182 0.305 -0.03 0.2688 0.305 0.03 0.2688 0.305 0.03 0.2509 0.305 -0.03 0.2509 0.245 -0.03 0.2688 0.245 0.00235022 0.2509 0.245 -0.00235022 0.2509 0.245 0.03 0.2688 0.305 0.03 0.2201 0.296177 0.013287 0.2201 0.259464 0.0195866 0.2201 0.245 0.03 0.2201 0.2975 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1839 1256 1840 1256 1841 1256

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2024 1420 2026 1420 2020 1420 2015 1420

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1935 1420 2019 1420 2024 1420 2013 1420

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2005 1420 2007 1420 2011 1420 2019 1420 1935 1420

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2004 1420 2007 1420 2005 1420 2000 1420

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1994 1420 2004 1420 2000 1420 1913 1420

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1913 1420 1990 1420 1988 1420 1994 1420

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1990 1420 1984 1420 1982 1420 1988 1420

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1984 1420 1896 1420 1979 1420 1982 1420

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1970 1420 1874 1420 1967 1420 1883 1420 1973 1420

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1973 1420 1883 1420 1979 1420 1976 1420

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1949 1422 1939 1422 1943 1422

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1947 1422 1950 1422 1952 1422 2031 1422 1953 1422 1948 1422

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1948 1422 1941 1422 2030 1422 1938 1422 1947 1422

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1954 1422 2021 1422 1941 1422 1948 1422 1953 1422

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2021 1422 1954 1422 1955 1422 1949 1422 1943 1422

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2012 1423 1929 1423 2008 1423 1999 1423 1995 1423 2001 1423 1999 1423 1911 1423 1995 1423 1999 1423 1985 1423 1911 1423 1871 1423 1977 1423 1980 1423 1964 1423 1969 1423 1974 1423

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2022 1423 2020 1423 2026 1423 1958 1423

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1958 1423 2025 1423 2016 1423 2022 1423

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2025 1423 1946 1423 2014 1423 2016 1423

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1946 1423 2012 1423 2008 1423 2014 1423

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2012 1423 1999 1423 2001 1423 1929 1423

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1999 1423 1871 1423 1980 1423 1985 1423

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1974 1423 1977 1423 1871 1423 1964 1423

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1964 1423 1874 1423 1970 1423 1969 1423

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1892 1424 1899 1424 1983 1424

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2028 1424 1918 1424 1921 1424 1925 1424 1931 1424

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1991 1424 1914 1424 1921 1424 1918 1424

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1906 1424 1914 1424 1991 1424 1989 1424

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1989 1424 1983 1424 1899 1424 1898 1424 1906 1424

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1886 1424 1869 1424 1868 1424 1885 1424

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1880 1424 1881 1424 1878 1424 1877 1424

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1972 1424 1880 1424 1877 1424 1876 1424

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1886 1424 1975 1424 1972 1424 1876 1424 1875 1424

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1975 1424 1886 1424 1885 1424 1899 1424 1892 1424

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1981 1425 1897 1425 1903 1425 1909 1425 1907 1425 1905 1425

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1907 1425 1909 1425 1992 1425 1915 1425

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1930 1425 2006 1425 1924 1425 1922 1425 1920 1425 2029 1425

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1920 1425 1922 1425 1915 1425 1992 1425

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1994 1386 1988 1380 1986 1378 1994 1386 2003 1395 2004 1396

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2004 1396 2003 1395 2006 1398 2007 1399

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2007 1399 2006 1398 2010 1402 2011 1403

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2011 1403 2010 1402 2018 1410 2019 1411

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2019 1411 2018 1410 2023 1415 2024 1416

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2024 1416 2023 1415 2027 1419 1958 1350 2026 1418

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1958 1350 2027 1419 1952 1344 2025 1417

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2025 1417 1952 1344 2017 1409 1946 1338

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1946 1338 2017 1409 2009 1401 2012 1404

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2012 1404 2009 1401 1997 1389 1999 1391

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1998 1390 1996 1388 1960 1352 1963 1355

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1870 1262 1959 1351 1961 1353 1964 1356

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1869 1261 1875 1267 1968 1360 1966 1358 1962 1354

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1961 1353 1965 1357 1967 1359 1872 1264 1964 1356

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1967 1359 1965 1357 1971 1363 1882 1274

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1882 1274 1971 1363 1978 1370 1979 1371

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1979 1371 1978 1370 1981 1373 1982 1374

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1982 1374 1981 1373 1986 1378 1988 1380

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1924 1316 2002 1394 1993 1385 1987 1379 1905 1297

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2004 1396 2003 1395 2006 1398 2007 1399

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2007 1399 2006 1398 2010 1402 2011 1403

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2011 1403 2010 1402 2018 1410 2019 1411

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2019 1411 2018 1410 2023 1415 2024 1416

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2024 1416 2023 1415 2027 1419 1958 1350 2026 1418

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1958 1350 2027 1419 1952 1344 2025 1417

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2025 1417 1952 1344 2017 1409 1946 1338

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1946 1338 2017 1409 2009 1401 2012 1404

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2012 1404 2009 1401 1997 1389 1999 1391

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1998 1390 1996 1388 1960 1352 1963 1355

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1870 1262 1959 1351 1961 1353 1964 1356

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1869 1261 1875 1267 1968 1360 1966 1358 1962 1354

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1961 1353 1965 1357 1967 1359 1872 1264 1964 1356

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1967 1359 1965 1357 1971 1363 1882 1274

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1882 1274 1971 1363 1978 1370 1979 1371

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1979 1371 1978 1370 1981 1373 1982 1374

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1982 1374 1981 1373 1986 1378 1988 1380

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1924 1316 2002 1394 1993 1385 1987 1379 1905 1297

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2021 1413 1942 1334 2015 1407 2020 1412 2022 1414

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2015 1407 1942 1334 1937 1329 2013 1405

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2013 1405 1937 1329 1933 1325 1934 1326

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1934 1326 1933 1325 1927 1319 2005 1397

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2005 1397 1927 1319 1919 1311 2000 1392

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2000 1392 1919 1311 1992 1384 1913 1305

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1913 1305 1992 1384 1909 1301 1990 1382

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1990 1382 1909 1301 1902 1294 1984 1376

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1984 1376 1902 1294 1894 1286 1896 1288

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1896 1288 1894 1286 1887 1279 1976 1368

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1976 1368 1887 1279 1884 1276 1973 1365

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1880 1272 1969 1361 1970 1362 1973 1365 1884 1276

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1969 1361 1880 1272 1972 1364 1974 1366

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1974 1366 1972 1364 1975 1367 1977 1369

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1977 1369 1975 1367 1892 1284 1980 1372

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1980 1372 1892 1284 1983 1375 1985 1377

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1985 1377 1983 1375 1989 1381 1911 1303

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1911 1303 1989 1381 1991 1383 1995 1387

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1995 1387 1991 1383 1917 1309 2001 1393

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2001 1393 1917 1309 1926 1318 1928 1320

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1928 1320 1926 1318 1932 1324 2008 1400

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2008 1400 1932 1324 1936 1328 2014 1406

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2014 1406 1936 1328 1940 1332 2016 1408

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2016 1408 1940 1332 2021 1413 2022 1414

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2032 1426 2033 1427 2034 1428 2035 1429 2036 1430 2037 1431 2038 1432 2039 1433

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2040 1434 2041 1435 2042 1436 2043 1437 2044 1438 2045 1439 2046 1440 2047 1441

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2048 1442 2049 1443 2050 1444 2051 1445

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2052 1446 2053 1447 2054 1448 2055 1449

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2056 1450 2057 1451 2058 1452 2059 1453

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2060 1454 2061 1455 2062 1456 2063 1457

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2064 1458 2065 1459 2066 1460 2067 1461

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2068 1462 2069 1463 2070 1464 2071 1465

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2072 1466 2073 1467 2074 1468 2075 1469

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2076 1470 2077 1471 2078 1472 2079 1473

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2080 1474 2081 1475 2082 1476 2083 1477 2084 1478 2085 1479 2086 1480 2087 1481

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2088 1482 2089 1483 2090 1484 2091 1485 2092 1486 2093 1487 2094 1488 2095 1489

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2096 1490 2097 1491 2098 1492 2099 1493

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2100 1494 2101 1495 2102 1496 2103 1497

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2104 1498 2105 1499 2106 1500 2107 1501

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2164 1549 2165 1550 2166 1551 2167 1552

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2177 1603 2207 1603 2212 1603 2188 1603 2176 1603

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2216 1603 2195 1603 2194 1603 2188 1603 2212 1603

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2195 1603 2218 1603 2193 1603 2196 1603

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2196 1603 2217 1603 2213 1603 2189 1603 2197 1603

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2208 1603 2178 1603 2179 1603 2189 1603 2213 1603

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2184 1604 2211 1604 2215 1604 2191 1604 2185 1604

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2201 1604 2204 1604 2205 1604 2191 1604 2215 1604

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2204 1604 2220 1604 2219 1604 2203 1604

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2203 1604 2199 1604 2214 1604 2190 1604 2202 1604

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2210 1604 2183 1604 2182 1604 2190 1604 2214 1604

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2192 1574 2218 1600 2219 1601 2220 1602

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2217 1599 2192 1574 2220 1602 2200 1582

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2213 1595 2217 1599 2200 1582 2215 1597

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2208 1590 2213 1595 2215 1597 2211 1593

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2206 1588 2208 1590 2211 1593 2187 1569

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2181 1563 2206 1588 2187 1569 2209 1591

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2207 1589 2181 1563 2209 1591 2210 1592

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2212 1594 2207 1589 2210 1592 2214 1596

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2216 1598 2212 1594 2214 1596 2198 1580

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2221 1605 2222 1606 2223 1607 2224 1608

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2225 1609 2226 1610 2227 1611 2228 1612

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2229 1613 2230 1614 2231 1615 2232 1616

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2233 1617 2234 1618 2235 1619 2236 1620

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2237 1621 2238 1622 2239 1623 2240 1624

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2241 1625 2242 1626 2243 1627 2244 1628

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2255 1639 2256 1640 2257 1641 2258 1642 2259 1643 2260 1644 2261 1645 2262 1646 2263 1647 2264 1648

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2265 1649 2266 1650 2267 1651 2268 1652

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2277 1661 2278 1662 2279 1663 2280 1664

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2281 1665 2282 1666 2283 1667 2284 1668

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2285 1669 2286 1670 2287 1671 2288 1672

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2289 1673 2290 1674 2291 1675 2292 1676

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2293 1677 2294 1678 2295 1679 2296 1680

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2301 1685 2302 1686 2303 1687 2304 1688

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2306 1690 2310 1694 2320 1704 2318 1702

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2317 1701 2319 1703 2323 1707 2321 1705

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2322 1706 2324 1708 2327 1711 2325 1709

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2355 1741 2357 1743 2332 1718 2329 1715

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2512 1902 2488 1878 2580 1970 2579 1969

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1870 1780 1871 1781 1872 1782 1873 1783

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1892 1802 1893 1803 1894 1804 1895 1805 1896 1806 1897 1807 1898 1808 1899 1809 1900 1810 1901 1811 1902 1812 1903 1813 1904 1814 1905 1815 1906 1816 1907 1817 1908 1818 1909 1819

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1910 1820 1911 1821 1912 1822 1913 1823

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1914 1824 1915 1825 1916 1826 1917 1827

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1918 1828 1919 1829 1920 1830 1921 1831

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1922 1832 1923 1833 1924 1834 1925 1835

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1926 1836 1927 1837 1928 1838 1929 1839

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1930 1840 1931 1841 1932 1842 1933 1843

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1934 1844 1935 1845 1936 1846 1937 1847

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1938 1848 1939 1849 1940 1850 1941 1851

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1942 1852 1943 1853 1944 1854 1945 1855

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1946 1856 1947 1857 1948 1858 1949 1859

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1950 1860 1951 1861 1952 1862 1953 1863

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1954 1864 1955 1865 1956 1866 1957 1867

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1958 1868 1959 1869 1960 1870 1961 1871

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1962 1872 1963 1873 1964 1874 1965 1875

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1966 1876 1967 1877 1968 1878 1969 1879

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1970 1880 1971 1881 1972 1882 1973 1883

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1974 1884 1975 1885 1976 1886 1977 1887

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1978 1888 1979 1889 1980 1890 1981 1891

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1982 1892 1983 1893 1984 1894 1997 1907 1998 1908 1999 1909

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1985 1895 1986 1896 1987 1897 1988 1898

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1989 1899 1990 1900 1991 1901 1992 1902

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1993 1903 1994 1904 1995 1905 1996 1906

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2016 1926 2028 1938 2026 1936 2023 1933

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2169 2105 2167 2105 2166 2105 2168 2105 2165 2105 2198 2105

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2156 2105 2178 2105 2158 2105 2157 2105

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2178 2105 2156 2105 2264 2105 2181 2105 2160 2105 2161 2105 2260 2105

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2162 2105 2261 2105 2260 2105 2161 2105

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2195 2105 2166 2105 2167 2105 2262 2105 2261 2105 2162 2105 2164 2105

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2258 2113 2210 2113 2135 2113

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2213 2113 2252 2113 2258 2113 2135 2113

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2174 2015 2154 1995 2155 1996 2176 2017 2172 2013

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2121 1962 2151 1992 2253 2094 2207 2048

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2209 2050 2256 2097 2152 1993 2121 1962

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2123 1964 2147 1988 2246 2087 2215 2056

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2203 2044 2227 2068 2139 1980 2119 1960

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2183 2024 2179 2020 2129 1970 2211 2052 2224 2065

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2125 1966 2143 1984 2237 2078 2217 2058

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+ + + + + CAT3DBagRep + + + + + + + + + + + 1 0 0 1 + + + 1 0 0 1 + + + + + + + + + + + 0 1 0 1 + + + 0 1 0 1 + + + + + + + + + + + 0 0 1 1 + + + 0 0 1 1 + + + + + + + + + + + + + + + + + + + + + -1 -0 -0 + + -90 + 90 + + + + + + -1 -0 -0 + + 0 + 90 + + + + + + + + + + + + 0 0 30000 + + + 0 0 25000 + + + + + + + + + + + + + libkinscenes.kinScene/inst_kinmodel.0 + + + libkinscenes.kinScene/inst_kinmodel.0/joint_1/axis0 + + + 0 + + + libkinscenes.kinScene/inst_kinmodel.0/joint_0/axis0 + + + 0 + + + + + + + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0 + + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0 + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value + + + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0 + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value + + + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0 + + + libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value + + + + + From 47c65893d6497bf7b6ce017e7762b4e810ab3dfb Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 4 Mar 2010 23:20:16 +0000 Subject: [PATCH 110/245] colladadom: fix include path --- colladadom/manifest.xml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 59b7739..25c8b47 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -10,9 +10,7 @@ http://ros.org/wiki/colladadom - + - - From 84a88a02ba2f9bfea58a9d4f933d81f45a3d7ce2 Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 4 Mar 2010 23:20:47 +0000 Subject: [PATCH 111/245] colladadom: copy system specific build artifacts (don't just assume linux) --- colladadom/Makefile | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index 5c7e513..447fdc7 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -11,6 +11,17 @@ include $(shell rospack find mk)/download_unpack_build.mk ROOT = $(shell rospack find colladadom) +# Copied from dom/Makefile: +# os: 'linux', 'mac', 'windows', or 'ps3'. Use the 'uname' command to decide the +# default value. To detect when we're on Windows we'll check to see if we're +# running on Cygwin or MinGW. +OS := linux +ifneq ($(shell uname | grep -i darwin),) +OS := mac +else ifneq ($(or $(shell uname | grep -i cygwin),$(shell uname | grep -i mingw)),) +OS := windows +endif + installed: wiped $(SOURCE_DIR)/unpacked @echo "ROOT is: $(ROOT)" -mkdir -p $(ROOT)/include @@ -20,7 +31,7 @@ installed: wiped $(SOURCE_DIR)/unpacked cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS) cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/ mv $(ROOT)/include/1.5/dom $(ROOT)/include/dom - cp -f $(SOURCE_DIR)/dom/build/linux-1.5/*.* $(ROOT)/lib/ + cp -rf $(SOURCE_DIR)/dom/build/$(OS)-1.5/*.* $(ROOT)/lib/ touch installed wiped: Makefile From 6d5894e0f7db1513f05764756fd3956cf176eb49 Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 4 Mar 2010 23:22:00 +0000 Subject: [PATCH 112/245] colladadom: updated comments --- colladadom/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index 447fdc7..223b1c4 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -11,7 +11,7 @@ include $(shell rospack find mk)/download_unpack_build.mk ROOT = $(shell rospack find colladadom) -# Copied from dom/Makefile: +# Copied from build/colladadom/dom/Makefile: # os: 'linux', 'mac', 'windows', or 'ps3'. Use the 'uname' command to decide the # default value. To detect when we're on Windows we'll check to see if we're # running on Cygwin or MinGW. From 4be755043daa10a6ce5f47b6f63625b9baa2b8a7 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 00:08:01 +0000 Subject: [PATCH 113/245] collada_urdf: use resource_retriever to load meshes --- collada_urdf/src/urdf_to_collada.cpp | 53 ++++++++++++++++++++-------- 1 file changed, 38 insertions(+), 15 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 647baf0..91a9955 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -34,23 +34,25 @@ /* Author: Tim Field */ -#include "dae.h" -#include "dae/daeErrorHandler.h" -#include "dom/domCOLLADA.h" +#include +#include +#include -#include "dae/domAny.h" -#include "dom/domConstants.h" -#include "dom/domTriangles.h" -#include "dae/daeDocument.h" -#include "dom/domTypes.h" -#include "dom/domElements.h" +#include +#include +#include +#include +#include +#include -#include "assimp/assimp.hpp" -#include "assimp/aiScene.h" -#include "assimp/aiPostProcess.h" +#include +#include +#include -#include "urdf/model.h" -#include "urdf/pose.h" +#include + +#include +#include using namespace std; @@ -257,11 +259,32 @@ public: } void loadMesh(const string& filename, domGeometryRef mesh) { - const aiScene* scene = importer_.ReadFile(filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + // Load the mesh + resource_retriever::MemoryResource resource; + resource_retriever::Retriever retriever; + try { + resource = retriever.get(filename.c_str()); + } + catch (resource_retriever::Exception& e) { + cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl; + return; + } + + // Write the mesh to a temporary file + char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX"; + int mesh_fd = mkstemp(tmp_filename); + write(mesh_fd, resource.data, resource.size); + close(mesh_fd); + + // Import the mesh using assimp + const aiScene* scene = importer_.ReadFile(tmp_filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); if (!scene) cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; else buildMesh(scene->mRootNode, mesh); + + // Delete the temporary file + unlink(tmp_filename); } void buildMesh(aiNode* node, daeElementRef parent) { From 56e1a300504cef10b6ae9d88a0ff6b2726196e59 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 00:08:42 +0000 Subject: [PATCH 114/245] collada_urdf: depends on resource_retriever --- collada_urdf/manifest.xml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index cf11812..50b67c6 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -10,6 +10,5 @@ + - - From 8585e3a5be9626544a5dcb03b0eec627cd636b9b Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 00:13:59 +0000 Subject: [PATCH 115/245] collada_urdf: write -> writeScene --- collada_urdf/src/urdf_to_collada.cpp | 40 ++++++++++++++-------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 91a9955..fabb82e 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -204,7 +204,7 @@ public: cerr << "COLLADA warning: " << msg << "\n"; } - bool write() { + bool writeScene() { SCENE scene = createScene(); domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); @@ -260,24 +260,24 @@ public: void loadMesh(const string& filename, domGeometryRef mesh) { // Load the mesh - resource_retriever::MemoryResource resource; - resource_retriever::Retriever retriever; - try { - resource = retriever.get(filename.c_str()); - } - catch (resource_retriever::Exception& e) { - cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl; - return; - } - - // Write the mesh to a temporary file - char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX"; - int mesh_fd = mkstemp(tmp_filename); - write(mesh_fd, resource.data, resource.size); - close(mesh_fd); - - // Import the mesh using assimp - const aiScene* scene = importer_.ReadFile(tmp_filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + resource_retriever::MemoryResource resource; + resource_retriever::Retriever retriever; + try { + resource = retriever.get(filename.c_str()); + } + catch (resource_retriever::Exception& e) { + cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl; + return; + } + + // Write the mesh to a temporary file + char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX"; + int mesh_fd = mkstemp(tmp_filename); + write(mesh_fd, resource.data.get(), resource.size); + close(mesh_fd); + + // Import the mesh using assimp + const aiScene* scene = importer_.ReadFile(tmp_filename, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); if (!scene) cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; else @@ -586,7 +586,7 @@ int main(int argc, char** argv) } ColladaWriter* writer = new ColladaWriter(&robot); - writer->write(); + writer->writeScene(); delete writer; return 0; From ca385b20d4a2e6dcf59934f4b3ecafae4e47d6bb Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 00:17:27 +0000 Subject: [PATCH 116/245] colladadom: updating build flags for osx (thanks to gerkey) --- colladadom/manifest.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 25c8b47..f345ed9 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -11,6 +11,7 @@ + From 6fd7f8a489ef6f984c7a8db787f36206c176d03a Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 02:40:48 +0000 Subject: [PATCH 117/245] collada_urdf: added binary STLLoader --- collada_urdf/CMakeLists.txt | 2 +- collada_urdf/src/STLLoader.cpp | 148 +++++++++++++++++++++++++++ collada_urdf/src/STLLoader.h | 96 +++++++++++++++++ collada_urdf/src/urdf_to_collada.cpp | 57 +++++++---- 4 files changed, 284 insertions(+), 19 deletions(-) create mode 100644 collada_urdf/src/STLLoader.cpp create mode 100644 collada_urdf/src/STLLoader.h diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt index 037d9e2..0763be9 100644 --- a/collada_urdf/CMakeLists.txt +++ b/collada_urdf/CMakeLists.txt @@ -3,4 +3,4 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) set(ROS_BUILD_TYPE Debug) rosbuild_init() set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp) +rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/STLLoader.cpp) diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp new file mode 100644 index 0000000..446310e --- /dev/null +++ b/collada_urdf/src/STLLoader.cpp @@ -0,0 +1,148 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Tim Field */ + +// STLLoader.cpp + +#include +#include +#include +#include + +#include "STLLoader.h" + +using namespace collada_urdf; + +Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { } + +bool Vector3::operator==(const Vector3& v) const { + return x == v.x && y == v.y && z == v.z; +} + +Mesh::Mesh() { +} + +bool Mesh::hasVertex(const Vector3& v) const { + for (std::vector::const_iterator i = vertices.begin(); i != vertices.end(); i++) + if (v == *i) + return true; + + return false; +} + +unsigned int Mesh::getVertexIndex(const Vector3& v) const { + for (unsigned int i = 0; i < vertices.size(); i++) + if (vertices[i] == v) + return true; + + return false; +} + +void Mesh::addVertex(const Vector3& v) { + vertices.push_back(v); +} + +void Mesh::addNormal(const Vector3& n) { + normals.push_back(n); +} + +void Mesh::addIndex(unsigned int i) { + indices.push_back(i); +} + +// + +Mesh* STLLoader::load(const std::string& filename) { + Mesh* mesh = new Mesh(); + + FILE* file = fopen(filename.c_str(), "r"); + readBinary(file, mesh); + fclose(file); + + return mesh; +} + +void STLLoader::readBinary(FILE* filein, Mesh* mesh) { + // 80 byte Header + for (int i = 0; i < 80; i++) + fgetc(filein); + + int face_num = readLongInt(filein); + + std::cout << "Reading " << face_num << " faces " << std::endl; + + for (int iface = 0; iface < face_num; iface++) { + Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein)); + for (int i = 0; i < 3; i++) { + Vector3 vertex(readFloat(filein), readFloat(filein), readFloat(filein)); + if (!mesh->hasVertex(vertex)) { + mesh->addVertex(vertex); + mesh->addNormal(normal); + } + mesh->addIndex(mesh->getVertexIndex(vertex)); + } + readShortInt(filein); // 2 byte attribute + } +} + +float STLLoader::readFloat(FILE* filein) { + float rval; + if (fread(&rval, sizeof(float), 1, filein) == 0) + std::cerr << "Error in STLLoader::readFloat" << std::endl; + return rval; +} + +uint32_t STLLoader::readLongInt(FILE* filein) { + union + { + uint32_t yint; + char ychar[4]; + } y; + y.ychar[0] = fgetc(filein); + y.ychar[1] = fgetc(filein); + y.ychar[2] = fgetc(filein); + y.ychar[3] = fgetc(filein); + + return y.yint; +} + +uint16_t STLLoader::readShortInt(FILE* filein) { + uint8_t c1 = fgetc(filein); + uint8_t c2 = fgetc(filein); + + uint16_t ival = c1 | (c2 << 8); + + return ival; +} diff --git a/collada_urdf/src/STLLoader.h b/collada_urdf/src/STLLoader.h new file mode 100644 index 0000000..d01e560 --- /dev/null +++ b/collada_urdf/src/STLLoader.h @@ -0,0 +1,96 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Tim Field */ + +// STLLoader.h + +#ifndef COLLADA_URDF_STLLOADER_HH +#define COLLADA_URDF_STLLOADER_HH + +#include +#include +#include + +#define LINE_MAX_LEN 256 +#define COR3_MAX 200000 +#define ORDER_MAX 10 +#define FACE_MAX 200000 + +namespace collada_urdf +{ + class Vector3 + { + public: + Vector3(float x, float y, float z); + + bool operator==(const Vector3& v) const; + + float x; + float y; + float z; + }; + + class Mesh + { + public: + Mesh(); + + bool hasVertex(const Vector3& v) const; + unsigned int getVertexIndex(const Vector3& v) const; + + void addVertex(const Vector3& v); + void addNormal(const Vector3& n); + void addIndex(unsigned int i); + + private: + std::vector vertices; + std::vector normals; + std::vector indices; + }; + + class STLLoader + { + public: + Mesh* load(const std::string& filename); + + private: + void readBinary(FILE* filein, Mesh* mesh); + uint32_t readLongInt(FILE* filein); + uint16_t readShortInt(FILE* filein); + float readFloat(FILE* filein); + }; +} + +#endif diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index fabb82e..30efe46 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -34,6 +34,8 @@ /* Author: Tim Field */ +// urdf_to_collada.cpp + #include #include #include @@ -54,8 +56,12 @@ #include #include +#include "STLLoader.h" + using namespace std; +namespace collada_urdf { + class ColladaWriter : public daeErrorHandler { public: @@ -226,6 +232,9 @@ public: for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { boost::shared_ptr urdf_link = i->second; + if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL) + continue; + switch (urdf_link->visual->geometry->type) { case urdf::Geometry::MESH: { urdf::Mesh* mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); @@ -269,25 +278,35 @@ public: cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl; return; } - - // Write the mesh to a temporary file - char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX"; - int mesh_fd = mkstemp(tmp_filename); - write(mesh_fd, resource.data.get(), resource.size); - close(mesh_fd); - - // Import the mesh using assimp - const aiScene* scene = importer_.ReadFile(tmp_filename, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); - if (!scene) - cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; - else - buildMesh(scene->mRootNode, mesh); - // Delete the temporary file - unlink(tmp_filename); + if (true) { + // Write the resource to a temporary file + char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; + int fd = mkstemp(tmp_filename); + write(fd, resource.data.get(), resource.size); + close(fd); + + // Import the mesh using STLLoader + STLLoader loader; + Mesh* mesh = loader.load(string(tmp_filename)); + delete mesh; + + // Delete the temporary file + unlink(tmp_filename); + } + else { + // Import the mesh using assimp + const aiScene* scene = importer_.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + if (!scene) + cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; + else { + cout << "Successfully loaded mesh " << filename << endl; + buildMeshFromAssimp(scene->mRootNode, mesh); + } + } } - void buildMesh(aiNode* node, daeElementRef parent) { + void buildMeshFromAssimp(aiNode* node, daeElementRef parent) { if (node == NULL) return; @@ -392,7 +411,7 @@ public: } for (unsigned int i = 0; i < node->mNumChildren; i++) - buildMesh(node->mChildren[i], mesh); + buildMeshFromAssimp(node->mChildren[i], mesh); } } @@ -564,6 +583,8 @@ public: } }; +} + int main(int argc, char** argv) { if (argc != 2) { @@ -585,7 +606,7 @@ int main(int argc, char** argv) return -1; } - ColladaWriter* writer = new ColladaWriter(&robot); + collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(&robot); writer->writeScene(); delete writer; From 1a48be8bb41b3cb79ccd65dab6749fae63a05ce1 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 03:05:35 +0000 Subject: [PATCH 118/245] collada_urdf: first try assimp, then fallback to STLLoader --- collada_urdf/src/STLLoader.cpp | 2 - collada_urdf/src/urdf_to_collada.cpp | 60 +++++++++++++++++----------- 2 files changed, 36 insertions(+), 26 deletions(-) diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index 446310e..0443c68 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -101,8 +101,6 @@ void STLLoader::readBinary(FILE* filein, Mesh* mesh) { int face_num = readLongInt(filein); - std::cout << "Reading " << face_num << " faces " << std::endl; - for (int iface = 0; iface < face_num; iface++) { Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein)); for (int i = 0; i < 3; i++) { diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 30efe46..2011d6d 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -279,31 +279,43 @@ public: return; } - if (true) { - // Write the resource to a temporary file - char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; - int fd = mkstemp(tmp_filename); - write(fd, resource.data.get(), resource.size); - close(fd); + // Try assimp first, then STLLoader + if (!loadMeshWithAssimp(resource, mesh)) + if (!loadMeshWithSTLLoader(resource, mesh)) + cerr << "*** Can't load " << filename << endl; + } - // Import the mesh using STLLoader - STLLoader loader; - Mesh* mesh = loader.load(string(tmp_filename)); - delete mesh; - - // Delete the temporary file - unlink(tmp_filename); - } - else { - // Import the mesh using assimp - const aiScene* scene = importer_.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); - if (!scene) - cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; - else { - cout << "Successfully loaded mesh " << filename << endl; - buildMeshFromAssimp(scene->mRootNode, mesh); - } - } + bool loadMeshWithAssimp(const resource_retriever::MemoryResource& resource, domGeometryRef mesh) { + // Import the mesh using assimp + const aiScene* scene = importer_.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + if (!scene) + return false; + + buildMeshFromAssimp(scene->mRootNode, mesh); + return true; + } + + bool loadMeshWithSTLLoader(const resource_retriever::MemoryResource& resource, domGeometryRef mesh) { + // Write the resource to a temporary file + char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; + int fd = mkstemp(tmp_filename); + write(fd, resource.data.get(), resource.size); + close(fd); + + // Import the mesh using STLLoader + STLLoader loader; + Mesh* stl_mesh = loader.load(string(tmp_filename)); + buildMeshFromSTLLoader(stl_mesh, mesh); + delete stl_mesh; + + // Delete the temporary file + unlink(tmp_filename); + + return true; + } + + void buildMeshFromSTLLoader(Mesh* mesh, daeElementRef parent) { + // } void buildMeshFromAssimp(aiNode* node, daeElementRef parent) { From 9ef55ab12da6fc5410263ad0a52ab87182b5d326 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 5 Mar 2010 07:09:36 +0000 Subject: [PATCH 119/245] collada_urdf: library_geometries finished --- collada_urdf/src/STLLoader.cpp | 36 ++-- collada_urdf/src/STLLoader.h | 5 +- collada_urdf/src/urdf_to_collada.cpp | 273 ++++++++++++++++----------- 3 files changed, 174 insertions(+), 140 deletions(-) diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index 0443c68..e811e8a 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -54,33 +54,17 @@ bool Vector3::operator==(const Vector3& v) const { Mesh::Mesh() { } -bool Mesh::hasVertex(const Vector3& v) const { - for (std::vector::const_iterator i = vertices.begin(); i != vertices.end(); i++) - if (v == *i) - return true; - - return false; -} - -unsigned int Mesh::getVertexIndex(const Vector3& v) const { +int Mesh::getVertexIndex(const Vector3& v) const { for (unsigned int i = 0; i < vertices.size(); i++) if (vertices[i] == v) - return true; + return i; - return false; + return -1; } -void Mesh::addVertex(const Vector3& v) { - vertices.push_back(v); -} - -void Mesh::addNormal(const Vector3& n) { - normals.push_back(n); -} - -void Mesh::addIndex(unsigned int i) { - indices.push_back(i); -} +void Mesh::addVertex(const Vector3& v) { vertices.push_back(v); } +void Mesh::addNormal(const Vector3& n) { normals.push_back(n); } +void Mesh::addIndex(unsigned int i) { indices.push_back(i); } // @@ -104,12 +88,14 @@ void STLLoader::readBinary(FILE* filein, Mesh* mesh) { for (int iface = 0; iface < face_num; iface++) { Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein)); for (int i = 0; i < 3; i++) { - Vector3 vertex(readFloat(filein), readFloat(filein), readFloat(filein)); - if (!mesh->hasVertex(vertex)) { + Vector3 vertex(readFloat(filein), readFloat(filein), readFloat(filein)); + int index = mesh->getVertexIndex(vertex); + if (index == -1) { mesh->addVertex(vertex); mesh->addNormal(normal); + index = mesh->vertices.size() - 1; } - mesh->addIndex(mesh->getVertexIndex(vertex)); + mesh->addIndex(index); } readShortInt(filein); // 2 byte attribute } diff --git a/collada_urdf/src/STLLoader.h b/collada_urdf/src/STLLoader.h index d01e560..8c7d768 100644 --- a/collada_urdf/src/STLLoader.h +++ b/collada_urdf/src/STLLoader.h @@ -67,14 +67,13 @@ namespace collada_urdf public: Mesh(); - bool hasVertex(const Vector3& v) const; - unsigned int getVertexIndex(const Vector3& v) const; + int getVertexIndex(const Vector3& v) const; void addVertex(const Vector3& v); void addNormal(const Vector3& n); void addIndex(unsigned int i); - private: + public: std::vector vertices; std::vector normals; std::vector indices; diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 2011d6d..4011542 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -84,21 +84,19 @@ public: urdf::Model* robot_; - Assimp::Importer importer_; - boost::shared_ptr collada_; domCOLLADA* dom_; domCOLLADA::domSceneRef scene_; - domLibrary_jointsRef jointsLib_; + domLibrary_geometriesRef geometriesLib_; domLibrary_visual_scenesRef visualScenesLib_; domLibrary_kinematics_scenesRef kinematicsScenesLib_; domLibrary_kinematics_modelsRef kinematicsModelsLib_; - domLibrary_articulated_systemsRef articulatedSystemsLib_; + domLibrary_jointsRef jointsLib_; domLibrary_physics_scenesRef physicsScenesLib_; domLibrary_materialsRef materialsLib_; domLibrary_effectsRef effectsLib_; - domLibrary_geometriesRef geometriesLib_; + //domLibrary_articulated_systemsRef articulatedSystemsLib_; public: ColladaWriter(urdf::Model* robot) : robot_(robot) { @@ -145,23 +143,26 @@ public: scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); - visualScenesLib_->setId("visual_scenes"); + visualScenesLib_->setId("vscenes"); geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); geometriesLib_->setId("geometries"); + kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); + kinematicsScenesLib_->setId("kinematics_scenes"); + kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); + kinematicsModelsLib_->setId("kinematics_models"); + jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); + jointsLib_->setId("joints"); + + /* effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); effectsLib_->setId("effects"); materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); materialsLib_->setId("materials"); - kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); - kinematicsModelsLib_->setId("kinematics_models"); articulatedSystemsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); articulatedSystemsLib_->setId("articulated_systems"); - kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); - kinematicsScenesLib_->setId("kinematics_scenes"); - physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); physicsScenesLib_->setId("physics_scenes"); - jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); - jointsLib_->setId("joints"); + physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + */ } virtual ~ColladaWriter() { @@ -174,31 +175,32 @@ public: // Create visual scene s.vscene = daeSafeCast(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE)); - s.vscene->setId("visual_scene"); + s.vscene->setId("vscene"); s.vscene->setName("URDF Visual Scene"); + // Create instance visual scene + s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); + s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); + // Create kinematics scene s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); s.kscene->setId("kinematics_scene"); s.kscene->setName("URDF Kinematics Scene"); - // Create physic scene - s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); - s.pscene->setId("physics_scene"); - s.pscene->setName("URDF Physics Scene"); - - // Create instance visual scene - s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); - s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); - // Create instance kinematics scene s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); + /* + // Create physics scene + s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); + s.pscene->setId("physics_scene"); + s.pscene->setName("URDF Physics Scene"); + // Create instance physics scene s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); - + */ return s; } @@ -213,11 +215,13 @@ public: bool writeScene() { SCENE scene = createScene(); + /* domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); // Create gravity - domTargetable_float3Ref g = daeSafeCast(common->createAndPlace (COLLADA_ELEMENT_GRAVITY)); + domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); g->getValue().set3(0.0, 0.0, 1.0); + */ addJoints(); addKinematics(); @@ -229,6 +233,8 @@ public: } void addGeometries() { + int link_num = 0; + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { boost::shared_ptr urdf_link = i->second; @@ -237,14 +243,21 @@ public: switch (urdf_link->visual->geometry->type) { case urdf::Geometry::MESH: { - urdf::Mesh* mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); + urdf::Mesh* urdf_mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); - string filename = mesh->filename; - urdf::Vector3 scale = mesh->scale; + string filename = urdf_mesh->filename; + urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale + // domGeometryRef geometry = daeSafeCast(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY)); - loadMesh(filename, geometry); + string geometry_id = string("g1.link") + boost::lexical_cast(link_num) + string(".geom0"); + geometry->setId(geometry_id.c_str()); + { + loadMesh(filename, geometry, geometry_id); + } + // + link_num++; break; } case urdf::Geometry::SPHERE: { @@ -267,7 +280,7 @@ public: } } - void loadMesh(const string& filename, domGeometryRef mesh) { + void loadMesh(const string& filename, domGeometryRef geometry, const string& geometry_id) { // Load the mesh resource_retriever::MemoryResource resource; resource_retriever::Retriever retriever; @@ -280,22 +293,23 @@ public: } // Try assimp first, then STLLoader - if (!loadMeshWithAssimp(resource, mesh)) - if (!loadMeshWithSTLLoader(resource, mesh)) + if (!loadMeshWithAssimp(resource, geometry, geometry_id)) + if (!loadMeshWithSTLLoader(resource, geometry, geometry_id)) cerr << "*** Can't load " << filename << endl; } - bool loadMeshWithAssimp(const resource_retriever::MemoryResource& resource, domGeometryRef mesh) { + bool loadMeshWithAssimp(const resource_retriever::MemoryResource& resource, domGeometryRef geometry, const string& geometry_id) { // Import the mesh using assimp - const aiScene* scene = importer_.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + Assimp::Importer importer; + const aiScene* scene = importer.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); if (!scene) return false; - buildMeshFromAssimp(scene->mRootNode, mesh); + buildMeshFromAssimp(scene, scene->mRootNode, geometry, geometry_id); return true; } - bool loadMeshWithSTLLoader(const resource_retriever::MemoryResource& resource, domGeometryRef mesh) { + bool loadMeshWithSTLLoader(const resource_retriever::MemoryResource& resource, domGeometryRef geometry, const string& geometry_id) { // Write the resource to a temporary file char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; int fd = mkstemp(tmp_filename); @@ -305,7 +319,7 @@ public: // Import the mesh using STLLoader STLLoader loader; Mesh* stl_mesh = loader.load(string(tmp_filename)); - buildMeshFromSTLLoader(stl_mesh, mesh); + buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id); delete stl_mesh; // Delete the temporary file @@ -314,16 +328,88 @@ public: return true; } - void buildMeshFromSTLLoader(Mesh* mesh, daeElementRef parent) { - // + void buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, const string& geometry_id) { + // + domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); + { + unsigned int num_vertices = stl_mesh->vertices.size(); + unsigned int num_indices = stl_mesh->indices.size(); + unsigned int num_faces = num_indices / 3; + + // + domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); + positions_source->setId((geometry_id + string(".positions")).c_str()); + { + // + domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); + positions_array->setId((geometry_id + string(".positions-array")).c_str()); + positions_array->setCount(num_vertices); + positions_array->setDigits(6); // 6 decimal places + positions_array->getValue().setCount(num_vertices); + + for (unsigned int j = 0; j < num_vertices; j++) { + positions_array->getValue()[j] = stl_mesh->vertices[j].x; + positions_array->getValue()[j] = stl_mesh->vertices[j].y; + positions_array->getValue()[j] = stl_mesh->vertices[j].z; + } + + // + domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // + domAccessorRef accessor = daeSafeCast(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); + accessor->setCount(num_vertices); + accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); + accessor->setStride(3); + + // + // + // + domParamRef px = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + } + + // + domVerticesRef vertices = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); + vertices->setId("vertices"); + { + // + domInput_localRef vertices_input = daeSafeCast(vertices->createAndPlace(COLLADA_ELEMENT_INPUT)); + vertices_input->setSemantic("POSITION"); + vertices_input->setSource(domUrifragment(*positions_source, string("#") + geometry_id + string(".positions"))); + } + // + + // + domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); + { + triangles->setCount(num_faces); + triangles->setMaterial("mat0"); + + // + domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_INPUT)); + vertex_offset->setSemantic("VERTEX"); + vertex_offset->setOffset(0); + vertex_offset->setSource(domUrifragment(*positions_source, string("#") + geometry_id + string("/vertices"))); + + //

0 1 2 3 ... + domPRef indices = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_P)); + indices->getValue().setCount(num_indices); + for (unsigned int i = 0; i < num_indices; i++) + indices->getValue()[i] = stl_mesh->indices[i]; + //

+ } + // + } + // } - void buildMeshFromAssimp(aiNode* node, daeElementRef parent) { + // EXPERIMENTAL: untested + void buildMeshFromAssimp(const aiScene* scene, aiNode* node, daeElementRef parent, const string& geometry_id) { if (node == NULL) return; - const aiScene* scene = importer_.GetScene(); - aiMatrix4x4 transform = node->mTransformation; aiNode* pnode = node->mParent; @@ -334,13 +420,12 @@ public: pnode = pnode->mParent; } - string parentid("mesh"); - - for (unsigned int i = 0; i < node->mNumMeshes; i++) { - aiMesh* aMesh = scene->mMeshes[i]; - - domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); - { + // + domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); + { + for (unsigned int i = 0; i < node->mNumMeshes; i++) { + aiMesh* aMesh = scene->mMeshes[i]; + // Add in the indices for each face for (unsigned int j = 0; j < aMesh->mNumFaces; j++) { aiFace* aFace = &(aMesh->mFaces[j]); @@ -350,95 +435,59 @@ public: //subMesh->AddIndex(aFace->mIndices[k]); } } - + domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); { - positions_source->setId((parentid + string(".positions")).c_str()); - + positions_source->setId((geometry_id + string(".positions")).c_str()); + domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); - positions_array->setId((parentid + string(".positions-array")).c_str()); + positions_array->setId((geometry_id + string(".positions-array")).c_str()); positions_array->setCount(aMesh->mNumVertices); positions_array->setDigits(6); // 6 decimal places positions_array->getValue().setCount(3 * aMesh->mNumVertices); - + for (unsigned int j = 0; j < aMesh->mNumVertices; j++) { aiVector3D p; p.x = aMesh->mVertices[j].x; p.y = aMesh->mVertices[j].y; p.z = aMesh->mVertices[j].z; - + p *= transform; - + positions_array->getValue()[j] = p.x; positions_array->getValue()[j] = p.y; positions_array->getValue()[j] = p.z; - + /* - if (aMesh->HasNormals()) { - p.x = aMesh->mNormals[j].x; - p.y = aMesh->mNormals[j].y; - p.z = aMesh->mNormals[j].z; - } - - // @todo add normal - //subMesh->AddNormal(p.x, p.y, p.z); - - // @todo add tex coord - //if (aMesh->mNumUVComponents[0]) - // subMesh->AddTexCoord(aMesh->mTextureCoords[0][j].x, 1.0 -aMesh->mTextureCoords[0][j].y); - //else - // subMesh->AddTexCoord(0,0); - */ + if (aMesh->HasNormals()) { + p.x = aMesh->mNormals[j].x; + p.y = aMesh->mNormals[j].y; + p.z = aMesh->mNormals[j].z; + } + + // @todo add normal + //subMesh->AddNormal(p.x, p.y, p.z); + + // @todo add tex coord + //if (aMesh->mNumUVComponents[0]) + // subMesh->AddTexCoord(aMesh->mTextureCoords[0][j].x, 1.0 -aMesh->mTextureCoords[0][j].y); + //else + // subMesh->AddTexCoord(0,0); + */ } - - /* - domSource::domTechnique_commonRef psourcetec = daeSafeCast(pvertsource->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - domAccessorRef pacc = daeSafeCast(psourcetec->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); - pacc->setCount(aMesh->mNumVertices); - pacc->setSource(xsAnyURI(*positions_array, string("#") + parentid + string(".positions-array"))); - pacc->setStride(3); - - domParamRef px = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); - domParamRef py = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); - domParamRef pz = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); - */ } - + domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); { triangles->setCount(aMesh->mNumFaces / 3); - //triangles->setMaterial("mat0"); - - /* - domInput_local_offsetRef pvertoffset = daeSafeCast(ptris->createAndPlace(COLLADA_ELEMENT_INPUT)); - pvertoffset->setSemantic("VERTEX"); - pvertoffset->setOffset(0); - pvertoffset->setSource(domUrifragment(*pverts, string("#") + parentid + string("/vertices"))); - domPRef pindices = daeSafeCast(ptris->createAndPlace(COLLADA_ELEMENT_P)); - pindices->getValue().setCount(mesh.indices.size()); - for (size_t ind = 0; ind < mesh.indices.size(); ++ind) - pindices->getValue()[ind] = mesh.indices[ind]; - */ } } for (unsigned int i = 0; i < node->mNumChildren; i++) - buildMeshFromAssimp(node->mChildren[i], mesh); + buildMeshFromAssimp(scene, node->mChildren[i], mesh, geometry_id); } } - /* - domGeometryRef writeGeometry(const string& parentid) { - domVerticesRef pverts = daeSafeCast(pdommesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); - { - pverts->setId("vertices"); - domInput_localRef pvertinput = daeSafeCast(pverts->createAndPlace(COLLADA_ELEMENT_INPUT)); - pvertinput->setSemantic("POSITION"); - pvertinput->setSource(domUrifragment(*pvertsource, string("#")+parentid+string(".positions"))); - } - } - */ - void addJoints() { for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { boost::shared_ptr urdf_joint = i->second; @@ -500,11 +549,11 @@ public: break; } case urdf::Joint::FIXED: { - // Model as a PRISMATIC joint with no limits + // Model as a REVOLUTE joint with no leeway // joint.axis vector axes(1); - axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); axes[0]->setSid("axis0"); domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); axis->getValue().setCount(3); From 0286013425523060d06050421f84be318032194f Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 8 Mar 2010 21:37:48 +0000 Subject: [PATCH 120/245] collada_urdf: adding visual scene --- collada_urdf/src/urdf_to_collada.cpp | 140 +++++++++++++++++++-------- 1 file changed, 97 insertions(+), 43 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 4011542..0c34424 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -36,6 +36,11 @@ // urdf_to_collada.cpp +/* +Issues: + - triangles material hard-coded to "mat0" +*/ + #include #include #include @@ -147,22 +152,21 @@ public: geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); geometriesLib_->setId("geometries"); kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); - kinematicsScenesLib_->setId("kinematics_scenes"); + kinematicsScenesLib_->setId("kscenes"); kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); kinematicsModelsLib_->setId("kinematics_models"); jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); jointsLib_->setId("joints"); - /* + physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + physicsScenesLib_->setId("physics_scenes"); effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); effectsLib_->setId("effects"); materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); materialsLib_->setId("materials"); - articulatedSystemsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); - articulatedSystemsLib_->setId("articulated_systems"); - physicsScenesLib_->setId("physics_scenes"); - physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); - */ + + //articulatedSystemsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); + //articulatedSystemsLib_->setId("articulated_systems"); } virtual ~ColladaWriter() { @@ -184,23 +188,22 @@ public: // Create kinematics scene s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); - s.kscene->setId("kinematics_scene"); + s.kscene->setId("kscene"); s.kscene->setName("URDF Kinematics Scene"); // Create instance kinematics scene s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); - /* // Create physics scene s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); - s.pscene->setId("physics_scene"); + s.pscene->setId("pscene"); s.pscene->setName("URDF Physics Scene"); // Create instance physics scene s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); - */ + return s; } @@ -215,23 +218,71 @@ public: bool writeScene() { SCENE scene = createScene(); - /* - domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - - // Create gravity - domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); - g->getValue().set3(0.0, 0.0, 1.0); - */ + setupPhysics(scene); + addScene(scene); + addGeometries(); addJoints(); addKinematics(); - addGeometries(); collada_->writeAll(); return true; } + void setupPhysics(SCENE scene) { + // + domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + { + // 0 0 0 + domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); + g->getValue().set3(0.0, 0.0, 0.0); + } + // + } + + void addScene(SCENE scene) { + boost::shared_ptr urdf_root = robot_->getRoot(); + + // + domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); + root_node->setId("v1"); + root_node->setName(urdf_root->name.c_str()); + + // + domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); + kmodel->setId("k1"); + kmodel->setName(urdf_root->name.c_str()); + + // + domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); + string model_id = kmodel->getID(); + string inst_model_sid = string("inst_") + model_id; + ikm->setUrl((string("#") + model_id).c_str()); + ikm->setSid(inst_model_sid.c_str()); + { + // + domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + newparam->setSid("kscene.inst_k1"); + { + // kscene/inst_k1 + daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue("kscene/inst_k1"); + } + // + } + + /* + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + // + domNodeRef link_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); + root_node->setId("v1"); + root_node->setName(urdf_root->name.c_str()); + } + */ + } + void addGeometries() { int link_num = 0; @@ -430,7 +481,7 @@ public: for (unsigned int j = 0; j < aMesh->mNumFaces; j++) { aiFace* aFace = &(aMesh->mFaces[j]); for (unsigned int k = 0; k < aFace->mNumIndices; k++) { - int index = aFace->mIndices[k]; + //int index = aFace->mIndices[k]; // @todo add index //subMesh->AddIndex(aFace->mIndices[k]); } @@ -589,52 +640,55 @@ public: void addKinematics() { - // Create kinematics model + // domKinematics_modelRef model = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); - model->setId("kinematics_model"); + model->setId("k1"); + { + // + domKinematics_model_techniqueRef technique = daeSafeCast(model->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + // + domInstance_jointRef instance_joint = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT)); + instance_joint->setUrl("#joint_1"); + } + // - // Create kinematics model technique common - domKinematics_model_techniqueRef technique = daeSafeCast(model->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - - // Create the instance_joints - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { - boost::shared_ptr urdf_link = i->second; - - domInstance_jointRef instance_joint = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT)); - instance_joint->setUrl("#joint_1"); + addLink(robot_->getRoot(), technique); } - - addLink(technique, robot_->getRoot()); } - void addLink(daeElementRef parent, boost::shared_ptr urdf_link) { - // Create link + void addLink(boost::shared_ptr urdf_link, daeElementRef parent) { + // domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); link->setName(urdf_link->name.c_str()); - + // @todo link->setSid for (vector >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) { boost::shared_ptr urdf_joint = *i; - // Create attachment full + // domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); attachment_full->setJoint(urdf_joint->name.c_str()); - - // Create translation, rotation - addTransformation(attachment_full, urdf_joint->parent_to_joint_origin_transform); - - // Create child links - addLink(attachment_full, robot_->getLink(urdf_joint->child_link_name)); + { + addTransformation(attachment_full, urdf_joint->parent_to_joint_origin_transform); + addLink(robot_->getLink(urdf_joint->child_link_name), attachment_full); + } + // } + // } void addTransformation(daeElementRef parent, const urdf::Pose& pose) { + // x y z domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); trans->getValue().setCount(3); trans->getValue()[0] = pose.position.x; trans->getValue()[1] = pose.position.y; trans->getValue()[2] = pose.position.z; + // x y z w domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); rot->getValue().setCount(4); rot->getValue()[0] = pose.rotation.x; From 4a586c639bde2523f07b2b004ca49f7cb6864464 Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 8 Mar 2010 23:08:32 +0000 Subject: [PATCH 121/245] collada_urdf: updating visual scene tree --- collada_urdf/src/urdf_to_collada.cpp | 116 +++++++++++++++++++-------- 1 file changed, 84 insertions(+), 32 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 0c34424..57951d5 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -224,6 +224,7 @@ public: addJoints(); addKinematics(); + addVisuals(scene); collada_->writeAll(); @@ -244,17 +245,12 @@ public: void addScene(SCENE scene) { boost::shared_ptr urdf_root = robot_->getRoot(); - // - domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); - root_node->setId("v1"); - root_node->setName(urdf_root->name.c_str()); - // domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); kmodel->setId("k1"); kmodel->setName(urdf_root->name.c_str()); - // + // domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); string model_id = kmodel->getID(); string inst_model_sid = string("inst_") + model_id; @@ -270,17 +266,6 @@ public: } // } - - /* - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { - boost::shared_ptr urdf_link = i->second; - - // - domNodeRef link_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); - root_node->setId("v1"); - root_node->setName(urdf_root->name.c_str()); - } - */ } void addGeometries() { @@ -655,47 +640,114 @@ public: } // - addLink(robot_->getRoot(), technique); + int link_num = 0; + addKinematicLink(robot_->getRoot(), technique, link_num); } } - void addLink(boost::shared_ptr urdf_link, daeElementRef parent) { - // + void addKinematicLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num) { + // domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); + string link_sid = string("link") + boost::lexical_cast(link_num); link->setName(urdf_link->name.c_str()); - // @todo link->setSid + link->setSid(link_sid.c_str()); + link_num++; for (vector >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) { boost::shared_ptr urdf_joint = *i; - // + // domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); attachment_full->setJoint(urdf_joint->name.c_str()); { - addTransformation(attachment_full, urdf_joint->parent_to_joint_origin_transform); - addLink(robot_->getLink(urdf_joint->child_link_name), attachment_full); + addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); + addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); + addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num); } // } // } - void addTransformation(daeElementRef parent, const urdf::Pose& pose) + void addVisuals(SCENE scene) { + // + domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); + root_node->setId("v1"); + root_node->setName(robot_->getName().c_str()); + { + int link_num = 0; + addVisualLink(robot_->getRoot(), root_node, link_num); + } + } + + void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num) { + // + domNodeRef node = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_NODE)); + string node_sid = string("node") + boost::lexical_cast(link_num); + string node_id = string("v1.") + node_sid; + node->setName(urdf_link->name.c_str()); + node->setSid(node_sid.c_str()); + node->setId(node_id.c_str()); + link_num++; + { + if (urdf_link->parent_joint != NULL) { + // x y z + addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); + + // x y z w + addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + + // x y z angle + addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + } + + for (vector >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++) { + boost::shared_ptr urdf_child_link = *i; + + addVisualLink(urdf_child_link, node, link_num); + } + } + // + } + + void addTranslate(daeElementRef parent, const urdf::Vector3& position) { // x y z domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); trans->getValue().setCount(3); - trans->getValue()[0] = pose.position.x; - trans->getValue()[1] = pose.position.y; - trans->getValue()[2] = pose.position.z; + trans->getValue()[0] = position.x; + trans->getValue()[1] = position.y; + trans->getValue()[2] = position.z; + } + void addRotate(daeElementRef parent, const urdf::Rotation& rotation) { // x y z w domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); rot->getValue().setCount(4); - rot->getValue()[0] = pose.rotation.x; - rot->getValue()[1] = pose.rotation.y; - rot->getValue()[2] = pose.rotation.z; - rot->getValue()[3] = pose.rotation.w; + rot->getValue()[0] = rotation.x; + rot->getValue()[1] = rotation.y; + rot->getValue()[2] = rotation.z; + rot->getValue()[3] = rotation.w; } + /* + void axisAngle4::set(const quaternion& q) { + T sqr_len = q.x * q.x + q.y * q.y + q.z * q.z; + if (sqr_len > 0) { + this->w = 2 * (T)acos((double)q.w); + + T inv_len = 1 / (T)sqrt((double)sqr_len); + this->x = q.x * inv_len; + this->x = q.y * inv_len; + this->x = q.z * inv_len; + } + else { + // Angle is 0 (mod 2*pi), so any axis will do. + this->w = 0; + this->x = 1; + this->y = 0; + this->z = 0; + } + } + */ }; } From 58c5b783574cecac2587872a54a7f04a5e3295ab Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 8 Mar 2010 23:23:03 +0000 Subject: [PATCH 122/245] collada_urdf: converting from quaternions to axis-angles --- collada_urdf/src/urdf_to_collada.cpp | 57 +++++++++++++++------------- 1 file changed, 30 insertions(+), 27 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 57951d5..fe1b4f6 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -698,7 +698,8 @@ public: addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); // x y z angle - addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + joint_rotate->setSid("node_joint0_axis0"); } for (vector >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++) { @@ -710,44 +711,46 @@ public: // } - void addTranslate(daeElementRef parent, const urdf::Vector3& position) { + domTranslateRef addTranslate(daeElementRef parent, const urdf::Vector3& position) { // x y z domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); trans->getValue().setCount(3); trans->getValue()[0] = position.x; trans->getValue()[1] = position.y; trans->getValue()[2] = position.z; + return trans; } - void addRotate(daeElementRef parent, const urdf::Rotation& rotation) { + domRotateRef addRotate(daeElementRef parent, const urdf::Rotation& r) { + double ax, ay, az, aa; + + // Convert from quaternion to axis-angle + double sqr_len = r.x * r.x + r.y * r.y + r.z * r.z; + if (sqr_len > 0) { + aa = 2 * acos(r.w); + + double inv_len = 1.0 / sqrt(sqr_len); + ax = r.x * inv_len; + ay = r.y * inv_len; + az = r.z * inv_len; + } + else { + // Angle is 0 (mod 2*pi), so any axis will do. + aa = 0.0; + ax = 1.0; + ay = 0.0; + az = 0.0; + } + // x y z w domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); rot->getValue().setCount(4); - rot->getValue()[0] = rotation.x; - rot->getValue()[1] = rotation.y; - rot->getValue()[2] = rotation.z; - rot->getValue()[3] = rotation.w; + rot->getValue()[0] = ax; + rot->getValue()[1] = ay; + rot->getValue()[2] = az; + rot->getValue()[3] = aa * (180.0 / M_PI); + return rot; } - /* - void axisAngle4::set(const quaternion& q) { - T sqr_len = q.x * q.x + q.y * q.y + q.z * q.z; - if (sqr_len > 0) { - this->w = 2 * (T)acos((double)q.w); - - T inv_len = 1 / (T)sqrt((double)sqr_len); - this->x = q.x * inv_len; - this->x = q.y * inv_len; - this->x = q.z * inv_len; - } - else { - // Angle is 0 (mod 2*pi), so any axis will do. - this->w = 0; - this->x = 1; - this->y = 0; - this->z = 0; - } - } - */ }; } From 5e656bbd7f0c3c7427541869133e26d2bbaa90b9 Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 8 Mar 2010 23:54:19 +0000 Subject: [PATCH 123/245] collada_urdf: cleaning up joint tags --- collada_urdf/src/urdf_to_collada.cpp | 158 +++++++++++++++++---------- 1 file changed, 100 insertions(+), 58 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index fe1b4f6..2afc41b 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -103,6 +103,9 @@ public: domLibrary_effectsRef effectsLib_; //domLibrary_articulated_systemsRef articulatedSystemsLib_; + map geometry_ids_; // link.name -> geometry.id + map joint_ids_; // joint.name -> joint.sid + public: ColladaWriter(urdf::Model* robot) : robot_(robot) { daeErrorHandler::setErrorHandler(this); @@ -291,6 +294,7 @@ public: { loadMesh(filename, geometry, geometry_id); } + geometry_ids_[urdf_link->name] = geometry_id; // link_num++; @@ -528,79 +532,109 @@ public: for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { boost::shared_ptr urdf_joint = i->second; - // Create COLLADA joint + // domJointRef joint = daeSafeCast(jointsLib_->createAndPlace(COLLADA_ELEMENT_JOINT)); - joint->setId(urdf_joint->name.c_str()); joint->setName(urdf_joint->name.c_str()); - switch (urdf_joint->type) { case urdf::Joint::REVOLUTE: { - // joint.axis - vector axes(1); - axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); - axes[0]->setSid("axis0"); - domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); - axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; + // + domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + revolute->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + } + // - // joint.limits - domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + // + domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); + { + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + } + // + } + // break; } case urdf::Joint::CONTINUOUS: { // Model as a REVOLUTE joint without limits - // joint.axis - vector axes(1); - axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); - axes[0]->setSid("axis0"); - domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); - axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; + // + domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + revolute->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + } + // + } + // break; } case urdf::Joint::PRISMATIC: { - // joint.axis - vector axes(1); - axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); - axes[0]->setSid("axis0"); - domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); - axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; - - // joint.limits - domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + // + domAxis_constraintRef prismatic = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + prismatic->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + } + // + + // + domJoint_limitsRef limits = daeSafeCast(prismatic->createAndPlace(COLLADA_TYPE_LIMITS)); + { + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + } + // + } + // break; } case urdf::Joint::FIXED: { // Model as a REVOLUTE joint with no leeway - // joint.axis - vector axes(1); - axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); - axes[0]->setSid("axis0"); - domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); - axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; - - // joint.limits - domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; + domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + revolute->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + } + // + + // + domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); + { + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; + } + // + } + // break; } case urdf::Joint::UNKNOWN: { @@ -699,14 +733,22 @@ public: // x y z angle domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); - joint_rotate->setSid("node_joint0_axis0"); + joint_rotate->setSid("node_joint0_axis0"); // @todo use joint_num } - - for (vector >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++) { - boost::shared_ptr urdf_child_link = *i; - addVisualLink(urdf_child_link, node, link_num); + // + domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); + instance_geometry->setUrl("#g1.link0.geom"); // @todo use link_num + { + // @todo + // @todo + // @todo } + + // + for (vector >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++) + addVisualLink(*i, node, link_num); + // } // } From 9e684833d683e6308778a26f24edb17072e078c6 Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 9 Mar 2010 04:17:14 +0000 Subject: [PATCH 124/245] collada_urdf: finished kinematics models --- collada_urdf/src/urdf_to_collada.cpp | 143 ++++++++++++++++++--------- 1 file changed, 97 insertions(+), 46 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 2afc41b..a79a5f4 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -104,7 +104,7 @@ public: //domLibrary_articulated_systemsRef articulatedSystemsLib_; map geometry_ids_; // link.name -> geometry.id - map joint_ids_; // joint.name -> joint.sid + map joint_sids_; // joint.name -> joint.sid public: ColladaWriter(urdf::Model* robot) : robot_(robot) { @@ -157,7 +157,7 @@ public: kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); kinematicsScenesLib_->setId("kscenes"); kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); - kinematicsModelsLib_->setId("kinematics_models"); + kinematicsModelsLib_->setId("kmodels"); jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); jointsLib_->setId("joints"); @@ -222,11 +222,10 @@ public: SCENE scene = createScene(); setupPhysics(scene); - addScene(scene); addGeometries(); addJoints(); - addKinematics(); + addKinematics(scene); addVisuals(scene); collada_->writeAll(); @@ -245,32 +244,6 @@ public: // } - void addScene(SCENE scene) { - boost::shared_ptr urdf_root = robot_->getRoot(); - - // - domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); - kmodel->setId("k1"); - kmodel->setName(urdf_root->name.c_str()); - - // - domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); - string model_id = kmodel->getID(); - string inst_model_sid = string("inst_") + model_id; - ikm->setUrl((string("#") + model_id).c_str()); - ikm->setSid(inst_model_sid.c_str()); - { - // - domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); - newparam->setSid("kscene.inst_k1"); - { - // kscene/inst_k1 - daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue("kscene/inst_k1"); - } - // - } - } - void addGeometries() { int link_num = 0; @@ -529,13 +502,17 @@ public: } void addJoints() { + int joint_num = 0; for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { boost::shared_ptr urdf_joint = i->second; // domJointRef joint = daeSafeCast(jointsLib_->createAndPlace(COLLADA_ELEMENT_JOINT)); - joint->setId(urdf_joint->name.c_str()); + string joint_sid = string("joint") + boost::lexical_cast(joint_num); + joint_num++; joint->setName(urdf_joint->name.c_str()); + joint->setSid(joint_sid.c_str()); + joint_sids_[urdf_joint->name] = joint_sid; switch (urdf_joint->type) { case urdf::Joint::REVOLUTE: { @@ -657,26 +634,80 @@ public: } } - void addKinematics() + void addKinematics(SCENE scene) { // - domKinematics_modelRef model = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); - model->setId("k1"); + domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); + kmodel->setId("k1"); + kmodel->setName(robot_->getName().c_str()); { // - domKinematics_model_techniqueRef technique = daeSafeCast(model->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { - boost::shared_ptr urdf_link = i->second; + domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + boost::shared_ptr urdf_joint = i->second; - // + // domInstance_jointRef instance_joint = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT)); - instance_joint->setUrl("#joint_1"); + string joint_id = joint_sids_[urdf_joint->name]; + string instance_joint_url = string("#") + joint_id; + instance_joint->setUrl(instance_joint_url.c_str()); + // } // + // int link_num = 0; addKinematicLink(robot_->getRoot(), technique, link_num); + // } + // + + // + domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); + string model_id = kmodel->getID(); + string inst_model_sid = string("inst_") + model_id; + ikm->setUrl((string("#") + model_id).c_str()); + ikm->setSid(inst_model_sid.c_str()); + { + // + domKinematics_newparamRef newparam_model = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + string newparam_model_sid = string("kscene.inst_") + model_id; + newparam_model->setSid(newparam_model_sid.c_str()); + { + // kscene/inst_k1 + string model_sidref = string("kscene/inst_") + model_id; + daeSafeCast(newparam_model->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str()); + } + // + + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + boost::shared_ptr urdf_joint = i->second; + + string joint_sid = joint_sids_[urdf_joint->name]; + + // + domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".axis0"); + newparam->setSid(newparam_sid.c_str()); + { + // kscene/inst_k1/joint0/axis0 + string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/axis0"); + daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); + } + // + + // + domKinematics_newparamRef newparam_value = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".axis0_value"); + newparam_value->setSid(newparam_value_sid.c_str()); + { + // 0 + daeSafeCast(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); + } + // + } + } + // } void addKinematicLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num) { @@ -733,17 +764,37 @@ public: // x y z angle domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); - joint_rotate->setSid("node_joint0_axis0"); // @todo use joint_num + string joint_sid = joint_sids_[urdf_link->parent_joint->name]; + string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); + joint_rotate->setSid(joint_rotate_sid.c_str()); } // - domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); - instance_geometry->setUrl("#g1.link0.geom"); // @todo use link_num - { - // @todo - // @todo - // @todo + map::const_iterator i = geometry_ids_.find(urdf_link->name); + if (i != geometry_ids_.end()) { + domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); + string geometry_id = geometry_ids_[urdf_link->name]; + string instance_geometry_url = string("#") + geometry_id; + instance_geometry->setUrl(instance_geometry_url.c_str()); + { + // + domBind_materialRef bind_material = daeSafeCast(instance_geometry->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL)); + { + // + domBind_material::domTechnique_commonRef technique_common = daeSafeCast(bind_material->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + { + // + domInstance_materialRef instance_material = daeSafeCast(technique_common->createAndPlace(COLLADA_ELEMENT_INSTANCE_MATERIAL)); + instance_material->setTarget((instance_geometry_url + string(".mat")).c_str()); + instance_material->setSymbol("mat0"); + // + } + // + } + // + } } + // // for (vector >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++) From 3bf18c4b6fdc8d723cf89fb5e514f6884bda0d3d Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 9 Mar 2010 05:02:14 +0000 Subject: [PATCH 125/245] collada_urdf: added effects --- collada_urdf/src/urdf_to_collada.cpp | 80 ++++++++++++++++++++++++++-- 1 file changed, 75 insertions(+), 5 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index a79a5f4..1432b5d 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -223,10 +223,10 @@ public: setupPhysics(scene); addGeometries(); - addJoints(); addKinematics(scene); addVisuals(scene); + addMaterials(); collada_->writeAll(); @@ -237,9 +237,10 @@ public: // domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); { - // 0 0 0 + // 0 0 0 domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); g->getValue().set3(0.0, 0.0, 0.0); + // } // } @@ -733,8 +734,7 @@ public: // } - void addVisuals(SCENE scene) - { + void addVisuals(SCENE scene) { // domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); root_node->setId("v1"); @@ -745,6 +745,76 @@ public: } } + void addMaterials() { + urdf::Color ambient, diffuse; + ambient.init("0 0 0 0"); + diffuse.init("1 1 1 0"); + + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + map::const_iterator j = geometry_ids_.find(urdf_link->name); + if (j != geometry_ids_.end()) { + string geometry_id = j->second; + addEffect(geometry_id, ambient, diffuse); + } + } + } + + domEffectRef addEffect(const string& geometry_id, const urdf::Color& color_ambient, const urdf::Color& color_diffuse) + { + // + domEffectRef effect = daeSafeCast(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT)); + effect->setId((geometry_id + string(".eff")).c_str()); + { + // + domProfile_commonRef profile = daeSafeCast(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON)); + { + // + domProfile_common::domTechniqueRef technique = daeSafeCast(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE)); + { + // + domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_PHONG)); + { + // + domFx_common_color_or_textureRef ambient = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT)); + { + // r g b a + domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->createAndPlace(COLLADA_ELEMENT_COLOR)); + ambient_color->getValue().setCount(4); + ambient_color->getValue()[0] = color_ambient.r; + ambient_color->getValue()[1] = color_ambient.g; + ambient_color->getValue()[2] = color_ambient.b; + ambient_color->getValue()[3] = color_ambient.a; + // + } + // + + // + domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE)); + { + // r g b a + domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR)); + diffuse_color->getValue().setCount(4); + diffuse_color->getValue()[0] = color_diffuse.r; + diffuse_color->getValue()[1] = color_diffuse.g; + diffuse_color->getValue()[2] = color_diffuse.b; + diffuse_color->getValue()[3] = color_diffuse.a; + // + } + // + } + // + } + // + } + // + } + // + + return effect; + } + void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num) { // domNodeRef node = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_NODE)); @@ -773,7 +843,7 @@ public: map::const_iterator i = geometry_ids_.find(urdf_link->name); if (i != geometry_ids_.end()) { domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); - string geometry_id = geometry_ids_[urdf_link->name]; + string geometry_id = i->second; string instance_geometry_url = string("#") + geometry_id; instance_geometry->setUrl(instance_geometry_url.c_str()); { From 642c69eabbc969036501d656b5d8cdbd3b7def09 Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 9 Mar 2010 05:07:25 +0000 Subject: [PATCH 126/245] collada_urdf: added materials --- collada_urdf/src/urdf_to_collada.cpp | 20 +++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 1432b5d..3b20da6 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -752,11 +752,24 @@ public: for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { boost::shared_ptr urdf_link = i->second; - + map::const_iterator j = geometry_ids_.find(urdf_link->name); if (j != geometry_ids_.end()) { string geometry_id = j->second; - addEffect(geometry_id, ambient, diffuse); + + domEffectRef effect = addEffect(geometry_id, ambient, diffuse); + + // + domMaterialRef material = daeSafeCast(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL)); + string material_id = geometry_id + string(".mat"); + material->setId(material_id.c_str()); + { + // + domInstance_effectRef instance_effect = daeSafeCast(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT)); + string effect_id(effect->getId()); + instance_effect->setUrl((string("#") + effect_id).c_str()); + } + // } } } @@ -765,7 +778,8 @@ public: { // domEffectRef effect = daeSafeCast(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT)); - effect->setId((geometry_id + string(".eff")).c_str()); + string effect_id = geometry_id + string(".eff"); + effect->setId(effect_id.c_str()); { // domProfile_commonRef profile = daeSafeCast(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON)); From 1642af2b54f44d4fff3ad3271f8aa318af5ffad2 Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 9 Mar 2010 06:52:07 +0000 Subject: [PATCH 127/245] collada_urdf: fixed position_array --- collada_urdf/src/urdf_to_collada.cpp | 78 ++++++++++++++-------------- 1 file changed, 39 insertions(+), 39 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 3b20da6..02c69f8 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -36,11 +36,6 @@ // urdf_to_collada.cpp -/* -Issues: - - triangles material hard-coded to "mat0" -*/ - #include #include #include @@ -349,7 +344,7 @@ public: unsigned int num_vertices = stl_mesh->vertices.size(); unsigned int num_indices = stl_mesh->indices.size(); unsigned int num_faces = num_indices / 3; - + // domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); positions_source->setId((geometry_id + string(".positions")).c_str()); @@ -357,62 +352,67 @@ public: // domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); positions_array->setId((geometry_id + string(".positions-array")).c_str()); - positions_array->setCount(num_vertices); + positions_array->setCount(num_vertices * 3); positions_array->setDigits(6); // 6 decimal places - positions_array->getValue().setCount(num_vertices); - + positions_array->getValue().setCount(num_vertices * 3); for (unsigned int j = 0; j < num_vertices; j++) { - positions_array->getValue()[j] = stl_mesh->vertices[j].x; - positions_array->getValue()[j] = stl_mesh->vertices[j].y; - positions_array->getValue()[j] = stl_mesh->vertices[j].z; + positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x; + positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y; + positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z; } + // // domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - - // - domAccessorRef accessor = daeSafeCast(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); - accessor->setCount(num_vertices); - accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); - accessor->setStride(3); - - // - // - // - domParamRef px = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); - domParamRef py = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); - domParamRef pz = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + { + // + domAccessorRef accessor = daeSafeCast(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); + accessor->setCount(num_vertices / 3); + accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); + accessor->setStride(3); + { + // + // + // + domParamRef px = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + } + // + } + // } // domVerticesRef vertices = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); - vertices->setId("vertices"); + string vertices_id = geometry_id + string(".vertices"); + vertices->setId(vertices_id.c_str()); { // domInput_localRef vertices_input = daeSafeCast(vertices->createAndPlace(COLLADA_ELEMENT_INPUT)); vertices_input->setSemantic("POSITION"); - vertices_input->setSource(domUrifragment(*positions_source, string("#") + geometry_id + string(".positions"))); + vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId()))); } // - + // domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); + triangles->setCount(num_faces); + triangles->setMaterial("mat0"); { - triangles->setCount(num_faces); - triangles->setMaterial("mat0"); - // domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_INPUT)); vertex_offset->setSemantic("VERTEX"); vertex_offset->setOffset(0); - vertex_offset->setSource(domUrifragment(*positions_source, string("#") + geometry_id + string("/vertices"))); - - //

0 1 2 3 ... - domPRef indices = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_P)); - indices->getValue().setCount(num_indices); - for (unsigned int i = 0; i < num_indices; i++) - indices->getValue()[i] = stl_mesh->indices[i]; - //

+ vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id)); + { + //

0 1 2 3 ... + domPRef indices = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_P)); + indices->getValue().setCount(num_indices); + for (unsigned int i = 0; i < num_indices; i++) + indices->getValue()[i] = stl_mesh->indices[i]; + //

+ } } // } From 4e96ca0e4405d213230b7bd210b3a7a0c2b95e9a Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 9 Mar 2010 07:15:45 +0000 Subject: [PATCH 128/245] collada_urdf: reference joints explicitly rather than by instance --- collada_urdf/src/urdf_to_collada.cpp | 21 ++++++--------------- 1 file changed, 6 insertions(+), 15 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 02c69f8..159fcf1 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -218,7 +218,6 @@ public: setupPhysics(scene); addGeometries(); - addJoints(); addKinematics(scene); addVisuals(scene); addMaterials(); @@ -502,13 +501,13 @@ public: } } - void addJoints() { + void addJoints(daeElementRef parent) { int joint_num = 0; for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { boost::shared_ptr urdf_joint = i->second; // - domJointRef joint = daeSafeCast(jointsLib_->createAndPlace(COLLADA_ELEMENT_JOINT)); + domJointRef joint = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_JOINT)); string joint_sid = string("joint") + boost::lexical_cast(joint_num); joint_num++; joint->setName(urdf_joint->name.c_str()); @@ -644,16 +643,7 @@ public: { // domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { - boost::shared_ptr urdf_joint = i->second; - - // - domInstance_jointRef instance_joint = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT)); - string joint_id = joint_sids_[urdf_joint->name]; - string instance_joint_url = string("#") + joint_id; - instance_joint->setUrl(instance_joint_url.c_str()); - // - } + addJoints(technique); // // @@ -723,7 +713,8 @@ public: // domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); - attachment_full->setJoint(urdf_joint->name.c_str()); + string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; + attachment_full->setJoint(attachment_joint.c_str()); { addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); @@ -912,7 +903,7 @@ public: az = r.z * inv_len; } else { - // Angle is 0 (mod 2*pi), so any axis will do. + // Angle is 0 (mod 2*pi), so any axis will do aa = 0.0; ax = 1.0; ay = 0.0; From f410728fe1a132cd70814b4a65127513f57e1af5 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 9 Mar 2010 20:47:50 +0000 Subject: [PATCH 129/245] fix for stl mesh loading --- collada_urdf/src/STLLoader.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index e811e8a..b96be83 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -88,7 +88,10 @@ void STLLoader::readBinary(FILE* filein, Mesh* mesh) { for (int iface = 0; iface < face_num; iface++) { Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein)); for (int i = 0; i < 3; i++) { - Vector3 vertex(readFloat(filein), readFloat(filein), readFloat(filein)); + double x = readFloat(filein); + double y = readFloat(filein); + double z = readFloat(filein); + Vector3 vertex(x,y,z); int index = mesh->getVertexIndex(vertex); if (index == -1) { mesh->addVertex(vertex); From 2faa8ca0820a30991e83b90898447afd56de44e1 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 9 Mar 2010 20:53:08 +0000 Subject: [PATCH 130/245] convert limits from radians to degrees --- collada_urdf/src/urdf_to_collada.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 159fcf1..cc4633f 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -533,8 +533,8 @@ public: // domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower * (180.0 / M_PI); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper * (180.0 / M_PI); } // } From 6369746caf4699d7fd8c8af6f05d8a160f01e590 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 9 Mar 2010 22:24:25 +0000 Subject: [PATCH 131/245] use angles::to_degrees() to make the angles conversion from radians to degrees --- collada_urdf/manifest.xml | 1 + collada_urdf/src/urdf_to_collada.cpp | 8 +++++--- stack.xml | 2 +- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index 50b67c6..b315558 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -11,4 +11,5 @@ + diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index cc4633f..1ce34c7 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -56,6 +56,8 @@ #include #include +#include + #include "STLLoader.h" using namespace std; @@ -533,8 +535,8 @@ public: // domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower * (180.0 / M_PI); - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper * (180.0 / M_PI); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper); } // } @@ -916,7 +918,7 @@ public: rot->getValue()[0] = ax; rot->getValue()[1] = ay; rot->getValue()[2] = az; - rot->getValue()[3] = aa * (180.0 / M_PI); + rot->getValue()[3] = angles::to_degrees(aa); return rot; } }; diff --git a/stack.xml b/stack.xml index e907ec8..ea2973b 100644 --- a/stack.xml +++ b/stack.xml @@ -12,7 +12,7 @@ http://ros.org/wiki/robot_model - + From 953a2b17bbcf5b4c622544beaa812e96101e8dc3 Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 23 Mar 2010 03:04:31 +0000 Subject: [PATCH 132/245] collada_urdf: adding instance_kinematics_scene bindings --- collada_urdf/src/urdf_to_collada.cpp | 55 +++++++++++++++++++--------- 1 file changed, 38 insertions(+), 17 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 1ce34c7..b824f5d 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -77,13 +77,6 @@ public: domInstance_with_extraRef piscene; }; - struct LINKOUTPUT - { - list listusedlinks; - daeElementRef plink; - domNodeRef pnode; - }; - urdf::Model* robot_; boost::shared_ptr collada_; @@ -655,10 +648,17 @@ public: } // - // - domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); string model_id = kmodel->getID(); string inst_model_sid = string("inst_") + model_id; + + // + // + domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); + kmodel_bind->setNode(robot_->getName().c_str()); + daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); + + // + domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); ikm->setUrl((string("#") + model_id).c_str()); ikm->setSid(inst_model_sid.c_str()); { @@ -676,28 +676,50 @@ public: for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { boost::shared_ptr urdf_joint = i->second; + int idof = 0; // @todo assuming 1 dof joints + string joint_sid = joint_sids_[urdf_joint->name]; + string axis_name = string("axis") + boost::lexical_cast(idof); + // domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); - string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".axis0"); + string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; newparam->setSid(newparam_sid.c_str()); { // kscene/inst_k1/joint0/axis0 - string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/axis0"); + string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name; daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); } // // domKinematics_newparamRef newparam_value = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); - string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".axis0_value"); + string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value"); newparam_value->setSid(newparam_value_sid.c_str()); { // 0 daeSafeCast(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); } // + + // + domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS)); + joint_bind->setTarget((string("node_") + joint_sid + string("_") + axis_name).c_str()); + { + // + domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + daeSafeCast(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(newparam_sid.c_str()); + } + // + // + domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE)); + { + daeSafeCast(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(newparam_value_sid.c_str()); + } + } + // } } // @@ -718,8 +740,8 @@ public: string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; attachment_full->setJoint(attachment_joint.c_str()); { - addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); + addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num); } // @@ -740,7 +762,7 @@ public: void addMaterials() { urdf::Color ambient, diffuse; - ambient.init("0 0 0 0"); + ambient.init("1 1 1 0"); diffuse.init("1 1 1 0"); for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { @@ -833,11 +855,10 @@ public: link_num++; { if (urdf_link->parent_joint != NULL) { - // x y z - addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); - // x y z w addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + // x y z + addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); // x y z angle domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); From 2072a78dafb88427080adb6da31f7fd0416d1d25 Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 23 Mar 2010 18:34:54 +0000 Subject: [PATCH 133/245] collada_urdf: fixing bindings --- collada_urdf/src/urdf_to_collada.cpp | 111 +++++++++++++++++---------- 1 file changed, 72 insertions(+), 39 deletions(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index b824f5d..1232a3c 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -93,8 +93,11 @@ public: domLibrary_effectsRef effectsLib_; //domLibrary_articulated_systemsRef articulatedSystemsLib_; + domKinematics_modelRef kmodel_; + map geometry_ids_; // link.name -> geometry.id map joint_sids_; // joint.name -> joint.sid + map node_ids_; // joint.name -> node.id public: ColladaWriter(urdf::Model* robot) : robot_(robot) { @@ -114,7 +117,7 @@ public: } dom_ = daeSafeCast(doc->getDomRoot()); - dom_->setAttribute("xmlns:math","http://www.w3.org/1998/Math/MathML"); + dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); // Create the required asset tag domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); @@ -216,6 +219,7 @@ public: addKinematics(scene); addVisuals(scene); addMaterials(); + addBindings(scene); collada_->writeAll(); @@ -508,6 +512,16 @@ public: joint->setName(urdf_joint->name.c_str()); joint->setSid(joint_sid.c_str()); joint_sids_[urdf_joint->name] = joint_sid; + + double axis_x = urdf_joint->axis.x; + double axis_y = urdf_joint->axis.y; + double axis_z = urdf_joint->axis.z; + if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) { + axis_x = 1.0; + axis_y = 0.0; + axis_z = 0.0; + } + switch (urdf_joint->type) { case urdf::Joint::REVOLUTE: { @@ -519,9 +533,9 @@ public: domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; } // @@ -547,9 +561,9 @@ public: domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; } // } @@ -565,9 +579,9 @@ public: domAxisRef axis = daeSafeCast(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; } // @@ -592,9 +606,9 @@ public: domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); - axis->getValue()[0] = urdf_joint->axis.x; - axis->getValue()[1] = urdf_joint->axis.y; - axis->getValue()[2] = urdf_joint->axis.z; + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; } // @@ -629,8 +643,47 @@ public: } } - void addKinematics(SCENE scene) - { + void addBindings(SCENE scene) { + string model_id = kmodel_->getID(); + string inst_model_sid = string("inst_") + model_id; + + // + // + domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); + kmodel_bind->setNode("v1.node0"); // @todo + daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); + + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + boost::shared_ptr urdf_joint = i->second; + + int idof = 0; // @todo assuming 1 dof joints + string joint_sid = joint_sids_[urdf_joint->name]; + string axis_name = string("axis") + boost::lexical_cast(idof); + string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; + string joint_axis_value_sid = joint_axis_sid + string("_value"); + + // + domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS)); + string node_name = node_ids_[urdf_joint->name]; + joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str()); + { + // + domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + daeSafeCast(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str()); + } + // + // + domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE)); + { + daeSafeCast(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str()); + } + } + // + } + } + + void addKinematics(SCENE scene) { // domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); kmodel->setId("k1"); @@ -646,17 +699,12 @@ public: addKinematicLink(robot_->getRoot(), technique, link_num); // } + kmodel_ = kmodel; // string model_id = kmodel->getID(); string inst_model_sid = string("inst_") + model_id; - // - // - domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); - kmodel_bind->setNode(robot_->getName().c_str()); - daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); - // domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); ikm->setUrl((string("#") + model_id).c_str()); @@ -702,24 +750,6 @@ public: daeSafeCast(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); } // - - // - domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS)); - joint_bind->setTarget((string("node_") + joint_sid + string("_") + axis_name).c_str()); - { - // - domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS)); - { - daeSafeCast(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(newparam_sid.c_str()); - } - // - // - domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE)); - { - daeSafeCast(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(newparam_value_sid.c_str()); - } - } - // } } // @@ -865,6 +895,9 @@ public: string joint_sid = joint_sids_[urdf_link->parent_joint->name]; string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); joint_rotate->setSid(joint_rotate_sid.c_str()); + + cout << "setting " << urdf_link->parent_joint->name << " to " << node_id << endl; + node_ids_[urdf_link->parent_joint->name] = node_id; } // From d40511d2d56963fbcfd5b923d89abc522c17293b Mon Sep 17 00:00:00 2001 From: tfield Date: Tue, 23 Mar 2010 19:34:38 +0000 Subject: [PATCH 134/245] collada_urdf: adding hack to axes to placate OpenRAVE --- collada_urdf/src/urdf_to_collada.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 1232a3c..1648f4c 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -522,6 +522,11 @@ public: axis_z = 0.0; } + // @hack: OpenRAVE appears to flip joint axes + axis_x *= -1.0; + axis_y *= -1.0; + axis_z *= -1.0; + switch (urdf_joint->type) { case urdf::Joint::REVOLUTE: { @@ -896,7 +901,6 @@ public: string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); joint_rotate->setSid(joint_rotate_sid.c_str()); - cout << "setting " << urdf_link->parent_joint->name << " to " << node_id << endl; node_ids_[urdf_link->parent_joint->name] = node_id; } From 1801b362a3fd42029ab7115759a343035e0d335b Mon Sep 17 00:00:00 2001 From: hsu Date: Thu, 25 Mar 2010 21:16:40 +0000 Subject: [PATCH 135/245] de-spamming, info->debug --- urdf/src/link.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp index ef057cc..ec44af3 100644 --- a/urdf/src/link.cpp +++ b/urdf/src/link.cpp @@ -139,7 +139,7 @@ bool Inertial::initXml(TiXmlElement *config) TiXmlElement *o = config->FirstChildElement("origin"); if (!o) { - ROS_INFO("Origin tag not present for inertial element, using default (Identity)"); + ROS_DEBUG("Origin tag not present for inertial element, using default (Identity)"); this->origin.clear(); } else @@ -278,7 +278,7 @@ bool Collision::initXml(TiXmlElement* config) TiXmlElement *o = config->FirstChildElement("origin"); if (!o) { - ROS_INFO("Origin tag not present for collision element, using default (Identity)"); + ROS_DEBUG("Origin tag not present for collision element, using default (Identity)"); this->origin.clear(); } else if (!this->origin.initXml(o)) From 4b496476d3c5cf49a1518e48d349877224dc090b Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 29 Mar 2010 22:38:04 +0000 Subject: [PATCH 136/245] change printf to ros_debug, ticket #3932 --- robot_state_publisher/src/treefksolverposfull_recursive.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/robot_state_publisher/src/treefksolverposfull_recursive.cpp b/robot_state_publisher/src/treefksolverposfull_recursive.cpp index bfa7665..7fdf560 100644 --- a/robot_state_publisher/src/treefksolverposfull_recursive.cpp +++ b/robot_state_publisher/src/treefksolverposfull_recursive.cpp @@ -21,6 +21,7 @@ #include "robot_state_publisher/treefksolverposfull_recursive.hpp" +#include #include #include @@ -58,7 +59,7 @@ void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_i if (this_segment->second.segment.getJoint().getType() != Joint::None){ map::const_iterator jnt_pos = q_in.find(this_segment->second.segment.getJoint().getName()); if (jnt_pos == q_in.end()){ - printf("Warning: TreeFKSolverPosFull Could not find value for joint '%s'. Skipping this tree branch\n", this_segment->first.c_str()); + ROS_DEBUG("Warning: TreeFKSolverPosFull Could not find value for joint '%s'. Skipping this tree branch", this_segment->first.c_str()); return; } jnt_p = jnt_pos->second; From 9f3c2565fd1a45fc40962084d5b89cc0dfc487f2 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 31 Mar 2010 03:59:40 +0000 Subject: [PATCH 137/245] fix faulty check and debug message for prismatic joints without limits --- urdf/src/joint.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index 09bc94e..637da37 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -513,9 +513,9 @@ bool Joint::initXml(TiXmlElement* config) ROS_ERROR("Joint '%s' is of type REVOLUTE but it does not specify limits", this->name.c_str()); return false; } - else if (this->type == REVOLUTE || this->type == PRISMATIC) + else if (this->type == PRISMATIC) { - ROS_ERROR("Joint '%s' is of type REVOLUTE but it does not specify limits", this->name.c_str()); + ROS_INFO("Joint '%s' is of type PRISMATIC without limits", this->name.c_str()); limits.reset(); } From 2f37d1c4f08b0b0337befdaa695bdef1c557af64 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Apr 2010 18:25:47 +0000 Subject: [PATCH 138/245] merge bugfixes from 1.0 branch r28613:28615 --- kdl_parser/src/check_kdl_parser.cpp | 58 +++++++---------------------- kdl_parser/src/kdl_parser.cpp | 2 +- 2 files changed, 14 insertions(+), 46 deletions(-) diff --git a/kdl_parser/src/check_kdl_parser.cpp b/kdl_parser/src/check_kdl_parser.cpp index 904d6bd..45a4d78 100644 --- a/kdl_parser/src/check_kdl_parser.cpp +++ b/kdl_parser/src/check_kdl_parser.cpp @@ -43,6 +43,15 @@ using namespace KDL; using namespace std; using namespace urdf; +void printLink(const SegmentMap::const_iterator& link, const std::string& prefix) +{ + cout << prefix << "- Segment " << link->second.segment.getName() << " has " << link->second.children.size() << " children" << endl; + for (unsigned int i=0; isecond.children.size(); i++) + printLink(link->second.children[i], prefix + " "); +} + + + int main(int argc, char** argv) { if (argc < 2){ @@ -59,51 +68,10 @@ int main(int argc, char** argv) // walk through tree cout << " ======================================" << endl; + cout << " Tree has " << my_tree.getNrOfSegments() << " link(s) and a root link" << endl; + cout << " ======================================" << endl; SegmentMap::const_iterator root = my_tree.getRootSegment(); - cout << "Found root segment '" << root->second.segment.getName() << "' with " << root->second.children.size() << " children" << endl; - for (unsigned int i=0; isecond.children.size(); i++){ - SegmentMap::const_iterator child = root->second.children[i]; - cout << " - child " << i+1 << ": " << child->second.segment.getName() << " has joint " << child->second.segment.getJoint().getName() - << " and " << child->second.children.size() << " children" << endl; - - for (unsigned int j=0; jsecond.children.size(); j++){ - SegmentMap::const_iterator grandchild = child->second.children[j]; - cout << " - grandchild " << j+1 << ": " << grandchild->second.segment.getName() << " has joint " << grandchild->second.segment.getJoint().getName() - << " and " << grandchild->second.children.size() << " children" << endl; - - } - } - - // extract chains from tree - Chain chain1, chain2; - my_tree.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1); - my_tree.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2); - cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl; - cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl; - - JntArray jnt1(chain1.getNrOfJoints()); - JntArray jnt2(chain1.getNrOfJoints()); - for (int i=0; i<(int)chain1.getNrOfJoints(); i++){ - jnt1(i) = (i+1)*2; - jnt2((int)chain1.getNrOfJoints()-i-1) = -jnt1(i); - } - for (int i=0; i<(int)chain1.getNrOfJoints(); i++) - cout << "jnt 1 -- jnt 2 " << jnt1(i) << " -- " << jnt2(i) << endl; - - ChainFkSolverPos_recursive solver1(chain1); - ChainFkSolverPos_recursive solver2(chain2); - Frame f1, f2; - solver1.JntToCart(jnt1, f1); - solver2.JntToCart(jnt2, f2); - cout << "frame 1 " << f1 << endl; - cout << "frame 2 " << f2.Inverse() << endl; - - // copy tree - Tree copy = my_tree; - copy.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1); - copy.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2); - cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl; - cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl; - + printLink(root, ""); } + diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index ae23ac4..358e2c5 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -106,7 +106,7 @@ RigidBodyInertia toKdl(boost::shared_ptr i) bool addChildrenToTree(boost::shared_ptr root, Tree& tree) { std::vector > children = root->child_links; - ROS_DEBUG("Link %s had %u children", root->name.c_str(), children.size()); + ROS_DEBUG("Link %s had %i children", root->name.c_str(), (int)children.size()); // constructs the optional inertia RigidBodyInertia inert(0); From 80b19428ed8fe88c4109d9bd28a7888832d84702 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Apr 2010 18:38:52 +0000 Subject: [PATCH 139/245] Fix tf prefix lookup ticket #3949 --- robot_state_publisher/src/robot_state_publisher.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index b299e40..175c029 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -51,7 +51,9 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree) { // get tf prefix NodeHandle n_local("~"); - n_local.param("tf_prefix", tf_prefix_, string()); + std::string searched_param; + n_local.searchParam("tf_prefix", searched_param); + n_local.param(searched_param, tf_prefix_, std::string()); // build tree solver solver_.reset(new TreeFkSolverPosFull_recursive(tree_)); From f11fc537bc12d1a0fdbc5886f5fde359c17ed852 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Apr 2010 18:39:17 +0000 Subject: [PATCH 140/245] fix check for number of links in urdf --- robot_state_publisher/src/robot_state_publisher_node.cpp | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp index ccff5ed..ad51100 100644 --- a/robot_state_publisher/src/robot_state_publisher_node.cpp +++ b/robot_state_publisher/src/robot_state_publisher_node.cpp @@ -71,15 +71,10 @@ int main(int argc, char** argv) if (tree.getNrOfSegments() == 0){ ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf"); - ros::spin(); - } - else if (tree.getNrOfSegments() == 1){ - ROS_WARN("Robot state publisher got a tree with only one segment and cannot publish any state to tf"); - ros::spin(); } else{ JointStateListener state_publisher(tree); - ros::spin(); } + ros::spin(); return 0; } From f8d595966bf3dcd965042c826b4e1d7b4e208c89 Mon Sep 17 00:00:00 2001 From: tfield Date: Wed, 7 Apr 2010 20:19:16 +0000 Subject: [PATCH 141/245] colladadom: tidying manifest --- colladadom/manifest.xml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index f345ed9..8d05612 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -1,17 +1,17 @@ - collada-dom + This package contains the COLLADA Document Object Model (DOM) which is an API that provides a C++ object representation of a COLLADA XML instance document. + + See http://sourceforge.net/projects/collada-dom. - John Hsu + John Hsu (package) BSD http://ros.org/wiki/colladadom - - From 7af1d5595649bf28c7ea6b50873e9664551daabd Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Apr 2010 22:20:16 +0000 Subject: [PATCH 142/245] fix tests for multiple trees, and clean up regression tests --- urdf/src/model.cpp | 30 ++++++++----------- ...bracket.xml => fail_pr2_desc_bracket.urdf} | 0 ...c_double.xml => fail_pr2_desc_double.urdf} | 0 ...nt.xml => fail_pr2_desc_double_joint.urdf} | 0 ..._desc_loop.xml => fail_pr2_desc_loop.urdf} | 0 ...=> fail_pr2_desc_no_filename_in_mesh.urdf} | 0 ...oint2.xml => fail_pr2_desc_no_joint2.urdf} | 1 + ...f.xml => fail_pr2_desc_parent_itself.urdf} | 0 ...trees.xml => fail_pr2_desc_two_trees.urdf} | 0 urdf/test/fail_three_links_one_joint.urdf | 25 ++++++++++++++++ urdf/test/{pr2_desc.xml => pr2_desc.urdf} | 0 ...world.xml => pr2_desc_explicit_world.urdf} | 0 ...sc_no_joint.xml => pr2_desc_no_joint.urdf} | 2 +- urdf/test/test_robot_model_parser.cpp | 18 +++++------ urdf/test/test_robot_model_parser.launch | 2 +- 15 files changed, 50 insertions(+), 28 deletions(-) rename urdf/test/{pr2_desc_bracket.xml => fail_pr2_desc_bracket.urdf} (100%) rename urdf/test/{pr2_desc_double.xml => fail_pr2_desc_double.urdf} (100%) rename urdf/test/{pr2_desc_double_joint.xml => fail_pr2_desc_double_joint.urdf} (100%) rename urdf/test/{pr2_desc_loop.xml => fail_pr2_desc_loop.urdf} (100%) rename urdf/test/{pr2_desc_no_filename_in_mesh.xml => fail_pr2_desc_no_filename_in_mesh.urdf} (100%) rename urdf/test/{pr2_desc_no_joint2.xml => fail_pr2_desc_no_joint2.urdf} (99%) rename urdf/test/{pr2_desc_parent_itself.xml => fail_pr2_desc_parent_itself.urdf} (100%) rename urdf/test/{pr2_desc_two_trees.xml => fail_pr2_desc_two_trees.urdf} (100%) create mode 100644 urdf/test/fail_three_links_one_joint.urdf rename urdf/test/{pr2_desc.xml => pr2_desc.urdf} (100%) rename urdf/test/{pr2_desc_explicit_world.xml => pr2_desc_explicit_world.urdf} (100%) rename urdf/test/{pr2_desc_no_joint.xml => pr2_desc_no_joint.urdf} (84%) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 648c33c..65e8a14 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -232,12 +232,6 @@ bool Model::initXml(TiXmlElement *robot_xml) return false; } - // make sure tree is not empty - if (parent_link_tree.empty()){ - ROS_ERROR("The robot xml does not contain any valid links. Are you parsing an empty file, or an un-processed xacro file?"); - return false; - } - // find the root link if (!this->initRoot(parent_link_tree)) { @@ -323,21 +317,23 @@ bool Model::initRoot(std::map &parent_link_tree) this->root_link_.reset(); - for (std::map::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++) + // for (std::map::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++) + // find the links that have no parent in the tree + for (std::map >::iterator l=this->links_.begin(); l!=this->links_.end(); l++) { - if (parent_link_tree.find(p->second) == parent_link_tree.end()) + std::map::iterator parent = parent_link_tree.find(l->first); + if (parent == parent_link_tree.end()) { - if (this->root_link_) + // store root link + if (!this->root_link_) { - ROS_DEBUG("child '%s', parent '%s', root '%s'", p->first.c_str(), p->second.c_str(), this->root_link_->name.c_str()); - if (this->root_link_->name != p->second) - { - ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), p->second.c_str()); - return false; - } + getLink(l->first, this->root_link_); + } + // we already found a root link + else{ + ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str()); + return false; } - else - getLink(p->second,this->root_link_); } } if (!this->root_link_) diff --git a/urdf/test/pr2_desc_bracket.xml b/urdf/test/fail_pr2_desc_bracket.urdf similarity index 100% rename from urdf/test/pr2_desc_bracket.xml rename to urdf/test/fail_pr2_desc_bracket.urdf diff --git a/urdf/test/pr2_desc_double.xml b/urdf/test/fail_pr2_desc_double.urdf similarity index 100% rename from urdf/test/pr2_desc_double.xml rename to urdf/test/fail_pr2_desc_double.urdf diff --git a/urdf/test/pr2_desc_double_joint.xml b/urdf/test/fail_pr2_desc_double_joint.urdf similarity index 100% rename from urdf/test/pr2_desc_double_joint.xml rename to urdf/test/fail_pr2_desc_double_joint.urdf diff --git a/urdf/test/pr2_desc_loop.xml b/urdf/test/fail_pr2_desc_loop.urdf similarity index 100% rename from urdf/test/pr2_desc_loop.xml rename to urdf/test/fail_pr2_desc_loop.urdf diff --git a/urdf/test/pr2_desc_no_filename_in_mesh.xml b/urdf/test/fail_pr2_desc_no_filename_in_mesh.urdf similarity index 100% rename from urdf/test/pr2_desc_no_filename_in_mesh.xml rename to urdf/test/fail_pr2_desc_no_filename_in_mesh.urdf diff --git a/urdf/test/pr2_desc_no_joint2.xml b/urdf/test/fail_pr2_desc_no_joint2.urdf similarity index 99% rename from urdf/test/pr2_desc_no_joint2.xml rename to urdf/test/fail_pr2_desc_no_joint2.urdf index 7b37fbe..be1fdbc 100644 --- a/urdf/test/pr2_desc_no_joint2.xml +++ b/urdf/test/fail_pr2_desc_no_joint2.urdf @@ -10,6 +10,7 @@ + diff --git a/urdf/test/pr2_desc_parent_itself.xml b/urdf/test/fail_pr2_desc_parent_itself.urdf similarity index 100% rename from urdf/test/pr2_desc_parent_itself.xml rename to urdf/test/fail_pr2_desc_parent_itself.urdf diff --git a/urdf/test/pr2_desc_two_trees.xml b/urdf/test/fail_pr2_desc_two_trees.urdf similarity index 100% rename from urdf/test/pr2_desc_two_trees.xml rename to urdf/test/fail_pr2_desc_two_trees.urdf diff --git a/urdf/test/fail_three_links_one_joint.urdf b/urdf/test/fail_three_links_one_joint.urdf new file mode 100644 index 0000000..a6766a9 --- /dev/null +++ b/urdf/test/fail_three_links_one_joint.urdf @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/pr2_desc.xml b/urdf/test/pr2_desc.urdf similarity index 100% rename from urdf/test/pr2_desc.xml rename to urdf/test/pr2_desc.urdf diff --git a/urdf/test/pr2_desc_explicit_world.xml b/urdf/test/pr2_desc_explicit_world.urdf similarity index 100% rename from urdf/test/pr2_desc_explicit_world.xml rename to urdf/test/pr2_desc_explicit_world.urdf diff --git a/urdf/test/pr2_desc_no_joint.xml b/urdf/test/pr2_desc_no_joint.urdf similarity index 84% rename from urdf/test/pr2_desc_no_joint.xml rename to urdf/test/pr2_desc_no_joint.urdf index 0f17fe0..04839d2 100644 --- a/urdf/test/pr2_desc_no_joint.xml +++ b/urdf/test/pr2_desc_no_joint.urdf @@ -1,7 +1,7 @@ - + diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp index ef46eb1..13236f6 100644 --- a/urdf/test/test_robot_model_parser.cpp +++ b/urdf/test/test_robot_model_parser.cpp @@ -70,16 +70,16 @@ protected: TEST_F(TestParser, test) { - for (int i=1; i= g_argc-2) - ASSERT_TRUE(robot.initXml(robot_xml)); + std::string folder = std::string(g_argv[1]) + "/test/"; + printf("Folder %s",folder.c_str()); + for (int i=2; i - + From fad48c31dbbf77d481266aa83960f60fd9aeb37c Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Apr 2010 22:37:10 +0000 Subject: [PATCH 143/245] preparing for 1.1.0 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 417a3e3..8f96cf0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.0.1) +rosbuild_make_distribution(1.1.0) From 99a0b5062320dc3c3436b6f2b4904990615ba98d Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Apr 2010 23:50:02 +0000 Subject: [PATCH 144/245] add support to read robot description from parameter server, plus add regression tests --- urdf/include/urdf/model.h | 2 ++ urdf/src/model.cpp | 12 ++++++++++++ urdf/test/test_robot_model_parser.cpp | 4 ++++ urdf/test/test_robot_model_parser.launch | 2 ++ 4 files changed, 20 insertions(+) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index c54ba52..264520f 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -58,6 +58,8 @@ public: bool initXml(TiXmlDocument *xml); /// \brief Load Model given a filename bool initFile(const std::string& filename); + /// \brief Load Model given the name of a parameter on the parameter server + bool initParam(const std::string& param); /// \brief Load Model from a XML-string bool initString(const std::string& xmlstring); diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 65e8a14..dd5a56d 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -66,6 +66,18 @@ bool Model::initFile(const std::string& filename) } +bool Model::initParam(const std::string& param) +{ + ros::NodeHandle nh; + std::string xml_string; + if (!nh.getParam(param, xml_string)){ + ROS_ERROR("Could not find parameter %s on parameter server", param.c_str()); + return false; + } + return initString(xml_string); +} + + bool Model::initString(const std::string& xml_string) { TiXmlDocument xml_doc; diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp index 13236f6..0be1a77 100644 --- a/urdf/test/test_robot_model_parser.cpp +++ b/urdf/test/test_robot_model_parser.cpp @@ -81,6 +81,10 @@ TEST_F(TestParser, test) else ASSERT_TRUE(robot.initFile(folder + file)); } + + // test reading from parameter server + ASSERT_TRUE(robot.initParam("robot_description")); + ASSERT_FALSE(robot.initParam("robot_description_wim")); SUCCEED(); } diff --git a/urdf/test/test_robot_model_parser.launch b/urdf/test/test_robot_model_parser.launch index a6d913e..81f5408 100644 --- a/urdf/test/test_robot_model_parser.launch +++ b/urdf/test/test_robot_model_parser.launch @@ -1,3 +1,5 @@ + + From 317be62c4c180b1008e7395173a2d1c213e37f83 Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 8 Apr 2010 00:48:30 +0000 Subject: [PATCH 145/245] colladadom: patch to use rosboost-cfg for boost compile/link flags --- colladadom/Makefile | 3 +- colladadom/collada-dom.patch | 54 ++++++++++++++++++++++++++++++++++++ colladadom/manifest.xml | 2 +- colladadom/use_1_5.patch | 22 --------------- 4 files changed, 56 insertions(+), 25 deletions(-) create mode 100644 colladadom/collada-dom.patch delete mode 100644 colladadom/use_1_5.patch diff --git a/colladadom/Makefile b/colladadom/Makefile index 223b1c4..efb8121 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -4,7 +4,7 @@ TARBALL_URL = http://pr.willowgarage.com/downloads/collada-dom-2.2.zip SOURCE_DIR = build/colladadom INITIAL_DIR = build/collada-dom UNPACK_CMD = unzip -TARBALL_PATCH=use_1_5.patch +TARBALL_PATCH = collada-dom.patch MD5SUM_FILE = collada-dom-2.2.zip.md5sum include $(shell rospack find mk)/download_unpack_build.mk @@ -25,7 +25,6 @@ endif installed: wiped $(SOURCE_DIR)/unpacked @echo "ROOT is: $(ROOT)" -mkdir -p $(ROOT)/include - -mkdir -p $(ROOT)/include -mkdir -p $(ROOT)/lib @echo "making it" cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS) diff --git a/colladadom/collada-dom.patch b/colladadom/collada-dom.patch new file mode 100644 index 0000000..eb05cec --- /dev/null +++ b/colladadom/collada-dom.patch @@ -0,0 +1,54 @@ +Index: dom/Makefile +=================================================================== +--- dom/Makefile 2008-10-02 17:48:30.000000000 -0700 ++++ dom/Makefile 2010-03-03 14:44:09.162398249 -0800 +@@ -55,7 +55,7 @@ + conf := release + + # Collada version: '1.4', '1.5', or 'all' +-colladaVersion := 1.4 ++colladaVersion := 1.5 + + # parser: 'libxml', 'tinyxml', or 'all'. + parser := libxml +@@ -188,7 +188,7 @@ + ifneq ($(filter install uninstall installTest,$(MAKECMDGOALS)),) + # You can only install on Mac or Linux. Check for that. + ifeq ($(oss),linux) +-prefix := /usr/local ++prefix := ../../../ + else ifeq ($(oss),mac) + prefix := /Library/Frameworks + else +Index: dom/make/common.mk +=================================================================== +--- dom/make/common.mk 2008-05-14 17:30:42.000000000 -0700 ++++ dom/make/common.mk 2010-04-07 17:16:11.000000000 -0700 +@@ -17,6 +17,8 @@ + debugSuffix := + endif + ++ccFlags += $(shell rosboost-cfg --cflags) ++ + ifeq ($(os),mac) + # Add the -arch flags to specify what architectures we're building for. + ccFlags += $(addprefix -arch ,$(subst x86,i386,$(archs))) +Index: dom/make/domTest.mk +=================================================================== +--- dom/make/domTest.mk 2008-09-03 08:51:18.000000000 -0700 ++++ dom/make/domTest.mk 2010-04-07 17:17:18.000000000 -0700 +@@ -55,13 +55,7 @@ + endif + + # Boost defs +-ifeq ($(os),linux) +-libOpts += -lboost_filesystem +-else +-includeOpts += -Iexternal-libs/boost +-libOpts += external-libs/boost/lib/$(buildID)/libboost_system.a +-libOpts += external-libs/boost/lib/$(buildID)/libboost_filesystem.a +-endif ++libOpts += $(shell rosboost-cfg --lflags system,filesystem) + ifeq ($(os),ps3) + # PS3 doesn't support C++ locales, so tell boost not to use them + ccFlags += -DBOOST_NO_STD_LOCALE diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 8d05612..da732a0 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -6,7 +6,7 @@ See http://sourceforge.net/projects/collada-dom. - John Hsu (package) + John Hsu, Tim Field BSD http://ros.org/wiki/colladadom diff --git a/colladadom/use_1_5.patch b/colladadom/use_1_5.patch deleted file mode 100644 index e8a739c..0000000 --- a/colladadom/use_1_5.patch +++ /dev/null @@ -1,22 +0,0 @@ -Index: dom/Makefile -=================================================================== ---- dom/Makefile 2008-10-02 17:48:30.000000000 -0700 -+++ dom/Makefile 2010-03-03 14:44:09.162398249 -0800 -@@ -55,7 +55,7 @@ - conf := release - - # Collada version: '1.4', '1.5', or 'all' --colladaVersion := 1.4 -+colladaVersion := 1.5 - - # parser: 'libxml', 'tinyxml', or 'all'. - parser := libxml -@@ -188,7 +188,7 @@ - ifneq ($(filter install uninstall installTest,$(MAKECMDGOALS)),) - # You can only install on Mac or Linux. Check for that. - ifeq ($(oss),linux) --prefix := /usr/local -+prefix := ../../../ - else ifeq ($(oss),mac) - prefix := /Library/Frameworks - else From a53de106cdb9d079355bec05a5288da63a46f05b Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 8 Apr 2010 01:05:47 +0000 Subject: [PATCH 146/245] collada_urdf: added option to specify output filename --- collada_urdf/ROS_BUILD_BLACKLIST | 1 - collada_urdf/manifest.xml | 2 + collada_urdf/src/urdf_to_collada.cpp | 11 +- collada_urdf/test/base.dae | 63 - collada_urdf/test/ir663.dae | 5517 ---------- collada_urdf/test/kr150.dae | 13484 ------------------------- collada_urdf/test/ped_welder.dae | 2206 ---- collada_urdf/test/pr2.urdf | 3399 ------- collada_urdf/test/simple.dae | 392 - 9 files changed, 8 insertions(+), 25067 deletions(-) delete mode 100644 collada_urdf/ROS_BUILD_BLACKLIST delete mode 100644 collada_urdf/test/base.dae delete mode 100644 collada_urdf/test/ir663.dae delete mode 100644 collada_urdf/test/kr150.dae delete mode 100644 collada_urdf/test/ped_welder.dae delete mode 100644 collada_urdf/test/pr2.urdf delete mode 100644 collada_urdf/test/simple.dae diff --git a/collada_urdf/ROS_BUILD_BLACKLIST b/collada_urdf/ROS_BUILD_BLACKLIST deleted file mode 100644 index 22710e9..0000000 --- a/collada_urdf/ROS_BUILD_BLACKLIST +++ /dev/null @@ -1 +0,0 @@ -Experimental code. diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index b315558..ff3a891 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -1,6 +1,8 @@ + This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents. + Tim Field BSD diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 1648f4c..edf51c9 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -100,14 +100,13 @@ public: map node_ids_; // joint.name -> node.id public: - ColladaWriter(urdf::Model* robot) : robot_(robot) { + ColladaWriter(const string& documentName, urdf::Model* robot) : robot_(robot) { daeErrorHandler::setErrorHandler(this); collada_.reset(new DAE()); collada_->setIOPlugin(NULL); collada_->setDatabase(NULL); - string documentName("mycollada.dae"); daeDocument* doc = NULL; daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root if (error != DAE_OK || doc == NULL) @@ -985,8 +984,8 @@ public: int main(int argc, char** argv) { - if (argc != 2) { - std::cerr << "Usage: urdf_to_collada input.urdf" << std::endl; + if (argc != 3) { + std::cerr << "Usage: urdf_to_collada input.urdf output.dae" << std::endl; return -1; } @@ -1004,7 +1003,9 @@ int main(int argc, char** argv) return -1; } - collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(&robot); + string output_filename(argv[2]); + + collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(output_filename, &robot); 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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

-

8 8 9 9 10 10 11 11 12 12 13 13

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14 14 15 15 16 16 17 17

-

18 18 19 19 20 20 21 21

-

22 22 23 23 24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

- - - - -

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

-

60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79 80 80 81 81 82 82 83 83 84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

- - - - -

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

-

120 120 121 121 122 122 123 123 124 124 125 125

-

126 126 127 127 128 128 129 129

-

130 130 131 131 132 132 133 133 134 134 135 135

-

136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

- - - - -

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151 152 152 153 153

-

154 154 155 155 156 156 157 157

-

158 158 159 159 160 160 161 161

-

162 162 163 163 164 164 165 165

-

166 166 167 167 168 168 169 169

-

170 170 171 171 172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179

- - - - -

188 224 190 224 193 224 191 224

-

188 224 190 224 193 224 191 224

- - - - -

202 202 207 207 209 209 204 204

-

198 198 202 202 204 204 200 200

-

194 194 198 198 200 200 196 196

-

189 189 194 194 196 196 192 192

-

214 214 180 180 181 181 217 217

-

218 218 191 191 193 193 197 197 201 201 205 205 208 208 212 212 220 220

-

211 211 223 223 221 221 213 213

-

207 207 211 211 213 213 209 209

-

210 210 206 206 203 203 199 199 195 195 190 190 188 188 215 215 222 222

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223 223 216 216 219 219 221 221

- - - - -

202 202 207 207 209 209 204 204

-

198 198 202 202 204 204 200 200

-

194 194 198 198 200 200 196 196

-

189 189 194 194 196 196 192 192

-

214 214 180 180 181 181 217 217

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218 218 191 191 193 193 197 197 201 201 205 205 208 208 212 212 220 220

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211 211 223 223 221 221 213 213

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207 207 211 211 213 213 209 209

-

210 210 206 206 203 203 199 199 195 195 190 190 188 188 215 215 222 222

-

223 223 216 216 219 219 221 221

-

186 186 183 183 185 185 187 187

-

182 182 180 180 181 181 184 184

- - - - -

224 225 225 226 226 227 227 228 228 229 229 230

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230 231 231 232 232 233 233 234 234 235 235 236

-

236 237 237 238 238 239 239 240

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240 241 241 242 242 243 243 244

-

244 245 245 246 246 247 247 248

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248 249 249 250 250 251 251 252

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252 253 253 254 254 255 255 256

-

256 257 257 258 258 259 259 260

- - - - -

276 328 308 328 306 328 263 328 310 328

-

310 328 311 328 313 328 315 328 317 328 287 328 319 328 321 328 323 328 298 328 325 328 326 328 300 328 324 328 294 328 322 328 320 328 318 328 284 328 316 328 314 328 312 328 276 328

- - - - -

260 261 264 265 261 262 306 307

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272 273 277 278 313 314 311 312

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294 295 324 325 302 303 296 297

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314 315 316 317 280 281 278 279

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312 313 314 315 278 279 273 274

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274 275 312 313 273 274 270 271

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271 272 267 268 308 309 275 276

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20 20 21 21 22 22 23 23

- - - - -

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36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

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44 44 45 45 46 46 47 47

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48 48 49 49 50 50 51 51

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52 52 53 53 54 54 55 55

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56 56 57 57 58 58 59 59

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60 60 61 61 62 62 63 63

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64 64 65 65 66 66 67 67

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68 68 69 69 70 70 71 71

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72 72 73 73 74 74 75 75

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76 76 77 77 78 78 79 79

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80 80 81 81 82 82 83 83

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97 104 93 104 100 104 104 104

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87 104 93 104 97 104 91 104

- - - - -

101 105 95 105 99 105 103 105

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85 105 89 105 99 105 95 105

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92 92 94 94 101 101 100 100

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87 87 85 85 95 95 93 93

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90 90 88 88 84 84 86 86

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102 102 103 103 99 99 97 97

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96 96 98 98 89 89 91 91

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118 126 114 126 121 126 125 126

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108 126 114 126 118 126 112 126

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122 127 116 127 120 127 124 127

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106 127 110 127 120 127 116 127

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113 114 115 116 122 123 121 122

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108 109 106 107 116 117 114 115

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111 112 109 110 105 106 107 108

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123 124 124 125 120 121 118 119

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117 118 119 120 110 111 112 113

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129 148 137 148 141 148 133 148

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141 148 137 148 142 148 146 148

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127 149 131 149 139 149 135 149

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143 149 135 149 139 149 145 149

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136 138 134 136 143 145 142 144

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129 131 127 129 135 137 137 139

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132 134 130 132 126 128 128 130

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140 142 138 140 131 133 133 135

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144 146 145 147 139 141 141 143

- - - - -

147 150 148 151 149 152 150 153

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151 154 152 155 153 156 154 157

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155 158 156 159 157 160 158 161

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159 162 160 163 161 164 162 165

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163 166 164 167 165 168 166 169

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167 170 168 171 169 172 170 173

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171 174 172 175 173 176 174 177 175 178 176 179 177 180 178 181

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179 182 180 183 181 184 182 185

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183 186 184 187 185 188 186 189 187 190 188 191 189 192 190 193

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191 194 192 195 193 196 194 197

- - - - -

195 198 196 199 197 200 198 201 199 202 200 203 201 204 202 205 203 206 204 207 205 208 206 209

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207 210 208 211 209 212 210 213

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211 214 212 215 213 216 214 217

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215 218 216 219 217 220 218 221

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219 222 220 223 221 224 222 225

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223 226 224 227 225 228 226 229

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227 230 228 231 229 232 230 233

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231 234 232 235 233 236 234 237

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235 238 236 239 237 240 238 241

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239 242 240 243 241 244 242 245

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243 246 244 247 245 248 246 249

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247 250 248 251 249 252 250 253

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251 254 252 255 253 256 254 257

- - - - -

268 278 264 278 271 278 275 278

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258 278 264 278 268 278 262 278

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272 279 266 279 270 279 274 279

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256 279 260 279 270 279 266 279

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263 266 265 268 272 275 271 274

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258 261 256 259 266 269 264 267

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261 264 259 262 255 258 257 260

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273 276 274 277 270 273 268 271

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267 270 269 272 260 263 262 265

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276 280 277 281 278 282 279 283

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280 284 281 285 282 286 283 287

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284 288 285 289 286 290 287 291

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288 292 289 293 290 294 291 295

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292 296 293 297 294 298 295 299

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296 300 297 301 298 302 299 303

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300 304 301 305 302 306 303 307

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304 308 305 309 306 310 307 311

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308 312 309 313 310 314 311 315

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312 316 313 317 314 318 315 319

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316 320 317 321 318 322 319 323 320 324 321 325 322 326 323 327

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324 328 325 329 326 330 327 331

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328 332 329 333 330 334 331 335 332 336 333 337 334 338 335 339

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336 340 337 341 338 342 339 343

- - - - -

340 344 341 345 342 346 343 347

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344 348 345 349 346 350 347 351

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348 352 349 353 350 354 351 355

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352 356 353 357 354 358 355 359

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356 360 357 361 358 362 359 363

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360 364 361 365 362 366 363 367

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364 368 365 369 366 370 367 371

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368 372 369 373 370 374 371 375

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372 376 373 377 374 378 375 379

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376 380 377 381 378 382 379 383

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380 384 381 385 382 386 383 387 384 388 385 389 386 390 387 391

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388 392 389 393 390 394 391 395

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392 396 393 397 394 398 395 399 396 400 397 401 398 402 399 403

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400 404 401 405 402 406 403 407

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404 408 405 409 406 410 407 411

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452 456 453 457 454 458 455 459

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464 468 465 469 466 470 467 471

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496 500 497 501 498 502 499 503

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504 508 505 509 506 510 507 511

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508 512 509 513 510 514 511 515 512 516 513 517 514 518 515 519

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516 520 517 521 518 522 519 523

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520 524 521 525 522 526 523 527 524 528 525 529 526 530 527 531

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528 532 529 533 530 534 531 535

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532 536 533 537 534 538 535 539

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540 544 541 545 542 546 543 547

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548 552 549 553 550 554 551 555

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556 560 557 561 558 562 559 563

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560 564 561 565 562 566 563 567

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564 568 565 569 566 570 567 571 568 572

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569 573 570 574 571 575 572 576

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573 577 574 578 575 579 576 580 577 581

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578 582 579 583 580 584 581 585

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586 590 587 591 588 592 589 593

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598 602 599 603 600 604 601 605

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614 618 615 619 616 620 617 621

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618 622 619 623 620 624 621 625

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622 626 623 627 624 628 625 629

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626 630 627 631 628 632 629 633 630 634 631 635 632 636 633 637 634 638 635 639 636 640 637 641

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638 642 639 643 640 644 641 645

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642 646 643 647 644 648 645 649

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650 654 651 655 652 656 653 657

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654 658 655 659 656 660 657 661

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658 662 659 663 660 664 661 665

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662 666 663 667 664 668 665 669

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666 670 667 671 668 672 669 673

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670 674 671 675 672 676 673 677

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674 678 675 679 676 680 677 681

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678 682 679 683 680 684 681 685

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682 686 683 687 684 688 685 689

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686 690 687 691 688 692 689 693

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690 694 691 695 692 696 693 697

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694 698 695 699 696 700 697 701

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698 702 699 703 700 704 701 705

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702 706 703 707 704 708 705 709

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706 710 707 711 708 712 709 713

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710 714 711 715 712 716 713 717

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714 718 715 719 716 720 717 721

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718 722 719 723 720 724 721 725

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722 726 723 727 724 728 725 729

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726 730 727 731 728 732 729 733

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730 734 731 735 732 736 733 737 734 738 735 739 736 740 737 741 738 742 739 743 740 744 741 745

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742 746 743 747 744 748 745 749

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746 750 747 751 748 752 749 753

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750 754 751 755 752 756 753 757

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754 758 755 759 756 760 757 761

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758 762 759 763 760 764 761 765

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762 766 763 767 764 768 765 769

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766 770 767 771 768 772 769 773

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770 774 771 775 772 776 773 777

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774 778 775 779 776 780 777 781 778 782

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779 783 780 784 781 785 782 786

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783 787 784 788 785 789 786 790

-

787 791 788 792 789 793 790 794 791 795

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792 796 793 797 794 798 795 799

- - - - -

841 838 819 838 813 838 839 838

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839 838 816 838 823 838 841 838

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843 839 826 839 819 839 841 839

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841 839 823 839 828 839 843 839

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845 840 831 840 826 840 843 840

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843 840 828 840 833 840 845 840

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845 841 833 841 829 841 844 841

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842 842 821 842 827 842 844 842

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844 842 829 842 825 842 842 842

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840 843 814 843 821 843 842 843

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842 843 825 843 817 843 840 843

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838 844 807 844 814 844 840 844

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840 844 817 844 811 844 838 844

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836 845 801 845 807 845 838 845

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838 845 811 845 803 845 836 845

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834 846 797 846 801 846 836 846

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836 846 803 846 799 846 834 846

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834 847 799 847 802 847 835 847

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837 848 805 848 800 848 835 848

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835 848 802 848 809 848 837 848

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839 849 813 849 805 849 837 849

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837 849 809 849 816 849 839 849

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846 850 847 851 848 852 849 853 850 854 851 855 852 856 853 857 854 858 855 859 856 860 857 861 858 862 859 863 860 864 861 865 862 866 863 867 864 868 865 869 866 870 867 871 868 872 869 873

-

870 874 871 875 872 876 873 877

-

874 878 875 879 876 880 877 881

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878 882 879 883 880 884 881 885

-

882 886 883 887 884 888 885 889

-

886 890 887 891 888 892 889 893

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890 894 891 895 892 896 893 897

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894 898 895 899 896 900 897 901

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898 902 899 903 900 904 901 905

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902 906 903 907 904 908 905 909

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906 910 907 911 908 912 909 913

-

910 914 911 915 912 916 913 917

-

914 918 915 919 916 920 917 921

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918 922 919 923 920 924 921 925

-

922 926 923 927 924 928 925 929

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926 930 927 931 928 932 929 933

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930 934 931 935 932 936 933 937

-

934 938 935 939 936 940 937 941

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938 942 939 943 940 944 941 945

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942 946 943 947 944 948 945 949

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946 950 947 951 948 952 949 953

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950 954 951 955 952 956 953 957

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954 958 955 959 956 960 957 961

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958 962 959 963 960 964 961 965

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962 966 963 967 964 968 965 969

- - - - -

966 970 967 971 968 972 969 973

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970 974 971 975 972 976 973 977

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974 978 975 979 976 980 977 981

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978 982 979 983 980 984 981 985

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982 986 983 987 984 988 985 989

- - - - -

986 990 987 991 988 992 989 993 990 994 991 995 992 996 993 997 994 998 995 999 996 1000 997 1001

-

998 1002 999 1003 1000 1004 1001 1005

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1002 1006 1003 1007 1004 1008 1005 1009

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1006 1010 1007 1011 1008 1012 1009 1013

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1010 1014 1011 1015 1012 1016 1013 1017

-

1014 1018 1015 1019 1016 1020 1017 1021

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1018 1022 1019 1023 1020 1024 1021 1025

-

1022 1026 1023 1027 1024 1028 1025 1029

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1026 1030 1027 1031 1028 1032 1029 1033

-

1030 1034 1031 1035 1032 1036 1033 1037

-

1034 1038 1035 1039 1036 1040 1037 1041

-

1038 1042 1039 1043 1040 1044 1041 1045

-

1042 1046 1043 1047 1044 1048 1045 1049

- - - - -

1046 1050 1047 1051 1048 1052 1049 1053 1050 1054 1051 1055 1052 1056 1053 1057 1054 1058 1055 1059 1056 1060 1057 1061

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1058 1062 1059 1063 1060 1064 1061 1065

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1062 1066 1063 1067 1064 1068 1065 1069

-

1066 1070 1067 1071 1068 1072 1069 1073

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1070 1074 1071 1075 1072 1076 1073 1077

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1074 1078 1075 1079 1076 1080 1077 1081

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1078 1082 1079 1083 1080 1084 1081 1085

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1082 1086 1083 1087 1084 1088 1085 1089

-

1086 1090 1087 1091 1088 1092 1089 1093

-

1090 1094 1091 1095 1092 1096 1093 1097

-

1094 1098 1095 1099 1096 1100 1097 1101

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1098 1102 1099 1103 1100 1104 1101 1105

-

1102 1106 1103 1107 1104 1108 1105 1109

- - - - -

1106 1110 1107 1111 1108 1112 1109 1113 1110 1114 1111 1115 1112 1116 1113 1117 1114 1118 1115 1119 1116 1120 1117 1121

-

1118 1122 1119 1123 1120 1124 1121 1125

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1122 1126 1123 1127 1124 1128 1125 1129

-

1126 1130 1127 1131 1128 1132 1129 1133

-

1130 1134 1131 1135 1132 1136 1133 1137

-

1134 1138 1135 1139 1136 1140 1137 1141

-

1138 1142 1139 1143 1140 1144 1141 1145

-

1142 1146 1143 1147 1144 1148 1145 1149

-

1146 1150 1147 1151 1148 1152 1149 1153

-

1150 1154 1151 1155 1152 1156 1153 1157

-

1154 1158 1155 1159 1156 1160 1157 1161

-

1158 1162 1159 1163 1160 1164 1161 1165

-

1162 1166 1163 1167 1164 1168 1165 1169

- - - - -

1166 1170 1167 1171 1168 1172 1169 1173 1170 1174 1171 1175 1172 1176 1173 1177 1174 1178 1175 1179 1176 1180 1177 1181

-

1178 1182 1179 1183 1180 1184 1181 1185

-

1182 1186 1183 1187 1184 1188 1185 1189

-

1186 1190 1187 1191 1188 1192 1189 1193

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1190 1194 1191 1195 1192 1196 1193 1197

-

1194 1198 1195 1199 1196 1200 1197 1201

-

1198 1202 1199 1203 1200 1204 1201 1205

-

1202 1206 1203 1207 1204 1208 1205 1209

-

1206 1210 1207 1211 1208 1212 1209 1213

-

1210 1214 1211 1215 1212 1216 1213 1217

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1214 1218 1215 1219 1216 1220 1217 1221

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1218 1222 1219 1223 1220 1224 1221 1225

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1222 1226 1223 1227 1224 1228 1225 1229

- - - - -

1226 1230 1227 1231 1228 1232 1229 1233 1230 1234 1231 1235 1232 1236 1233 1237 1234 1238 1235 1239 1236 1240 1237 1241

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1238 1242 1239 1243 1240 1244 1241 1245

-

1242 1246 1243 1247 1244 1248 1245 1249

-

1246 1250 1247 1251 1248 1252 1249 1253

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1250 1254 1251 1255 1252 1256 1253 1257

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1258 1262 1259 1263 1260 1264 1261 1265

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-

1266 1270 1267 1271 1268 1272 1269 1273

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1270 1274 1271 1275 1272 1276 1273 1277

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1274 1278 1275 1279 1276 1280 1277 1281

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1278 1282 1279 1283 1280 1284 1281 1285

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0 0 1 1 2 2 3 3

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4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

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24 24 25 25 26 26 27 27

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28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

- - - - -

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

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60 60 61 61 62 62 63 63

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64 64 65 65 66 66 67 67

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68 68 69 69 70 70 71 71

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72 72 73 73 74 74 75 75

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76 76 77 77 78 78 79 79

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80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

- - - - -

96 96 97 97 98 98 99 99

-

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

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112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

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120 120 121 121 122 122 123 123

-

124 124 125 125 126 126 127 127

-

128 128 129 129 130 130 131 131

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132 132 133 133 134 134 135 135

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136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

- - - - -

144 144 145 145 146 146 147 147

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148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

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156 156 157 157 158 158 159 159

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160 160 161 161 162 162 163 163

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4 4 5 5 6 6 7 7

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

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24 24 25 25 26 26 27 27

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28 28 29 29 30 30 31 31

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32 32 33 33 34 34 35 35

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36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

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44 44 45 45 46 46 47 47

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48 48 49 49 50 50 51 51

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52 52 53 53 54 54 55 55

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56 56 57 57 58 58 59 59

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60 60 61 61 62 62 63 63

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64 64 65 65 66 66 67 67

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72 72 73 73 74 74 75 75

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80 80 81 81 82 82 83 83

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92 92 93 93 94 94 95 95

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108 108 109 109 110 110 111 111

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144 144 145 145 146 146 147 147

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- - - - -

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51 62 49 62 45 62 47 62

- - - - -

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40 40 38 38 34 34 36 36

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23 23 22 22 44 44 48 48

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59 59 55 55 38 38 40 40

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61 61 58 58 39 39 35 35 32 32 28 28 24 24 49 49 51 51

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41 41 60 60 50 50 21 21

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62 64 63 65 64 66 65 67

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66 68 67 69 68 70 69 71

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70 72 71 73 72 74 73 75

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74 76 75 77 76 78 77 79

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78 80 79 81 80 82 81 83

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108 126 112 126 110 126 106 126

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116 127 120 127 122 127 118 127

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118 127 122 127 123 127 104 127

- - - - -

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100 102 96 98 98 100 102 104

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123 125 121 123 111 113 113 115

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112 114 122 124 119 121 101 103 97 99 94 96 90 92 114 116 110 112

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724 732 725 733 726 734 727 735

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84 84 85 85 86 86 87 87

- - - - -

88 88 89 89 90 90 91 91 92 92 93 93 94 94 95 95 96 96

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97 97 98 98 99 99 100 100

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101 101 102 102 103 103 104 104 105 105 106 106 107 107 108 108 109 109

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- - - - -

138 138 139 139 140 140 141 141 142 142 143 143 144 144 145 145 146 146 147 147 148 148 149 149

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150 150 151 151 152 152 153 153

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

-

8 8 9 9 10 10 11 11

-

12 12 13 13 14 14 15 15

-

16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39 40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

- - - - -

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

-

60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75 76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87 88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

- - - - -

96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103 104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

-

120 120 121 121 122 122 123 123

-

124 124 125 125 126 126 127 127

-

128 128 129 129 130 130 131 131

-

132 132 133 133 134 134 135 135

-

136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

-

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

- - - - -

156 156 157 157 158 158 159 159 160 160 161 161 162 162 163 163 164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

-

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179

-

180 180 181 181 182 182 183 183

-

184 184 185 185 186 186 187 187

-

188 188 189 189 190 190 191 191

-

192 192 193 193 194 194 195 195

-

196 196 197 197 198 198 199 199

-

200 200 201 201 202 202 203 203

-

204 204 205 205 206 206 207 207

-

208 208 209 209 210 210 211 211

-

212 212 213 213 214 214 215 215

- - - - -

216 216 217 217 218 218 219 219

-

220 220 221 221 222 222 223 223

-

224 224 225 225 226 226 227 227

-

228 228 229 229 230 230 231 231

-

232 232 233 233 234 234 235 235

-

236 236 237 237 238 238 239 239

-

240 240 241 241 242 242 243 243 244 244 245 245 246 246 247 247

-

248 248 249 249 250 250 251 251

-

252 252 253 253 254 254 255 255 256 256 257 257 258 258 259 259

-

260 260 261 261 262 262 263 263

- - - - -

264 264 265 265 266 266 267 267

-

268 268 269 269 270 270 271 271

-

272 272 273 273 274 274 275 275

-

276 276 277 277 278 278 279 279

-

280 280 281 281 282 282 283 283

-

284 284 285 285 286 286 287 287

-

288 288 289 289 290 290 291 291

-

292 292 293 293 294 294 295 295

- - - - -

296 296 297 297 298 298 299 299

-

300 300 301 301 302 302 303 303

-

304 304 305 305 306 306 307 307

-

308 308 309 309 310 310 311 311

-

312 312 313 313 314 314 315 315

-

316 316 317 317 318 318 319 319

-

320 320 321 321 322 322 323 323

-

324 324 325 325 326 326 327 327

-

328 328 329 329 330 330 331 331

-

332 332 333 333 334 334 335 335

-

336 336 337 337 338 338 339 339

-

340 340 341 341 342 342 343 343

-

344 344 345 345 346 346 347 347

-

348 348 349 349 350 350 351 351

-

352 352 353 353 354 354 355 355

-

356 356 357 357 358 358 359 359

-

360 360 361 361 362 362 363 363

-

364 364 365 365 366 366 367 367

-

368 368 369 369 370 370 371 371

-

372 372 373 373 374 374 375 375

-

376 376 377 377 378 378 379 379

-

380 380 381 381 382 382 383 383

-

384 384 385 385 386 386 387 387 388 388 389 389 390 390 391 391 392 392 393 393 394 394 395 395 396 396 397 397 398 398 399 399 400 400 401 401 402 402 403 403 404 404 405 405 406 406 407 407

-

408 408 409 409 410 410 411 411

-

412 412 413 413 414 414 415 415 416 416 417 417 418 418 419 419 420 420 421 421 422 422 423 423 424 424 425 425 426 426 427 427 428 428 429 429 430 430 431 431 432 432 433 433 434 434 435 435

-

436 436 437 437 438 438 439 439

- - - - -

440 440 441 440 442 440 443 440 444 440 445 440 446 440 447 440 448 440 449 440 450 440 451 440

- - - - -

452 441 453 442 454 443 455 444

-

456 445 457 446 458 447 459 448

-

460 449 461 450 462 451 463 452

-

464 453 465 454 466 455 467 456

-

468 457 469 458 470 459 471 460

-

472 461 473 462 474 463 475 464

-

476 465 477 466 478 467 479 468

-

480 469 481 470 482 471 483 472

-

484 473 485 474 486 475 487 476

-

488 477 489 478 490 479 491 480

-

492 481 493 482 494 483 495 484

-

496 485 497 486 498 487 499 488

- - - - -

500 489 501 490 502 491 503 492 504 493 505 494 506 495 507 496 508 497 509 498 510 499 511 500

-

512 501 513 502 514 503 515 504

-

516 505 517 506 518 507 519 508

-

520 509 521 510 522 511 523 512

-

524 513 525 514 526 515 527 516

-

528 517 529 518 530 519 531 520

-

532 521 533 522 534 523 535 524

-

536 525 537 526 538 527 539 528

-

540 529 541 530 542 531 543 532

-

544 533 545 534 546 535 547 536

-

548 537 549 538 550 539 551 540

-

552 541 553 542 554 543 555 544

-

556 545 557 546 558 547 559 548

- - - - -

560 549 561 550 562 551 563 552 564 553 565 554 566 555 567 556 568 557 569 558 570 559 571 560

-

572 561 573 562 574 563 575 564

-

576 565 577 566 578 567 579 568

-

580 569 581 570 582 571 583 572

-

584 573 585 574 586 575 587 576

-

588 577 589 578 590 579 591 580

-

592 581 593 582 594 583 595 584

-

596 585 597 586 598 587 599 588

-

600 589 601 590 602 591 603 592

-

604 593 605 594 606 595 607 596

-

608 597 609 598 610 599 611 600

-

612 601 613 602 614 603 615 604

-

616 605 617 606 618 607 619 608

- - - - -

620 609 621 610 622 611 623 612 624 613 625 614 626 615 627 616 628 617 629 618 630 619 631 620

-

632 621 633 622 634 623 635 624

-

636 625 637 626 638 627 639 628

-

640 629 641 630 642 631 643 632

-

644 633 645 634 646 635 647 636

-

648 637 649 638 650 639 651 640

-

652 641 653 642 654 643 655 644

-

656 645 657 646 658 647 659 648

-

660 649 661 650 662 651 663 652

-

664 653 665 654 666 655 667 656

-

668 657 669 658 670 659 671 660

-

672 661 673 662 674 663 675 664

-

676 665 677 666 678 667 679 668

- - - - -

680 669 681 670 682 671 683 672 684 673 685 674 686 675 687 676 688 677 689 678 690 679 691 680

-

692 681 693 682 694 683 695 684

-

696 685 697 686 698 687 699 688

-

700 689 701 690 702 691 703 692

-

704 693 705 694 706 695 707 696

-

708 697 709 698 710 699 711 700

-

712 701 713 702 714 703 715 704

-

716 705 717 706 718 707 719 708

-

720 709 721 710 722 711 723 712

-

724 713 725 714 726 715 727 716

-

728 717 729 718 730 719 731 720

-

732 721 733 722 734 723 735 724

-

736 725 737 726 738 727 739 728

- - - - -

740 729 741 730 742 731 743 732

-

744 733 745 734 746 735 747 736

-

748 737 749 738 750 739 751 740

-

752 741 753 742 754 743 755 744

-

756 745 757 746 758 747 759 748

-

760 749 761 750 762 751 763 752

-

764 753 765 754 766 755 767 756

-

768 757 769 758 770 759 771 760

-

772 761 773 762 774 763 775 764

-

776 765 777 766 778 767 779 768 780 769 781 770 782 771 783 772 784 773 785 774 786 775 787 776

-

788 777 789 778 790 779 791 780

-

792 781 793 782 794 783 795 784 796 785 797 786 798 787 799 788 800 789 801 790 802 791 803 792

-

804 793 805 794 806 795 807 796

- - - - -

808 797 809 798 810 799 811 800

-

812 801 813 802 814 803 815 804

-

816 805 817 806 818 807 819 808

-

820 809 821 810 822 811 823 812

-

824 813 825 814 826 815 827 816

-

828 817 829 818 830 819 831 820 832 821 833 822 834 823 835 824

-

836 825 837 826 838 827 839 828

-

840 829 841 830 842 831 843 832

-

844 833 845 834 846 835 847 836 848 837 849 838 850 839 851 840

-

852 841 853 842 854 843 855 844

- - - - -

856 845 857 846 858 847 859 848

-

860 849 861 850 862 851 863 852

-

864 853 865 854 866 855 867 856

-

868 857 869 858 870 859 871 860

-

872 861 873 862 874 863 875 864

-

876 865 877 866 878 867 879 868

-

880 869 881 870 882 871 883 872

-

884 873 885 874 886 875 887 876

-

888 877 889 878 890 879 891 880

-

892 881 893 882 894 883 895 884

-

896 885 897 886 898 887 899 888

-

900 889 901 890 902 891 903 892

-

904 893 905 894 906 895 907 896

-

908 897 909 898 910 899 911 900

-

912 901 913 902 914 903 915 904

-

916 905 917 906 918 907 919 908

-

920 909 921 910 922 911 923 912

-

924 913 925 914 926 915 927 916

-

928 917 929 918 930 919 931 920

-

932 921 933 922 934 923 935 924

-

936 925 937 926 938 927 939 928

-

940 929 941 930 942 931 943 932

-

944 933 945 934 946 935 947 936 948 937 949 938 950 939 951 940 952 941 953 942 954 943 955 944 956 945 957 946 958 947 959 948 960 949 961 950 962 951 963 952 964 953 965 954 966 955 967 956

-

968 957 969 958 970 959 971 960

-

972 961 973 962 974 963 975 964 976 965 977 966 978 967 979 968 980 969 981 970 982 971 983 972 984 973 985 974 986 975 987 976 988 977 989 978 990 979 991 980 992 981 993 982 994 983 995 984

-

996 985 997 986 998 987 999 988

- - - - -

1000 989 1001 990 1002 991 1003 992

-

1004 993 1005 994 1006 995 1007 996

-

1008 997 1009 998 1010 999 1011 1000

-

1012 1001 1013 1002 1014 1003 1015 1004

-

1016 1005 1017 1006 1018 1007 1019 1008

-

1020 1009 1021 1010 1022 1011 1023 1012

-

1024 1013 1025 1014 1026 1015 1027 1016

-

1028 1017 1029 1018 1030 1019 1031 1020

-

1032 1021 1033 1022 1034 1023 1035 1024

-

1036 1025 1037 1026 1038 1027 1039 1028

-

1040 1029 1041 1030 1042 1031 1043 1032

-

1044 1033 1045 1034 1046 1035 1047 1036

-

1048 1037 1049 1038 1050 1039 1051 1040

-

1052 1041 1053 1042 1054 1043 1055 1044 1056 1045 1057 1046 1058 1047 1059 1048 1060 1049 1061 1050 1062 1051 1063 1052 1064 1053 1065 1054 1066 1055

-

1067 1056 1068 1057 1069 1058 1070 1059

-

1071 1060 1072 1061 1073 1062 1074 1063 1075 1064 1076 1065 1077 1066 1078 1067 1079 1068 1080 1069 1081 1070 1082 1071 1083 1072 1084 1073 1085 1074

-

1086 1075 1087 1076 1088 1077 1089 1078

- - - - -

1090 1079 1091 1080 1092 1081 1093 1082

-

1094 1083 1095 1084 1096 1085 1097 1086

-

1098 1087 1099 1088 1100 1089 1101 1090

-

1102 1091 1103 1092 1104 1093 1105 1094

-

1106 1095 1107 1096 1108 1097 1109 1098

-

1110 1099 1111 1100 1112 1101 1113 1102

-

1114 1103 1115 1104 1116 1105 1117 1106

-

1118 1107 1119 1108 1120 1109 1121 1110

-

1122 1111 1123 1112 1124 1113 1125 1114

-

1126 1115 1127 1116 1128 1117 1129 1118

-

1130 1119 1131 1120 1132 1121 1133 1122

-

1134 1123 1135 1124 1136 1125 1137 1126

-

1138 1127 1139 1128 1140 1129 1141 1130

-

1142 1131 1143 1132 1144 1133 1145 1134

-

1146 1135 1147 1136 1148 1137 1149 1138

-

1150 1139 1151 1140 1152 1141 1153 1142

-

1154 1143 1155 1144 1156 1145 1157 1146

-

1158 1147 1159 1148 1160 1149 1161 1150

-

1162 1151 1163 1152 1164 1153 1165 1154

-

1166 1155 1167 1156 1168 1157 1169 1158

-

1170 1159 1171 1160 1172 1161 1173 1162

-

1174 1163 1175 1164 1176 1165 1177 1166

-

1178 1167 1179 1168 1180 1169 1181 1170 1182 1171 1183 1172 1184 1173 1185 1174 1186 1175 1187 1176 1188 1177 1189 1178 1190 1179 1191 1180 1192 1181 1193 1182 1194 1183 1195 1184 1196 1185 1197 1186 1198 1187 1199 1188 1200 1189 1201 1190

-

1202 1191 1203 1192 1204 1193 1205 1194

-

1206 1195 1207 1196 1208 1197 1209 1198 1210 1199 1211 1200 1212 1201 1213 1202 1214 1203 1215 1204 1216 1205 1217 1206 1218 1207 1219 1208 1220 1209 1221 1210 1222 1211 1223 1212 1224 1213 1225 1214 1226 1215 1227 1216 1228 1217 1229 1218

-

1230 1219 1231 1220 1232 1221 1233 1222

- - - - -

1234 1223 1235 1224 1236 1225 1237 1226

-

1238 1227 1239 1228 1240 1229 1241 1230

-

1242 1231 1243 1232 1244 1233 1245 1234

-

1246 1235 1247 1236 1248 1237 1249 1238

-

1250 1239 1251 1240 1252 1241 1253 1242

-

1254 1243 1255 1244 1256 1245 1257 1246

-

1258 1247 1259 1248 1260 1249 1261 1250

-

1262 1251 1263 1252 1264 1253 1265 1254

-

1266 1255 1267 1256 1268 1257 1269 1258

-

1270 1259 1271 1260 1272 1261 1273 1262

-

1274 1263 1275 1264 1276 1265 1277 1266 1278 1267 1279 1268 1280 1269 1281 1270 1282 1271 1283 1272 1284 1273 1285 1274

-

1286 1275 1287 1276 1288 1277 1289 1278

-

1290 1279 1291 1280 1292 1281 1293 1282 1294 1283 1295 1284 1296 1285 1297 1286 1298 1287 1299 1288 1300 1289 1301 1290

-

1302 1291 1303 1292 1304 1293 1305 1294

- - - - -

1306 1295 1307 1296 1308 1297 1309 1298 1310 1299 1311 1300 1312 1301 1313 1302 1314 1303 1315 1304 1316 1305 1317 1306

-

1318 1307 1319 1308 1320 1309 1321 1310

-

1322 1311 1323 1312 1324 1313 1325 1314

-

1326 1315 1327 1316 1328 1317 1329 1318

-

1330 1319 1331 1320 1332 1321 1333 1322

-

1334 1323 1335 1324 1336 1325 1337 1326

-

1338 1327 1339 1328 1340 1329 1341 1330

-

1342 1331 1343 1332 1344 1333 1345 1334

-

1346 1335 1347 1336 1348 1337 1349 1338

-

1350 1339 1351 1340 1352 1341 1353 1342

-

1354 1343 1355 1344 1356 1345 1357 1346

-

1358 1347 1359 1348 1360 1349 1361 1350

-

1362 1351 1363 1352 1364 1353 1365 1354

- - - - -

1366 1355 1367 1356 1368 1357 1369 1358

-

1370 1359 1371 1360 1372 1361 1373 1362

-

1374 1363 1375 1364 1376 1365 1377 1366

-

1378 1367 1379 1368 1380 1369 1381 1370

-

1382 1371 1383 1372 1384 1373 1385 1374

-

1386 1375 1387 1376 1388 1377 1389 1378

-

1390 1379 1391 1380 1392 1381 1393 1382

-

1394 1383 1395 1384 1396 1385 1397 1386

-

1398 1387 1399 1388 1400 1389 1401 1390

-

1402 1391 1403 1392 1404 1393 1405 1394

-

1406 1395 1407 1396 1408 1397 1409 1398

-

1410 1399 1411 1400 1412 1401 1413 1402

- - - - -

1414 1403 1415 1404 1416 1405 1417 1406

-

1418 1407 1419 1408 1420 1409 1421 1410 1422 1411 1423 1412 1424 1413 1425 1414 1426 1415

-

1427 1416 1428 1417 1429 1418 1430 1419

-

1431 1420 1432 1421 1433 1422 1434 1423 1435 1424 1436 1425 1437 1426 1438 1427 1439 1428

-

1440 1429 1441 1430 1442 1431 1443 1432

- - - - -

1444 1433 1445 1433 1446 1433 1447 1433

- - - - -

1448 1434 1449 1434 1450 1434 1451 1434

- - - - -

1452 1435 1453 1435 1454 1435 1455 1435

- - - - -

1463 1462 1476 1462 1475 1462 1463 1462 1475 1462 1462 1462

- - - - -

1468 1448 1467 1447 1464 1444 1463 1443 1462 1442 1458 1438 1456 1436 1460 1440 1465 1445 1466 1446

-

1481 1461 1479 1459 1478 1458 1474 1454 1470 1450 1472 1452 1475 1455 1476 1456 1477 1457 1480 1460

-

1459 1439 1471 1451 1469 1449 1457 1437

-

1457 1437 1469 1449 1473 1453 1461 1441

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2 2 8 8 6 6 4 4 0 0

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34 34 38 38 12 12 10 10

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38 38 42 42 21 21 17 17 12 12

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36 36 30 30 7 7 9 9

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48 50 49 51 50 52 51 53

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64 66 65 67 66 68 67 69

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136 111 137 112 138 113 139 114

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140 115 141 116 142 117 143 118

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144 119 145 120 146 121 147 122

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148 123 149 124 150 125 151 126

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152 127 153 128 154 129 155 130

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156 131 157 132 158 133 159 134

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59 60 60 61 61 62 62 63 63 64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

-

8 8 9 9 10 10 11 11

-

12 12 13 13 14 14 15 15

-

16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28

-

29 29 30 30 31 31 32 32

-

33 33 34 34 35 35 36 36 37 37 38 38 39 39 40 40 41 41

-

42 42 43 43 44 44 45 45

-

46 46 47 47 48 48 49 49

- - - - -

50 50 51 51 52 52 53 53

-

54 54 55 55 56 56 57 57

-

58 58 59 59 60 60 61 61

-

62 62 63 63 64 64 65 65

-

66 66 67 67 68 68 69 69

-

70 70 71 71 72 72 73 73

-

74 74 75 75 76 76 77 77 78 78 79 79 80 80 81 81 82 82

-

83 83 84 84 85 85 86 86

-

87 87 88 88 89 89 90 90 91 91 92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99

- - - - -

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

-

120 120 121 121 122 122 123 123

- - - - -

124 124 125 125 126 126 127 127

-

128 128 129 129 130 130 131 131

-

132 132 133 133 134 134 135 135

-

136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

-

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

-

156 156 157 157 158 158 159 159

-

160 160 161 161 162 162 163 163

-

164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

- - - - -

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179

-

180 180 181 181 182 182 183 183

-

184 184 185 185 186 186 187 187

-

188 188 189 189 190 190 191 191

-

192 192 193 193 194 194 195 195

- - - - -

196 196 197 197 198 198 199 199

-

200 200 201 201 202 202 203 203

-

204 204 205 205 206 206 207 207

-

208 208 209 209 210 210 211 211

-

212 212 213 213 214 214 215 215

-

216 216 217 217 218 218 219 219

- - - - -

220 220 221 221 222 222 223 223

-

224 224 225 225 226 226 227 227

-

228 228 229 229 230 230 231 231

-

232 232 233 233 234 234 235 235

-

236 236 237 237 238 238 239 239

-

240 240 241 241 242 242 243 243

-

244 244 245 245 246 246 247 247

-

248 248 249 249 250 250 251 251

-

252 252 253 253 254 254 255 255

-

256 256 257 257 258 258 259 259

-

260 260 261 261 262 262 263 263

-

264 264 265 265 266 266 267 267

- - - - -

268 268 269 269 270 270 271 271

-

272 272 273 273 274 274 275 275

-

276 276 277 277 278 278 279 279

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280 280 281 281 282 282 283 283

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284 284 285 285 286 286 287 287

-

288 288 289 289 290 290 291 291

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

-

12 12 13 13 14 14 15 15

-

16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

- - - - -

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

-

60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

- - - - -

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111 112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

- - - - -

120 120 121 121 122 122 123 123 124 124 125 125 126 126 127 127 128 128 129 129 130 130 131 131

-

132 132 133 133 134 134 135 135

-

136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

-

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

-

156 156 157 157 158 158 159 159

-

160 160 161 161 162 162 163 163

-

164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

-

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179

- - - - -

180 180 181 181 182 182 183 183 184 184 185 185 186 186 187 187 188 188 189 189 190 190 191 191

-

192 192 193 193 194 194 195 195

-

196 196 197 197 198 198 199 199

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200 200 201 201 202 202 203 203

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204 204 205 205 206 206 207 207

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208 208 209 209 210 210 211 211

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212 212 213 213 214 214 215 215

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216 216 217 217 218 218 219 219

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220 220 221 221 222 222 223 223

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224 224 225 225 226 226 227 227

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228 228 229 229 230 230 231 231

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232 232 233 233 234 234 235 235

-

236 236 237 237 238 238 239 239

- - - - -

240 240 241 241 242 242 243 243

-

244 244 245 245 246 246 247 247

-

248 248 249 249 250 250 251 251

-

252 252 253 253 254 254 255 255

-

256 256 257 257 258 258 259 259

- - - - -

260 260 261 261 262 262 263 263

-

264 264 265 265 266 266 267 267

-

268 268 269 269 270 270 271 271

-

272 272 273 273 274 274 275 275

-

276 276 277 277 278 278 279 279

- - - - -

280 280 281 281 282 282 283 283

-

284 284 285 285 286 286 287 287

-

288 288 289 289 290 290 291 291

-

292 292 293 293 294 294 295 295

-

296 296 297 297 298 298 299 299

- - - - -

305 316 307 316 315 316 313 316

-

317 316 305 316 313 316 301 316

- - - - -

316 317 300 317 309 317 302 317

-

302 317 309 317 311 317 304 317

- - - - -

312 312 308 308 300 300 301 301

-

315 315 311 311 309 309 313 313

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307 307 304 304 310 310 314 314

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305 305 302 302 303 303 306 306

- - - - - CAT3DBagRep - - - - - - - 75 -50 -28.75 75 50 -28.75 75 50 61.25 75 -50 61.25 -75 -50 -28.75 75 -50 -28.75 75 -50 61.25 -75 -50 61.25 -75 50 61.25 -75 -50 61.25 75 -50 61.25 75 50 61.25 75 50 -28.75 -75 50 -28.75 -75 50 61.25 75 50 61.25 -75 50 -28.75 75 50 -28.75 75 -50 -28.75 -75 -50 -28.75 -75 50 -28.75 -75 -50 -28.75 -75 -50 61.25 -75 50 61.25 - - - - - - - - - - 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -1 0 0 -1 0 0 -1 0 0 -1 0 0 - - - - - - - - - - - - - - -

0 0 1 1 2 2 3 3

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4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

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0 0.000104825 - - - 0 1 0 30 - - - 0 -1 0 60 - - - 0 1 0 30 - - - - - - - - - - 400 0 7.17802e-006 - 0 1 0 90 - - - - - - -5.24977e-011 0 575 - 0 1 0 4.01364e-005 - - - - - - - - - - -606.997 -60 346.998 - 0 1 0 29.755 - - - - - - - - -674.503 130 34.0037 - 0 1 0 2.886 - - - - - - - - - - - - kinmodel.0/joint_0 - - - - kinmodel.0/pseudojoint_1 - - - - =$B1=340;$B2=675.36;$L2=600.389;$C1=1050;$C2=473;$C3=1212;$C4=400;$C5=699.18;$C6=385;$L3=537.247;DOF(18) - - - - - kinmodel.0/joint_10 - - - - - - - SSSA - - SASS - 1050 - - - - - - SSSA - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - 385 - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - 2.14447 - - 473 - - 400 - 1212 - - - - - - =DOF(20);-SSSA($C7,$C4,$C3) - - - - - kinmodel.0/joint_11 - - - - - SASA - 170 - - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - 1.09282 - - 575 - - - - - =SASA(170,$T2-1.09282,575) - - - - - kinmodel.0/joint_12 - - - - - - - SASS - 575 - - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - 1.09282 - - 170 - - - - - - =-SASS(575,$T2-1.09282,170) - - - - - kinmodel.0/joint_13 - - - - - - - SSSA - 385 - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - - - - - - =-SSSA($C6,DOF(20)+$L3,$C5) - - - - - kinmodel.0/joint_14 - - - - - - kinmodel.0/pseudojoint_3 - 537.247 - - - - - =DOF(20)+$L3 - - - - - kinmodel.0/joint_15 - - - - - - - SSSA - 340 - - - 600.389 - kinmodel.0/pseudojoint_2 - - 675.36 - - - - - - =-SSSA($B1,$L2+DOF(19),$B2) - - - - - kinmodel.0/joint_16 - - - - - - kinmodel.0/pseudojoint_2 - 600.389 - - - - - =DOF(19)+$L2 - - - - - kinmodel.0/joint_3 - - - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - - - =$T2=SSSA(DOF(19)+$L2,$B1,$B2) - - - - - kinmodel.0/joint_4 - - - - - - - SSSA - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - 385 - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - - - - =SSSA(DOF(20)+$L3,$C5,$C6)-$T2 - - - - - kinmodel.0/joint_5 - - - - - - - - - - - - - INRANGE - - - - - - SSSA - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - 385 - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - 2.14447 - - - - - - - - - INRANGE - - - - - - SSSA - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - 385 - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - 2.14447 - - - 9 - - - - - SSSA - 473 - 1050 - - SASS - 1050 - - - - - - SSSA - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - 385 - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - 2.14447 - - 473 - - - - - SSSA - 1212 - 400 - - SASS - 1050 - - - - - - SSSA - - - kinmodel.0/pseudojoint_3 - 537.247 - - 699.18 - 385 - - - SSSA - - - kinmodel.0/pseudojoint_2 - 600.389 - - 340 - 675.36 - - - 2.14447 - - 473 - - - - - - - =$A0=SSSA(DOF(20)+$L3,$C5,$C6)-SSSA(DOF(19)+$L2,$B1,$B2)+2.14447;$C7=SASS($C1,$A0,$C2);$SIGN=INRANGE($A0,-PI,PI)-INRANGE($A0,PI,9);-$SIGN*SSSA($C2,$C1,$C7)-SSSA($C3,$C4,$C7) - - - - - kinmodel.0/joint_8 - - - - - - 1 - kinmodel.0/joint_7 - - - - - 1 * DOF(8) - - - - - kinmodel.0/joint_9 - - - - - - kinmodel.0/pseudojoint_6 - - - - - =$B1=340;$B2=675.36;$L2=600.389;$C1=1050;$C2=473;$C3=1212;$C4=400;$C5=699.18;$C6=385;$L3=537.247;-DOF(21) - - - - - - - - - - - - - - atan2 - - - 2 - - - - - a - 2 - - - - - - - - - - - - a - 2 - - - - b - 2 - - - - - c - 2 - - - - - 2 - b - - - 2 - - - - - - b - - - - - - - - - a - 2 - - - - b - 2 - - - - - c - 2 - - - - - 2 - b - - - - - - - - - - - - - - - - - - - - - y - 0 - - - - x - 0 - - - - - - - - - y - - - - x - - - - - - - - - - - y - 0 - - - - x - 0 - - - - - - - - - - - - y - - - - x - - - - - - - - - - - - y - 0 - - - - x - 0 - - - - - - - - - - - y - - - - x - - - - - - - - - - - - - y - 0 - - - - x - 0 - - - - - - - - - - - y - - - - x - - - - - - - - - - - - - - - - - - 2 - - - - - - - a - 2 - - - - b - 2 - - - - - - - - - 2 - a - - b - - - - gamma - - - - - - - - - - - - - - - atan2 - - - a - - - gamma - - - - - b - - - a - - - gamma - - - - - - - - - - - - - - - - - - a - b - - - - a - c - - - - - - - - - - - libkinscenes.kinScene/inst_kinmodel.0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_0/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_1/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_2/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_3/axis0 - - - 62.6141 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_4/axis0 - - - -12.9465 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_5/axis0 - - - -90.0001 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_6/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_7/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_8/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_9/axis0 - - - -0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_10/axis0 - - - -92.1132 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_11/axis0 - - - 4.33092e-005 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_12/axis0 - - - -405 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_13/axis0 - - - -33.1121 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_14/axis0 - - - 537.247 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_15/axis0 - - - -30.1876 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_16/axis0 - - - 600.389 - - - libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_1/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_2/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_3/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/pseudojoint_6/axis0 - - - 0 - - - - - - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0 - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0 - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value - - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0 - - - 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44 44 45 45 46 46 47 47

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4 4 5 5 6 6 7 7

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

- - - - -

24 24 25 25 26 26 27 27

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28 28 29 29 30 30 31 31

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32 32 33 33 34 34 35 35

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36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

- - - - -

44 44 45 44 46 44 47 44

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48 44 49 44 50 44 51 44

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52 44 53 44 54 44 55 44 56 44

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57 44 58 44 59 44 60 44

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133 109 134 109 112 109 110 109

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110 109 124 109 136 109 133 109

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132 110 135 110 122 110 108 110

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108 110 106 110 131 110 132 110

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129 111 126 111 72 111 90 111

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90 111 92 111 130 111 129 111

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128 112 127 112 86 112 88 112

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88 112 70 112 125 112 128 112

- - - - -

113 97 94 78 97 81 115 99

-

103 87 120 104 118 102 100 84

-

67 51 68 52 84 68 81 65

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75 59 61 45 64 48 78 62

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70 54 88 72 77 61 63 47

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65 49 71 55 69 53 62 46

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90 74 72 56 66 50 80 64

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91 75 89 73 79 63 82 66

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102 86 111 95 92 76 83 67

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110 94 112 96 104 88 101 85

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123 107 109 93 99 83 117 101

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116 100 122 106 124 108 119 103

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107 91 121 105 114 98 96 80

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106 90 108 92 98 82 95 79

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74 58 86 70 105 89 93 77

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87 71 85 69 73 57 76 60

- - - - -

147 153 182 153 190 153 191 153 181 153 148 153

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147 153 190 153 194 153 167 153 162 153 154 153

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167 153 194 153 195 153 168 153 176 153 174 153

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148 153 156 153 164 153 168 153 195 153 191 153

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187 154 152 154 146 154 186 154

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188 154 203 154 202 154 160 154 152 154 187 154

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202 154 201 154 197 154 160 154

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184 155 185 155 189 155 150 155

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184 155 150 155 158 155 193 155

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183 155 184 155 193 155 192 155

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158 155 199 155 198 155 192 155 193 155

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158 155 196 155 200 155 199 155

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170 156 204 156 196 156 165 156

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207 156 206 156 204 156 170 156 172 156 205 156

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205 156 172 156 166 156 197 156

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180 157 138 157 179 157 177 157 178 157

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145 157 189 157 179 157 138 157

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171 147 175 151 168 144 166 142

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170 146 174 150 176 152 172 148

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173 149 169 145 165 141 167 143

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158 134 162 138 167 143 165 141

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150 126 154 130 161 137 157 133

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153 129 149 125 145 121 147 123

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138 114 142 118 147 123 145 121

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139 115 143 119 141 117 137 113

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151 127 155 131 148 124 146 122

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159 135 163 139 156 132 152 128

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164 140 160 136 166 142 168 144

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208 194 211 194 249 194 249 194 212 194 208 194 251 194 230 194 224 194 224 194 218 194 251 194 223 194 250 194 217 194 250 194 223 194 229 194 241 194 253 194 235 194 253 194 241 194 236 194

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251 194 254 194 253 194 236 194 230 194

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251 194 218 194 212 194 249 194 245 194 246 194 247 194

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211 194 217 194 250 194 248 194 244 194 245 194 249 194

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253 194 252 194 250 194 229 194 235 194

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237 187 231 181 226 176 220 170 214 164 210 160 216 166 222 172 228 178 233 183 239 189 242 192

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236 186 240 190 234 184 230 180

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211 161 213 163 219 169 217 167

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223 173 225 175 232 182 229 179

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229 179 232 182 238 188 235 185

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235 185 238 188 243 193 241 191

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241 191 243 193 240 190 236 186

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255 195 256 196 257 197 258 198

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271 211 272 212 273 213 274 214

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275 215 276 215 277 215 278 215

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279 215 280 215 281 215 282 215

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283 215 284 215 285 215 286 215 287 215

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288 215 289 215 290 215 291 215

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359 280 356 280 297 280 313 280

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313 280 308 280 358 280 359 280

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333 281 349 281 366 281 363 281

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318 282 302 282 357 282 360 282

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338 283 343 283 365 283 364 283

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355 279 339 263 334 258 350 274

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325 249 344 268 346 270 330 254

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295 219 292 216 306 230 311 235

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320 244 303 227 299 223 315 239

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302 226 318 242 316 240 300 224

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293 217 296 220 301 225 298 222

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313 237 297 221 294 218 310 234

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307 231 312 236 309 233 304 228

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324 248 327 251 308 232 305 229

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333 257 328 252 326 250 331 255

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348 272 332 256 329 253 345 269

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352 276 354 278 349 273 347 271

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337 261 353 277 351 275 335 259

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343 267 338 262 336 260 341 265

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321 245 323 247 342 266 340 264

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317 241 322 246 319 243 314 238

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399 324 424 324 423 324 418 324 419 324 379 324

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399 324 423 324 422 324 397 324 403 324 407 324

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397 324 422 324 417 324 377 324 383 324 391 324

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379 324 375 324 371 324 377 324 417 324 418 324

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411 325 373 325 378 325 416 325

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409 325 408 325 410 325 369 325 373 325 411 325

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410 325 414 325 415 325 369 325

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435 326 430 326 429 326 405 326

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401 326 433 326 436 326 437 326 434 326

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401 326 428 326 427 326 433 326

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389 327 426 327 428 327 396 327

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412 327 425 327 426 327 389 327 381 327 413 327

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413 327 381 327 376 327 415 327

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398 328 429 328 431 328 393 328

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405 321 407 323 403 319 401 317

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393 309 395 311 399 315 398 314

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385 301 387 303 394 310 392 308

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386 302 384 300 378 294 379 295

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373 289 375 291 379 295 378 294

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368 284 370 286 374 290 372 288

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371 287 369 285 376 292 377 293

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380 296 382 298 377 293 376 292

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388 304 390 306 383 299 381 297

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391 307 389 305 396 312 397 313

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456 375 472 375 473 375 483 375 481 375

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483 373 464 354 460 350 481 371

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538 386 539 386 540 386 541 386 542 386

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563 391 564 391 565 391 566 391 567 391

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568 392 569 392 570 392 571 392 572 392

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573 393 574 393 575 393 576 393 577 393

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578 394 579 394 580 394 581 394 582 394

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583 394 584 394 585 394 586 394

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587 395 588 395 589 395 590 395 591 395

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592 395 593 395 594 395 595 395

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596 396 597 396 598 396 599 396

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625 401 626 401 627 401 628 401

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629 402 630 402 631 402 632 402

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633 403 634 403 635 403 636 403

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637 403 638 403 639 403 640 403 641 403

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642 403 643 403 644 403 645 403 646 403

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647 403 648 403 649 403 650 403

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651 404 652 404 653 404 654 404

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655 405 656 405 657 405 658 405

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659 405 660 405 661 405 662 405

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663 406 664 406 665 406 666 406 667 406

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668 406 669 406 670 406 671 406

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692 412 693 412 694 412 695 412

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696 413 697 413 698 413 699 413

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700 414 701 414 702 414 703 414

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704 414 705 414 706 414 707 414 708 414

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709 414 710 414 711 414 712 414

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713 415 714 415 715 415 716 415

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717 416 718 416 719 416 720 416

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721 417 722 417 723 417 724 417 725 417

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726 417 727 417 728 417 729 417

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730 418 731 418 732 418 733 418 734 418

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735 418 736 418 737 418 738 418

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739 419 740 419 741 419 742 419

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743 420 744 420 745 420 746 420

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747 421 748 421 749 421 750 421 751 421

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752 421 753 421 754 421 755 421

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760 423 761 423 762 423 763 423

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764 423 765 423 766 423 767 423

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768 424 769 424 770 424 771 424

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772 424 773 424 774 424 775 424

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776 425 777 425 778 425 779 425

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780 425 781 425 782 425 783 425

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792 428 793 428 794 428 795 428

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800 430 801 430 802 430 803 430

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812 433 813 433 814 433 815 433 816 433

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817 433 818 433 819 433 820 433

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832 436 833 436 834 436

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847 438 848 438 849 438

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843 438 844 438 845 438 846 438

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850 439 851 439 852 439

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853 440 854 440 855 440

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862 441 863 441 864 441

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856 441 857 441 858 441 859 441 860 441 861 441

- - - - -

934 514 978 514 979 514

- - - - -

973 514 970 514 969 514 929 514 980 514 981 514

-

979 514 980 514 929 514 934 514

-

928 514 971 514 976 514 977 514

-

928 514 977 514 978 514 934 514

- - - - -

937 515 941 515 874 515

- - - - -

940 515 939 515 938 515 868 515

-

938 515 937 515 874 515 868 515

- - - - -

892 516 947 516 946 516

- - - - -

956 516 904 516 958 516 960 516 961 516

-

958 516 957 516 959 516 960 516

-

898 516 950 516 954 516 955 516 957 516 958 516 904 516

-

950 516 898 516 892 516 946 516 945 516 949 516

- - - - -

922 517 966 517 968 517 916 517 964 517 963 517

- - - - -

975 517 967 517 966 517 974 517

-

972 517 974 517 966 517 922 517 916 517 963 517 962 517 965 517

- - - - -

899 518 952 518 953 518 951 518

-

893 518 948 518 944 518 942 518 943 518

-

951 518 948 518 893 518 899 518

- - - - -

936 513 933 510 927 504 921 498 915 492 909 486 902 479 896 473 890 467 884 461 878 455 872 449 866 443 870 447 876 453 882 459 888 465 894 471 900 477 907 484 913 490 919 496 925 502 931 508

-

932 509 929 506 923 500 926 503

-

926 503 923 500 917 494 920 497

-

920 497 917 494 911 488 914 491

-

914 491 911 488 905 482 908 485

-

908 485 905 482 899 476 903 480

-

903 480 899 476 893 470 897 474

-

897 474 893 470 887 464 891 468

-

891 468 887 464 881 458 885 462

-

885 462 881 458 875 452 879 456

-

879 456 875 452 869 446 873 450

-

873 450 869 446 865 442 867 444

-

867 444 865 442 868 445 871 448

-

871 448 868 445 874 451 877 454

-

877 454 874 451 880 457 883 460

-

883 460 880 457 886 463 889 466

-

889 466 886 463 892 469 895 472

-

895 472 892 469 898 475 901 478

-

901 478 898 475 904 481 906 483

-

906 483 904 481 910 487 912 489

-

912 489 910 487 916 493 918 495

-

918 495 916 493 922 499 924 501

-

924 501 922 499 928 505 930 507

-

930 507 928 505 934 511 935 512

-

935 512 934 511 929 506 932 509

- - - - -

986 519 987 519 988 519

- - - - -

982 519 983 519 984 519 985 519

- - - - -

993 520 994 520 995 520

- - - - -

989 520 990 520 991 520 992 520

- - - - -

1002 521 1003 521 1004 521

- - - - -

996 521 997 521 998 521 999 521 1000 521 1001 521

- - - - -

1005 522 1006 522 1007 522 1012 522 1013 522 1014 522

- - - - -

1008 522 1009 522 1010 522 1011 522

- - - - -

1015 523 1016 523 1017 523

- - - - -

1028 524 1029 524 1030 524

- - - - -

1018 524 1019 524 1020 524 1021 524

-

1022 524 1023 524 1024 524 1025 524 1026 524 1027 524

- - - - -

1031 525 1032 525 1033 525

- - - - -

1034 526 1035 526 1036 526

- - - - -

1037 527 1038 527 1039 527

- - - - -

1040 528 1041 528 1042 528

- - - - -

1043 529 1044 529 1045 529 1046 529 1047 529 1048 529

- - - - -

1049 530 1050 530 1051 530

- - - - -

1052 531 1053 531 1054 531 1055 531 1056 531 1057 531

- - - - -

1058 532 1059 532 1060 532 1061 532 1062 532 1063 532

- - - - -

1070 533 1071 533 1072 533

- - - - -

1064 533 1065 533 1066 533 1067 533 1068 533 1069 533

- - - - -

1080 534 1081 534 1082 534

- - - - -

1073 534 1074 534 1075 534 1076 534 1077 534 1078 534 1079 534

- - - - -

1088 535 1089 535 1090 535

- - - - -

1083 535 1084 535 1085 535 1086 535 1087 535

- - - - -

1091 536 1092 536 1093 536 1094 536 1095 536 1096 536

- - - - -

1097 537 1098 537 1099 537 1100 537 1101 537 1102 537

- - - - -

1103 538 1104 538 1105 538 1106 538 1107 538 1108 538

- - - - -

1109 539 1110 539 1111 539 1112 539 1113 539 1114 539

- - - - -

1120 540 1121 540 1122 540

- - - - -

1115 540 1116 540 1117 540 1118 540 1119 540

- - - - -

1456 1213 1158 1213 1799 1213 1799 1213 1798 1213 1431 1213

- - - - -

1455 1213 1456 1213 1799 1213 1431 1213

- - - - -

1431 1214 1798 1214 1797 1214 1797 1214 1795 1214 1421 1214

- - - - -

1421 1214 1420 1214 1431 1214 1797 1214

- - - - -

1434 1215 1421 1215 1150 1215 1421 1215 1795 1215 1150 1215

- - - - -

1275 1215 1158 1215 1456 1215 1487 1215 1493 1215 1501 1215 1509 1215 1516 1215 1587 1215 1611 1215

-

1611 1215 1629 1215 1644 1215 1650 1215 1647 1215 1631 1215 1614 1215 1801 1215 1275 1215

-

1614 1215 1590 1215 1519 1215 1512 1215 1504 1215 1496 1215 1490 1215 1497 1215 1801 1215

-

1490 1215 1459 1215 1434 1215 1150 1215 1484 1215 1497 1215

- - - - -

1146 1216 1411 1216 1423 1216 1190 1216 1452 1216 1181 1216

- - - - -

1225 1216 1202 1216 1203 1216 1221 1216 1228 1216

-

1181 1216 1468 1216 1203 1216 1202 1216 1190 1216

-

1203 1216 1468 1216 1466 1216 1191 1216 1197 1216 1208 1216 1480 1216 1221 1216

-

1453 1216 1170 1216 1191 1216 1466 1216

-

1441 1216 1167 1216 1170 1216 1453 1216

-

1424 1216 1153 1216 1167 1216 1441 1216

-

1147 1216 1153 1216 1424 1216 1412 1216

-

1407 1216 1131 1216 1400 1216 1138 1216 1147 1216 1412 1216

-

1411 1216 1146 1216 1139 1216 1130 1216 1131 1216 1407 1216

-

1166 1216 1146 1216 1423 1216 1440 1216

-

1440 1216 1452 1216 1190 1216 1166 1216

- - - - -

1506 1217 1528 1217 1555 1217

- - - - -

1555 1217 1570 1217 1801 1217 1497 1217 1498 1217 1506 1217

-

1246 1217 1513 1217 1529 1217 1521 1217

-

1521 1217 1528 1217 1506 1217 1246 1217

- - - - -

1796 1218 1797 1218 1798 1218 1798 1218 1799 1218 1796 1218

- - - - -

1228 1219 1221 1219 1218 1219

- - - - -

1218 1219 1231 1219 1506 1219 1498 1219 1228 1219

- - - - -

1126 1220 1150 1220 1795 1220

- - - - -

1386 1220 1384 1220 1126 1220 1387 1220

-

1126 1220 1795 1220 1797 1220 1796 1220 1387 1220

- - - - -

1177 1221 1185 1221 1187 1221 1187 1221 1451 1221 1177 1221 1142 1221 1154 1221 1152 1221 1142 1221 1152 1221 1409 1221 1143 1221 1410 1221 1422 1221

- - - - -

1451 1221 1187 1221 1189 1221 1165 1221 1436 1221

-

1422 1221 1436 1221 1165 1221 1145 1221 1143 1221

-

1409 1221 1406 1221 1133 1221 1132 1221 1142 1221

-

1410 1221 1143 1221 1136 1221 1133 1221 1406 1221

- - - - -

1184 1222 1465 1222 1450 1222

- - - - -

1184 1222 1183 1222 1469 1222 1201 1222

-

1164 1222 1163 1222 1444 1222 1173 1222 1182 1222

-

1129 1222 1141 1222 1413 1222 1425 1222 1435 1222 1163 1222 1164 1222 1162 1222 1154 1222

-

1450 1222 1162 1222 1164 1222 1182 1222 1183 1222 1184 1222

-

1481 1222 1212 1222 1210 1222 1215 1222

-

1199 1222 1200 1222 1186 1222 1185 1222 1193 1222

-

1210 1222 1200 1222 1199 1222 1222 1222 1215 1222

-

1478 1222 1224 1222 1222 1222 1199 1222 1198 1222 1201 1222 1206 1222

-

1465 1222 1184 1222 1198 1222 1199 1222 1193 1222

- - - - -

1368 1223 1354 1223 1686 1223 1368 1223 1686 1223 1700 1223 1368 1223 1700 1223 1701 1223 1699 1223 1685 1223 1365 1223 1685 1223 1684 1223 1365 1223

- - - - -

1365 1223 1368 1223 1701 1223 1699 1223

- - - - -

1338 1224 1684 1224 1678 1224 1338 1224 1678 1224 1676 1224 1338 1224 1676 1224 1675 1224 1677 1224 1679 1224 1342 1224 1679 1224 1350 1224 1342 1224

- - - - -

1677 1224 1342 1224 1338 1224 1675 1224

- - - - -

1293 1225 1272 1225 1578 1225 1293 1225 1578 1225 1583 1225 1293 1225 1583 1225 1584 1225 1582 1225 1577 1225 1585 1225 1577 1225 1568 1225 1585 1225

- - - - -

1585 1225 1293 1225 1584 1225 1582 1225

- - - - -

1262 1226 1568 1226 1565 1226 1262 1226 1565 1226 1563 1226 1262 1226 1563 1226 1562 1226 1564 1226 1566 1226 1264 1226 1566 1226 1269 1226 1264 1226

- - - - -

1564 1226 1264 1226 1262 1226 1562 1226

- - - - -

1367 1227 1373 1227 1725 1227 1367 1227 1725 1227 1716 1227 1367 1227 1716 1227 1714 1227 1715 1227 1724 1227 1363 1227 1724 1227 1375 1227 1363 1227

- - - - -

1363 1227 1367 1227 1714 1227 1715 1227

- - - - -

1380 1228 1375 1228 1736 1228 1380 1228 1736 1228 1738 1228 1380 1228 1738 1228 1740 1228 1739 1228 1737 1228 1382 1228 1737 1228 1377 1228 1382 1228

- - - - -

1739 1228 1382 1228 1380 1228 1740 1228

- - - - -

1345 1229 1680 1229 1682 1229

- - - - -

1682 1229 1354 1229 1357 1229 1356 1229

-

1345 1229 1682 1229 1356 1229 1355 1229 1348 1229 1344 1229

-

1345 1229 1346 1229 1347 1229 1350 1229 1680 1229

- - - - -

1371 1230 1723 1230 1721 1230

- - - - -

1359 1230 1370 1230 1369 1230 1367 1230 1358 1230

-

1370 1230 1721 1230 1373 1230 1369 1230

-

1371 1230 1721 1230 1370 1230 1359 1230 1360 1230 1361 1230

-

1371 1230 1379 1230 1378 1230 1377 1230 1723 1230

- - - - -

1287 1231 1579 1231 1581 1231

- - - - -

1581 1231 1272 1231 1273 1231 1288 1231

-

1581 1231 1288 1231 1296 1231 1295 1231 1294 1231 1287 1231

-

1269 1231 1579 1231 1287 1231 1267 1231

- - - - -

1308 1232 1310 1232 1311 1232 1318 1232 1321 1232 1320 1232

- - - - -

1300 1232 1308 1232 1311 1232 1318 1232 1320 1232 1319 1232 1802 1232 1315 1232 1307 1232

- - - - -

1260 1233 1265 1233 1266 1233 1282 1233 1286 1233 1285 1233

- - - - -

1281 1233 1569 1233 1284 1233 1283 1233

-

1282 1233 1285 1233 1284 1233 1569 1233 1554 1233 1257 1233 1800 1233 1255 1233 1260 1233 1266 1233

- - - - -

1235 1234 1231 1234 1232 1234 1396 1234 1387 1234 1796 1234 1796 1234 1402 1234 1396 1234 1796 1234 1416 1234 1402 1234 1158 1234 1439 1234 1428 1234 1158 1234 1445 1234 1439 1234 1158 1234 1462 1234 1445 1234 1158 1234 1472 1234 1462 1234 1158 1234 1477 1234 1472 1234 1231 1234 1483 1234 1479 1234

- - - - -

1796 1234 1799 1234 1158 1234 1428 1234 1416 1234

-

1477 1234 1158 1234 1232 1234 1231 1234 1479 1234

-

1231 1234 1218 1234 1482 1234 1483 1234

- - - - -

1238 1235 1235 1235 1234 1235

- - - - -

1248 1235 1241 1235 1238 1235 1234 1235 1233 1235 1247 1235

- - - - -

1309 1236 1303 1236 1302 1236

- - - - -

1309 1236 1302 1236 1301 1236 1305 1236 1313 1236 1316 1236 1317 1236

- - - - -

1513 1237 1241 1237 1251 1237 1254 1237

-

1259 1237 1529 1237 1513 1237 1254 1237

- - - - -

1533 1238 1537 1238 1269 1238 1566 1238

-

1537 1238 1580 1238 1579 1238 1269 1238

- - - - -

1537 1239 1541 1239 1578 1239 1272 1239

-

1581 1239 1580 1239 1537 1239 1272 1239

- - - - -

1705 1240 1709 1240 1350 1240 1679 1240

-

1709 1240 1681 1240 1680 1240 1350 1240

- - - - -

1709 1241 1713 1241 1686 1241 1354 1241

-

1682 1241 1681 1241 1709 1241 1354 1241

- - - - -

1774 1242 1770 1242 1377 1242 1737 1242

-

1770 1242 1722 1242 1723 1242 1377 1242

- - - - -

1770 1243 1764 1243 1725 1243 1373 1243

-

1721 1243 1722 1243 1770 1243 1373 1243

- - - - -

1569 1244 1281 1244 1801 1244 1570 1244

-

1281 1244 1277 1244 1275 1244 1801 1244

- - - - -

1651 1245 1331 1245 1328 1245 1329 1245

-

1335 1245 1803 1245 1330 1245 1331 1245 1651 1245 1804 1245 1343 1245 1340 1245

-

1331 1245 1330 1245 1327 1245 1328 1245

- - - - -

1721 1246 1723 1246 1722 1246

- - - - -

1721 1247 1723 1247 1722 1247 1682 1247 1680 1247 1681 1247

- - - - -

1721 1248 1723 1248 1722 1248 1682 1248 1680 1248 1681 1248 1581 1248 1579 1248 1580 1248

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

-

1481 899 1215 633 1482 900 1218 636

-

1480 898 1212 630 1481 899 1221 639

-

1208 626 1476 894 1212 630 1480 898

-

1470 888 1467 885 1186 604 1210 628 1475 893

-

1474 892 1471 889 1476 894 1208 626

-

1464 882 1461 879 1471 889 1474 892

-

1138 556 1405 823 1418 836 1430 848 1443 861 1448 866 1463 881 1473 891 1197 615

-

1429 847 1426 844 1438 856 1442 860

-

1442 860 1438 856 1447 865 1449 867

-

1449 867 1447 865 1461 879 1464 882

-

1189 607 1467 885 1460 878 1446 864 1437 855 1427 845 1415 833 1408 826 1145 563

-

1417 835 1414 832 1426 844 1429 847

-

1404 822 1403 821 1414 832 1417 835

-

1397 815 1394 812 1403 821 1404 822

-

1130 548 1126 544 1391 809 1398 816 1400 818

-

1123 541 1383 801 1388 806 1390 808

-

1390 808 1388 806 1394 812 1397 815

-

1393 811 1129 547 1132 550 1136 554 1399 817 1395 813 1389 807 1384 802 1386 804

-

1392 810 1385 803 1387 805 1396 814

-

1401 819 1392 810 1396 814 1402 820

-

1413 831 1401 819 1402 820 1416 834

-

1425 843 1413 831 1416 834 1428 846

-

1435 853 1425 843 1428 846 1439 857

-

1444 862 1435 853 1439 857 1445 863

-

1173 591 1444 862 1445 863 1462 880

-

1469 887 1173 591 1462 880 1472 890

-

1206 624 1469 887 1472 890 1477 895

-

1478 896 1206 624 1477 895 1479 897

-

1224 642 1478 896 1479 897 1483 901

-

1215 633 1224 642 1483 901 1482 900

- - - - -

1721 1249 1723 1249 1722 1249 1682 1249 1680 1249 1681 1249 1581 1249 1579 1249 1580 1249 1553 1249 1559 1249 1608 1249 1559 1249 1574 1249 1608 1249 1574 1249 1594 1249 1608 1249 1594 1249 1602 1249 1608 1249 1602 1249 1624 1249 1608 1249 1624 1249 1639 1249 1608 1249 1576 1249 1561 1249 1606 1249 1596 1249 1576 1249 1606 1249 1604 1249 1596 1249 1606 1249 1626 1249 1604 1249 1606 1249 1641 1249 1626 1249 1606 1249 1733 1249 1692 1249 1665 1249 1692 1249 1674 1249 1665 1249 1674 1249 1656 1249 1665 1249 1656 1249 1641 1249 1665 1249 1665 1249 1641 1249 1606 1249 1756 1249 1665 1249 1668 1249 1750 1249 1756 1249 1668 1249 1744 1249 1750 1249 1668 1249 1731 1249 1744 1249 1668 1249 1690 1249 1731 1249 1668 1249 1672 1249 1690 1249 1668 1249 1654 1249 1672 1249 1668 1249 1639 1249 1654 1249 1668 1249 1606 1249 1549 1249 1608 1249 1561 1249 1549 1249 1606 1249 1746 1249 1733 1249 1665 1249 1756 1249 1746 1249 1665 1249 1549 1249 1553 1249 1608 1249

- - - - -

1639 1249 1668 1249 1665 1249 1606 1249 1608 1249

-

1561 1249 1266 1249 1546 1249 1549 1249

-

1576 1249 1282 1249 1266 1249 1561 1249

-

1596 1249 1591 1249 1282 1249 1576 1249

-

1604 1249 1311 1249 1591 1249 1596 1249

-

1318 1249 1311 1249 1604 1249 1626 1249

-

1634 1249 1318 1249 1626 1249 1641 1249

-

1651 1249 1634 1249 1641 1249 1656 1249

-

1669 1249 1651 1249 1656 1249 1674 1249

-

1687 1249 1669 1249 1674 1249 1692 1249

-

1687 1249 1692 1249 1733 1249 1728 1249

-

1733 1249 1746 1249 1741 1249 1728 1249

-

1746 1249 1756 1249 1753 1249 1741 1249

-

1744 1249 1742 1249 1753 1249 1756 1249 1750 1249

-

1731 1249 1729 1249 1742 1249 1744 1249

-

1690 1249 1688 1249 1729 1249 1731 1249

-

1672 1249 1670 1249 1688 1249 1690 1249

-

1654 1249 1652 1249 1670 1249 1672 1249

-

1639 1249 1635 1249 1652 1249 1654 1249

-

1624 1249 1622 1249 1635 1249 1639 1249

-

1602 1249 1600 1249 1622 1249 1624 1249

-

1594 1249 1592 1249 1600 1249 1602 1249

-

1574 1249 1572 1249 1592 1249 1594 1249

-

1559 1249 1557 1249 1572 1249 1574 1249

-

1546 1249 1557 1249 1559 1249 1553 1249 1549 1249

-

1578 1249 1541 1249 1545 1249 1583 1249

-

1551 1249 1584 1249 1583 1249 1545 1249

-

1543 1249 1582 1249 1584 1249 1551 1249

-

1582 1249 1543 1249 1539 1249 1577 1249

-

1523 1249 1562 1249 1563 1249 1525 1249

-

1527 1249 1564 1249 1562 1249 1523 1249

-

1564 1249 1527 1249 1533 1249 1566 1249

-

1537 1249 1533 1249 1527 1249 1523 1249 1525 1249 1531 1249 1536 1249 1539 1249 1543 1249 1551 1249 1545 1249 1541 1249

-

1565 1249 1531 1249 1525 1249 1563 1249

-

1531 1249 1565 1249 1568 1249 1536 1249

-

1536 1249 1568 1249 1577 1249 1539 1249

-

1720 1249 1700 1249 1686 1249 1713 1249

-

1727 1249 1701 1249 1700 1249 1720 1249

-

1718 1249 1699 1249 1701 1249 1727 1249

-

1709 1249 1705 1249 1698 1249 1694 1249 1696 1249 1703 1249 1708 1249 1711 1249 1718 1249 1727 1249 1720 1249 1713 1249

-

1705 1249 1679 1249 1677 1249 1698 1249

-

1698 1249 1677 1249 1675 1249 1694 1249

-

1694 1249 1675 1249 1676 1249 1696 1249

-

1696 1249 1676 1249 1678 1249 1703 1249

-

1703 1249 1678 1249 1684 1249 1708 1249

-

1708 1249 1684 1249 1685 1249 1711 1249

-

1711 1249 1685 1249 1699 1249 1718 1249

-

1760 1249 1716 1249 1725 1249 1764 1249

-

1752 1249 1714 1249 1716 1249 1760 1249

-

1758 1249 1715 1249 1714 1249 1752 1249

-

1770 1249 1774 1249 1788 1249 1790 1249 1786 1249 1772 1249 1769 1249 1762 1249 1758 1249 1752 1249 1760 1249 1764 1249

-

1774 1249 1737 1249 1739 1249 1788 1249

-

1788 1249 1739 1249 1740 1249 1790 1249

-

1790 1249 1740 1249 1738 1249 1786 1249

-

1786 1249 1738 1249 1736 1249 1772 1249

-

1772 1249 1736 1249 1375 1249 1769 1249

-

1769 1249 1375 1249 1724 1249 1762 1249

-

1762 1249 1724 1249 1715 1249 1758 1249

-

1466 1249 1177 1249 1451 1249 1453 1249

-

1453 1249 1451 1249 1436 1249 1441 1249

-

1441 1249 1436 1249 1422 1249 1424 1249

-

1424 1249 1422 1249 1410 1249 1412 1249

-

1412 1249 1410 1249 1406 1249 1407 1249

-

1407 1249 1406 1249 1409 1249 1411 1249

-

1411 1249 1409 1249 1152 1249 1423 1249

-

1423 1249 1152 1249 1162 1249 1440 1249

-

1440 1249 1162 1249 1450 1249 1452 1249

-

1452 1249 1450 1249 1465 1249 1181 1249

-

1181 1249 1465 1249 1193 1249 1468 1249

-

1468 1249 1193 1249 1177 1249 1466 1249

-

1647 1249 1650 1249 1649 1249 1646 1249

-

1631 1249 1647 1249 1646 1249 1630 1249

-

1614 1249 1631 1249 1630 1249 1613 1249

-

1590 1249 1614 1249 1613 1249 1589 1249

-

1519 1249 1590 1249 1589 1249 1518 1249

-

1512 1249 1519 1249 1518 1249 1511 1249

-

1504 1249 1512 1249 1511 1249 1503 1249

-

1496 1249 1504 1249 1503 1249 1495 1249

-

1490 1249 1496 1249 1495 1249 1489 1249

-

1459 1249 1490 1249 1489 1249 1458 1249

-

1434 1249 1459 1249 1458 1249 1433 1249

-

1421 1249 1434 1249 1433 1249 1420 1249

-

1643 1249 1628 1249 1610 1249 1586 1249 1515 1249 1508 1249 1500 1249 1492 1249 1486 1249 1455 1249 1431 1249 1420 1249 1433 1249 1458 1249 1489 1249 1495 1249 1503 1249 1511 1249 1518 1249 1589 1249 1613 1249 1630 1249 1646 1249 1649 1249

-

1487 1249 1456 1249 1455 1249 1486 1249

-

1493 1249 1487 1249 1486 1249 1492 1249

-

1501 1249 1493 1249 1492 1249 1500 1249

-

1509 1249 1501 1249 1500 1249 1508 1249

-

1516 1249 1509 1249 1508 1249 1515 1249

-

1587 1249 1516 1249 1515 1249 1586 1249

-

1611 1249 1587 1249 1586 1249 1610 1249

-

1629 1249 1611 1249 1610 1249 1628 1249

-

1644 1249 1629 1249 1628 1249 1643 1249

-

1650 1249 1644 1249 1643 1249 1649 1249

-

1481 1249 1215 1249 1482 1249 1218 1249

-

1480 1249 1212 1249 1481 1249 1221 1249

-

1208 1249 1476 1249 1212 1249 1480 1249

-

1471 1249 1467 1249 1186 1249 1210 1249 1476 1249

-

1474 1249 1471 1249 1476 1249 1208 1249

-

1464 1249 1461 1249 1471 1249 1474 1249

-

1138 1249 1405 1249 1418 1249 1430 1249 1443 1249 1449 1249 1464 1249 1474 1249 1197 1249

-

1430 1249 1427 1249 1438 1249 1443 1249

-

1443 1249 1438 1249 1447 1249 1449 1249

-

1449 1249 1447 1249 1461 1249 1464 1249

-

1189 1249 1467 1249 1461 1249 1447 1249 1438 1249 1427 1249 1415 1249 1408 1249 1145 1249

-

1418 1249 1415 1249 1427 1249 1430 1249

-

1405 1249 1403 1249 1415 1249 1418 1249

-

1398 1249 1395 1249 1403 1249 1405 1249

-

1130 1249 1126 1249 1391 1249 1398 1249 1400 1249

-

1126 1249 1384 1249 1389 1249 1391 1249

-

1391 1249 1389 1249 1395 1249 1398 1249

-

1393 1249 1129 1249 1132 1249 1136 1249 1399 1249 1395 1249 1389 1249 1384 1249 1386 1249

-

1393 1249 1386 1249 1387 1249 1396 1249

-

1141 1249 1393 1249 1396 1249 1402 1249

-

1413 1249 1141 1249 1402 1249 1416 1249

-

1425 1249 1413 1249 1416 1249 1428 1249

-

1435 1249 1425 1249 1428 1249 1439 1249

-

1444 1249 1435 1249 1439 1249 1445 1249

-

1173 1249 1444 1249 1445 1249 1462 1249

-

1469 1249 1173 1249 1462 1249 1472 1249

-

1206 1249 1469 1249 1472 1249 1477 1249

-

1478 1249 1206 1249 1477 1249 1479 1249

-

1224 1249 1478 1249 1479 1249 1483 1249

-

1215 1249 1224 1249 1483 1249 1482 1249

-

1498 1249 1497 1249 1484 1249 1228 1249

- - - - -

1721 1250 1723 1250 1722 1250 1682 1250 1680 1250 1681 1250 1581 1250 1579 1250 1580 1250 1553 1250 1559 1250 1608 1250 1559 1250 1574 1250 1608 1250 1574 1250 1594 1250 1608 1250 1594 1250 1602 1250 1608 1250 1602 1250 1624 1250 1608 1250 1624 1250 1639 1250 1608 1250 1576 1250 1561 1250 1606 1250 1596 1250 1576 1250 1606 1250 1604 1250 1596 1250 1606 1250 1626 1250 1604 1250 1606 1250 1641 1250 1626 1250 1606 1250 1733 1250 1692 1250 1665 1250 1692 1250 1674 1250 1665 1250 1674 1250 1656 1250 1665 1250 1656 1250 1641 1250 1665 1250 1665 1250 1641 1250 1606 1250 1756 1250 1665 1250 1668 1250 1750 1250 1756 1250 1668 1250 1744 1250 1750 1250 1668 1250 1731 1250 1744 1250 1668 1250 1690 1250 1731 1250 1668 1250 1672 1250 1690 1250 1668 1250 1654 1250 1672 1250 1668 1250 1639 1250 1654 1250 1668 1250 1606 1250 1549 1250 1608 1250 1561 1250 1549 1250 1606 1250 1746 1250 1733 1250 1665 1250 1756 1250 1746 1250 1665 1250 1549 1250 1553 1250 1608 1250

- - - - -

1639 1250 1668 1250 1665 1250 1606 1250 1608 1250

-

1561 1250 1266 1250 1546 1250 1549 1250

-

1576 1250 1282 1250 1266 1250 1561 1250

-

1596 1250 1591 1250 1282 1250 1576 1250

-

1604 1250 1311 1250 1591 1250 1596 1250

-

1318 1250 1311 1250 1604 1250 1626 1250

-

1634 1250 1318 1250 1626 1250 1641 1250

-

1651 1250 1634 1250 1641 1250 1656 1250

-

1669 1250 1651 1250 1656 1250 1674 1250

-

1687 1250 1669 1250 1674 1250 1692 1250

-

1687 1250 1692 1250 1733 1250 1728 1250

-

1733 1250 1746 1250 1741 1250 1728 1250

-

1746 1250 1756 1250 1753 1250 1741 1250

-

1744 1250 1742 1250 1753 1250 1756 1250 1750 1250

-

1731 1250 1729 1250 1742 1250 1744 1250

-

1690 1250 1688 1250 1729 1250 1731 1250

-

1672 1250 1670 1250 1688 1250 1690 1250

-

1654 1250 1652 1250 1670 1250 1672 1250

-

1639 1250 1635 1250 1652 1250 1654 1250

-

1624 1250 1622 1250 1635 1250 1639 1250

-

1602 1250 1600 1250 1622 1250 1624 1250

-

1594 1250 1592 1250 1600 1250 1602 1250

-

1574 1250 1572 1250 1592 1250 1594 1250

-

1559 1250 1557 1250 1572 1250 1574 1250

-

1546 1250 1557 1250 1559 1250 1553 1250 1549 1250

-

1578 1250 1541 1250 1545 1250 1583 1250

-

1551 1250 1584 1250 1583 1250 1545 1250

-

1543 1250 1582 1250 1584 1250 1551 1250

-

1582 1250 1543 1250 1539 1250 1577 1250

-

1523 1250 1562 1250 1563 1250 1525 1250

-

1527 1250 1564 1250 1562 1250 1523 1250

-

1564 1250 1527 1250 1533 1250 1566 1250

-

1537 1250 1533 1250 1527 1250 1523 1250 1525 1250 1531 1250 1536 1250 1539 1250 1543 1250 1551 1250 1545 1250 1541 1250

-

1565 1250 1531 1250 1525 1250 1563 1250

-

1531 1250 1565 1250 1568 1250 1536 1250

-

1536 1250 1568 1250 1577 1250 1539 1250

-

1720 1250 1700 1250 1686 1250 1713 1250

-

1727 1250 1701 1250 1700 1250 1720 1250

-

1718 1250 1699 1250 1701 1250 1727 1250

-

1709 1250 1705 1250 1698 1250 1694 1250 1696 1250 1703 1250 1708 1250 1711 1250 1718 1250 1727 1250 1720 1250 1713 1250

-

1705 1250 1679 1250 1677 1250 1698 1250

-

1698 1250 1677 1250 1675 1250 1694 1250

-

1694 1250 1675 1250 1676 1250 1696 1250

-

1696 1250 1676 1250 1678 1250 1703 1250

-

1703 1250 1678 1250 1684 1250 1708 1250

-

1708 1250 1684 1250 1685 1250 1711 1250

-

1711 1250 1685 1250 1699 1250 1718 1250

-

1760 1250 1716 1250 1725 1250 1764 1250

-

1752 1250 1714 1250 1716 1250 1760 1250

-

1758 1250 1715 1250 1714 1250 1752 1250

-

1770 1250 1774 1250 1788 1250 1790 1250 1786 1250 1772 1250 1769 1250 1762 1250 1758 1250 1752 1250 1760 1250 1764 1250

-

1774 1250 1737 1250 1739 1250 1788 1250

-

1788 1250 1739 1250 1740 1250 1790 1250

-

1790 1250 1740 1250 1738 1250 1786 1250

-

1786 1250 1738 1250 1736 1250 1772 1250

-

1772 1250 1736 1250 1375 1250 1769 1250

-

1769 1250 1375 1250 1724 1250 1762 1250

-

1762 1250 1724 1250 1715 1250 1758 1250

-

1466 1250 1177 1250 1451 1250 1453 1250

-

1453 1250 1451 1250 1436 1250 1441 1250

-

1441 1250 1436 1250 1422 1250 1424 1250

-

1424 1250 1422 1250 1410 1250 1412 1250

-

1412 1250 1410 1250 1406 1250 1407 1250

-

1407 1250 1406 1250 1409 1250 1411 1250

-

1411 1250 1409 1250 1152 1250 1423 1250

-

1423 1250 1152 1250 1162 1250 1440 1250

-

1440 1250 1162 1250 1450 1250 1452 1250

-

1452 1250 1450 1250 1465 1250 1181 1250

-

1181 1250 1465 1250 1193 1250 1468 1250

-

1468 1250 1193 1250 1177 1250 1466 1250

-

1647 1250 1650 1250 1649 1250 1646 1250

-

1631 1250 1647 1250 1646 1250 1630 1250

-

1614 1250 1631 1250 1630 1250 1613 1250

-

1590 1250 1614 1250 1613 1250 1589 1250

-

1519 1250 1590 1250 1589 1250 1518 1250

-

1512 1250 1519 1250 1518 1250 1511 1250

-

1504 1250 1512 1250 1511 1250 1503 1250

-

1496 1250 1504 1250 1503 1250 1495 1250

-

1490 1250 1496 1250 1495 1250 1489 1250

-

1459 1250 1490 1250 1489 1250 1458 1250

-

1434 1250 1459 1250 1458 1250 1433 1250

-

1421 1250 1434 1250 1433 1250 1420 1250

-

1643 1250 1628 1250 1610 1250 1586 1250 1515 1250 1508 1250 1500 1250 1492 1250 1486 1250 1455 1250 1431 1250 1420 1250 1433 1250 1458 1250 1489 1250 1495 1250 1503 1250 1511 1250 1518 1250 1589 1250 1613 1250 1630 1250 1646 1250 1649 1250

-

1487 1250 1456 1250 1455 1250 1486 1250

-

1493 1250 1487 1250 1486 1250 1492 1250

-

1501 1250 1493 1250 1492 1250 1500 1250

-

1509 1250 1501 1250 1500 1250 1508 1250

-

1516 1250 1509 1250 1508 1250 1515 1250

-

1587 1250 1516 1250 1515 1250 1586 1250

-

1611 1250 1587 1250 1586 1250 1610 1250

-

1629 1250 1611 1250 1610 1250 1628 1250

-

1644 1250 1629 1250 1628 1250 1643 1250

-

1650 1250 1644 1250 1643 1250 1649 1250

-

1481 1250 1215 1250 1482 1250 1218 1250

-

1480 1250 1212 1250 1481 1250 1221 1250

-

1208 1250 1476 1250 1212 1250 1480 1250

-

1471 1250 1467 1250 1186 1250 1210 1250 1476 1250

-

1474 1250 1471 1250 1476 1250 1208 1250

-

1464 1250 1461 1250 1471 1250 1474 1250

-

1138 1250 1405 1250 1418 1250 1430 1250 1443 1250 1449 1250 1464 1250 1474 1250 1197 1250

-

1430 1250 1427 1250 1438 1250 1443 1250

-

1443 1250 1438 1250 1447 1250 1449 1250

-

1449 1250 1447 1250 1461 1250 1464 1250

-

1189 1250 1467 1250 1461 1250 1447 1250 1438 1250 1427 1250 1415 1250 1408 1250 1145 1250

-

1418 1250 1415 1250 1427 1250 1430 1250

-

1405 1250 1403 1250 1415 1250 1418 1250

-

1398 1250 1395 1250 1403 1250 1405 1250

-

1130 1250 1126 1250 1391 1250 1398 1250 1400 1250

-

1126 1250 1384 1250 1389 1250 1391 1250

-

1391 1250 1389 1250 1395 1250 1398 1250

-

1393 1250 1129 1250 1132 1250 1136 1250 1399 1250 1395 1250 1389 1250 1384 1250 1386 1250

-

1393 1250 1386 1250 1387 1250 1396 1250

-

1141 1250 1393 1250 1396 1250 1402 1250

-

1413 1250 1141 1250 1402 1250 1416 1250

-

1425 1250 1413 1250 1416 1250 1428 1250

-

1435 1250 1425 1250 1428 1250 1439 1250

-

1444 1250 1435 1250 1439 1250 1445 1250

-

1173 1250 1444 1250 1445 1250 1462 1250

-

1469 1250 1173 1250 1462 1250 1472 1250

-

1206 1250 1469 1250 1472 1250 1477 1250

-

1478 1250 1206 1250 1477 1250 1479 1250

-

1224 1250 1478 1250 1479 1250 1483 1250

-

1215 1250 1224 1250 1483 1250 1482 1250

-

1498 1250 1497 1250 1484 1250 1228 1250

-

1225 1250 1484 1250 1150 1250 1139 1250

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

-

1481 899 1215 633 1482 900 1218 636

-

1480 898 1212 630 1481 899 1221 639

-

1208 626 1476 894 1212 630 1480 898

-

1470 888 1467 885 1186 604 1210 628 1475 893

-

1474 892 1471 889 1476 894 1208 626

-

1464 882 1461 879 1471 889 1474 892

-

1138 556 1405 823 1418 836 1430 848 1443 861 1448 866 1463 881 1473 891 1197 615

-

1429 847 1426 844 1438 856 1442 860

-

1442 860 1438 856 1447 865 1449 867

-

1449 867 1447 865 1461 879 1464 882

-

1189 607 1467 885 1460 878 1446 864 1437 855 1427 845 1415 833 1408 826 1145 563

-

1417 835 1414 832 1426 844 1429 847

-

1404 822 1403 821 1414 832 1417 835

-

1397 815 1394 812 1403 821 1404 822

-

1130 548 1126 544 1391 809 1398 816 1400 818

-

1123 541 1383 801 1388 806 1390 808

-

1390 808 1388 806 1394 812 1397 815

-

1393 811 1129 547 1132 550 1136 554 1399 817 1395 813 1389 807 1384 802 1386 804

-

1392 810 1385 803 1387 805 1396 814

-

1401 819 1392 810 1396 814 1402 820

-

1413 831 1401 819 1402 820 1416 834

-

1425 843 1413 831 1416 834 1428 846

-

1435 853 1425 843 1428 846 1439 857

-

1444 862 1435 853 1439 857 1445 863

-

1173 591 1444 862 1445 863 1462 880

-

1469 887 1173 591 1462 880 1472 890

-

1206 624 1469 887 1472 890 1477 895

-

1478 896 1206 624 1477 895 1479 897

-

1224 642 1478 896 1479 897 1483 901

-

1215 633 1224 642 1483 901 1482 900

-

1498 916 1497 915 1484 902 1226 644

-

1225 643 1484 902 1150 568 1139 557

-

1259 677 1520 938 1521 939 1529 947

-

1520 938 1257 675 1528 946 1521 939

-

1257 675 1554 972 1555 973 1528 946

-

1554 972 1569 987 1570 988 1555 973

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

-

1481 899 1215 633 1482 900 1218 636

-

1480 898 1212 630 1481 899 1221 639

-

1208 626 1476 894 1212 630 1480 898

-

1470 888 1467 885 1186 604 1210 628 1475 893

-

1474 892 1471 889 1476 894 1208 626

-

1464 882 1461 879 1471 889 1474 892

-

1138 556 1405 823 1418 836 1430 848 1443 861 1448 866 1463 881 1473 891 1197 615

-

1429 847 1426 844 1438 856 1442 860

-

1442 860 1438 856 1447 865 1449 867

-

1449 867 1447 865 1461 879 1464 882

-

1189 607 1467 885 1460 878 1446 864 1437 855 1427 845 1415 833 1408 826 1145 563

-

1417 835 1414 832 1426 844 1429 847

-

1404 822 1403 821 1414 832 1417 835

-

1397 815 1394 812 1403 821 1404 822

-

1130 548 1126 544 1391 809 1398 816 1400 818

-

1123 541 1383 801 1388 806 1390 808

-

1390 808 1388 806 1394 812 1397 815

-

1393 811 1129 547 1132 550 1136 554 1399 817 1395 813 1389 807 1384 802 1386 804

-

1392 810 1385 803 1387 805 1396 814

-

1401 819 1392 810 1396 814 1402 820

-

1413 831 1401 819 1402 820 1416 834

-

1425 843 1413 831 1416 834 1428 846

-

1435 853 1425 843 1428 846 1439 857

-

1444 862 1435 853 1439 857 1445 863

-

1173 591 1444 862 1445 863 1462 880

-

1469 887 1173 591 1462 880 1472 890

-

1206 624 1469 887 1472 890 1477 895

-

1478 896 1206 624 1477 895 1479 897

-

1224 642 1478 896 1479 897 1483 901

-

1215 633 1224 642 1483 901 1482 900

-

1498 916 1497 915 1484 902 1226 644

-

1225 643 1484 902 1150 568 1139 557

-

1259 677 1520 938 1521 939 1529 947

-

1520 938 1257 675 1528 946 1521 939

-

1257 675 1554 972 1555 973 1528 946

-

1554 972 1569 987 1570 988 1555 973

-

1505 923 1237 655 1243 661 1506 924

-

1236 654 1239 657 1513 931 1242 660

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

-

1481 899 1215 633 1482 900 1218 636

-

1480 898 1212 630 1481 899 1221 639

-

1208 626 1476 894 1212 630 1480 898

-

1470 888 1467 885 1186 604 1210 628 1475 893

-

1474 892 1471 889 1476 894 1208 626

-

1464 882 1461 879 1471 889 1474 892

-

1138 556 1405 823 1418 836 1430 848 1443 861 1448 866 1463 881 1473 891 1197 615

-

1429 847 1426 844 1438 856 1442 860

-

1442 860 1438 856 1447 865 1449 867

-

1449 867 1447 865 1461 879 1464 882

-

1189 607 1467 885 1460 878 1446 864 1437 855 1427 845 1415 833 1408 826 1145 563

-

1417 835 1414 832 1426 844 1429 847

-

1404 822 1403 821 1414 832 1417 835

-

1397 815 1394 812 1403 821 1404 822

-

1130 548 1126 544 1391 809 1398 816 1400 818

-

1123 541 1383 801 1388 806 1390 808

-

1390 808 1388 806 1394 812 1397 815

-

1393 811 1129 547 1132 550 1136 554 1399 817 1395 813 1389 807 1384 802 1386 804

-

1392 810 1385 803 1387 805 1396 814

-

1401 819 1392 810 1396 814 1402 820

-

1413 831 1401 819 1402 820 1416 834

-

1425 843 1413 831 1416 834 1428 846

-

1435 853 1425 843 1428 846 1439 857

-

1444 862 1435 853 1439 857 1445 863

-

1173 591 1444 862 1445 863 1462 880

-

1469 887 1173 591 1462 880 1472 890

-

1206 624 1469 887 1472 890 1477 895

-

1478 896 1206 624 1477 895 1479 897

-

1224 642 1478 896 1479 897 1483 901

-

1215 633 1224 642 1483 901 1482 900

-

1498 916 1497 915 1484 902 1226 644

-

1225 643 1484 902 1150 568 1139 557

-

1259 677 1520 938 1521 939 1529 947

-

1520 938 1257 675 1528 946 1521 939

-

1257 675 1554 972 1555 973 1528 946

-

1554 972 1569 987 1570 988 1555 973

-

1505 923 1237 655 1243 661 1506 924

-

1236 654 1239 657 1513 931 1242 660

-

1748 1166 1368 786 1365 783 1747 1165

-

1784 1202 1748 1166 1747 1165 1780 1198

-

1382 800 1782 1200 1778 1196 1380 798

-

1765 1183 1777 1195 1791 1209 1779 1197 1766 1184

-

1782 1200 1794 1212 1792 1210 1778 1196

-

1781 1199 1775 1193 1776 1194 1783 1201 1793 1211

-

1794 1212 1784 1202 1780 1198 1792 1210

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

-

1481 899 1215 633 1482 900 1218 636

-

1480 898 1212 630 1481 899 1221 639

-

1208 626 1476 894 1212 630 1480 898

-

1470 888 1467 885 1186 604 1210 628 1475 893

-

1474 892 1471 889 1476 894 1208 626

-

1464 882 1461 879 1471 889 1474 892

-

1138 556 1405 823 1418 836 1430 848 1443 861 1448 866 1463 881 1473 891 1197 615

-

1429 847 1426 844 1438 856 1442 860

-

1442 860 1438 856 1447 865 1449 867

-

1449 867 1447 865 1461 879 1464 882

-

1189 607 1467 885 1460 878 1446 864 1437 855 1427 845 1415 833 1408 826 1145 563

-

1417 835 1414 832 1426 844 1429 847

-

1404 822 1403 821 1414 832 1417 835

-

1397 815 1394 812 1403 821 1404 822

-

1130 548 1126 544 1391 809 1398 816 1400 818

-

1123 541 1383 801 1388 806 1390 808

-

1390 808 1388 806 1394 812 1397 815

-

1393 811 1129 547 1132 550 1136 554 1399 817 1395 813 1389 807 1384 802 1386 804

-

1392 810 1385 803 1387 805 1396 814

-

1401 819 1392 810 1396 814 1402 820

-

1413 831 1401 819 1402 820 1416 834

-

1425 843 1413 831 1416 834 1428 846

-

1435 853 1425 843 1428 846 1439 857

-

1444 862 1435 853 1439 857 1445 863

-

1173 591 1444 862 1445 863 1462 880

-

1469 887 1173 591 1462 880 1472 890

-

1206 624 1469 887 1472 890 1477 895

-

1478 896 1206 624 1477 895 1479 897

-

1224 642 1478 896 1479 897 1483 901

-

1215 633 1224 642 1483 901 1482 900

-

1498 916 1497 915 1484 902 1226 644

-

1225 643 1484 902 1150 568 1139 557

-

1259 677 1520 938 1521 939 1529 947

-

1520 938 1257 675 1528 946 1521 939

-

1257 675 1554 972 1555 973 1528 946

-

1554 972 1569 987 1570 988 1555 973

-

1505 923 1237 655 1243 661 1506 924

-

1236 654 1239 657 1513 931 1242 660

-

1748 1166 1368 786 1365 783 1747 1165

-

1784 1202 1748 1166 1747 1165 1780 1198

-

1382 800 1782 1200 1778 1196 1380 798

-

1765 1183 1777 1195 1791 1209 1779 1197 1766 1184

-

1782 1200 1794 1212 1792 1210 1778 1196

-

1781 1199 1775 1193 1776 1194 1783 1201 1793 1211

-

1794 1212 1784 1202 1780 1198 1792 1210

-

1662 1080 1657 1075 1632 1050 1618 1036 1615 1033

-

1598 1016 1293 711 1585 1003 1597 1015

-

1619 1037 1598 1016 1597 1015 1617 1035

-

1636 1054 1619 1037 1617 1035 1633 1051

-

1616 1034 1620 1038 1637 1055 1659 1077 1661 1079

-

1660 1078 1636 1054 1633 1051 1658 1076

-

1341 759 1660 1078 1658 1076 1338 756

- - - - -

1721 1251 1723 1251 1722 1251 1682 1251 1680 1251 1681 1251 1581 1251 1579 1251 1580 1251 1553 1251 1559 1251 1608 1251 1559 1251 1574 1251 1608 1251 1574 1251 1594 1251 1608 1251 1594 1251 1602 1251 1608 1251 1602 1251 1624 1251 1608 1251 1624 1251 1639 1251 1608 1251 1576 1251 1561 1251 1606 1251 1596 1251 1576 1251 1606 1251 1604 1251 1596 1251 1606 1251 1626 1251 1604 1251 1606 1251 1641 1251 1626 1251 1606 1251 1733 1251 1692 1251 1665 1251 1692 1251 1674 1251 1665 1251 1674 1251 1656 1251 1665 1251 1656 1251 1641 1251 1665 1251 1665 1251 1641 1251 1606 1251 1756 1251 1665 1251 1668 1251 1750 1251 1756 1251 1668 1251 1744 1251 1750 1251 1668 1251 1731 1251 1744 1251 1668 1251 1690 1251 1731 1251 1668 1251 1672 1251 1690 1251 1668 1251 1654 1251 1672 1251 1668 1251 1639 1251 1654 1251 1668 1251 1606 1251 1549 1251 1608 1251 1561 1251 1549 1251 1606 1251 1746 1251 1733 1251 1665 1251 1756 1251 1746 1251 1665 1251 1549 1251 1553 1251 1608 1251

- - - - -

1639 1251 1668 1251 1665 1251 1606 1251 1608 1251

-

1561 1251 1266 1251 1546 1251 1549 1251

-

1576 1251 1282 1251 1266 1251 1561 1251

-

1596 1251 1591 1251 1282 1251 1576 1251

-

1604 1251 1311 1251 1591 1251 1596 1251

-

1318 1251 1311 1251 1604 1251 1626 1251

-

1634 1251 1318 1251 1626 1251 1641 1251

-

1651 1251 1634 1251 1641 1251 1656 1251

-

1669 1251 1651 1251 1656 1251 1674 1251

-

1687 1251 1669 1251 1674 1251 1692 1251

-

1687 1251 1692 1251 1733 1251 1728 1251

-

1733 1251 1746 1251 1741 1251 1728 1251

-

1746 1251 1756 1251 1753 1251 1741 1251

-

1744 1251 1742 1251 1753 1251 1756 1251 1750 1251

-

1731 1251 1729 1251 1742 1251 1744 1251

-

1690 1251 1688 1251 1729 1251 1731 1251

-

1672 1251 1670 1251 1688 1251 1690 1251

-

1654 1251 1652 1251 1670 1251 1672 1251

-

1639 1251 1635 1251 1652 1251 1654 1251

-

1624 1251 1622 1251 1635 1251 1639 1251

-

1602 1251 1600 1251 1622 1251 1624 1251

-

1594 1251 1592 1251 1600 1251 1602 1251

-

1574 1251 1572 1251 1592 1251 1594 1251

-

1559 1251 1557 1251 1572 1251 1574 1251

-

1546 1251 1557 1251 1559 1251 1553 1251 1549 1251

-

1578 1251 1541 1251 1545 1251 1583 1251

-

1551 1251 1584 1251 1583 1251 1545 1251

-

1543 1251 1582 1251 1584 1251 1551 1251

-

1582 1251 1543 1251 1539 1251 1577 1251

-

1523 1251 1562 1251 1563 1251 1525 1251

-

1527 1251 1564 1251 1562 1251 1523 1251

-

1564 1251 1527 1251 1533 1251 1566 1251

-

1537 1251 1533 1251 1527 1251 1523 1251 1525 1251 1531 1251 1536 1251 1539 1251 1543 1251 1551 1251 1545 1251 1541 1251

-

1565 1251 1531 1251 1525 1251 1563 1251

-

1531 1251 1565 1251 1568 1251 1536 1251

-

1536 1251 1568 1251 1577 1251 1539 1251

-

1720 1251 1700 1251 1686 1251 1713 1251

-

1727 1251 1701 1251 1700 1251 1720 1251

-

1718 1251 1699 1251 1701 1251 1727 1251

-

1709 1251 1705 1251 1698 1251 1694 1251 1696 1251 1703 1251 1708 1251 1711 1251 1718 1251 1727 1251 1720 1251 1713 1251

-

1705 1251 1679 1251 1677 1251 1698 1251

-

1698 1251 1677 1251 1675 1251 1694 1251

-

1694 1251 1675 1251 1676 1251 1696 1251

-

1696 1251 1676 1251 1678 1251 1703 1251

-

1703 1251 1678 1251 1684 1251 1708 1251

-

1708 1251 1684 1251 1685 1251 1711 1251

-

1711 1251 1685 1251 1699 1251 1718 1251

-

1760 1251 1716 1251 1725 1251 1764 1251

-

1752 1251 1714 1251 1716 1251 1760 1251

-

1758 1251 1715 1251 1714 1251 1752 1251

-

1770 1251 1774 1251 1788 1251 1790 1251 1786 1251 1772 1251 1769 1251 1762 1251 1758 1251 1752 1251 1760 1251 1764 1251

-

1774 1251 1737 1251 1739 1251 1788 1251

-

1788 1251 1739 1251 1740 1251 1790 1251

-

1790 1251 1740 1251 1738 1251 1786 1251

-

1786 1251 1738 1251 1736 1251 1772 1251

-

1772 1251 1736 1251 1375 1251 1769 1251

-

1769 1251 1375 1251 1724 1251 1762 1251

-

1762 1251 1724 1251 1715 1251 1758 1251

-

1466 1251 1177 1251 1451 1251 1453 1251

-

1453 1251 1451 1251 1436 1251 1441 1251

-

1441 1251 1436 1251 1422 1251 1424 1251

-

1424 1251 1422 1251 1410 1251 1412 1251

-

1412 1251 1410 1251 1406 1251 1407 1251

-

1407 1251 1406 1251 1409 1251 1411 1251

-

1411 1251 1409 1251 1152 1251 1423 1251

-

1423 1251 1152 1251 1162 1251 1440 1251

-

1440 1251 1162 1251 1450 1251 1452 1251

-

1452 1251 1450 1251 1465 1251 1181 1251

-

1181 1251 1465 1251 1193 1251 1468 1251

-

1468 1251 1193 1251 1177 1251 1466 1251

-

1647 1251 1650 1251 1649 1251 1646 1251

-

1631 1251 1647 1251 1646 1251 1630 1251

-

1614 1251 1631 1251 1630 1251 1613 1251

-

1590 1251 1614 1251 1613 1251 1589 1251

-

1519 1251 1590 1251 1589 1251 1518 1251

-

1512 1251 1519 1251 1518 1251 1511 1251

-

1504 1251 1512 1251 1511 1251 1503 1251

-

1496 1251 1504 1251 1503 1251 1495 1251

-

1490 1251 1496 1251 1495 1251 1489 1251

-

1459 1251 1490 1251 1489 1251 1458 1251

-

1434 1251 1459 1251 1458 1251 1433 1251

-

1421 1251 1434 1251 1433 1251 1420 1251

-

1643 1251 1628 1251 1610 1251 1586 1251 1515 1251 1508 1251 1500 1251 1492 1251 1486 1251 1455 1251 1431 1251 1420 1251 1433 1251 1458 1251 1489 1251 1495 1251 1503 1251 1511 1251 1518 1251 1589 1251 1613 1251 1630 1251 1646 1251 1649 1251

-

1487 1251 1456 1251 1455 1251 1486 1251

-

1493 1251 1487 1251 1486 1251 1492 1251

-

1501 1251 1493 1251 1492 1251 1500 1251

-

1509 1251 1501 1251 1500 1251 1508 1251

-

1516 1251 1509 1251 1508 1251 1515 1251

-

1587 1251 1516 1251 1515 1251 1586 1251

-

1611 1251 1587 1251 1586 1251 1610 1251

-

1629 1251 1611 1251 1610 1251 1628 1251

-

1644 1251 1629 1251 1628 1251 1643 1251

-

1650 1251 1644 1251 1643 1251 1649 1251

-

1481 1251 1215 1251 1482 1251 1218 1251

-

1480 1251 1212 1251 1481 1251 1221 1251

-

1208 1251 1476 1251 1212 1251 1480 1251

-

1471 1251 1467 1251 1186 1251 1210 1251 1476 1251

-

1474 1251 1471 1251 1476 1251 1208 1251

-

1464 1251 1461 1251 1471 1251 1474 1251

-

1138 1251 1405 1251 1418 1251 1430 1251 1443 1251 1449 1251 1464 1251 1474 1251 1197 1251

-

1430 1251 1427 1251 1438 1251 1443 1251

-

1443 1251 1438 1251 1447 1251 1449 1251

-

1449 1251 1447 1251 1461 1251 1464 1251

-

1189 1251 1467 1251 1461 1251 1447 1251 1438 1251 1427 1251 1415 1251 1408 1251 1145 1251

-

1418 1251 1415 1251 1427 1251 1430 1251

-

1405 1251 1403 1251 1415 1251 1418 1251

-

1398 1251 1395 1251 1403 1251 1405 1251

-

1130 1251 1126 1251 1391 1251 1398 1251 1400 1251

-

1126 1251 1384 1251 1389 1251 1391 1251

-

1391 1251 1389 1251 1395 1251 1398 1251

-

1393 1251 1129 1251 1132 1251 1136 1251 1399 1251 1395 1251 1389 1251 1384 1251 1386 1251

-

1393 1251 1386 1251 1387 1251 1396 1251

-

1141 1251 1393 1251 1396 1251 1402 1251

-

1413 1251 1141 1251 1402 1251 1416 1251

-

1425 1251 1413 1251 1416 1251 1428 1251

-

1435 1251 1425 1251 1428 1251 1439 1251

-

1444 1251 1435 1251 1439 1251 1445 1251

-

1173 1251 1444 1251 1445 1251 1462 1251

-

1469 1251 1173 1251 1462 1251 1472 1251

-

1206 1251 1469 1251 1472 1251 1477 1251

-

1478 1251 1206 1251 1477 1251 1479 1251

-

1224 1251 1478 1251 1479 1251 1483 1251

-

1215 1251 1224 1251 1483 1251 1482 1251

-

1498 1251 1497 1251 1484 1251 1228 1251

-

1225 1251 1484 1251 1150 1251 1139 1251

-

1259 1251 1520 1251 1521 1251 1529 1251

-

1520 1251 1257 1251 1528 1251 1521 1251

-

1257 1251 1554 1251 1555 1251 1528 1251

-

1554 1251 1569 1251 1570 1251 1555 1251

-

1231 1251 1238 1251 1246 1251 1506 1251

-

1238 1251 1241 1251 1513 1251 1246 1251

-

1748 1251 1368 1251 1365 1251 1747 1251

-

1784 1251 1748 1251 1747 1251 1780 1251

-

1382 1251 1782 1251 1778 1251 1380 1251

-

1765 1251 1778 1251 1792 1251 1780 1251 1766 1251

-

1782 1251 1794 1251 1792 1251 1778 1251

-

1782 1251 1775 1251 1776 1251 1784 1251 1794 1251

-

1794 1251 1784 1251 1780 1251 1792 1251

-

1662 1251 1658 1251 1633 1251 1618 1251 1615 1251

-

1598 1251 1293 1251 1585 1251 1597 1251

-

1620 1251 1598 1251 1597 1251 1618 1251

-

1637 1251 1620 1251 1618 1251 1633 1251

-

1616 1251 1620 1251 1637 1251 1660 1251 1661 1251

-

1660 1251 1637 1251 1633 1251 1658 1251

-

1342 1251 1660 1251 1658 1251 1338 1251

-

1264 1251 1254 1251 1251 1251 1262 1251

- - - - -

1721 1139 1723 1141 1722 1140 1682 1100 1680 1098 1681 1099 1581 999 1579 997 1580 998 1553 971 1559 977 1608 1026 1559 977 1574 992 1608 1026 1574 992 1594 1012 1608 1026 1594 1012 1602 1020 1608 1026 1602 1020 1624 1042 1607 1025 1624 1042 1639 1057 1607 1025 1576 994 1561 979 1605 1023 1596 1014 1576 994 1605 1023 1604 1022 1596 1014 1605 1023 1626 1044 1604 1022 1605 1023 1641 1059 1626 1044 1606 1024 1732 1150 1691 1109 1665 1083 1691 1109 1673 1091 1665 1083 1673 1091 1655 1073 1665 1083 1655 1073 1641 1059 1665 1083 1665 1083 1641 1059 1605 1023 1755 1173 1665 1083 1668 1086 1749 1167 1754 1172 1666 1084 1743 1161 1749 1167 1667 1085 1730 1148 1743 1161 1668 1086 1689 1107 1730 1148 1668 1086 1671 1089 1689 1107 1666 1084 1653 1071 1671 1089 1668 1086 1639 1057 1653 1071 1666 1084 1605 1023 1548 966 1607 1025 1561 979 1548 966 1605 1023 1745 1163 1732 1150 1663 1081 1755 1173 1745 1163 1664 1082 1549 967 1553 971 1608 1026

- - - - -

1639 1057 1668 1086 1665 1083 1605 1023 1607 1025

-

1560 978 1556 974 1546 964 1547 965

-

1575 993 1571 989 1556 974 1560 978

-

1595 1013 1591 1009 1571 989 1575 993

-

1603 1021 1599 1017 1591 1009 1595 1013

-

1621 1039 1599 1017 1603 1021 1625 1043

-

1634 1052 1621 1039 1625 1043 1640 1058

-

1651 1069 1634 1052 1640 1058 1656 1074

-

1669 1087 1651 1069 1656 1074 1674 1092

-

1687 1105 1669 1087 1674 1092 1692 1110

-

1687 1105 1692 1110 1733 1151 1728 1146

-

1733 1151 1746 1164 1741 1159 1728 1146

-

1746 1164 1756 1174 1753 1171 1741 1159

-

1744 1162 1742 1160 1753 1171 1756 1174 1750 1168

-

1731 1149 1729 1147 1742 1160 1744 1162

-

1690 1108 1688 1106 1729 1147 1731 1149

-

1672 1090 1670 1088 1688 1106 1690 1108

-

1654 1072 1652 1070 1670 1088 1672 1090

-

1638 1056 1635 1053 1652 1070 1654 1072

-

1623 1041 1622 1040 1635 1053 1638 1056

-

1601 1019 1600 1018 1622 1040 1623 1041

-

1593 1011 1592 1010 1600 1018 1601 1019

-

1573 991 1572 990 1592 1010 1593 1011

-

1558 976 1557 975 1572 990 1573 991

-

1546 964 1557 975 1558 976 1552 970 1547 965

-

1578 996 1541 959 1545 963 1583 1001

-

1551 969 1584 1002 1583 1001 1545 963

-

1543 961 1582 1000 1584 1002 1551 969

-

1582 1000 1543 961 1539 957 1577 995

-

1523 941 1562 980 1563 981 1525 943

-

1527 945 1564 982 1562 980 1523 941

-

1564 982 1527 945 1533 951 1566 984

-

1537 955 1532 950 1526 944 1522 940 1524 942 1530 948 1534 952 1538 956 1542 960 1550 968 1544 962 1540 958

-

1565 983 1531 949 1525 943 1563 981

-

1531 949 1565 983 1567 985 1535 953

-

1536 954 1568 986 1577 995 1539 957

-

1720 1138 1700 1118 1686 1104 1713 1131

-

1727 1145 1701 1119 1700 1118 1720 1138

-

1718 1136 1699 1117 1701 1119 1727 1145

-

1709 1127 1705 1123 1698 1116 1694 1112 1696 1114 1703 1121 1707 1125 1710 1128 1717 1135 1726 1144 1719 1137 1712 1130

-

1704 1122 1679 1097 1677 1095 1697 1115

-

1697 1115 1677 1095 1675 1093 1693 1111

-

1693 1111 1675 1093 1676 1094 1695 1113

-

1695 1113 1676 1094 1678 1096 1702 1120

-

1702 1120 1678 1096 1683 1101 1706 1124

-

1708 1126 1684 1102 1685 1103 1711 1129

-

1711 1129 1685 1103 1699 1117 1718 1136

-

1759 1177 1716 1134 1725 1143 1763 1181

-

1751 1169 1714 1132 1716 1134 1759 1177

-

1757 1175 1715 1133 1714 1132 1751 1169

-

1770 1188 1774 1192 1788 1206 1790 1208 1786 1204 1772 1190 1769 1187 1762 1180 1758 1176 1752 1170 1760 1178 1764 1182

-

1773 1191 1737 1155 1739 1157 1787 1205

-

1787 1205 1739 1157 1740 1158 1789 1207

-

1789 1207 1740 1158 1738 1156 1785 1203

-

1785 1203 1738 1156 1736 1154 1771 1189

-

1771 1189 1736 1154 1735 1153 1768 1186

-

1767 1185 1734 1152 1724 1142 1761 1179

-

1761 1179 1724 1142 1715 1133 1757 1175

-

1466 884 1174 592 1451 869 1453 871

-

1453 871 1451 869 1436 854 1441 859

-

1441 859 1436 854 1422 840 1424 842

-

1424 842 1422 840 1410 828 1412 830

-

1412 830 1410 828 1406 824 1407 825

-

1407 825 1406 824 1409 827 1411 829

-

1411 829 1409 827 1152 570 1423 841

-

1423 841 1152 570 1162 580 1440 858

-

1440 858 1162 580 1450 868 1452 870

-

1452 870 1450 868 1465 883 1178 596

-

1178 596 1465 883 1192 610 1468 886

-

1468 886 1192 610 1174 592 1466 884

-

1647 1065 1650 1068 1649 1067 1646 1064

-

1631 1049 1647 1065 1646 1064 1630 1048

-

1614 1032 1631 1049 1630 1048 1613 1031

-

1590 1008 1614 1032 1613 1031 1589 1007

-

1519 937 1590 1008 1589 1007 1518 936

-

1512 930 1519 937 1518 936 1511 929

-

1504 922 1512 930 1511 929 1502 920

-

1496 914 1504 922 1502 920 1494 912

-

1490 908 1496 914 1494 912 1488 906

-

1459 877 1490 908 1488 906 1457 875

-

1434 852 1459 877 1457 875 1432 850

-

1421 839 1434 852 1432 850 1419 837

-

1642 1060 1627 1045 1609 1027 1298 716 1514 932 1508 926 1500 918 1492 910 1486 904 1455 873 1431 849 1420 838 1433 851 1458 876 1489 907 1495 913 1503 921 1510 928 1517 935 1588 1006 1612 1030 1323 741 1645 1063 1648 1066

-

1487 905 1456 874 1454 872 1485 903

-

1493 911 1487 905 1485 903 1491 909

-

1501 919 1493 911 1491 909 1499 917

-

1509 927 1501 919 1499 917 1507 925

-

1516 934 1509 927 1507 925 1515 933

-

1587 1005 1516 934 1515 933 1586 1004

-

1611 1029 1587 1005 1586 1004 1610 1028

-

1629 1047 1611 1029 1610 1028 1628 1046

-

1644 1062 1629 1047 1628 1046 1643 1061

-

1650 1068 1644 1062 1643 1061 1649 1067

-

1481 899 1215 633 1482 900 1218 636

-

1480 898 1212 630 1481 899 1221 639

-

1208 626 1476 894 1212 630 1480 898

-

1470 888 1467 885 1186 604 1210 628 1475 893

-

1474 892 1471 889 1476 894 1208 626

-

1464 882 1461 879 1471 889 1474 892

-

1138 556 1405 823 1418 836 1430 848 1443 861 1448 866 1463 881 1473 891 1197 615

-

1429 847 1426 844 1438 856 1442 860

-

1442 860 1438 856 1447 865 1449 867

-

1449 867 1447 865 1461 879 1464 882

-

1189 607 1467 885 1460 878 1446 864 1437 855 1427 845 1415 833 1408 826 1145 563

-

1417 835 1414 832 1426 844 1429 847

-

1404 822 1403 821 1414 832 1417 835

-

1397 815 1394 812 1403 821 1404 822

-

1130 548 1126 544 1391 809 1398 816 1400 818

-

1123 541 1383 801 1388 806 1390 808

-

1390 808 1388 806 1394 812 1397 815

-

1393 811 1129 547 1132 550 1136 554 1399 817 1395 813 1389 807 1384 802 1386 804

-

1392 810 1385 803 1387 805 1396 814

-

1401 819 1392 810 1396 814 1402 820

-

1413 831 1401 819 1402 820 1416 834

-

1425 843 1413 831 1416 834 1428 846

-

1435 853 1425 843 1428 846 1439 857

-

1444 862 1435 853 1439 857 1445 863

-

1173 591 1444 862 1445 863 1462 880

-

1469 887 1173 591 1462 880 1472 890

-

1206 624 1469 887 1472 890 1477 895

-

1478 896 1206 624 1477 895 1479 897

-

1224 642 1478 896 1479 897 1483 901

-

1215 633 1224 642 1483 901 1482 900

-

1498 916 1497 915 1484 902 1226 644

-

1225 643 1484 902 1150 568 1139 557

-

1259 677 1520 938 1521 939 1529 947

-

1520 938 1257 675 1528 946 1521 939

-

1257 675 1554 972 1555 973 1528 946

-

1554 972 1569 987 1570 988 1555 973

-

1505 923 1237 655 1243 661 1506 924

-

1236 654 1239 657 1513 931 1242 660

-

1748 1166 1368 786 1365 783 1747 1165

-

1784 1202 1748 1166 1747 1165 1780 1198

-

1382 800 1782 1200 1778 1196 1380 798

-

1765 1183 1777 1195 1791 1209 1779 1197 1766 1184

-

1782 1200 1794 1212 1792 1210 1778 1196

-

1781 1199 1775 1193 1776 1194 1783 1201 1793 1211

-

1794 1212 1784 1202 1780 1198 1792 1210

-

1662 1080 1657 1075 1632 1050 1618 1036 1615 1033

-

1598 1016 1293 711 1585 1003 1597 1015

-

1619 1037 1598 1016 1597 1015 1617 1035

-

1636 1054 1619 1037 1617 1035 1633 1051

-

1616 1034 1620 1038 1637 1055 1659 1077 1661 1079

-

1660 1078 1636 1054 1633 1051 1658 1076

-

1341 759 1660 1078 1658 1076 1338 756

-

1263 681 1252 670 1249 667 1261 679

-

1340 758 1367 785 1362 780 1336 754

-

1335 753 1340 758 1336 754 1333 751

-

1326 744 1335 753 1333 751 1325 743

-

1314 732 1326 744 1325 743 1312 730

-

1306 724 1314 732 1312 730 1304 722

-

1291 709 1306 724 1304 722 1289 707

-

1279 697 1291 709 1289 707 1276 694

- - - - -

1805 1252 1806 1252 1807 1252

- - - - -

1814 1253 1815 1253 1816 1253

- - - - -

1808 1253 1809 1253 1810 1253 1811 1253 1812 1253 1813 1253

- - - - -

1817 1254 1818 1254 1819 1254 1820 1254 1821 1254 1822 1254

- - - - -

1829 1255 1830 1255 1831 1255

- - - - -

1823 1255 1824 1255 1825 1255 1826 1255 1827 1255 1828 1255

- - - - -

1839 1256 1840 1256 1841 1256

- - - - -

1832 1256 1833 1256 1834 1256 1835 1256 1836 1256 1837 1256 1838 1256

- - - - -

1852 1257 1853 1257 1854 1257

- - - - -

1842 1257 1843 1257 1844 1257 1845 1257

-

1846 1257 1847 1257 1848 1257 1849 1257 1850 1257 1851 1257

- - - - -

1855 1258 1856 1258 1857 1258 1858 1258 1859 1258 1860 1258

- - - - -

1865 1259 1866 1259 1867 1259

- - - - -

1861 1259 1862 1259 1863 1259 1864 1259

- - - - -

2024 1420 2015 1420 2013 1420 1896 1420 1976 1420 1979 1420

- - - - -

2024 1420 2026 1420 2020 1420 2015 1420

-

1935 1420 2019 1420 2024 1420 2013 1420

-

2005 1420 2007 1420 2011 1420 2019 1420 1935 1420

-

2004 1420 2007 1420 2005 1420 2000 1420

-

1994 1420 2004 1420 2000 1420 1913 1420

-

1913 1420 1990 1420 1988 1420 1994 1420

-

1990 1420 1984 1420 1982 1420 1988 1420

-

1984 1420 1896 1420 1979 1420 1982 1420

-

1970 1420 1874 1420 1967 1420 1883 1420 1973 1420

-

1973 1420 1883 1420 1979 1420 1976 1420

- - - - -

1902 1421 1903 1421 1900 1421 1889 1421 1888 1421 1894 1421

- - - - -

1902 1421 1900 1421 1897 1421 1890 1421 1889 1421 1894 1421

- - - - -

1949 1422 1939 1422 1943 1422

- - - - -

1947 1422 1950 1422 1952 1422 2031 1422 1953 1422 1948 1422

-

1948 1422 1941 1422 2030 1422 1938 1422 1947 1422

-

1954 1422 2021 1422 1941 1422 1948 1422 1953 1422

-

2021 1422 1954 1422 1955 1422 1949 1422 1943 1422

- - - - -

2012 1423 1929 1423 2008 1423 1999 1423 1995 1423 2001 1423 1999 1423 1911 1423 1995 1423 1999 1423 1985 1423 1911 1423 1871 1423 1977 1423 1980 1423 1964 1423 1969 1423 1974 1423

- - - - -

2022 1423 2020 1423 2026 1423 1958 1423

-

1958 1423 2025 1423 2016 1423 2022 1423

-

2025 1423 1946 1423 2014 1423 2016 1423

-

1946 1423 2012 1423 2008 1423 2014 1423

-

2012 1423 1999 1423 2001 1423 1929 1423

-

1999 1423 1871 1423 1980 1423 1985 1423

-

1974 1423 1977 1423 1871 1423 1964 1423

-

1964 1423 1874 1423 1970 1423 1969 1423

- - - - -

1892 1424 1899 1424 1983 1424

- - - - -

2028 1424 1918 1424 1921 1424 1925 1424 1931 1424

-

1991 1424 1914 1424 1921 1424 1918 1424

-

1906 1424 1914 1424 1991 1424 1989 1424

-

1989 1424 1983 1424 1899 1424 1898 1424 1906 1424

-

1886 1424 1869 1424 1868 1424 1885 1424

-

1880 1424 1881 1424 1878 1424 1877 1424

-

1972 1424 1880 1424 1877 1424 1876 1424

-

1886 1424 1975 1424 1972 1424 1876 1424 1875 1424

-

1975 1424 1886 1424 1885 1424 1899 1424 1892 1424

- - - - -

1981 1425 1897 1425 1903 1425 1909 1425 1907 1425 1905 1425

-

1907 1425 1909 1425 1992 1425 1915 1425

-

1930 1425 2006 1425 1924 1425 1922 1425 1920 1425 2029 1425

-

1920 1425 1922 1425 1915 1425 1992 1425

- - - - -

1994 1386 1988 1380 1986 1378 1994 1386 2003 1395 2004 1396

- - - - -

2004 1396 2003 1395 2006 1398 2007 1399

-

2007 1399 2006 1398 2010 1402 2011 1403

-

2011 1403 2010 1402 2018 1410 2019 1411

-

2019 1411 2018 1410 2023 1415 2024 1416

-

2024 1416 2023 1415 2027 1419 1958 1350 2026 1418

-

1958 1350 2027 1419 1952 1344 2025 1417

-

2025 1417 1952 1344 2017 1409 1946 1338

-

1946 1338 2017 1409 2009 1401 2012 1404

-

2012 1404 2009 1401 1997 1389 1999 1391

-

1998 1390 1996 1388 1960 1352 1963 1355

-

1870 1262 1959 1351 1961 1353 1964 1356

-

1869 1261 1875 1267 1968 1360 1966 1358 1962 1354

-

1961 1353 1965 1357 1967 1359 1872 1264 1964 1356

-

1967 1359 1965 1357 1971 1363 1882 1274

-

1882 1274 1971 1363 1978 1370 1979 1371

-

1979 1371 1978 1370 1981 1373 1982 1374

-

1982 1374 1981 1373 1986 1378 1988 1380

-

1924 1316 2002 1394 1993 1385 1987 1379 1905 1297

- - - - -

1994 1386 1988 1380 1986 1378 1994 1386 2003 1395 2004 1396

- - - - -

2004 1396 2003 1395 2006 1398 2007 1399

-

2007 1399 2006 1398 2010 1402 2011 1403

-

2011 1403 2010 1402 2018 1410 2019 1411

-

2019 1411 2018 1410 2023 1415 2024 1416

-

2024 1416 2023 1415 2027 1419 1958 1350 2026 1418

-

1958 1350 2027 1419 1952 1344 2025 1417

-

2025 1417 1952 1344 2017 1409 1946 1338

-

1946 1338 2017 1409 2009 1401 2012 1404

-

2012 1404 2009 1401 1997 1389 1999 1391

-

1998 1390 1996 1388 1960 1352 1963 1355

-

1870 1262 1959 1351 1961 1353 1964 1356

-

1869 1261 1875 1267 1968 1360 1966 1358 1962 1354

-

1961 1353 1965 1357 1967 1359 1872 1264 1964 1356

-

1967 1359 1965 1357 1971 1363 1882 1274

-

1882 1274 1971 1363 1978 1370 1979 1371

-

1979 1371 1978 1370 1981 1373 1982 1374

-

1982 1374 1981 1373 1986 1378 1988 1380

-

1924 1316 2002 1394 1993 1385 1987 1379 1905 1297

-

2021 1413 1942 1334 2015 1407 2020 1412 2022 1414

-

2015 1407 1942 1334 1937 1329 2013 1405

-

2013 1405 1937 1329 1933 1325 1934 1326

-

1934 1326 1933 1325 1927 1319 2005 1397

-

2005 1397 1927 1319 1919 1311 2000 1392

-

2000 1392 1919 1311 1992 1384 1913 1305

-

1913 1305 1992 1384 1909 1301 1990 1382

-

1990 1382 1909 1301 1902 1294 1984 1376

-

1984 1376 1902 1294 1894 1286 1896 1288

-

1896 1288 1894 1286 1887 1279 1976 1368

-

1976 1368 1887 1279 1884 1276 1973 1365

-

1880 1272 1969 1361 1970 1362 1973 1365 1884 1276

-

1969 1361 1880 1272 1972 1364 1974 1366

-

1974 1366 1972 1364 1975 1367 1977 1369

-

1977 1369 1975 1367 1892 1284 1980 1372

-

1980 1372 1892 1284 1983 1375 1985 1377

-

1985 1377 1983 1375 1989 1381 1911 1303

-

1911 1303 1989 1381 1991 1383 1995 1387

-

1995 1387 1991 1383 1917 1309 2001 1393

-

2001 1393 1917 1309 1926 1318 1928 1320

-

1928 1320 1926 1318 1932 1324 2008 1400

-

2008 1400 1932 1324 1936 1328 2014 1406

-

2014 1406 1936 1328 1940 1332 2016 1408

-

2016 1408 1940 1332 2021 1413 2022 1414

- - - - -

2032 1426 2033 1427 2034 1428 2035 1429 2036 1430 2037 1431 2038 1432 2039 1433

-

2040 1434 2041 1435 2042 1436 2043 1437 2044 1438 2045 1439 2046 1440 2047 1441

-

2048 1442 2049 1443 2050 1444 2051 1445

-

2052 1446 2053 1447 2054 1448 2055 1449

-

2056 1450 2057 1451 2058 1452 2059 1453

-

2060 1454 2061 1455 2062 1456 2063 1457

-

2064 1458 2065 1459 2066 1460 2067 1461

-

2068 1462 2069 1463 2070 1464 2071 1465

-

2072 1466 2073 1467 2074 1468 2075 1469

-

2076 1470 2077 1471 2078 1472 2079 1473

- - - - -

2080 1474 2081 1475 2082 1476 2083 1477 2084 1478 2085 1479 2086 1480 2087 1481

-

2088 1482 2089 1483 2090 1484 2091 1485 2092 1486 2093 1487 2094 1488 2095 1489

-

2096 1490 2097 1491 2098 1492 2099 1493

-

2100 1494 2101 1495 2102 1496 2103 1497

-

2104 1498 2105 1499 2106 1500 2107 1501

-

2108 1502 2109 1503 2110 1504 2111 1505

-

2112 1506 2113 1507 2114 1508 2115 1509

-

2116 1510 2117 1511 2118 1512 2119 1513

-

2120 1514 2121 1515 2122 1516 2123 1517

-

2124 1518 2125 1519 2126 1520 2127 1521

- - - - -

2128 1522 2129 1522 2130 1522 2131 1522

- - - - -

2132 1523 2133 1523 2134 1523 2135 1523

- - - - -

2136 1524 2137 1524 2138 1524 2139 1524

- - - - -

2140 1525 2141 1526 2142 1527 2143 1528

-

2144 1529 2145 1530 2146 1531 2147 1532

-

2148 1533 2149 1534 2150 1535 2151 1536

-

2152 1537 2153 1538 2154 1539 2155 1540

-

2156 1541 2157 1542 2158 1543 2159 1544

-

2160 1545 2161 1546 2162 1547 2163 1548

-

2164 1549 2165 1550 2166 1551 2167 1552

-

2168 1553 2169 1554 2170 1555 2171 1556

- - - - -

2172 1557 2173 1557 2174 1557 2175 1557

- - - - -

2177 1603 2181 1603 2207 1603 2195 1603 2216 1603 2218 1603 2196 1603 2193 1603 2217 1603 2178 1603 2208 1603 2206 1603

- - - - -

2177 1603 2178 1603 2206 1603 2181 1603

-

2177 1603 2207 1603 2212 1603 2188 1603 2176 1603

-

2216 1603 2195 1603 2194 1603 2188 1603 2212 1603

-

2195 1603 2218 1603 2193 1603 2196 1603

-

2196 1603 2217 1603 2213 1603 2189 1603 2197 1603

-

2208 1603 2178 1603 2179 1603 2189 1603 2213 1603

- - - - -

2184 1604 2187 1604 2211 1604 2204 1604 2201 1604 2220 1604 2203 1604 2219 1604 2199 1604 2183 1604 2210 1604 2209 1604

- - - - -

2184 1604 2183 1604 2209 1604 2187 1604

-

2184 1604 2211 1604 2215 1604 2191 1604 2185 1604

-

2201 1604 2204 1604 2205 1604 2191 1604 2215 1604

-

2204 1604 2220 1604 2219 1604 2203 1604

-

2203 1604 2199 1604 2214 1604 2190 1604 2202 1604

-

2210 1604 2183 1604 2182 1604 2190 1604 2214 1604

- - - - -

2218 1600 2216 1598 2198 1580 2219 1601

-

2192 1574 2218 1600 2219 1601 2220 1602

-

2217 1599 2192 1574 2220 1602 2200 1582

-

2213 1595 2217 1599 2200 1582 2215 1597

-

2208 1590 2213 1595 2215 1597 2211 1593

-

2206 1588 2208 1590 2211 1593 2187 1569

-

2181 1563 2206 1588 2187 1569 2209 1591

-

2207 1589 2181 1563 2209 1591 2210 1592

-

2212 1594 2207 1589 2210 1592 2214 1596

-

2216 1598 2212 1594 2214 1596 2198 1580

- - - - -

2221 1605 2222 1606 2223 1607 2224 1608

-

2225 1609 2226 1610 2227 1611 2228 1612

-

2229 1613 2230 1614 2231 1615 2232 1616

-

2233 1617 2234 1618 2235 1619 2236 1620

-

2237 1621 2238 1622 2239 1623 2240 1624

-

2241 1625 2242 1626 2243 1627 2244 1628

- - - - -

2245 1629 2246 1630 2247 1631 2248 1632 2249 1633 2250 1634 2251 1635 2252 1636 2253 1637 2254 1638

-

2255 1639 2256 1640 2257 1641 2258 1642 2259 1643 2260 1644 2261 1645 2262 1646 2263 1647 2264 1648

-

2265 1649 2266 1650 2267 1651 2268 1652

-

2269 1653 2270 1654 2271 1655 2272 1656

-

2273 1657 2274 1658 2275 1659 2276 1660

-

2277 1661 2278 1662 2279 1663 2280 1664

-

2281 1665 2282 1666 2283 1667 2284 1668

-

2285 1669 2286 1670 2287 1671 2288 1672

-

2289 1673 2290 1674 2291 1675 2292 1676

-

2293 1677 2294 1678 2295 1679 2296 1680

-

2297 1681 2298 1682 2299 1683 2300 1684

-

2301 1685 2302 1686 2303 1687 2304 1688

- - - - -

2316 1713 2328 1713 2324 1713 2320 1713

-

2320 1713 2310 1713 2312 1713 2316 1713

- - - - -

2314 1714 2308 1714 2306 1714 2318 1714

-

2318 1714 2322 1714 2326 1714 2314 1714

- - - - -

2307 1691 2311 1695 2309 1693 2305 1689

-

2306 1690 2310 1694 2320 1704 2318 1702

-

2317 1701 2319 1703 2323 1707 2321 1705

-

2322 1706 2324 1708 2327 1711 2325 1709

-

2326 1710 2328 1712 2316 1700 2314 1698

-

2313 1697 2315 1699 2312 1696 2308 1692

- - - - -

2354 1755 2368 1755 2348 1755 2348 1755 2350 1755 2354 1755 2348 1755 2363 1755 2350 1755 2348 1755 2342 1755 2363 1755 2334 1755 2359 1755 2361 1755 2334 1755 2338 1755 2359 1755 2334 1755 2358 1755 2338 1755

- - - - -

2348 1755 2334 1755 2361 1755 2342 1755

- - - - -

2336 1756 2356 1756 2331 1756 2331 1756 2340 1756 2336 1756 2331 1756 2360 1756 2340 1756 2346 1756 2344 1756 2362 1756 2346 1756 2364 1756 2344 1756 2346 1756 2352 1756 2364 1756 2346 1756 2366 1756 2352 1756

- - - - -

2331 1756 2346 1756 2362 1756 2360 1756

- - - - -

2346 1732 2348 1734 2368 1754 2366 1752

-

2365 1751 2367 1753 2353 1739 2351 1737

-

2351 1737 2353 1739 2350 1736 2364 1750

-

2364 1750 2350 1736 2363 1749 2344 1730

-

2344 1730 2363 1749 2342 1728 2362 1748

-

2362 1748 2342 1728 2361 1747 2360 1746

-

2360 1746 2361 1747 2359 1745 2340 1726

-

2340 1726 2359 1745 2338 1724 2336 1722

-

2336 1722 2338 1724 2358 1744 2356 1742

-

2355 1741 2357 1743 2332 1718 2329 1715

-

2331 1717 2333 1719 2348 1734 2346 1732

- - - - -

2387 1876 2480 1876 2398 1876

- - - - -

2468 1876 2437 1876 2438 1876 2379 1876

-

2454 1876 2394 1876 2414 1876 2418 1876

-

2430 1876 2398 1876 2475 1876 2432 1876 2466 1876 2377 1876

-

2448 1876 2485 1876 2452 1876 2411 1876

-

2409 1876 2477 1876 2479 1876 2411 1876 2438 1876

-

2438 1876 2411 1876 2452 1876 2487 1876 2482 1876 2387 1876 2398 1876 2430 1876 2459 1876 2454 1876 2418 1876 2455 1876 2422 1876 2457 1876 2426 1876 2462 1876 2465 1876 2379 1876

- - - - -

2434 1877 2481 1877 2384 1877

- - - - -

2390 1877 2444 1877 2450 1877 2484 1877

-

2474 1877 2434 1877 2428 1877 2463 1877 2396 1877 2473 1877

-

2417 1877 2371 1877 2391 1877 2453 1877

-

2441 1877 2403 1877 2471 1877 2381 1877

-

2406 1877 2441 1877 2444 1877 2478 1877 2476 1877

-

2444 1877 2441 1877 2381 1877 2464 1877 2461 1877 2460 1877 2424 1877 2456 1877 2420 1877 2417 1877 2453 1877 2458 1877 2428 1877 2434 1877 2384 1877 2483 1877 2486 1877 2450 1877

- - - - -

2481 1869 2434 1822 2398 1786 2480 1868

-

2474 1862 2475 1863 2398 1786 2434 1822

-

2473 1861 2432 1820 2475 1863 2474 1862

-

2396 1784 2466 1854 2432 1820 2473 1861

-

2463 1851 2376 1764 2466 1854 2396 1784

-

2427 1815 2429 1817 2376 1764 2463 1851

-

2458 1846 2459 1847 2429 1817 2427 1815

-

2453 1841 2454 1842 2459 1847 2458 1846

-

2391 1779 2394 1782 2454 1842 2453 1841

-

2369 1757 2412 1800 2392 1780 2372 1760

-

2417 1805 2418 1806 2414 1802 2371 1759

-

2419 1807 2455 1843 2374 1762 2415 1803

-

2456 1844 2421 1809 2455 1843 2419 1807

-

2423 1811 2457 1845 2421 1809 2456 1844

-

2460 1848 2425 1813 2457 1845 2423 1811

-

2461 1849 2462 1850 2425 1813 2460 1848

-

2464 1852 2465 1853 2462 1850 2461 1849

-

2381 1769 2379 1767 2465 1853 2464 1852

-

2469 1857 2472 1860 2470 1858 2467 1855

-

2468 1856 2471 1859 2402 1790 2436 1824

-

2441 1829 2438 1826 2437 1825 2403 1791

-

2399 1787 2439 1827 2404 1792 2407 1795

-

2476 1864 2477 1865 2409 1797 2406 1794

-

2478 1866 2479 1867 2477 1865 2476 1864

-

2444 1832 2411 1799 2479 1867 2478 1866

-

2388 1776 2446 1834 2445 1833 2442 1830

-

2484 1872 2485 1873 2448 1836 2390 1778

-

2450 1838 2452 1840 2485 1873 2484 1872

-

2486 1874 2487 1875 2452 1840 2450 1838

-

2483 1871 2482 1870 2487 1875 2486 1874

-

2384 1772 2387 1775 2482 1870 2483 1871

-

2480 1868 2386 1774 2383 1771 2481 1869

- - - - -

2595 2007 2524 2007 2520 2007 2599 2007 2553 2007

-

2524 2007 2595 2007 2519 2007 2590 2007 2515 2007 2588 2007 2543 2007 2583 2007 2513 2007 2579 2007 2537 2007 2581 2007 2491 2007 2584 2007 2586 2007 2495 2007 2547 2007 2591 2007 2551 2007 2597 2007 2557 2007 2601 2007 2503 2007 2603 2007 2569 2007 2609 2007 2535 2007 2611 2007 2615 2007 2509 2007 2614 2007

-

2608 2007 2567 2007 2604 2007 2530 2007 2562 2007

-

2614 2007 2575 2007 2608 2007 2562 2007 2524 2007

- - - - -

2596 2008 2555 2008 2600 2008 2521 2008 2527 2008

-

2507 2008 2616 2008 2577 2008 2612 2008 2610 2008 2573 2008 2607 2008 2505 2008 2602 2008 2559 2008 2598 2008 2497 2008 2594 2008 2592 2008 2549 2008 2587 2008 2493 2008 2541 2008 2582 2008 2511 2008 2578 2008 2580 2008 2489 2008 2539 2008 2585 2008 2545 2008 2589 2008 2517 2008 2593 2008 2596 2008 2527 2008

-

2571 2008 2565 2008 2533 2008 2605 2008 2606 2008

-

2565 2008 2571 2008 2613 2008 2507 2008 2527 2008

- - - - -

2514 1904 2589 1979 2544 1934 2588 1978

-

2588 1978 2544 1934 2585 1975 2542 1932

-

2542 1932 2585 1975 2538 1928 2583 1973

-

2583 1973 2538 1928 2488 1878 2512 1902

-

2512 1902 2488 1878 2580 1970 2579 1969

-

2579 1969 2580 1970 2578 1968 2536 1926

-

2536 1926 2578 1968 2510 1900 2581 1971

-

2581 1971 2510 1900 2582 1972 2490 1880

-

2490 1880 2582 1972 2540 1930 2584 1974

-

2584 1974 2540 1930 2492 1882 2586 1976

-

2586 1976 2492 1882 2587 1977 2494 1884

-

2494 1884 2587 1977 2548 1938 2546 1936

-

2546 1936 2548 1938 2592 1982 2591 1981

-

2591 1981 2592 1982 2594 1984 2550 1940

-

2550 1940 2594 1984 2497 1887 2597 1987

-

2597 1987 2497 1887 2598 1988 2557 1947

-

2557 1947 2598 1988 2559 1949 2601 1991

-

2601 1991 2559 1949 2602 1992 2503 1893

-

2503 1893 2602 1992 2505 1895 2603 1993

-

2603 1993 2505 1895 2607 1997 2569 1959

-

2569 1959 2607 1997 2573 1963 2609 1999

-

2609 1999 2573 1963 2610 2000 2535 1925

-

2535 1925 2610 2000 2612 2002 2611 2001

-

2611 2001 2612 2002 2577 1967 2615 2005

-

2615 2005 2577 1967 2616 2006 2509 1899

-

2509 1899 2616 2006 2507 1897 2614 2004

-

2614 2004 2507 1897 2613 2003 2575 1965

-

2575 1965 2613 2003 2571 1961 2608 1998

-

2608 1998 2571 1961 2606 1996 2567 1957

-

2567 1957 2606 1996 2605 1995 2604 1994

-

2604 1994 2605 1995 2533 1923 2530 1920

-

2528 1918 2531 1921 2563 1953 2560 1950

-

2561 1951 2564 1954 2525 1915 2522 1912

-

2524 1914 2527 1917 2521 1911 2520 1910

-

2499 1889 2501 1891 2600 1990 2599 1989

-

2599 1989 2600 1990 2555 1945 2553 1943

-

2553 1943 2555 1945 2596 1986 2595 1985

-

2595 1985 2596 1986 2593 1983 2518 1908

-

2518 1908 2593 1983 2516 1906 2590 1980

-

2590 1980 2516 1906 2589 1979 2514 1904

- - - - -

2617 2009 2618 2010 2619 2011 2620 2012 2621 2013 2622 2014 2623 2015 2624 2016 2625 2017 2626 2018 2627 2019 2628 2020 2629 2021 2630 2022 2631 2023 2632 2024 2633 2025 2634 2026 2635 2027 2636 2028 2637 2029 2638 2030 2639 2031 2640 2032

-

2641 2033 2642 2034 2643 2035 2644 2036 2645 2037 2646 2038 2647 2039 2648 2040 2649 2041 2650 2042 2651 2043 2652 2044 2653 2045 2654 2046 2655 2047 2656 2048 2657 2049 2658 2050 2659 2051 2660 2052 2661 2053 2662 2054 2663 2055 2664 2056

-

2665 2057 2666 2058 2667 2059 2668 2060

-

2669 2061 2670 2062 2671 2063 2672 2064

-

2673 2065 2674 2066 2675 2067 2676 2068

-

2677 2069 2678 2070 2679 2071 2680 2072

-

2681 2073 2682 2074 2683 2075 2684 2076

-

2685 2077 2686 2078 2687 2079 2688 2080

-

2689 2081 2690 2082 2691 2083 2692 2084

-

2693 2085 2694 2086 2695 2087 2696 2088

-

2697 2089 2698 2090 2699 2091 2700 2092

-

2701 2093 2702 2094 2703 2095 2704 2096

-

2705 2097 2706 2098 2707 2099 2708 2100

-

2709 2101 2710 2102 2711 2103 2712 2104

-

2713 2105 2714 2106 2715 2107 2716 2108

-

2717 2109 2718 2110 2719 2111 2720 2112

-

2721 2113 2722 2114 2723 2115 2724 2116

-

2725 2117 2726 2118 2727 2119 2728 2120

-

2729 2121 2730 2122 2731 2123 2732 2124

-

2733 2125 2734 2126 2735 2127 2736 2128

-

2737 2129 2738 2130 2739 2131 2740 2132

-

2741 2133 2742 2134 2743 2135 2744 2136

-

2745 2137 2746 2138 2747 2139 2748 2140

-

2749 2141 2750 2142 2751 2143 2752 2144

-

2753 2145 2754 2146 2755 2147 2756 2148

-

2757 2149 2758 2150 2759 2151 2760 2152

- - - - -

2761 2153 2762 2154 2763 2155 2764 2156 2765 2157 2766 2158 2767 2159 2768 2160 2769 2161 2770 2162

-

2771 2163 2772 2164 2773 2165 2774 2166 2775 2167 2776 2168 2777 2169 2778 2170 2779 2171 2780 2172

-

2781 2173 2782 2174 2783 2175 2784 2176

-

2785 2177 2786 2178 2787 2179 2788 2180

-

2789 2181 2790 2182 2791 2183 2792 2184

-

2793 2185 2794 2186 2795 2187 2796 2188

-

2797 2189 2798 2190 2799 2191 2800 2192

-

2801 2193 2802 2194 2803 2195 2804 2196

-

2805 2197 2806 2198 2807 2199 2808 2200

-

2809 2201 2810 2202 2811 2203 2812 2204

-

2813 2205 2814 2206 2815 2207 2816 2208

-

2817 2209 2818 2210 2819 2211 2820 2212

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0 0 1 1 2 2 3 3

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4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

- - - - -

24 24 25 24 26 24 27 24 28 24

- - - - -

29 25 30 25 31 25 32 25

- - - - -

33 26 34 26 35 26 36 26 37 26

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38 26 39 26 40 26 41 26 42 26

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43 26 44 26 45 26 46 26

- - - - -

47 27 48 27 49 27 50 27

- - - - -

51 28 52 28 53 28 54 28

-

55 28 56 28 57 28 58 28 59 28 60 28

-

61 28 62 28 63 28 64 28

- - - - -

116 179 119 179 121 179

- - - - -

190 179 133 179 130 179 128 179

-

146 179 153 179 157 179 154 179 147 179

-

149 179 201 179 199 179 147 179 154 179

-

147 179 199 179 196 179 146 179

-

146 179 196 179 190 179 127 179

-

129 179 123 179 122 179 128 179

-

128 179 122 179 121 179 119 179 127 179 190 179

- - - - -

168 180 100 180 112 180 94 180 101 180 102 180 162 180 77 180 160 180

- - - - -

99 180 118 180 152 180 153 180 116 180 112 180 100 180

-

168 180 164 180 76 180 215 180 81 180 99 180 100 180

-

77 180 76 180 164 180 160 180

-

78 180 166 180 94 180 102 180

-

78 180 77 180 162 180 166 180

- - - - -

183 181 137 181 182 181 73 181 72 181 71 181 87 181 90 181 89 181 163 181 161 181 74 181

- - - - -

90 181 114 181 136 181 135 181 181 181 88 181

-

137 181 136 181 114 181 182 181

-

138 181 137 181 183 181 178 181

-

138 181 178 181 169 181 91 181

-

75 181 91 181 169 181 167 181

-

75 181 167 181 163 181 74 181 68 181 67 181 70 181

-

73 181 165 181 87 181 89 181 88 181 84 181 72 181

-

161 181 165 181 73 181 71 181 68 181 74 181

- - - - -

85 182 103 182 98 182

- - - - -

106 182 69 182 85 182 98 182

- - - - -

92 183 110 183 175 183

- - - - -

70 183 92 183 175 183 126 183 192 183 138 183

- - - - -

210 184 214 184 157 184 208 184 212 184 210 184

- - - - -

210 184 157 184 152 184 208 184

- - - - -

191 185 188 185 194 185

- - - - -

184 185 173 185 171 185 180 185

-

140 185 184 185 180 185 186 185

-

194 185 145 185 143 185 140 185 186 185 191 185

- - - - -

173 137 177 141 106 70

- - - - -

142 106 203 167 205 169 213 177 209 173

-

156 120 214 178 206 170 149 113

-

204 168 201 165 149 113 206 170

-

199 163 200 164 202 166 144 108

-

144 108 193 157 195 159 199 163

-

189 153 196 160 194 158 187 151

-

133 97 190 154 188 152 191 155

-

185 149 133 97 191 155 186 150

-

179 143 185 149 186 150 180 144

-

97 61 179 143 180 144 170 134

-

106 70 98 62 171 135 173 137

-

134 98 192 156 197 161 211 175 207 171

-

140 104 210 174 212 176 198 162

-

184 148 140 104 198 162 126 90

-

172 136 184 148 126 90 174 138

-

118 82 181 145 208 172 151 115

-

81 45 84 48 181 145 118 82

-

158 122 65 29 82 46 79 43

-

107 71 66 30 159 123 104 68 176 140

-

110 74 177 141 173 137 175 139

- - - - -

173 137 177 141 106 70

- - - - -

142 106 203 167 205 169 213 177 209 173

-

156 120 214 178 206 170 149 113

-

204 168 201 165 149 113 206 170

-

199 163 200 164 202 166 144 108

-

144 108 193 157 195 159 199 163

-

189 153 196 160 194 158 187 151

-

133 97 190 154 188 152 191 155

-

185 149 133 97 191 155 186 150

-

179 143 185 149 186 150 180 144

-

97 61 179 143 180 144 170 134

-

106 70 98 62 171 135 173 137

-

134 98 192 156 197 161 211 175 207 171

-

140 104 210 174 212 176 198 162

-

184 148 140 104 198 162 126 90

-

172 136 184 148 126 90 174 138

-

118 82 181 145 208 172 151 115

-

81 45 84 48 181 145 118 82

-

158 122 65 29 82 46 79 43

-

107 71 66 30 159 123 104 68 176 140

-

110 74 177 141 173 137 175 139

-

93 57 166 130 167 131 169 133

-

115 79 93 57 169 133 178 142

-

124 88 115 79 178 142 183 147

-

120 84 124 88 183 147 182 146

-

111 75 120 84 182 146 113 77

-

168 132 111 75 113 77 87 51

-

164 128 168 132 87 51 165 129

-

160 124 164 128 165 129 161 125

-

162 126 160 124 161 125 163 127

-

166 130 162 126 163 127 167 131

- - - - -

259 311 253 311 276 311

- - - - -

333 311 339 311 337 311 317 311

-

313 311 317 311 301 311 307 311

-

291 311 299 311 301 311 281 311

-

276 311 281 311 301 311 317 311 337 311 331 311 259 311

- - - - -

237 312 241 312 267 312 267 312 275 312 285 312

- - - - -

257 312 248 312 239 312 251 312

-

239 312 235 312 237 312 267 312 285 312 282 312 277 312 251 312

- - - - -

228 313 225 313 292 313 285 313 292 313 291 313

- - - - -

291 313 281 313 282 313 285 313

-

285 313 287 313 228 313 292 313

- - - - -

300 314 292 314 225 314

- - - - -

328 314 335 314 326 314 322 314

-

315 314 328 314 322 314 312 314

-

303 314 315 314 312 314 302 314

-

225 314 303 314 302 314 300 314

- - - - -

268 315 245 315 263 315

- - - - -

319 315 305 315 297 315 309 315

-

323 315 309 315 297 315 283 315 268 315 263 315 220 315 329 315

- - - - -

261 316 247 316 269 316

- - - - -

321 316 311 316 298 316 306 316

-

238 316 249 316 222 316 265 316 243 316 236 316 234 316

-

324 316 233 316 338 316 340 316 336 316 327 316 314 316 304 316 296 316 288 316 278 316 270 316 265 316 222 316 261 316 269 316 284 316 298 316 311 316

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

-

285 255 275 245 273 243 287 257

-

286 256 272 242 280 250 290 260 295 265

-

271 241 270 240 278 248 279 249

-

279 249 278 248 288 258 289 259

-

289 259 288 258 296 266 294 264

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

-

285 255 275 245 273 243 287 257

-

286 256 272 242 280 250 290 260 295 265

-

271 241 270 240 278 248 279 249

-

279 249 278 248 288 258 289 259

-

289 259 288 258 296 266 294 264

-

257 227 221 191 249 219 248 218

-

248 218 249 219 238 208 239 209

-

239 209 238 208 234 204 235 205

-

235 205 234 204 236 206 237 207

-

237 207 236 206 242 212 240 210

-

241 211 243 213 265 235 267 237

-

266 236 264 234 270 240 274 244

- - - - -

328 317 327 317 336 317 335 317

-

225 317 296 317 304 317 303 317

-

303 317 304 317 314 317 315 317

-

315 317 314 317 327 317 328 317

-

285 317 275 317 273 317 287 317

-

287 317 273 317 280 317 290 317 228 317

-

273 317 270 317 278 317 280 317

-

280 317 278 317 288 317 290 317

-

290 317 288 317 296 317 228 317

-

257 317 222 317 249 317 248 317

-

248 317 249 317 238 317 239 317

-

239 317 238 317 234 317 235 317

-

235 317 234 317 236 317 237 317

-

237 317 236 317 243 317 241 317

-

241 317 243 317 265 317 267 317

-

267 317 265 317 270 317 275 317

-

331 317 329 317 220 317 259 317

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

-

285 255 275 245 273 243 287 257

-

286 256 272 242 280 250 290 260 295 265

-

271 241 270 240 278 248 279 249

-

279 249 278 248 288 258 289 259

-

289 259 288 258 296 266 294 264

-

257 227 221 191 249 219 248 218

-

248 218 249 219 238 208 239 209

-

239 209 238 208 234 204 235 205

-

235 205 234 204 236 206 237 207

-

237 207 236 206 242 212 240 210

-

241 211 243 213 265 235 267 237

-

266 236 264 234 270 240 274 244

-

330 300 230 200 219 189 259 229

-

333 303 336 306 340 310 339 309

-

339 309 340 310 338 308 337 307

-

337 307 338 308 233 203 331 301

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

-

285 255 275 245 273 243 287 257

-

286 256 272 242 280 250 290 260 295 265

-

271 241 270 240 278 248 279 249

-

279 249 278 248 288 258 289 259

-

289 259 288 258 296 266 294 264

-

257 227 221 191 249 219 248 218

-

248 218 249 219 238 208 239 209

-

239 209 238 208 234 204 235 205

-

235 205 234 204 236 206 237 207

-

237 207 236 206 242 212 240 210

-

241 211 243 213 265 235 267 237

-

266 236 264 234 270 240 274 244

-

330 300 230 200 219 189 259 229

-

333 303 336 306 340 310 339 309

-

339 309 340 310 338 308 337 307

-

337 307 338 308 233 203 331 301

-

252 222 258 228 256 226 250 220

-

276 246 253 223 251 221 277 247

-

281 251 276 246 277 247 282 252

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

-

285 255 275 245 273 243 287 257

-

286 256 272 242 280 250 290 260 295 265

-

271 241 270 240 278 248 279 249

-

279 249 278 248 288 258 289 259

-

289 259 288 258 296 266 294 264

-

257 227 221 191 249 219 248 218

-

248 218 249 219 238 208 239 209

-

239 209 238 208 234 204 235 205

-

235 205 234 204 236 206 237 207

-

237 207 236 206 242 212 240 210

-

241 211 243 213 265 235 267 237

-

266 236 264 234 270 240 274 244

-

330 300 230 200 219 189 259 229

-

333 303 336 306 340 310 339 309

-

339 309 340 310 338 308 337 307

-

337 307 338 308 233 203 331 301

-

252 222 258 228 256 226 250 220

-

276 246 253 223 251 221 277 247

-

281 251 276 246 277 247 282 252

-

291 261 292 262 300 270 299 269

-

299 269 300 270 302 272 301 271

-

301 271 302 272 312 282 307 277

-

307 277 312 282 322 292 313 283

-

313 283 322 292 326 296 317 287

-

316 286 325 295 334 304 332 302

- - - - -

328 298 327 297 336 306 335 305

-

293 263 296 266 304 274 303 273

-

303 273 304 274 314 284 315 285

-

315 285 314 284 327 297 328 298

-

285 255 275 245 273 243 287 257

-

286 256 272 242 280 250 290 260 295 265

-

271 241 270 240 278 248 279 249

-

279 249 278 248 288 258 289 259

-

289 259 288 258 296 266 294 264

-

257 227 221 191 249 219 248 218

-

248 218 249 219 238 208 239 209

-

239 209 238 208 234 204 235 205

-

235 205 234 204 236 206 237 207

-

237 207 236 206 242 212 240 210

-

241 211 243 213 265 235 267 237

-

266 236 264 234 270 240 274 244

-

330 300 230 200 219 189 259 229

-

333 303 336 306 340 310 339 309

-

339 309 340 310 338 308 337 307

-

337 307 338 308 233 203 331 301

-

252 222 258 228 256 226 250 220

-

276 246 253 223 251 221 277 247

-

281 251 276 246 277 247 282 252

-

291 261 292 262 300 270 299 269

-

299 269 300 270 302 272 301 271

-

301 271 302 272 312 282 307 277

-

307 277 312 282 322 292 313 283

-

313 283 322 292 326 296 317 287

-

316 286 325 295 334 304 332 302

-

262 232 260 230 255 225 254 224

-

329 299 233 203 324 294 323 293

-

323 293 324 294 310 280 308 278

-

309 279 311 281 321 291 319 289

-

318 288 320 290 306 276 305 275

-

305 275 306 276 298 268 297 267

-

297 267 298 268 284 254 283 253

-

283 253 284 254 269 239 268 238

-

268 238 269 239 246 216 244 214

-

245 215 247 217 261 231 263 233

- - - - -

341 318 342 319 343 320 344 321

-

345 322 346 323 347 324 348 325

-

349 326 350 327 351 328 352 329

-

353 330 354 331 355 332 356 333

-

357 334 358 335 359 336 360 337

-

361 338 362 339 363 340 364 341

- - - - -

365 342 366 343 367 344 368 345 369 346 370 347 371 348 372 349 373 350 374 351

-

375 352 376 353 377 354 378 355 379 356 380 357 381 358 382 359 383 360 384 361

-

385 362 386 363 387 364 388 365

-

389 366 390 367 391 368 392 369

-

393 370 394 371 395 372 396 373

-

397 374 398 375 399 376 400 377

-

401 378 402 379 403 380 404 381

-

405 382 406 383 407 384 408 385

-

409 386 410 387 411 388 412 389

-

413 390 414 391 415 392 416 393

-

417 394 418 395 419 396 420 397

-

421 398 422 399 423 400 424 401

- - - - -

425 402 426 402 427 402 428 402

- - - - -

429 403 430 403 431 403 432 403

- - - - -

551 589 550 589 447 589 453 589 469 589 467 589 467 589 559 589 453 589 465 589 472 589 452 589 465 589 452 589 558 589

- - - - -

441 589 442 589 453 589 559 589 551 589 447 589 437 589 436 589

-

434 589 437 589 447 589 550 589 558 589 452 589 446 589 439 589

- - - - -

510 590 500 590 506 590 600 590 595 590 511 590 608 590 519 590 607 590 599 590 510 590 506 590

- - - - -

474 590 482 590 469 590 442 590 555 590 560 590

-

582 590 482 590 474 590 484 590

-

484 590 494 590 585 590 582 590

-

595 590 585 590 494 590 513 590 511 590

-

519 590 608 590 600 590 511 590 521 590

-

607 590 519 590 518 590 510 590 599 590

- - - - -

606 591 605 591 522 591 516 591 501 591 504 591 504 591 598 591 516 591 503 591 498 591 515 591 503 591 515 591 597 591

- - - - -

532 591 528 591 516 591 598 591 606 591 522 591 537 591 536 591

-

534 591 537 591 522 591 605 591 597 591 515 591 524 591 530 591

- - - - -

455 592 471 592 463 592 557 592 563 592 456 592 549 592 449 592 548 592 556 592 455 592 463 592

- - - - -

496 592 490 592 501 592 528 592 602 592 514 592

-

576 592 490 592 496 592 486 592

-

486 592 476 592 572 592 576 592

-

563 592 572 592 476 592 458 592 456 592

-

449 592 549 592 557 592 456 592 451 592

-

548 592 449 592 547 592 455 592 556 592

- - - - -

472 593 480 593 473 593 461 593 554 593 446 593

-

526 593 603 593 509 593 493 593 492 593 500 593

-

493 593 483 593 581 593 492 593

-

581 593 483 593 473 593 480 593

- - - - -

498 594 488 594 495 594 508 594 601 594 524 594

-

444 594 552 594 459 594 475 594 478 594 471 594

-

475 594 485 594 575 594 478 594

-

575 594 485 594 495 594 488 594

- - - - -

543 514 444 415 547 518 451 422 546 517 545 516 541 512 539 510

-

569 540 461 432 509 480 590 561 579 550

-

586 557 507 478 562 533 565 536 573 544

-

610 581 526 497 518 489 521 492 609 580 612 583 616 587 614 585

-

560 531 571 542 583 554 592 563 596 567 513 484

-

514 485 588 559 577 548 567 538 561 532 458 429

-

584 555 578 549 589 560 593 564

-

593 564 589 560 602 573 604 575

-

604 575 602 573 532 503 613 584

-

613 584 532 503 536 507 617 588

-

617 588 536 507 534 505 615 586

-

615 586 534 505 530 501 611 582

-

611 582 530 501 601 572 603 574

-

603 574 601 572 587 558 591 562

-

591 562 587 558 574 545 580 551

-

580 551 574 545 564 535 568 539

-

568 539 564 535 552 523 554 525

-

554 525 552 523 542 513 438 409

-

438 409 542 513 538 509 433 404

-

433 404 538 509 540 511 435 406

-

435 406 540 511 544 515 440 411

-

440 411 544 515 553 524 555 526

-

555 526 553 524 566 537 570 541

-

570 541 566 537 578 549 584 555

- - - - -

543 514 444 415 547 518 451 422 546 517 545 516 541 512 539 510

-

569 540 461 432 509 480 590 561 579 550

-

586 557 507 478 562 533 565 536 573 544

-

610 581 526 497 518 489 521 492 609 580 612 583 616 587 614 585

-

560 531 571 542 583 554 592 563 596 567 513 484

-

514 485 588 559 577 548 567 538 561 532 458 429

-

584 555 578 549 589 560 593 564

-

593 564 589 560 602 573 604 575

-

604 575 602 573 532 503 613 584

-

613 584 532 503 536 507 617 588

-

617 588 536 507 534 505 615 586

-

615 586 534 505 530 501 611 582

-

611 582 530 501 601 572 603 574

-

603 574 601 572 587 558 591 562

-

591 562 587 558 574 545 580 551

-

580 551 574 545 564 535 568 539

-

568 539 564 535 552 523 554 525

-

554 525 552 523 542 513 438 409

-

438 409 542 513 538 509 433 404

-

433 404 538 509 540 511 435 406

-

435 406 540 511 544 515 440 411

-

440 411 544 515 553 524 555 526

-

555 526 553 524 566 537 570 541

-

570 541 566 537 578 549 584 555

-

482 453 572 543 563 534 467 438

-

467 438 563 534 557 528 559 530

-

559 530 557 528 549 520 551 522

-

551 522 549 520 548 519 550 521

-

550 521 548 519 556 527 558 529

-

558 529 556 527 463 434 465 436

-

465 436 463 434 478 449 480 451

-

480 451 478 449 575 546 581 552

-

581 552 575 546 487 458 491 462

-

491 462 487 458 502 473 505 476

-

505 476 502 473 597 568 599 570

-

599 570 597 568 605 576 607 578

-

607 578 605 576 606 577 608 579

-

608 579 606 577 598 569 600 571

-

600 571 598 569 594 565 595 566

-

595 566 594 565 489 460 585 556

-

585 556 489 460 576 547 582 553

-

582 553 576 547 572 543 482 453

- - - - -

618 595 619 596 620 597 621 598

-

622 599 623 600 624 601 625 602

-

626 603 627 604 628 605 629 606

-

630 607 631 608 632 609 633 610

-

634 611 635 612 636 613 637 614

-

638 615 639 616 640 617 641 618

- - - - -

698 678 701 678 660 678

- - - - -

660 678 692 678 663 678 698 678

- - - - -

678 679 668 679 669 679 673 679 644 679 675 679

- - - - -

690 679 678 679 669 679 673 679 675 679 677 679

- - - - -

650 680 674 680 671 680

- - - - -

667 680 700 680 660 680 701 680

-

678 680 660 680 700 680 655 680

-

670 680 668 680 678 680 655 680

-

671 680 670 680 655 680 679 680 650 680

- - - - -

695 681 667 681 701 681 698 681

-

675 681 644 681 674 681 650 681 680 681 653 681

-

698 681 675 681 653 681 695 681

- - - - -

670 647 669 646 668 645

- - - - -

674 651 642 619 672 649 671 648

-

671 648 673 650 669 646 670 647

- - - - -

670 647 669 646 668 645 685 662 688 665 683 660 679 656 680 657 650 627

- - - - -

674 651 642 619 672 649 671 648

-

671 648 673 650 669 646 670 647

-

699 676 664 641 694 671 656 633

-

658 635 695 672 652 629 682 659 687 664

-

693 670 686 663 684 661 681 658 700 677

-

655 632 685 662 683 660 653 630 680 657 679 656

- - - - -

670 647 669 646 668 645 685 662 688 665 683 660 679 656 680 657 650 627

- - - - -

674 651 642 619 672 649 671 648

-

671 648 673 650 669 646 670 647

-

699 676 664 641 694 671 656 633

-

658 635 695 672 652 629 682 659 687 664

-

693 670 686 663 684 661 681 658 700 677

-

655 632 685 662 683 660 653 630 680 657 679 656

-

698 675 697 674 676 653 675 652

-

677 654 662 639 691 668 689 666

-

678 655 690 667 692 669 696 673

- - - - -

731 738 748 738 750 738

- - - - -

757 738 743 738 718 738 724 738

-

712 738 718 738 743 738 737 738

-

745 738 730 738 712 738 737 738

-

747 738 745 738 737 738 753 738

-

753 738 731 738 750 738 747 738

- - - - -

746 739 704 739 751 739

- - - - -

755 739 721 739 715 739 740 739

-

715 739 709 739 734 739 740 739

-

744 739 734 739 709 739 727 739

-

734 739 744 739 746 739 751 739 752 739

- - - - -

751 740 704 740 749 740

- - - - -

749 740 748 740 731 740 751 740

- - - - -

748 728 749 729 750 730

- - - - -

731 711 753 733 752 732 751 731

-

737 717 734 714 752 732 753 733

-

742 722 740 720 733 713 735 715

-

756 736 754 734 738 718 741 721

-

723 703 720 700 755 735 757 737

-

724 704 718 698 715 695 721 701

-

711 691 708 688 713 693 716 696

-

728 708 725 705 707 687 710 690

-

745 725 744 724 726 706 729 709

-

747 727 746 726 744 724 745 725

-

750 730 749 729 702 682 746 726 747 727

- - - - -

780 855 783 855 782 855

- - - - -

782 855 799 855 798 855 762 855

-

759 855 780 855 782 855 762 855

- - - - -

801 856 800 856 802 856

- - - - -

802 856 809 856 810 856 801 856

- - - - -

845 857 847 857 846 857

- - - - -

846 857 837 857 839 857 845 857

- - - - -

864 858 865 858 868 858

- - - - -

865 858 866 858 867 858 868 858

-

864 858 850 858 848 858 865 858

- - - - -

786 859 783 859 780 859 777 859

-

870 859 867 859 866 859 862 859

-

854 859 870 859 862 859 853 859

-

840 859 854 859 853 859 836 859

-

830 859 840 859 836 859 829 859

-

822 859 830 859 829 859 770 859

-

767 859 822 859 770 859 818 859

-

806 859 767 859 818 859 812 859

-

792 859 806 859 812 859 795 859

-

777 859 792 859 795 859 786 859

- - - - -

790 860 801 860 810 860 799 860 782 860

-

865 860 848 860 837 860 846 860 856 860

-

861 860 865 860 856 860 859 860

-

852 860 861 860 859 860 843 860

-

835 860 852 860 843 860 832 860

-

828 860 835 860 832 860 826 860

-

821 860 828 860 826 860 823 860

-

817 860 821 860 823 860 819 860

-

811 860 817 860 819 860 814 860

-

794 860 811 860 814 860 803 860

-

785 860 794 860 803 860 787 860

-

782 860 785 860 787 860 790 860

- - - - -

833 861 834 861 842 861 841 861

-

807 861 805 861 813 861 815 861

-

816 861 807 861 815 861 820 861

-

825 861 816 861 820 861 824 861

-

831 861 825 861 824 861 827 861

-

841 861 831 861 827 861 833 861

- - - - -

804 862 813 862 805 862 765 862

-

765 862 784 862 796 862 804 862

- - - - -

844 863 851 863 863 863 855 863

-

855 863 842 863 834 863 844 863

- - - - -

788 864 796 864 784 864 778 864

-

778 864 779 864 789 864 788 864

- - - - -

860 865 858 865 869 865 871 865

-

871 865 863 865 851 865 860 865

- - - - -

864 866 868 866 857 866 847 866 845 866

-

868 866 869 866 858 866 857 866

- - - - -

791 867 760 867 762 867 802 867 800 867

-

789 867 779 867 759 867 760 867 791 867

- - - - -

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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17

-

18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

-

60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99

-

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

- - - - -

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

-

120 120 121 121 122 122 123 123

-

124 124 125 125 126 126 127 127

- - - - -

128 128 129 128 130 128 131 128 132 128 133 128

-

134 128 135 128 136 128 137 128 138 128 139 128

-

140 128 141 128 142 128 143 128 144 128

-

145 128 146 128 147 128 148 128

- - - - -

149 129 150 129 151 129

- - - - -

152 130 153 130 154 130

- - - - -

155 131 156 131 157 131

- - - - -

158 132 159 132 160 132

- - - - -

260 344 275 344 274 344

- - - - -

196 344 202 344 351 344 260 344 274 344

- - - - -

357 345 246 345 347 345 246 345 341 345 347 345 354 345 344 345 247 345 221 345 340 345 334 345 334 345 337 345 221 345 195 345 196 345 222 345 273 345 363 345 369 345 366 345 273 345 369 345 247 345 360 345 354 345

- - - - -

221 345 222 345 247 345 344 345 340 345

-

195 345 222 345 220 345 205 345 187 345

-

220 345 232 345 217 345 205 345

-

245 345 232 345 220 345 221 345 337 345 341 345 246 345

-

272 345 271 345 250 345 245 345 246 345

-

272 345 303 345 298 345 271 345

-

275 345 282 345 313 345 307 345 273 345

-

273 345 307 345 303 345 272 345 246 345 357 345 363 345

-

247 345 274 345 273 345 366 345 360 345

- - - - -

204 346 211 346 214 346

- - - - -

214 346 230 346 240 346 219 346

-

219 346 203 346 204 346 214 346

- - - - -

291 347 290 347 279 347

- - - - -

244 347 243 347 218 347 175 347 373 347

-

243 347 244 347 261 347 269 347 263 347 251 347

-

263 347 262 347 258 347 251 347

-

288 347 292 347 291 347 279 347 262 347 263 347 269 347

- - - - -

295 348 289 348 276 348

- - - - -

327 348 374 348 304 348 306 348 319 348

-

321 348 310 348 290 348 292 348 375 348

-

310 348 321 348 320 348 319 348 306 348 299 348 301 348

-

299 348 306 348 305 348 295 348

-

305 348 304 348 289 348 295 348

- - - - -

190 349 218 349 199 349

- - - - -

188 349 190 349 199 349 193 349

- - - - -

189 350 181 350 172 350 175 350 190 350

-

211 350 191 350 372 350 173 350 184 350

-

184 350 173 350 174 350 181 350 189 350 188 350

- - - - -

349 321 343 315 339 311 336 308 239 211 346 318 355 327 361 333 367 339 370 342 364 336 358 330

-

363 335 365 337 371 343 369 341

-

369 341 371 343 368 340 366 338

-

366 338 368 340 362 334 360 332

-

360 332 362 334 356 328 354 326

-

354 326 356 328 345 317 344 316

-

344 316 345 317 238 210 340 312

-

340 312 238 210 335 307 334 306

-

334 306 335 307 338 310 337 309

-

337 309 338 310 342 314 341 313

-

341 313 342 314 348 320 347 319

-

347 319 348 320 359 331 357 329

-

357 329 359 331 365 337 363 335

- - - - -

349 321 343 315 339 311 336 308 239 211 346 318 355 327 361 333 367 339 370 342 364 336 358 330

-

363 335 365 337 371 343 369 341

-

369 341 371 343 368 340 366 338

-

366 338 368 340 362 334 360 332

-

360 332 362 334 356 328 354 326

-

354 326 356 328 345 317 344 316

-

344 316 345 317 238 210 340 312

-

340 312 238 210 335 307 334 306

-

334 306 335 307 338 310 337 309

-

337 309 338 310 342 314 341 313

-

341 313 342 314 348 320 347 319

-

347 319 348 320 359 331 357 329

-

357 329 359 331 365 337 363 335

-

295 267 298 270 303 275 301 273

-

353 325 250 222 297 269 294 266

-

248 220 352 324 229 201 231 203

-

213 185 216 188 231 203 229 201

-

182 154 185 157 215 187 212 184

-

186 158 183 155 192 164 194 166

-

197 169 200 172 194 166 192 164

-

241 213 350 322 201 173 198 170

-

351 323 243 215 258 230 260 232

-

278 250 281 253 260 232 258 230

-

310 282 313 285 282 254 279 251

-

312 284 309 281 301 273 303 275

- - - - -

349 321 343 315 339 311 336 308 239 211 346 318 355 327 361 333 367 339 370 342 364 336 358 330

-

363 335 365 337 371 343 369 341

-

369 341 371 343 368 340 366 338

-

366 338 368 340 362 334 360 332

-

360 332 362 334 356 328 354 326

-

354 326 356 328 345 317 344 316

-

344 316 345 317 238 210 340 312

-

340 312 238 210 335 307 334 306

-

334 306 335 307 338 310 337 309

-

337 309 338 310 342 314 341 313

-

341 313 342 314 348 320 347 319

-

347 319 348 320 359 331 357 329

-

357 329 359 331 365 337 363 335

-

295 267 298 270 303 275 301 273

-

353 325 250 222 297 269 294 266

-

248 220 352 324 229 201 231 203

-

213 185 216 188 231 203 229 201

-

182 154 185 157 215 187 212 184

-

186 158 183 155 192 164 194 166

-

197 169 200 172 194 166 192 164

-

241 213 350 322 201 173 198 170

-

351 323 243 215 258 230 260 232

-

278 250 281 253 260 232 258 230

-

310 282 313 285 282 254 279 251

-

312 284 309 281 301 273 303 275

-

223 195 207 179 225 197 234 206

-

328 300 333 305 322 294 314 286

-

253 225 270 242 284 256 265 237

-

164 136 161 133 169 141 178 150

-

170 142 179 151 176 148 167 139

-

252 224 255 227 171 143 168 140

-

269 241 256 228 254 226 266 238

-

286 258 267 239 264 236 283 255

-

330 302 332 304 288 260 285 257

-

318 290 331 303 329 301 315 287

-

327 299 319 291 316 288 324 296

-

235 207 237 209 326 298 323 295

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894 839 1054 999 913 858 999 944

-

999 944 913 858 1049 994 811 756

-

988 933 1048 993 1050 995 989 934

-

989 934 1050 995 1046 991 986 931

-

986 931 1046 991 1044 989 984 929

-

1044 989 1042 987 982 927 984 929

-

980 925 982 927 1042 987 1040 985

-

978 923 980 925 1040 985 1038 983

-

976 921 978 923 1038 983 1036 981

-

974 919 976 921 1036 981 1032 977

-

1033 978 910 855 798 743 805 750

-

798 743 910 855 1034 979 807 752

-

959 904 958 903 796 741 963 908 966 911 970 915 972 917 968 913 964 909

-

778 723 923 868 926 871 928 873 941 886 954 899 956 901 961 906 963 908

-

997 942 1001 946 942 887 929 874

-

996 941 997 942 929 874 927 872

-

994 939 996 941 927 872 924 869

-

824 769 994 939 924 869 777 722

-

818 763 824 769 777 722 920 865

-

815 760 818 763 920 865 772 717

-

992 937 815 760 772 717 775 720

-

822 767 992 937 775 720 921 866

-

993 938 822 767 921 866 922 867

-

995 940 993 938 922 867 925 870

-

834 779 995 940 925 870 781 726

-

1000 945 834 779 781 726 790 735

-

1002 947 1000 945 790 735 953 898

-

794 739 1004 949 1002 947 953 898

-

960 905 1006 951 1004 949 794 739

-

965 910 1008 953 1006 951 960 905

-

969 914 1010 955 1008 953 965 910

-

973 918 1012 957 1010 955 969 914

-

1011 956 1012 957 973 918 971 916

-

1009 954 1011 956 971 916 967 912

-

1007 952 1009 954 967 912 962 907

-

1005 950 1007 952 962 907 957 902

-

1003 948 1005 950 957 902 955 900

-

1001 946 1003 948 955 900 942 887

- - - - -

1037 982 977 922 975 920 1035 980

-

977 922 1037 982 1039 984 979 924

-

979 924 1039 984 1041 986 981 926

-

981 926 1041 986 1043 988 983 928

-

983 928 1043 988 1045 990 985 930

-

985 930 1045 990 1047 992 987 932

-

987 932 1047 992 1051 996 990 935

-

990 935 1051 996 1052 997 991 936

-

1053 998 915 860 998 943 813 758

-

998 943 915 860 1058 1003 896 841

-

1057 1002 1015 960 1016 961 1059 1004

-

1015 960 1057 1002 1061 1006 1018 963

-

1018 963 1061 1006 1063 1008 1020 965

-

1020 965 1063 1008 1065 1010 1022 967

-

1022 967 1065 1010 1067 1012 1024 969

-

1024 969 1067 1012 1069 1014 1026 971

-

1026 971 1069 1014 1071 1016 1028 973

-

1028 973 1071 1016 1074 1019 1030 975

-

905 850 1075 1020 918 863 1031 976

-

918 863 1073 1018 903 848 1031 976

-

1070 1015 1027 972 1029 974 1072 1017

-

1027 972 1070 1015 1068 1013 1025 970

-

1025 970 1068 1013 1066 1011 1023 968

-

1023 968 1066 1011 1064 1009 1021 966

-

1021 966 1064 1009 1062 1007 1019 964

-

1019 964 1062 1007 1060 1005 1017 962

-

1017 962 1060 1005 1056 1001 1014 959

-

1014 959 1056 1001 1055 1000 1013 958

-

894 839 1054 999 913 858 999 944

-

999 944 913 858 1049 994 811 756

-

988 933 1048 993 1050 995 989 934

-

989 934 1050 995 1046 991 986 931

-

986 931 1046 991 1044 989 984 929

-

1044 989 1042 987 982 927 984 929

-

980 925 982 927 1042 987 1040 985

-

978 923 980 925 1040 985 1038 983

-

976 921 978 923 1038 983 1036 981

-

974 919 976 921 1036 981 1032 977

-

1033 978 910 855 798 743 805 750

-

798 743 910 855 1034 979 807 752

-

959 904 958 903 796 741 963 908 966 911 970 915 972 917 968 913 964 909

-

778 723 923 868 926 871 928 873 941 886 954 899 956 901 961 906 963 908

-

997 942 1001 946 942 887 929 874

-

996 941 997 942 929 874 927 872

-

994 939 996 941 927 872 924 869

-

824 769 994 939 924 869 777 722

-

818 763 824 769 777 722 920 865

-

815 760 818 763 920 865 772 717

-

992 937 815 760 772 717 775 720

-

822 767 992 937 775 720 921 866

-

993 938 822 767 921 866 922 867

-

995 940 993 938 922 867 925 870

-

834 779 995 940 925 870 781 726

-

1000 945 834 779 781 726 790 735

-

1002 947 1000 945 790 735 953 898

-

794 739 1004 949 1002 947 953 898

-

960 905 1006 951 1004 949 794 739

-

965 910 1008 953 1006 951 960 905

-

969 914 1010 955 1008 953 965 910

-

973 918 1012 957 1010 955 969 914

-

1011 956 1012 957 973 918 971 916

-

1009 954 1011 956 971 916 967 912

-

1007 952 1009 954 967 912 962 907

-

1005 950 1007 952 962 907 957 902

-

1003 948 1005 950 957 902 955 900

-

1001 946 1003 948 955 900 942 887

-

867 812 863 808 859 804 853 798 849 794 845 790 841 786 837 782 835 780 839 784 843 788 847 792 851 796 855 800 861 806 865 810 869 814 873 818 877 822 881 826 883 828 879 824 875 820 871 816

-

940 885 862 807 856 801 938 883

-

938 883 856 801 852 797 936 881

-

936 881 852 797 848 793 935 880

-

935 880 848 793 844 789 933 878

-

933 878 844 789 840 785 931 876

-

931 876 840 785 836 781 783 728

-

783 728 836 781 838 783 930 875

-

930 875 838 783 842 787 932 877

-

932 877 842 787 846 791 934 879

-

934 879 846 791 850 795 785 730

-

785 730 850 795 854 799 937 882

-

937 882 854 799 860 805 939 884

-

939 884 860 805 864 809 943 888

-

943 888 864 809 868 813 945 890

-

945 890 868 813 872 817 947 892

-

792 737 947 892 872 817 876 821

-

880 825 950 895 792 737 876 821

-

952 897 950 895 880 825 884 829

-

951 896 952 897 884 829 882 827

-

949 894 951 896 882 827 878 823

-

948 893 949 894 878 823 874 819

-

946 891 948 893 874 819 870 815

-

944 889 946 891 870 815 866 811

-

944 889 866 811 862 807 940 885

- - - - -

1076 1030 1077 1030 1078 1030 1079 1030 1080 1030

- - - - -

1081 1031 1082 1031 1083 1031 1084 1031 1085 1031

- - - - -

1086 1032 1087 1032 1088 1032 1089 1032 1090 1032

- - - - -

1091 1033 1092 1034 1093 1035 1094 1036

-

1095 1037 1096 1038 1097 1039 1098 1040

-

1099 1041 1100 1042 1101 1043 1102 1044

-

1103 1045 1104 1046 1105 1047 1106 1048

-

1107 1049 1108 1050 1109 1051 1110 1052

- - - - -

1116 1053 1117 1053 1118 1053

- - - - -

1111 1053 1112 1053 1113 1053 1114 1053 1115 1053

- - - - -

1127 1358 1279 1358 1131 1358 1127 1358 1277 1358 1279 1358 1276 1358 1277 1358 1127 1358 1127 1358 1278 1358 1276 1358 1127 1358 1280 1358 1278 1358 1141 1358 1298 1358 1296 1358 1141 1358 1296 1358 1294 1358 1134 1358 1292 1358 1291 1358 1134 1358 1291 1358 1287 1358 1287 1358 1285 1358 1134 1358 1134 1358 1285 1358 1283 1358 1134 1358 1283 1358 1281 1358 1133 1358 1290 1358 1138 1358 1133 1358 1286 1358 1290 1358 1286 1358 1133 1358 1284 1358 1133 1358 1282 1358 1284 1358 1141 1358 1293 1358 1295 1358 1141 1358 1295 1358 1297 1358 1299 1358 1141 1358 1297 1358 1141 1358 1299 1358 1298 1358

- - - - -

1134 1358 1142 1358 1141 1358 1294 1358 1292 1358

-

1134 1358 1281 1358 1280 1358 1127 1358 1121 1358 1120 1358 1266 1358 1125 1358 1126 1358

-

1131 1358 1282 1358 1133 1358 1132 1358 1129 1358 1271 1358 1268 1358 1267 1358 1123 1358 1121 1358 1127 1358

-

1138 1358 1293 1358 1141 1358 1305 1358 1140 1358 1300 1358 1136 1358 1132 1358 1133 1358

- - - - -

1375 1359 1251 1359 1253 1359 1253 1359 1373 1359 1375 1359 1253 1359 1371 1359 1373 1359 1238 1359 1367 1359 1369 1359 1238 1359 1365 1359 1367 1359 1238 1359 1362 1359 1365 1359 1238 1359 1363 1359 1362 1359

- - - - -

1253 1359 1236 1359 1238 1359 1369 1359 1371 1359

- - - - -

1361 1360 1360 1360 1233 1360 1233 1360 1364 1360 1361 1360 1233 1360 1366 1360 1364 1360 1252 1360 1370 1360 1368 1360 1252 1360 1372 1360 1370 1360 1252 1360 1374 1360 1372 1360 1252 1360 1249 1360 1374 1360

- - - - -

1233 1360 1235 1360 1252 1360 1368 1360 1366 1360

- - - - -

1323 1361 1321 1361 1149 1361 1149 1361 1325 1361 1323 1361 1149 1361 1327 1361 1325 1361 1171 1361 1157 1361 1336 1361 1171 1361 1336 1361 1333 1361 1171 1361 1333 1361 1331 1361 1171 1361 1331 1361 1329 1361 1340 1361 1173 1361 1168 1361 1340 1361 1342 1361 1173 1361 1353 1361 1235 1361 1351 1361 1355 1361 1235 1361 1353 1361 1356 1361 1354 1361 1236 1361 1352 1361 1236 1361 1354 1361 1343 1361 1341 1361 1174 1361 1341 1361 1170 1361 1174 1361 1337 1361 1159 1361 1176 1361 1176 1361 1334 1361 1337 1361 1176 1361 1332 1361 1334 1361 1176 1361 1330 1361 1332 1361 1148 1361 1326 1361 1328 1361 1148 1361 1324 1361 1326 1361 1148 1361 1322 1361 1324 1361

- - - - -

1173 1361 1171 1361 1329 1361 1327 1361 1149 1361 1147 1361 1166 1361 1168 1361

-

1344 1361 1177 1361 1172 1361 1173 1361 1342 1361

-

1204 1361 1201 1361 1177 1361 1344 1361

-

1231 1361 1201 1361 1204 1361 1349 1361

-

1351 1361 1235 1361 1234 1361 1231 1361 1349 1361

-

1357 1361 1244 1361 1243 1361 1235 1361 1355 1361

-

1359 1361 1245 1361 1244 1361 1357 1361

-

1246 1361 1245 1361 1359 1361 1358 1361

-

1356 1361 1236 1361 1247 1361 1246 1361 1358 1361

-

1350 1361 1232 1361 1237 1361 1236 1361 1352 1361

-

1202 1361 1232 1361 1350 1361 1348 1361

-

1348 1361 1345 1361 1178 1361 1202 1361

-

1345 1361 1343 1361 1174 1361 1175 1361 1178 1361

-

1328 1361 1330 1361 1176 1361 1174 1361 1170 1361 1165 1361 1146 1361 1148 1361

- - - - -

1161 1362 1162 1362 1154 1362 1155 1362 1165 1362 1164 1362

- - - - -

1164 1362 1161 1362 1154 1362 1145 1362 1144 1362 1146 1362 1155 1362

- - - - -

1254 1363 1256 1363 1380 1363 1396 1363 1259 1363 1254 1363

- - - - -

1254 1363 1380 1363 1383 1363 1385 1363 1387 1363 1389 1363 1391 1363 1393 1363 1397 1363 1396 1363

- - - - -

1262 1364 1259 1364 1402 1364 1420 1364 1264 1364 1262 1364

- - - - -

1262 1364 1402 1364 1403 1364 1407 1364 1409 1364 1411 1364 1413 1364 1415 1364 1417 1364 1420 1364

- - - - -

1257 1365 1261 1365 1400 1365 1382 1365 1256 1365 1257 1365

- - - - -

1257 1365 1400 1365 1398 1365 1394 1365 1392 1365 1390 1365 1388 1365 1386 1365 1384 1365 1382 1365

- - - - -

1265 1366 1264 1366 1422 1366 1406 1366 1261 1366 1265 1366

- - - - -

1265 1366 1422 1366 1418 1366 1416 1366 1414 1366 1412 1366 1410 1366 1408 1366 1404 1366 1406 1366

- - - - -

1384 1319 1324 1259 1322 1257 1382 1317

-

1324 1259 1384 1319 1386 1321 1326 1261

-

1326 1261 1386 1321 1388 1323 1328 1263

-

1328 1263 1388 1323 1390 1325 1330 1265

-

1330 1265 1390 1325 1392 1327 1332 1267

-

1332 1267 1392 1327 1394 1329 1334 1269

-

1334 1269 1394 1329 1398 1333 1337 1272

-

1337 1272 1398 1333 1399 1334 1338 1273

-

1400 1335 1261 1196 1346 1281 1159 1094

-

1346 1281 1261 1196 1405 1340 1242 1177

-

1404 1339 1362 1297 1363 1298 1406 1341

-

1362 1297 1404 1339 1408 1343 1365 1300

-

1365 1300 1408 1343 1410 1345 1367 1302

-

1367 1302 1410 1345 1412 1347 1369 1304

-

1369 1304 1412 1347 1414 1349 1371 1306

-

1371 1306 1414 1349 1416 1351 1373 1308

-

1373 1308 1416 1351 1418 1353 1375 1310

-

1375 1310 1418 1353 1421 1356 1377 1312

-

1251 1186 1422 1357 1264 1199 1378 1313

-

1264 1199 1420 1355 1249 1184 1378 1313

-

1417 1352 1374 1309 1376 1311 1419 1354

-

1374 1309 1417 1352 1415 1350 1372 1307

-

1372 1307 1415 1350 1413 1348 1370 1305

-

1370 1305 1413 1348 1411 1346 1368 1303

-

1368 1303 1411 1346 1409 1344 1366 1301

-

1366 1301 1409 1344 1407 1342 1364 1299

-

1364 1299 1407 1342 1403 1338 1361 1296

-

1361 1296 1403 1338 1402 1337 1360 1295

-

1240 1175 1401 1336 1259 1194 1347 1282

-

1347 1282 1259 1194 1396 1331 1157 1092

-

1335 1270 1395 1330 1397 1332 1336 1271

-

1336 1271 1397 1332 1393 1328 1333 1268

-

1333 1268 1393 1328 1391 1326 1331 1266

-

1391 1326 1389 1324 1329 1264 1331 1266

-

1327 1262 1329 1264 1389 1324 1387 1322

-

1325 1260 1327 1262 1387 1322 1385 1320

-

1323 1258 1325 1260 1385 1320 1383 1318

-

1321 1256 1323 1258 1383 1318 1380 1315

-

1379 1314 1256 1191 1144 1079 1151 1086

-

1144 1079 1256 1191 1381 1316 1153 1088

- - - - -

1384 1319 1324 1259 1322 1257 1382 1317

-

1324 1259 1384 1319 1386 1321 1326 1261

-

1326 1261 1386 1321 1388 1323 1328 1263

-

1328 1263 1388 1323 1390 1325 1330 1265

-

1330 1265 1390 1325 1392 1327 1332 1267

-

1332 1267 1392 1327 1394 1329 1334 1269

-

1334 1269 1394 1329 1398 1333 1337 1272

-

1337 1272 1398 1333 1399 1334 1338 1273

-

1400 1335 1261 1196 1346 1281 1159 1094

-

1346 1281 1261 1196 1405 1340 1242 1177

-

1404 1339 1362 1297 1363 1298 1406 1341

-

1362 1297 1404 1339 1408 1343 1365 1300

-

1365 1300 1408 1343 1410 1345 1367 1302

-

1367 1302 1410 1345 1412 1347 1369 1304

-

1369 1304 1412 1347 1414 1349 1371 1306

-

1371 1306 1414 1349 1416 1351 1373 1308

-

1373 1308 1416 1351 1418 1353 1375 1310

-

1375 1310 1418 1353 1421 1356 1377 1312

-

1251 1186 1422 1357 1264 1199 1378 1313

-

1264 1199 1420 1355 1249 1184 1378 1313

-

1417 1352 1374 1309 1376 1311 1419 1354

-

1374 1309 1417 1352 1415 1350 1372 1307

-

1372 1307 1415 1350 1413 1348 1370 1305

-

1370 1305 1413 1348 1411 1346 1368 1303

-

1368 1303 1411 1346 1409 1344 1366 1301

-

1366 1301 1409 1344 1407 1342 1364 1299

-

1364 1299 1407 1342 1403 1338 1361 1296

-

1361 1296 1403 1338 1402 1337 1360 1295

-

1240 1175 1401 1336 1259 1194 1347 1282

-

1347 1282 1259 1194 1396 1331 1157 1092

-

1335 1270 1395 1330 1397 1332 1336 1271

-

1336 1271 1397 1332 1393 1328 1333 1268

-

1333 1268 1393 1328 1391 1326 1331 1266

-

1391 1326 1389 1324 1329 1264 1331 1266

-

1327 1262 1329 1264 1389 1324 1387 1322

-

1325 1260 1327 1262 1387 1322 1385 1320

-

1323 1258 1325 1260 1385 1320 1383 1318

-

1321 1256 1323 1258 1383 1318 1380 1315

-

1379 1314 1256 1191 1144 1079 1151 1086

-

1144 1079 1256 1191 1381 1316 1153 1088

-

1306 1241 1305 1240 1142 1077 1310 1245 1313 1248 1317 1252 1319 1254 1315 1250 1311 1246

-

1126 1061 1269 1204 1272 1207 1274 1209 1288 1223 1301 1236 1303 1238 1308 1243 1310 1245

-

1345 1280 1348 1283 1289 1224 1275 1210

-

1343 1278 1345 1280 1275 1210 1273 1208

-

1341 1276 1343 1278 1273 1208 1270 1205

-

1170 1105 1341 1276 1270 1205 1125 1060

-

1164 1099 1170 1105 1125 1060 1266 1201

-

1161 1096 1164 1099 1266 1201 1120 1055

-

1339 1274 1161 1096 1120 1055 1123 1058

-

1168 1103 1339 1274 1123 1058 1267 1202

-

1340 1275 1168 1103 1267 1202 1268 1203

-

1342 1277 1340 1275 1268 1203 1271 1206

-

1344 1279 1342 1277 1271 1206 1129 1064

-

1204 1139 1344 1279 1129 1064 1136 1071

-

1349 1284 1204 1139 1136 1071 1300 1235

-

1140 1075 1351 1286 1349 1284 1300 1235

-

1307 1242 1353 1288 1351 1286 1140 1075

-

1312 1247 1355 1290 1353 1288 1307 1242

-

1316 1251 1357 1292 1355 1290 1312 1247

-

1320 1255 1359 1294 1357 1292 1316 1251

-

1358 1293 1359 1294 1320 1255 1318 1253

-

1356 1291 1358 1293 1318 1253 1314 1249

-

1354 1289 1356 1291 1314 1249 1309 1244

-

1352 1287 1354 1289 1309 1244 1304 1239

-

1350 1285 1352 1287 1304 1239 1302 1237

-

1348 1283 1350 1285 1302 1237 1289 1224

- - - - -

1384 1319 1324 1259 1322 1257 1382 1317

-

1324 1259 1384 1319 1386 1321 1326 1261

-

1326 1261 1386 1321 1388 1323 1328 1263

-

1328 1263 1388 1323 1390 1325 1330 1265

-

1330 1265 1390 1325 1392 1327 1332 1267

-

1332 1267 1392 1327 1394 1329 1334 1269

-

1334 1269 1394 1329 1398 1333 1337 1272

-

1337 1272 1398 1333 1399 1334 1338 1273

-

1400 1335 1261 1196 1346 1281 1159 1094

-

1346 1281 1261 1196 1405 1340 1242 1177

-

1404 1339 1362 1297 1363 1298 1406 1341

-

1362 1297 1404 1339 1408 1343 1365 1300

-

1365 1300 1408 1343 1410 1345 1367 1302

-

1367 1302 1410 1345 1412 1347 1369 1304

-

1369 1304 1412 1347 1414 1349 1371 1306

-

1371 1306 1414 1349 1416 1351 1373 1308

-

1373 1308 1416 1351 1418 1353 1375 1310

-

1375 1310 1418 1353 1421 1356 1377 1312

-

1251 1186 1422 1357 1264 1199 1378 1313

-

1264 1199 1420 1355 1249 1184 1378 1313

-

1417 1352 1374 1309 1376 1311 1419 1354

-

1374 1309 1417 1352 1415 1350 1372 1307

-

1372 1307 1415 1350 1413 1348 1370 1305

-

1370 1305 1413 1348 1411 1346 1368 1303

-

1368 1303 1411 1346 1409 1344 1366 1301

-

1366 1301 1409 1344 1407 1342 1364 1299

-

1364 1299 1407 1342 1403 1338 1361 1296

-

1361 1296 1403 1338 1402 1337 1360 1295

-

1240 1175 1401 1336 1259 1194 1347 1282

-

1347 1282 1259 1194 1396 1331 1157 1092

-

1335 1270 1395 1330 1397 1332 1336 1271

-

1336 1271 1397 1332 1393 1328 1333 1268

-

1333 1268 1393 1328 1391 1326 1331 1266

-

1391 1326 1389 1324 1329 1264 1331 1266

-

1327 1262 1329 1264 1389 1324 1387 1322

-

1325 1260 1327 1262 1387 1322 1385 1320

-

1323 1258 1325 1260 1385 1320 1383 1318

-

1321 1256 1323 1258 1383 1318 1380 1315

-

1379 1314 1256 1191 1144 1079 1151 1086

-

1144 1079 1256 1191 1381 1316 1153 1088

-

1306 1241 1305 1240 1142 1077 1310 1245 1313 1248 1317 1252 1319 1254 1315 1250 1311 1246

-

1126 1061 1269 1204 1272 1207 1274 1209 1288 1223 1301 1236 1303 1238 1308 1243 1310 1245

-

1345 1280 1348 1283 1289 1224 1275 1210

-

1343 1278 1345 1280 1275 1210 1273 1208

-

1341 1276 1343 1278 1273 1208 1270 1205

-

1170 1105 1341 1276 1270 1205 1125 1060

-

1164 1099 1170 1105 1125 1060 1266 1201

-

1161 1096 1164 1099 1266 1201 1120 1055

-

1339 1274 1161 1096 1120 1055 1123 1058

-

1168 1103 1339 1274 1123 1058 1267 1202

-

1340 1275 1168 1103 1267 1202 1268 1203

-

1342 1277 1340 1275 1268 1203 1271 1206

-

1344 1279 1342 1277 1271 1206 1129 1064

-

1204 1139 1344 1279 1129 1064 1136 1071

-

1349 1284 1204 1139 1136 1071 1300 1235

-

1140 1075 1351 1286 1349 1284 1300 1235

-

1307 1242 1353 1288 1351 1286 1140 1075

-

1312 1247 1355 1290 1353 1288 1307 1242

-

1316 1251 1357 1292 1355 1290 1312 1247

-

1320 1255 1359 1294 1357 1292 1316 1251

-

1358 1293 1359 1294 1320 1255 1318 1253

-

1356 1291 1358 1293 1318 1253 1314 1249

-

1354 1289 1356 1291 1314 1249 1309 1244

-

1352 1287 1354 1289 1309 1244 1304 1239

-

1350 1285 1352 1287 1304 1239 1302 1237

-

1348 1283 1350 1285 1302 1237 1289 1224

-

1213 1148 1209 1144 1205 1140 1197 1132 1193 1128 1189 1124 1185 1120 1181 1116 1179 1114 1183 1118 1187 1122 1191 1126 1195 1130 1199 1134 1207 1142 1211 1146 1215 1150 1219 1154 1223 1158 1227 1162 1229 1164 1225 1160 1221 1156 1217 1152

-

1287 1222 1208 1143 1200 1135 1285 1220

-

1285 1220 1200 1135 1196 1131 1283 1218

-

1283 1218 1196 1131 1192 1127 1281 1216

-

1281 1216 1192 1127 1188 1123 1280 1215

-

1280 1215 1188 1123 1184 1119 1278 1213

-

1278 1213 1184 1119 1180 1115 1276 1211

-

1276 1211 1180 1115 1182 1117 1277 1212

-

1277 1212 1182 1117 1186 1121 1279 1214

-

1279 1214 1186 1121 1190 1125 1131 1066

-

1131 1066 1190 1125 1194 1129 1282 1217

-

1282 1217 1194 1129 1198 1133 1284 1219

-

1284 1219 1198 1133 1206 1141 1286 1221

-

1286 1221 1206 1141 1210 1145 1290 1225

-

1290 1225 1210 1145 1214 1149 1138 1073

-

1138 1073 1214 1149 1218 1153 1293 1228

-

1295 1230 1293 1228 1218 1153 1222 1157

-

1226 1161 1297 1232 1295 1230 1222 1157

-

1299 1234 1297 1232 1226 1161 1230 1165

-

1298 1233 1299 1234 1230 1165 1228 1163

-

1296 1231 1298 1233 1228 1163 1224 1159

-

1294 1229 1296 1231 1224 1159 1220 1155

-

1292 1227 1294 1229 1220 1155 1216 1151

-

1291 1226 1292 1227 1216 1151 1212 1147

-

1291 1226 1212 1147 1208 1143 1287 1222

- - - - -

1423 1367 1424 1368 1425 1369 1426 1370 1427 1371 1428 1372 1429 1373 1430 1374 1431 1375 1432 1376

-

1433 1377 1434 1378 1435 1379 1436 1380 1437 1381 1438 1382 1439 1383 1440 1384 1441 1385 1442 1386

-

1443 1387 1444 1388 1445 1389 1446 1390

-

1447 1391 1448 1392 1449 1393 1450 1394

-

1451 1395 1452 1396 1453 1397 1454 1398

-

1455 1399 1456 1400 1457 1401 1458 1402

-

1459 1403 1460 1404 1461 1405 1462 1406

-

1463 1407 1464 1408 1465 1409 1466 1410

-

1467 1411 1468 1412 1469 1413 1470 1414

-

1471 1415 1472 1416 1473 1417 1474 1418

-

1475 1419 1476 1420 1477 1421 1478 1422

-

1479 1423 1480 1424 1481 1425 1482 1426

- - - - -

1502 1600 1515 1600 1500 1600

- - - - -

1626 1600 1630 1600 1645 1600 1639 1600

-

1618 1600 1626 1600 1639 1600 1634 1600

-

1599 1600 1618 1600 1634 1600 1616 1600

-

1571 1600 1599 1600 1616 1600 1585 1600

-

1553 1600 1571 1600 1585 1600 1560 1600

-

1534 1600 1553 1600 1560 1600 1537 1600

-

1534 1600 1537 1600 1519 1600 1500 1600 1515 1600

- - - - -

1632 1601 1636 1601 1615 1601 1613 1601

-

1486 1601 1509 1601 1505 1601 1484 1601

-

1509 1601 1533 1601 1529 1601 1505 1601

-

1533 1601 1552 1601 1548 1601 1529 1601

-

1552 1601 1570 1601 1561 1601 1548 1601

-

1570 1601 1603 1601 1575 1601 1561 1601

-

1603 1601 1622 1601 1605 1601 1575 1601

-

1613 1601 1605 1601 1622 1601 1632 1601

- - - - -

1655 1599 1650 1594 1649 1593 1653 1597

-

1647 1591 1643 1587 1651 1595 1655 1599

-

1643 1587 1647 1591 1636 1580 1631 1575

-

1522 1466 1540 1484 1546 1490 1527 1471

-

1549 1493 1530 1474 1525 1469 1544 1488

-

1562 1506 1549 1493 1545 1489 1556 1500

-

1555 1499 1546 1490 1540 1484 1554 1498

-

1567 1511 1557 1501 1554 1498 1568 1512

-

1557 1501 1567 1511 1573 1517 1562 1506

-

1590 1534 1573 1517 1567 1511 1576 1520

-

1578 1522 1588 1532 1609 1553 1589 1533

-

1605 1549 1613 1557 1594 1538 1579 1523

-

1579 1523 1594 1538 1588 1532 1577 1521

-

1568 1512 1579 1523 1578 1522 1567 1511

-

1580 1524 1568 1512 1575 1519 1604 1548

-

1561 1505 1574 1518 1568 1512 1554 1498

-

1547 1491 1561 1505 1554 1498 1541 1485

-

1528 1472 1548 1492 1540 1484 1523 1467

-

1504 1448 1529 1473 1523 1467 1503 1447

-

1526 1470 1508 1452 1503 1447 1524 1468

-

1508 1452 1527 1471 1530 1474 1510 1454

-

1534 1478 1515 1459 1510 1454 1531 1475

-

1553 1497 1534 1478 1531 1475 1550 1494

-

1571 1515 1553 1497 1549 1493 1563 1507

-

1598 1542 1571 1515 1562 1506 1572 1516

-

1618 1562 1599 1543 1573 1517 1591 1535

-

1625 1569 1617 1561 1589 1533 1608 1552

-

1629 1573 1626 1570 1610 1554 1611 1555

-

1611 1555 1609 1553 1587 1531 1600 1544

-

1592 1536 1606 1550 1600 1544 1586 1530

-

1613 1557 1614 1558 1606 1550 1593 1537

-

1607 1551 1615 1559 1635 1579 1646 1590 1654 1598 1652 1596 1644 1588 1630 1574 1612 1556 1601 1545

-

1639 1583 1645 1589 1653 1597 1648 1592

-

1633 1577 1639 1583 1648 1592 1640 1584

-

1650 1594 1641 1585 1640 1584 1648 1592

-

1641 1585 1650 1594 1643 1587 1638 1582

-

1632 1576 1621 1565 1638 1582 1643 1587

-

1627 1571 1595 1539 1596 1540 1624 1568

-

1620 1564 1581 1525 1595 1539 1628 1572

-

1581 1525 1620 1564 1603 1547 1570 1514

-

1622 1566 1602 1546 1619 1563 1637 1581

-

1638 1582 1620 1564 1627 1571 1642 1586

-

1641 1585 1627 1571 1624 1568 1640 1584

-

1640 1584 1623 1567 1616 1560 1634 1578

-

1585 1529 1616 1560 1623 1567 1597 1541

-

1597 1541 1565 1509 1560 1504 1584 1528

-

1565 1509 1597 1541 1595 1539 1564 1508

-

1583 1527 1558 1502 1564 1508 1595 1539

-

1569 1513 1551 1495 1558 1502 1582 1526

-

1539 1483 1517 1461 1521 1465 1543 1487

-

1535 1479 1513 1457 1517 1461 1538 1482

-

1512 1456 1535 1479 1532 1476 1509 1453

-

1552 1496 1533 1477 1535 1479 1558 1502

-

1558 1502 1535 1479 1539 1483 1564 1508

-

1564 1508 1539 1483 1543 1487 1565 1509

-

1566 1510 1542 1486 1536 1480 1559 1503

-

1518 1462 1537 1481 1542 1486 1521 1465

-

1520 1464 1496 1440 1500 1444 1519 1463

-

1516 1460 1494 1438 1496 1440 1521 1465

-

1511 1455 1490 1434 1494 1438 1517 1461

-

1490 1434 1512 1456 1509 1453 1486 1430

-

1489 1433 1485 1429 1483 1427 1487 1431 1491 1435 1497 1441 1501 1445 1499 1443 1495 1439 1493 1437

-

1514 1458 1502 1446 1498 1442 1510 1454

-

1510 1454 1498 1442 1492 1436 1507 1451

-

1506 1450 1492 1436 1488 1432 1503 1447

-

1503 1447 1488 1432 1484 1428 1505 1449

- - - - -

1656 1602 1657 1603 1658 1604 1659 1605 1660 1606 1661 1607 1662 1608 1663 1609 1664 1610 1665 1611

-

1666 1612 1667 1613 1668 1614 1669 1615 1670 1616 1671 1617 1672 1618 1673 1619 1674 1620 1675 1621

-

1676 1622 1677 1623 1678 1624 1679 1625

-

1680 1626 1681 1627 1682 1628 1683 1629

-

1684 1630 1685 1631 1686 1632 1687 1633

-

1688 1634 1689 1635 1690 1636 1691 1637

-

1692 1638 1693 1639 1694 1640 1695 1641

-

1696 1642 1697 1643 1698 1644 1699 1645

-

1700 1646 1701 1647 1702 1648 1703 1649

-

1704 1650 1705 1651 1706 1652 1707 1653

-

1708 1654 1709 1655 1710 1656 1711 1657

-

1712 1658 1713 1659 1714 1660 1715 1661

- - - - -

1716 1662 1717 1662 1718 1662 1719 1662

- - - - -

1720 1663 1721 1664 1722 1665 1723 1666

-

1724 1667 1725 1668 1726 1669 1727 1670

-

1728 1671 1729 1672 1730 1673 1731 1674

-

1732 1675 1733 1676 1734 1677 1735 1678

-

1736 1679 1737 1680 1738 1681 1739 1682

-

1740 1683 1741 1684 1742 1685 1743 1686

- - - - -

1744 1687 1745 1687 1746 1687 1747 1687

- - - - -

1775 1708 1755 1708 1751 1708 1791 1708 1761 1708 1765 1708

- - - - -

1780 1708 1769 1708 1768 1708 1775 1708 1751 1708

-

1775 1708 1784 1708 1759 1708 1755 1708

-

1784 1708 1793 1708 1763 1708 1759 1708

-

1793 1708 1792 1708 1767 1708 1763 1708

-

1791 1708 1765 1708 1767 1708 1792 1708

-

1783 1708 1761 1708 1791 1708 1790 1708 1781 1708

- - - - -

1757 1709 1783 1709 1782 1709 1774 1709 1780 1709 1749 1709

- - - - -

1773 1709 1772 1709 1771 1709 1770 1709

-

1773 1709 1753 1709 1757 1709 1782 1709 1781 1709 1772 1709

-

1749 1709 1753 1709 1773 1709 1770 1709 1769 1709 1774 1709

- - - - -

1766 1710 1789 1710 1796 1710 1786 1710 1787 1710 1756 1710 1779 1710 1750 1710 1754 1710

- - - - -

1797 1710 1762 1710 1766 1710 1796 1710 1799 1710 1798 1710

-

1797 1710 1788 1710 1758 1710 1762 1710

-

1779 1710 1754 1710 1758 1710 1788 1710

-

1756 1710 1752 1710 1777 1710 1776 1710 1785 1710 1786 1710

-

1778 1710 1777 1710 1752 1710 1748 1710

-

1779 1710 1778 1710 1748 1710 1750 1710

- - - - -

1795 1711 1764 1711 1760 1711

- - - - -

1787 1711 1785 1711 1794 1711 1795 1711 1760 1711

-

1795 1711 1794 1711 1801 1711 1800 1711

-

1789 1711 1764 1711 1795 1711 1800 1711 1799 1711

- - - - -

1759 1699 1763 1703 1762 1702 1758 1698

-

1755 1695 1759 1699 1758 1698 1754 1694

-

1751 1691 1755 1695 1754 1694 1750 1690

-

1749 1689 1751 1691 1750 1690 1748 1688

-

1753 1693 1749 1689 1748 1688 1752 1692

-

1757 1697 1753 1693 1752 1692 1756 1696

-

1761 1701 1757 1697 1756 1696 1760 1700

-

1765 1705 1761 1701 1760 1700 1764 1704

-

1767 1707 1765 1705 1764 1704 1766 1706

-

1763 1703 1767 1707 1766 1706 1762 1702

- - - - -

1802 1712 1803 1713 1804 1714 1805 1715 1806 1716 1807 1717 1808 1718 1809 1719 1810 1720 1811 1721 1812 1722 1813 1723

-

1814 1724 1815 1725 1816 1726 1817 1727 1818 1728 1819 1729 1820 1730 1821 1731 1822 1732 1823 1733 1824 1734 1825 1735

-

1826 1736 1827 1737 1828 1738 1829 1739

-

1830 1740 1831 1741 1832 1742 1833 1743

-

1834 1744 1835 1745 1836 1746 1837 1747

-

1838 1748 1839 1749 1840 1750 1841 1751

-

1842 1752 1843 1753 1844 1754 1845 1755

-

1846 1756 1847 1757 1848 1758 1849 1759

-

1850 1760 1851 1761 1852 1762 1853 1763

-

1854 1764 1855 1765 1856 1766 1857 1767

-

1858 1768 1859 1769 1860 1770 1861 1771

-

1862 1772 1863 1773 1864 1774 1865 1775

-

1866 1776 1867 1777 1868 1778 1869 1779

-

1870 1780 1871 1781 1872 1782 1873 1783

- - - - -

1874 1784 1875 1785 1876 1786 1877 1787 1878 1788 1879 1789 1880 1790 1881 1791 1882 1792 1883 1793 1884 1794 1885 1795 1886 1796 1887 1797 1888 1798 1889 1799 1890 1800 1891 1801

-

1892 1802 1893 1803 1894 1804 1895 1805 1896 1806 1897 1807 1898 1808 1899 1809 1900 1810 1901 1811 1902 1812 1903 1813 1904 1814 1905 1815 1906 1816 1907 1817 1908 1818 1909 1819

-

1910 1820 1911 1821 1912 1822 1913 1823

-

1914 1824 1915 1825 1916 1826 1917 1827

-

1918 1828 1919 1829 1920 1830 1921 1831

-

1922 1832 1923 1833 1924 1834 1925 1835

-

1926 1836 1927 1837 1928 1838 1929 1839

-

1930 1840 1931 1841 1932 1842 1933 1843

-

1934 1844 1935 1845 1936 1846 1937 1847

-

1938 1848 1939 1849 1940 1850 1941 1851

-

1942 1852 1943 1853 1944 1854 1945 1855

-

1946 1856 1947 1857 1948 1858 1949 1859

-

1950 1860 1951 1861 1952 1862 1953 1863

-

1954 1864 1955 1865 1956 1866 1957 1867

-

1958 1868 1959 1869 1960 1870 1961 1871

-

1962 1872 1963 1873 1964 1874 1965 1875

-

1966 1876 1967 1877 1968 1878 1969 1879

-

1970 1880 1971 1881 1972 1882 1973 1883

-

1974 1884 1975 1885 1976 1886 1977 1887

-

1978 1888 1979 1889 1980 1890 1981 1891

- - - - -

1982 1892 1983 1893 1984 1894 1997 1907 1998 1908 1999 1909

- - - - -

1985 1895 1986 1896 1987 1897 1988 1898

-

1989 1899 1990 1900 1991 1901 1992 1902

-

1993 1903 1994 1904 1995 1905 1996 1906

- - - - -

2015 1941 2029 1941 2012 1941 2017 1941 2020 1941 2015 1941

- - - - -

2012 1941 2028 1941 2017 1941 2015 1941

- - - - -

2005 1942 2024 1942 2003 1942 2003 1942 2022 1942 2023 1942

- - - - -

2003 1942 2023 1942 2026 1942 2005 1942

- - - - -

2012 1943 2029 1943 2007 1943

- - - - -

2007 1943 2024 1943 2005 1943 2012 1943

- - - - -

2027 1937 2010 1920 2004 1914 2025 1935

-

2016 1926 2028 1938 2026 1936 2023 1933

-

2009 1919 2003 1913 2024 1934 2007 1917

-

2007 1917 2029 1939 2013 1923 2009 1919

-

2008 1918 2030 1940 2019 1929 2022 1932 2001 1911

-

2023 1933 2021 1931 2018 1928 2016 1926

- - - - -

2031 1944 2032 1944 2033 1944 2034 1944 2035 1944

- - - - -

2036 1945 2037 1945 2038 1945 2039 1945 2040 1945

- - - - -

2041 1946 2042 1946 2043 1946 2044 1946 2045 1946

- - - - -

2046 1947 2047 1947 2048 1947 2049 1947 2050 1947

- - - - -

2051 1948 2052 1948 2053 1948 2054 1948 2055 1948

- - - - -

2056 1949 2057 1949 2058 1949 2059 1949

- - - - -

2060 1950 2061 1950 2062 1950 2063 1950

- - - - -

2064 1951 2065 1951 2066 1951 2067 1951

- - - - -

2068 1952 2069 1952 2070 1952 2071 1952

- - - - -

2072 1953 2073 1953 2074 1953 2075 1953

- - - - -

2076 1954 2077 1954 2078 1954 2079 1954

- - - - -

2080 1955 2081 1955 2082 1955 2083 1955 2084 1955

-

2085 1955 2086 1955 2087 1955 2088 1955

- - - - -

2089 1956 2090 1956 2091 1956 2092 1956

- - - - -

2093 1957 2094 1957 2095 1957 2096 1957 2097 1957

-

2098 1957 2099 1957 2100 1957 2101 1957 2102 1957

-

2103 1957 2104 1957 2105 1957 2106 1957

- - - - -

2107 1958 2108 1958 2109 1958 2110 1958 2111 1958

-

2112 1958 2113 1958 2114 1958 2115 1958

- - - - -

2116 1959 2117 1959 2118 1959

- - - - -

2169 2105 2167 2105 2166 2105 2168 2105 2165 2105 2198 2105

- - - - -

2156 2105 2178 2105 2158 2105 2157 2105

-

2178 2105 2156 2105 2264 2105 2181 2105 2160 2105 2161 2105 2260 2105

-

2162 2105 2261 2105 2260 2105 2161 2105

-

2195 2105 2166 2105 2167 2105 2262 2105 2261 2105 2162 2105 2164 2105

-

2200 2105 2263 2105 2202 2105 2170 2105 2168 2105 2198 2105 2262 2105 2167 2105 2169 2105

- - - - -

2138 2106 2208 2106 2255 2106

- - - - -

2214 2106 2138 2106 2255 2106 2250 2106

- - - - -

2245 2107 2222 2107 2226 2107

- - - - -

2226 2107 2214 2107 2250 2107 2245 2107

- - - - -

2223 2108 2218 2108 2239 2108

- - - - -

2239 2108 2234 2108 2212 2108 2223 2108

- - - - -

2229 2109 2204 2109 2132 2109

- - - - -

2212 2109 2234 2109 2229 2109 2132 2109

- - - - -

2129 2110 2206 2110 2232 2110

- - - - -

2211 2110 2129 2110 2232 2110 2236 2110

- - - - -

2242 2111 2220 2111 2224 2111

- - - - -

2224 2111 2211 2111 2236 2111 2242 2111

- - - - -

2225 2112 2216 2112 2248 2112

- - - - -

2248 2112 2252 2112 2213 2112 2225 2112

- - - - -

2258 2113 2210 2113 2135 2113

- - - - -

2213 2113 2252 2113 2258 2113 2135 2113

- - - - -

2174 2015 2154 1995 2155 1996 2176 2017 2172 2013

-

2121 1962 2151 1992 2253 2094 2207 2048

-

2209 2050 2256 2097 2152 1993 2121 1962

-

2123 1964 2147 1988 2246 2087 2215 2056

-

2219 2060 2240 2081 2148 1989 2123 1964

-

2119 1960 2140 1981 2230 2071 2205 2046

-

2203 2044 2227 2068 2139 1980 2119 1960

-

2260 2101 2223 2064 2212 2053 2132 1973 2177 2018

-

2177 2018 2132 1973 2204 2045 2120 1961 2206 2047 2129 1970 2179 2020

-

2183 2024 2179 2020 2129 1970 2211 2052 2224 2065

-

2193 2034 2183 2024 2224 2065 2220 2061 2124 1965 2216 2057 2225 2066

-

2193 2034 2225 2066 2213 2054 2135 1976 2197 2038

-

2197 2038 2135 1976 2210 2051 2122 1963 2208 2049 2138 1979 2262 2103

-

2261 2102 2262 2103 2138 1979 2214 2055 2226 2067

-

2261 2102 2226 2067 2222 2063 2126 1967 2218 2059 2223 2064 2260 2101

-

2125 1966 2143 1984 2237 2078 2217 2058

-

2221 2062 2243 2084 2144 1985 2125 1966

-

2191 2032 2164 2005 2160 2001 2185 2026 2188 2029

-

2254 2095 2199 2040 2194 2035 2249 2090

-

2250 2091 2194 2035 2190 2031 2244 2085

-

2245 2086 2190 2031 2187 2028 2145 1986

-

2146 1987 2187 2028 2184 2025 2239 2080

-

2238 2079 2184 2025 2180 2021 2233 2074

-

2234 2075 2180 2021 2173 2014 2228 2069

-

2229 2070 2173 2014 2171 2012 2141 1982

-

2142 1983 2171 2012 2175 2016 2232 2073

-

2231 2072 2175 2016 2182 2023 2236 2077

-

2235 2076 2182 2023 2186 2027 2241 2082

-

2242 2083 2186 2027 2189 2030 2149 1990

-

2150 1991 2189 2030 2192 2033 2248 2089

-

2247 2088 2192 2033 2196 2037 2252 2093

-

2251 2092 2196 2037 2201 2042 2257 2098

-

2258 2099 2201 2042 2263 2104 2153 1994

-

2259 2100 2263 2104 2199 2040 2255 2096

- - - - -

2265 2114 2266 2114 2267 2114

- - - - -

2268 2115 2269 2115 2270 2115

- - - - -

2296 2160 2298 2160 2304 2160

- - - - -

2284 2160 2306 2160 2296 2160 2304 2160

-

2287 2160 2310 2160 2302 2160 2312 2160

-

2298 2160 2302 2160 2310 2160 2304 2160

- - - - -

2297 2161 2294 2161 2308 2161 2278 2161 2292 2161

-

2292 2161 2314 2161 2300 2161 2297 2161

- - - - -

2287 2132 2312 2157 2314 2159 2292 2137

-

2302 2147 2300 2145 2313 2158 2311 2156

-

2298 2143 2297 2142 2299 2144 2301 2146

-

2295 2140 2293 2138 2297 2142 2298 2143

-

2284 2129 2278 2123 2308 2153 2306 2151

-

2305 2150 2307 2152 2294 2139 2296 2141

- - - - -

2287 2132 2312 2157 2314 2159 2292 2137

-

2302 2147 2300 2145 2313 2158 2311 2156

-

2298 2143 2297 2142 2299 2144 2301 2146

-

2295 2140 2293 2138 2297 2142 2298 2143

-

2284 2129 2278 2123 2308 2153 2306 2151

-

2305 2150 2307 2152 2294 2139 2296 2141

-

2290 2135 2292 2137 2278 2123 2281 2126

-

2271 2116 2275 2120 2289 2134 2279 2124

-

2274 2119 2309 2154 2285 2130 2288 2133

-

2273 2118 2304 2149 2310 2155 2276 2121

-

2280 2125 2283 2128 2303 2148 2272 2117

- - - - -

2323 2193 2339 2193 2321 2193 2325 2193

-

2325 2193 2318 2193 2338 2193 2323 2193

-

2318 2193 2337 2193 2316 2193 2338 2193

- - - - -

2342 2194 2335 2194 2333 2194 2341 2194

-

2341 2194 2328 2194 2330 2194 2342 2194

-

2328 2194 2345 2194 2343 2194 2330 2194

- - - - -

2320 2167 2339 2186 2343 2190 2344 2191

-

2326 2173 2325 2172 2321 2168 2345 2192

-

2327 2174 2341 2188 2318 2165 2325 2172

-

2332 2179 2337 2184 2318 2165 2340 2187

-

2316 2163 2336 2183 2331 2178 2334 2181

-

2338 2185 2316 2163 2334 2181 2342 2189

-

2338 2185 2342 2189 2329 2176 2323 2170

-

2323 2170 2329 2176 2343 2190 2339 2186

- - - - -

2346 2195 2347 2196 2348 2197 2349 2198

-

2350 2199 2351 2200 2352 2201 2353 2202

-

2354 2203 2355 2204 2356 2205 2357 2206

-

2358 2207 2359 2208 2360 2209 2361 2210

-

2362 2211 2363 2212 2364 2213 2365 2214

-

2366 2215 2367 2216 2368 2217 2369 2218

- - - - -

2373 2235 2371 2235 2378 2235 2378 2235 2380 2235 2373 2235 2380 2235 2383 2235 2373 2235

- - - - -

2375 2236 2385 2236 2381 2236 2381 2236 2379 2236 2375 2236 2379 2236 2377 2236 2375 2236

- - - - -

2379 2228 2378 2227 2371 2220 2377 2226

-

2376 2225 2370 2219 2372 2221 2374 2223

-

2375 2224 2373 2222 2382 2231 2384 2233

-

2385 2234 2383 2232 2380 2229 2381 2230

-

2381 2230 2380 2229 2378 2227 2379 2228

- - - - -

2389 2253 2387 2253 2394 2253 2394 2253 2396 2253 2389 2253 2396 2253 2399 2253 2389 2253

- - - - -

2393 2254 2401 2254 2397 2254 2397 2254 2395 2254 2393 2254 2395 2254 2391 2254 2393 2254

- - - - -

2395 2246 2394 2245 2387 2238 2391 2242

-

2390 2241 2386 2237 2388 2239 2392 2243

-

2393 2244 2389 2240 2398 2249 2400 2251

-

2401 2252 2399 2250 2396 2247 2397 2248

-

2397 2248 2396 2247 2394 2245 2395 2246

- - - - -

2405 2271 2415 2271 2412 2271 2412 2271 2410 2271 2405 2271 2410 2271 2403 2271 2405 2271

- - - - -

2409 2272 2407 2272 2411 2272 2411 2272 2413 2272 2409 2272 2413 2272 2417 2272 2409 2272

- - - - -

2413 2266 2412 2265 2415 2268 2417 2270

-

2416 2269 2414 2267 2405 2258 2409 2262

-

2408 2261 2404 2257 2402 2255 2406 2259

-

2407 2260 2403 2256 2410 2263 2411 2264

-

2411 2264 2410 2263 2412 2265 2413 2266

- - - - -

2419 2293 2421 2293 2422 2293 2423 2293 2427 2293 2425 2293

- - - - -

2422 2293 2423 2293 2425 2293 2419 2293

- - - - -

2435 2294 2437 2294 2433 2294 2432 2294 2431 2294 2429 2294

- - - - -

2433 2294 2432 2294 2429 2294 2435 2294

- - - - -

2434 2289 2424 2279 2427 2282 2437 2292

-

2436 2291 2426 2281 2423 2278 2433 2288

-

2433 2288 2423 2278 2422 2277 2432 2287

-

2432 2287 2422 2277 2420 2275 2430 2285

-

2428 2283 2431 2286 2421 2276 2418 2273

-

2429 2284 2419 2274 2425 2280 2435 2290

- - - - -

2446 2313 2444 2313 2442 2313

- - - - -

2442 2313 2439 2313 2441 2313 2446 2313

- - - - -

2451 2314 2453 2314 2455 2314

- - - - -

2455 2314 2450 2314 2448 2314 2451 2314

- - - - -

2451 2308 2442 2299 2443 2300 2452 2309

-

2453 2310 2444 2301 2445 2302 2454 2311

-

2455 2312 2446 2303 2441 2298 2450 2307

-

2448 2305 2449 2306 2440 2297 2439 2296

-

2447 2304 2438 2295 2442 2299 2451 2308

- - - - -

2457 2331 2459 2331 2464 2331 2464 2331 2466 2331 2457 2331 2466 2331 2469 2331 2457 2331

- - - - -

2461 2332 2471 2332 2467 2332 2467 2332 2465 2332 2461 2332 2465 2332 2463 2332 2461 2332

- - - - -

2465 2324 2464 2323 2459 2318 2463 2322

-

2462 2321 2458 2317 2456 2315 2460 2319

-

2461 2320 2457 2316 2468 2327 2470 2329

-

2471 2330 2469 2328 2466 2325 2467 2326

-

2467 2326 2466 2325 2464 2323 2465 2324

- - - - -

2481 2353 2479 2353 2477 2353 2476 2353 2473 2353 2475 2353

- - - - -

2477 2353 2476 2353 2475 2353 2481 2353

- - - - -

2485 2354 2483 2354 2486 2354 2487 2354 2489 2354 2491 2354

- - - - -

2486 2354 2487 2354 2491 2354 2485 2354

- - - - -

2487 2348 2477 2338 2478 2339 2488 2349

-

2489 2350 2479 2340 2480 2341 2490 2351

-

2491 2352 2481 2342 2475 2336 2485 2346

-

2484 2345 2474 2335 2473 2334 2483 2344

-

2482 2343 2472 2333 2476 2337 2486 2347

-

2486 2347 2476 2337 2477 2338 2487 2348

- - - - -

2493 2371 2505 2371 2502 2371 2502 2371 2500 2371 2493 2371 2500 2371 2495 2371 2493 2371

- - - - -

2497 2372 2499 2372 2501 2372 2501 2372 2503 2372 2497 2372 2503 2372 2507 2372 2497 2372

- - - - -

2503 2366 2502 2365 2505 2368 2507 2370

-

2506 2369 2504 2367 2493 2356 2497 2360

-

2496 2359 2492 2355 2494 2357 2498 2361

-

2499 2362 2495 2358 2500 2363 2501 2364

-

2501 2364 2500 2363 2502 2365 2503 2366

- - - - -

2509 2389 2521 2389 2518 2389 2518 2389 2516 2389 2509 2389 2516 2389 2511 2389 2509 2389

- - - - -

2513 2390 2515 2390 2517 2390 2517 2390 2519 2390 2513 2390 2519 2390 2523 2390 2513 2390

- - - - -

2519 2384 2518 2383 2521 2386 2523 2388

-

2522 2387 2520 2385 2509 2374 2513 2378

-

2512 2377 2508 2373 2510 2375 2514 2379

-

2515 2380 2511 2376 2516 2381 2517 2382

-

2517 2382 2516 2381 2518 2383 2519 2384

- - - - -

2526 2477 2611 2477 2529 2477 2558 2477 2560 2477 2562 2477

- - - - -

2613 2477 2611 2477 2562 2477 2585 2477 2616 2477

-

2526 2477 2536 2477 2541 2477 2556 2477 2558 2477 2562 2477 2611 2477

- - - - -

2572 2478 2571 2478 2610 2478 2612 2478 2575 2478 2572 2478

- - - - -

2610 2478 2611 2478 2613 2478 2612 2478 2572 2478

- - - - -

2605 2479 2559 2479 2556 2479

- - - - -

2541 2479 2545 2479 2605 2479 2556 2479

-

2605 2479 2603 2479 2578 2479 2559 2479

- - - - -

2597 2480 2595 2480 2590 2480 2590 2480 2529 2480 2614 2480

- - - - -

2590 2480 2614 2480 2598 2480 2597 2480

- - - - -

2580 2481 2578 2481 2603 2481 2584 2481 2582 2481 2580 2481 2584 2481 2580 2481 2603 2481 2615 2481 2588 2481 2589 2481

- - - - -

2586 2481 2584 2481 2603 2481 2589 2481

-

2571 2481 2574 2481 2614 2481 2610 2481

-

2575 2481 2612 2481 2614 2481 2574 2481

-

2576 2481 2579 2481 2614 2481 2612 2481

-

2583 2481 2615 2481 2614 2481 2579 2481

-

2603 2481 2598 2481 2614 2481 2615 2481 2589 2481

- - - - -

2600 2482 2602 2482 2566 2482 2568 2482

-

2568 2482 2543 2482 2540 2482 2600 2482

- - - - -

2609 2483 2547 2483 2549 2483 2570 2483

-

2570 2483 2564 2483 2607 2483 2609 2483

- - - - -

2616 2484 2585 2484 2584 2484 2586 2484 2587 2484

-

2588 2484 2615 2484 2616 2484 2587 2484

- - - - -

2613 2485 2616 2485 2615 2485 2583 2485 2577 2485

-

2576 2485 2612 2485 2613 2485 2577 2485

- - - - -

2590 2457 2595 2462 2593 2460 2550 2417 2551 2418 2554 2421

- - - - -

2568 2435 2570 2437 2549 2416 2543 2410

-

2567 2434 2565 2432 2563 2430 2569 2436

-

2564 2431 2566 2433 2601 2468 2606 2473

-

2545 2412 2547 2414 2608 2475 2604 2471

-

2598 2465 2603 2470 2605 2472 2609 2476 2607 2474 2602 2469 2600 2467 2597 2464

-

2538 2405 2596 2463 2599 2466 2540 2407

-

2541 2408 2535 2402 2537 2404 2539 2406 2542 2409 2548 2415 2546 2413 2544 2411

-

2555 2422 2538 2405 2536 2403 2524 2391

-

2555 2422 2553 2420 2592 2459 2594 2461

-

2530 2397 2591 2458 2552 2419 2525 2392

- - - - -

2590 2457 2595 2462 2593 2460 2550 2417 2551 2418 2554 2421 2587 2454 2589 2456 2588 2455 2586 2453 2589 2456 2587 2454

- - - - -

2568 2435 2570 2437 2549 2416 2543 2410

-

2567 2434 2565 2432 2563 2430 2569 2436

-

2564 2431 2566 2433 2601 2468 2606 2473

-

2545 2412 2547 2414 2608 2475 2604 2471

-

2598 2465 2603 2470 2605 2472 2609 2476 2607 2474 2602 2469 2600 2467 2597 2464

-

2538 2405 2596 2463 2599 2466 2540 2407

-

2541 2408 2535 2402 2537 2404 2539 2406 2542 2409 2548 2415 2546 2413 2544 2411

-

2555 2422 2538 2405 2536 2403 2524 2391

-

2555 2422 2553 2420 2592 2459 2594 2461

-

2530 2397 2591 2458 2552 2419 2525 2392

- - - - -

2590 2457 2595 2462 2593 2460 2550 2417 2551 2418 2554 2421 2587 2454 2589 2456 2588 2455 2586 2453 2589 2456 2587 2454 2559 2426 2557 2424 2556 2423

- - - - -

2568 2435 2570 2437 2549 2416 2543 2410

-

2567 2434 2565 2432 2563 2430 2569 2436

-

2564 2431 2566 2433 2601 2468 2606 2473

-

2545 2412 2547 2414 2608 2475 2604 2471

-

2598 2465 2603 2470 2605 2472 2609 2476 2607 2474 2602 2469 2600 2467 2597 2464

-

2538 2405 2596 2463 2599 2466 2540 2407

-

2541 2408 2535 2402 2537 2404 2539 2406 2542 2409 2548 2415 2546 2413 2544 2411

-

2555 2422 2538 2405 2536 2403 2524 2391

-

2555 2422 2553 2420 2592 2459 2594 2461

-

2530 2397 2591 2458 2552 2419 2525 2392

-

2585 2452 2562 2429 2582 2449 2584 2451

-

2580 2447 2581 2448 2561 2428 2560 2427

-

2559 2426 2578 2445 2580 2447 2560 2427 2558 2425

- - - - -

2590 2457 2595 2462 2593 2460 2550 2417 2551 2418 2554 2421 2587 2454 2589 2456 2588 2455 2586 2453 2589 2456 2587 2454 2559 2426 2557 2424 2556 2423 2575 2442 2573 2440 2572 2439 2572 2439 2574 2441 2571 2438

- - - - -

2568 2435 2570 2437 2549 2416 2543 2410

-

2567 2434 2565 2432 2563 2430 2569 2436

-

2564 2431 2566 2433 2601 2468 2606 2473

-

2545 2412 2547 2414 2608 2475 2604 2471

-

2598 2465 2603 2470 2605 2472 2609 2476 2607 2474 2602 2469 2600 2467 2597 2464

-

2538 2405 2596 2463 2599 2466 2540 2407

-

2541 2408 2535 2402 2537 2404 2539 2406 2542 2409 2548 2415 2546 2413 2544 2411

-

2555 2422 2538 2405 2536 2403 2524 2391

-

2555 2422 2553 2420 2592 2459 2594 2461

-

2530 2397 2591 2458 2552 2419 2525 2392

-

2585 2452 2562 2429 2582 2449 2584 2451

-

2580 2447 2581 2448 2561 2428 2560 2427

-

2559 2426 2578 2445 2580 2447 2560 2427 2558 2425

- - - - -

2590 2457 2595 2462 2593 2460 2550 2417 2551 2418 2554 2421 2587 2454 2589 2456 2588 2455 2586 2453 2589 2456 2587 2454 2559 2426 2557 2424 2556 2423 2575 2442 2573 2440 2572 2439 2572 2439 2574 2441 2571 2438 2583 2450 2579 2446 2577 2444 2577 2444 2579 2446 2576 2443

- - - - -

2568 2435 2570 2437 2549 2416 2543 2410

-

2567 2434 2565 2432 2563 2430 2569 2436

-

2564 2431 2566 2433 2601 2468 2606 2473

-

2545 2412 2547 2414 2608 2475 2604 2471

-

2598 2465 2603 2470 2605 2472 2609 2476 2607 2474 2602 2469 2600 2467 2597 2464

-

2538 2405 2596 2463 2599 2466 2540 2407

-

2541 2408 2535 2402 2537 2404 2539 2406 2542 2409 2548 2415 2546 2413 2544 2411

-

2555 2422 2538 2405 2536 2403 2524 2391

-

2555 2422 2553 2420 2592 2459 2594 2461

-

2530 2397 2591 2458 2552 2419 2525 2392

-

2585 2452 2562 2429 2582 2449 2584 2451

-

2580 2447 2581 2448 2561 2428 2560 2427

-

2559 2426 2578 2445 2580 2447 2560 2427 2558 2425

- - - - -

2590 2486 2595 2486 2593 2486 2526 2486 2553 2486 2555 2486 2587 2486 2589 2486 2588 2486 2586 2486 2589 2486 2587 2486 2559 2486 2558 2486 2556 2486 2575 2486 2574 2486 2572 2486 2572 2486 2574 2486 2571 2486 2583 2486 2579 2486 2577 2486 2577 2486 2579 2486 2576 2486

- - - - -

2568 2486 2570 2486 2549 2486 2543 2486

-

2568 2486 2566 2486 2564 2486 2570 2486

-

2564 2486 2566 2486 2602 2486 2607 2486

-

2545 2486 2547 2486 2609 2486 2605 2486

-

2598 2486 2603 2486 2605 2486 2609 2486 2607 2486 2602 2486 2600 2486 2597 2486

-

2538 2486 2597 2486 2600 2486 2540 2486

-

2541 2486 2536 2486 2538 2486 2540 2486 2543 2486 2549 2486 2547 2486 2545 2486

-

2555 2486 2538 2486 2536 2486 2526 2486

-

2555 2486 2553 2486 2593 2486 2595 2486

-

2590 2486 2593 2486 2553 2486 2526 2486

-

2585 2486 2562 2486 2582 2486 2584 2486

-

2580 2486 2582 2486 2562 2486 2560 2486

-

2559 2486 2578 2486 2580 2486 2560 2486 2558 2486

-

2611 2486 2610 2486 2614 2486 2529 2486

- - - - -

2617 2487 2618 2488 2619 2489 2620 2490 2621 2491 2622 2492 2623 2493 2624 2494 2625 2495 2626 2496 2627 2497 2628 2498 2629 2499 2630 2500 2631 2501 2632 2502

-

2633 2503 2634 2504 2635 2505 2636 2506 2637 2507 2638 2508 2639 2509 2640 2510 2641 2511 2642 2512 2643 2513 2644 2514 2645 2515 2646 2516 2647 2517 2648 2518

-

2649 2519 2650 2520 2651 2521 2652 2522

-

2653 2523 2654 2524 2655 2525 2656 2526

-

2657 2527 2658 2528 2659 2529 2660 2530

-

2661 2531 2662 2532 2663 2533 2664 2534

-

2665 2535 2666 2536 2667 2537 2668 2538

-

2669 2539 2670 2540 2671 2541 2672 2542

-

2673 2543 2674 2544 2675 2545 2676 2546

-

2677 2547 2678 2548 2679 2549 2680 2550

-

2681 2551 2682 2552 2683 2553 2684 2554

-

2685 2555 2686 2556 2687 2557 2688 2558

-

2689 2559 2690 2560 2691 2561 2692 2562

-

2693 2563 2694 2564 2695 2565 2696 2566

-

2697 2567 2698 2568 2699 2569 2700 2570

-

2701 2571 2702 2572 2703 2573 2704 2574

-

2705 2575 2706 2576 2707 2577 2708 2578

-

2709 2579 2710 2580 2711 2581 2712 2582

- - - - -

2713 2583 2714 2584 2715 2585 2716 2586 2717 2587 2718 2588 2719 2589 2720 2590 2721 2591 2722 2592

-

2723 2593 2724 2594 2725 2595 2726 2596 2727 2597 2728 2598 2729 2599 2730 2600 2731 2601 2732 2602

-

2733 2603 2734 2604 2735 2605 2736 2606

-

2737 2607 2738 2608 2739 2609 2740 2610

-

2741 2611 2742 2612 2743 2613 2744 2614

-

2745 2615 2746 2616 2747 2617 2748 2618

-

2749 2619 2750 2620 2751 2621 2752 2622

-

2753 2623 2754 2624 2755 2625 2756 2626

-

2757 2627 2758 2628 2759 2629 2760 2630

-

2761 2631 2762 2632 2763 2633 2764 2634

-

2765 2635 2766 2636 2767 2637 2768 2638

-

2769 2639 2770 2640 2771 2641 2772 2642

- - - - -

2773 2643 2774 2644 2775 2645 2776 2646 2777 2647 2778 2648 2779 2649 2780 2650 2781 2651 2782 2652 2783 2653 2784 2654 2785 2655 2786 2656 2787 2657 2788 2658

-

2789 2659 2790 2660 2791 2661 2792 2662 2793 2663 2794 2664 2795 2665 2796 2666 2797 2667 2798 2668 2799 2669 2800 2670 2801 2671 2802 2672 2803 2673 2804 2674

-

2805 2675 2806 2676 2807 2677 2808 2678

-

2809 2679 2810 2680 2811 2681 2812 2682

-

2813 2683 2814 2684 2815 2685 2816 2686

-

2817 2687 2818 2688 2819 2689 2820 2690

-

2821 2691 2822 2692 2823 2693 2824 2694

-

2825 2695 2826 2696 2827 2697 2828 2698

-

2829 2699 2830 2700 2831 2701 2832 2702

-

2833 2703 2834 2704 2835 2705 2836 2706

-

2837 2707 2838 2708 2839 2709 2840 2710

-

2841 2711 2842 2712 2843 2713 2844 2714

-

2845 2715 2846 2716 2847 2717 2848 2718

-

2849 2719 2850 2720 2851 2721 2852 2722

-

2853 2723 2854 2724 2855 2725 2856 2726

-

2857 2727 2858 2728 2859 2729 2860 2730

-

2861 2731 2862 2732 2863 2733 2864 2734

-

2865 2735 2866 2736 2867 2737 2868 2738

- - - - -

2869 2739 2870 2740 2871 2741 2872 2742 2873 2743 2874 2744 2875 2745 2876 2746 2877 2747 2878 2748 2879 2749 2880 2750 2881 2751 2882 2752 2883 2753 2884 2754

-

2885 2755 2886 2756 2887 2757 2888 2758 2889 2759 2890 2760 2891 2761 2892 2762 2893 2763 2894 2764 2895 2765 2896 2766 2897 2767 2898 2768 2899 2769 2900 2770

-

2901 2771 2902 2772 2903 2773 2904 2774

-

2905 2775 2906 2776 2907 2777 2908 2778

-

2909 2779 2910 2780 2911 2781 2912 2782

-

2913 2783 2914 2784 2915 2785 2916 2786

-

2917 2787 2918 2788 2919 2789 2920 2790

-

2921 2791 2922 2792 2923 2793 2924 2794

-

2925 2795 2926 2796 2927 2797 2928 2798

-

2929 2799 2930 2800 2931 2801 2932 2802

-

2933 2803 2934 2804 2935 2805 2936 2806

-

2937 2807 2938 2808 2939 2809 2940 2810

-

2941 2811 2942 2812 2943 2813 2944 2814

-

2945 2815 2946 2816 2947 2817 2948 2818

-

2949 2819 2950 2820 2951 2821 2952 2822

-

2953 2823 2954 2824 2955 2825 2956 2826

-

2957 2827 2958 2828 2959 2829 2960 2830

-

2961 2831 2962 2832 2963 2833 2964 2834

- - - - -

2965 2835 2966 2836 2967 2837 2968 2838 2969 2839 2970 2840 2971 2841 2972 2842 2973 2843 2974 2844 2975 2845 2976 2846 2977 2847 2978 2848 2979 2849 2980 2850

-

2981 2851 2982 2852 2983 2853 2984 2854 2985 2855 2986 2856 2987 2857 2988 2858 2989 2859 2990 2860 2991 2861 2992 2862 2993 2863 2994 2864 2995 2865 2996 2866

-

2997 2867 2998 2868 2999 2869 3000 2870

-

3001 2871 3002 2872 3003 2873 3004 2874

-

3005 2875 3006 2876 3007 2877 3008 2878

-

3009 2879 3010 2880 3011 2881 3012 2882

-

3013 2883 3014 2884 3015 2885 3016 2886

-

3017 2887 3018 2888 3019 2889 3020 2890

-

3021 2891 3022 2892 3023 2893 3024 2894

-

3025 2895 3026 2896 3027 2897 3028 2898

-

3029 2899 3030 2900 3031 2901 3032 2902

-

3033 2903 3034 2904 3035 2905 3036 2906

-

3037 2907 3038 2908 3039 2909 3040 2910

-

3041 2911 3042 2912 3043 2913 3044 2914

-

3045 2915 3046 2916 3047 2917 3048 2918

-

3049 2919 3050 2920 3051 2921 3052 2922

-

3053 2923 3054 2924 3055 2925 3056 2926

-

3057 2927 3058 2928 3059 2929 3060 2930

- - - - -

3073 2949 3071 2949 3074 2949

- - - - -

3074 2949 3076 2949 3078 2949 3073 2949

- - - - -

3069 2950 3067 2950 3065 2950

- - - - -

3065 2950 3062 2950 3064 2950 3069 2950

- - - - -

3065 2935 3066 2936 3075 2945 3074 2944

-

3074 2944 3071 2941 3062 2932 3065 2935

-

3070 2940 3072 2942 3063 2933 3061 2931

-

3073 2943 3077 2947 3068 2938 3064 2934

-

3067 2937 3069 2939 3078 2948 3076 2946

- - - - -

3098 3163 3190 3163 3300 3163

- - - - -

3086 3163 3098 3163 3300 3163 3189 3163 3090 3163

- - - - -

3228 3164 3224 3164 3199 3164 3313 3164 3306 3164 3160 3164

- - - - -

3160 3164 3228 3164 3199 3164 3313 3164

-

3106 3164 3115 3164 3303 3164 3192 3164 3104 3164

-

3115 3164 3160 3164 3306 3164 3303 3164

- - - - -

3298 3165 3317 3165 3198 3165

- - - - -

3298 3165 3198 3165 3240 3165 3242 3165 3153 3165

- - - - -

3297 3166 3311 3166 3312 3166

- - - - -

3317 3166 3298 3166 3297 3166 3312 3166

- - - - -

3296 3167 3304 3167 3305 3167

- - - - -

3311 3167 3297 3167 3296 3167 3305 3167

- - - - -

3295 3168 3301 3168 3302 3168

- - - - -

3304 3168 3296 3168 3295 3168 3302 3168

- - - - -

3293 3169 3314 3169 3309 3169

- - - - -

3309 3169 3308 3169 3292 3169 3293 3169

- - - - -

3294 3170 3318 3170 3315 3170

- - - - -

3293 3170 3294 3170 3315 3170 3314 3170

- - - - -

3108 3171 3208 3171 3200 3171

- - - - -

3200 3171 3318 3171 3294 3171 3108 3171

- - - - -

3100 3172 3195 3172 3310 3172 3316 3172 3201 3172 3216 3172 3201 3172 3209 3172 3216 3172 3209 3172 3214 3172 3216 3172

- - - - -

3100 3172 3310 3172 3316 3172 3216 3172 3119 3172 3113 3172 3102 3172

- - - - -

3108 3173 3294 3173 3113 3173 3294 3173 3293 3173 3113 3173 3293 3173 3292 3173 3113 3173 3113 3173 3292 3173 3291 3173

- - - - -

3291 3173 3101 3173 3102 3173 3113 3173

-

3109 3173 3107 3173 3108 3173 3113 3173 3112 3173 3110 3173

- - - - -

3318 3174 3200 3174 3201 3174

- - - - -

3201 3174 3316 3174 3315 3174 3318 3174

- - - - -

3310 3175 3309 3175 3314 3175

- - - - -

3315 3175 3316 3175 3310 3175 3314 3175

- - - - -

3308 3176 3309 3176 3310 3176

- - - - -

3300 3176 3299 3176 3307 3176 3193 3176 3191 3176 3189 3176

-

3193 3176 3307 3176 3308 3176 3310 3176 3195 3176 3194 3176

- - - - -

3303 3177 3302 3177 3301 3177

- - - - -

3190 3177 3192 3177 3303 3177 3301 3177 3299 3177 3300 3177

- - - - -

3306 3178 3305 3178 3304 3178

- - - - -

3304 3178 3302 3178 3303 3178 3306 3178

- - - - -

3313 3179 3312 3179 3311 3179

- - - - -

3306 3179 3313 3179 3311 3179 3305 3179

- - - - -

3199 3180 3198 3180 3317 3180

- - - - -

3313 3180 3199 3180 3317 3180 3312 3180

- - - - -

3115 3181 3114 3181 3295 3181 3296 3181 3297 3181 3160 3181 3160 3181 3297 3181 3298 3181 3160 3181 3298 3181 3153 3181

- - - - -

3166 3181 3162 3181 3160 3181 3153 3181 3152 3181 3154 3181 3155 3181 3159 3181 3161 3181 3164 3181

-

3296 3181 3160 3181 3115 3181 3295 3181

- - - - -

3229 3182 3234 3182 3250 3182 3248 3182 3242 3182

-

3229 3182 3242 3182 3240 3182 3224 3182 3228 3182

- - - - -

3084 3183 3079 3183 3082 3183 3101 3183 3291 3183 3307 3183 3299 3183

-

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0 0 1 0 2 0 3 0 4 0 5 0 6 0

- - - - -

7 1 8 1 9 1 10 1

- - - - -

11 2 12 2 13 2 14 2

- - - - -

15 3 16 3 17 3 18 3

- - - - -

19 4 20 4 21 4 22 4

- - - - -

23 5 24 5 25 5 26 5

- - - - -

27 6 28 6 29 6 30 6

- - - - -

31 7 32 7 33 7 34 7

- - - - -

35 8 36 8 37 8 38 8

- - - - -

39 9 40 9 41 9 42 9

- - - - -

43 10 44 10 45 10 46 10

- - - - -

47 11 48 11 49 11 50 11

- - - - -

51 12 52 12 53 12 54 12

- - - - -

72 13 73 13 74 13 117 13 118 13 119 13

- - - - -

55 13 56 13 57 13 58 13

-

59 13 60 13 61 13 62 13

-

63 13 64 13 65 13 66 13 67 13

-

68 13 69 13 70 13 71 13

-

75 13 76 13 77 13 78 13

-

79 13 80 13 81 13 82 13 83 13 84 13

-

85 13 86 13 87 13 88 13

-

89 13 90 13 91 13 92 13

-

93 13 94 13 95 13 96 13

-

97 13 98 13 99 13 100 13 101 13 102 13 103 13

-

104 13 105 13 106 13 107 13

-

108 13 109 13 110 13 111 13

-

112 13 113 13 114 13 115 13 116 13

- - - - -

167 14 168 14 169 14 184 14 185 14 186 14

- - - - -

120 14 121 14 122 14 123 14

-

124 14 125 14 126 14 127 14 128 14

-

129 14 130 14 131 14 132 14

-

133 14 134 14 135 14 136 14

-

137 14 138 14 139 14 140 14 141 14 142 14 143 14

-

144 14 145 14 146 14 147 14

-

148 14 149 14 150 14 151 14

-

152 14 153 14 154 14 155 14 156 14

-

157 14 158 14 159 14 160 14 161 14 162 14

-

163 14 164 14 165 14 166 14

-

170 14 171 14 172 14 173 14

-

174 14 175 14 176 14 177 14 178 14 179 14

-

180 14 181 14 182 14 183 14

- - - - -

216 15 217 15 218 15 228 15 229 15 230 15 237 15 238 15 239 15 240 15 241 15 242 15 243 15 244 15 245 15

- - - - -

187 15 188 15 189 15 190 15 191 15 192 15

-

193 15 194 15 195 15 196 15

-

197 15 198 15 199 15 200 15

-

201 15 202 15 203 15 204 15 205 15

-

206 15 207 15 208 15 209 15

-

210 15 211 15 212 15 213 15 214 15 215 15

-

219 15 220 15 221 15 222 15 223 15

-

224 15 225 15 226 15 227 15

-

231 15 232 15 233 15 234 15 235 15 236 15

- - - - -

255 16 256 16 257 16

- - - - -

246 16 247 16 248 16 249 16 250 16

-

251 16 252 16 253 16 254 16

- - - - -

271 17 272 17 273 17

- - - - -

258 17 259 17 260 17 261 17

-

262 17 263 17 264 17 265 17 266 17

-

267 17 268 17 269 17 270 17

- - - - -

301 18 302 18 303 18

- - - - -

274 18 275 18 276 18 277 18

-

278 18 279 18 280 18 281 18 282 18 283 18 284 18 285 18

-

286 18 287 18 288 18 289 18 290 18

-

291 18 292 18 293 18 294 18 295 18 296 18

-

297 18 298 18 299 18 300 18

- - - - -

351 93 314 93 353 93

- - - - -

353 93 355 93 323 93 351 93

- - - - -

352 94 311 94 350 94

- - - - -

350 94 320 94 317 94 352 94

- - - - -

331 95 366 95 373 95 371 95

-

331 95 337 95 359 95 366 95

- - - - -

329 96 370 96 372 96 365 96

-

365 96 361 96 334 96 329 96

- - - - -

331 97 371 97 377 97 369 97

-

329 97 356 97 320 97 350 97 307 97 351 97 323 97 357 97 331 97 369 97 368 97

-

329 97 368 97 375 97 370 97

- - - - -

367 82 368 83 369 84 375 90 372 87 370 85 361 76 365 80 339 54 342 57 366 81 359 74 377 92 371 86 373 88

- - - - -

329 44 333 48 325 40 356 71

-

356 71 325 40 316 31 319 34

-

338 53 352 67 317 32 324 39 332 47 360 75

-

363 78 365 80 346 61 374 89 368 83 343 58

-

362 77 343 58 305 20 310 25 352 67

-

350 65 308 23 304 19 306 21

-

306 21 304 19 312 27 351 66

-

322 37 354 69 327 42 357 72

-

357 72 327 42 336 51 331 46

-

340 55 358 73 335 50 326 41 355 70 353 68

-

343 58 341 56 353 68 313 28 305 20

-

364 79 343 58 369 84 376 91 349 64 366 81

- - - - -

378 98 379 99 380 100 381 101 382 102 383 103 384 104 385 105 386 106 387 107 388 108 389 109

-

390 110 391 111 392 112 393 113 394 114 395 115 396 116 397 117 398 118 399 119 400 120 401 121

-

402 122 403 123 404 124 405 125

-

406 126 407 127 408 128 409 129

-

410 130 411 131 412 132 413 133

-

414 134 415 135 416 136 417 137

-

418 138 419 139 420 140 421 141

-

422 142 423 143 424 144 425 145

-

426 146 427 147 428 148 429 149

-

430 150 431 151 432 152 433 153

-

434 154 435 155 436 156 437 157

-

438 158 439 159 440 160 441 161

-

442 162 443 163 444 164 445 165

-

446 166 447 167 448 168 449 169

- - - - -

450 170 451 171 452 172 453 173

-

454 174 455 175 456 176 457 177 458 178 459 179

-

460 180 461 181 462 182 463 183

-

464 184 465 185 466 186 467 187

-

468 188 469 189 470 190 471 191 472 192 473 193

-

474 194 475 195 476 196 477 197 478 198 479 199

-

480 200 481 201 482 202 483 203

-

484 204 485 205 486 206 487 207

-

488 208 489 209 490 210 491 211 492 212 493 213

-

494 214 495 215 496 216 497 217

- - - - -

498 218 499 219 500 220 501 221 502 222 503 223 504 224 505 225 506 226 507 227

-

508 228 509 229 510 230 511 231 512 232 513 233 514 234 515 235 516 236 517 237

-

518 238 519 239 520 240 521 241

-

522 242 523 243 524 244 525 245

-

526 246 527 247 528 248 529 249

-

530 250 531 251 532 252 533 253

-

534 254 535 255 536 256 537 257

-

538 258 539 259 540 260 541 261

-

542 262 543 263 544 264 545 265

-

546 266 547 267 548 268 549 269

-

550 270 551 271 552 272 553 273

-

554 274 555 275 556 276 557 277

- - - - -

558 278 559 279 560 280 561 281 562 282 563 283 564 284 565 285 566 286 567 287

-

568 288 569 289 570 290 571 291 572 292 573 293 574 294 575 295 576 296 577 297

-

578 298 579 299 580 300 581 301

-

582 302 583 303 584 304 585 305

-

586 306 587 307 588 308 589 309

-

590 310 591 311 592 312 593 313

-

594 314 595 315 596 316 597 317

-

598 318 599 319 600 320 601 321

-

602 322 603 323 604 324 605 325

-

606 326 607 327 608 328 609 329

-

610 330 611 331 612 332 613 333

-

614 334 615 335 616 336 617 337

- - - - -

618 338 619 339 620 340 621 341 622 342 623 343 624 344 625 345 626 346 627 347 628 348 629 349 630 350 631 351 632 352 633 353

-

634 354 635 355 636 356 637 357 638 358 639 359 640 360 641 361 642 362 643 363 644 364 645 365 646 366 647 367 648 368 649 369

-

650 370 651 371 652 372 653 373

-

654 374 655 375 656 376 657 377

-

658 378 659 379 660 380 661 381

-

662 382 663 383 664 384 665 385

-

666 386 667 387 668 388 669 389

-

670 390 671 391 672 392 673 393

-

674 394 675 395 676 396 677 397

-

678 398 679 399 680 400 681 401

-

682 402 683 403 684 404 685 405

-

686 406 687 407 688 408 689 409

-

690 410 691 411 692 412 693 413

-

694 414 695 415 696 416 697 417

-

698 418 699 419 700 420 701 421

-

702 422 703 423 704 424 705 425

-

706 426 707 427 708 428 709 429

-

710 430 711 431 712 432 713 433

- - - - -

714 434 715 435 716 436 717 437

-

718 438 719 439 720 440 721 441

-

722 442 723 443 724 444 725 445

-

726 446 727 447 728 448 729 449 730 450 731 451 732 452 733 453

-

734 454 735 455 736 456 737 457

-

738 458 739 459 740 460 741 461

-

742 462 743 463 744 464 745 465

-

746 466 747 467 748 468 749 469

-

750 470 751 471 752 472 753 473 754 474 755 475 756 476 757 477

-

758 478 759 479 760 480 761 481

- - - - -

834 569 833 569 829 569 775 569 831 569 837 569

-

836 569 830 569 773 569 827 569 832 569 835 569

-

801 569 836 569 835 569 838 569

-

845 569 801 569 838 569 807 569

-

847 569 845 569 807 569 842 569

-

848 569 847 569 842 569 844 569

-

821 569 848 569 844 569 843 569

-

846 569 821 569 843 569 841 569

-

840 569 846 569 841 569 839 569

-

837 569 840 569 839 569 834 569

- - - - -

837 557 791 511 797 517 840 560

-

840 560 797 517 817 537 846 566

-

819 539 821 541 846 566 817 537

-

812 532 810 530 843 563 844 564

-

844 564 842 562 808 528 812 532

-

824 544 813 533 809 529 822 542

-

809 529 803 523 814 534 822 542

-

842 562 806 526 802 522 808 528

-

806 526 838 558 792 512 802 522

-

803 523 793 513 798 518 814 534

-

788 508 798 518 793 513 787 507

-

838 558 835 555 786 506 792 512

-

835 555 832 552 780 500 786 506

-

832 552 827 547 766 486 780 500

-

772 492 770 490 765 485 826 546

-

830 550 778 498 770 490 772 492

-

771 491 779 499 788 508 787 507 781 501 767 487

-

836 556 789 509 778 498 830 550

-

789 509 836 556 801 521 799 519

-

799 519 801 521 845 565 815 535

-

815 535 845 565 847 567 823 543

-

823 543 847 567 848 568 825 545

-

825 545 848 568 821 541 819 539

-

824 544 818 538 811 531 813 533

-

805 525 811 531 818 538 816 536

-

810 530 804 524 841 561 843 563

-

839 559 841 561 804 524 794 514

-

795 515 805 525 816 536 796 516

-

790 510 785 505 795 515 796 516

-

794 514 784 504 834 554 839 559

-

833 553 834 554 784 504 782 502

-

829 549 833 553 782 502 763 483

-

774 494 828 548 762 482 768 488

-

769 489 764 484 783 503 785 505 790 510 777 497

-

831 551 776 496 791 511 837 557

-

776 496 831 551 774 494 768 488

- - - - -

867 593 871 593 869 593 850 593 852 593 853 593 850 593 853 593 860 593

- - - - -

860 593 867 593 869 593 850 593

- - - - -

865 586 870 591 867 588 853 574 852 573 857 578

- - - - -

866 587 864 585 869 590 871 592

-

867 588 860 581 862 583 865 586

-

860 581 853 574 857 578 862 583

-

856 577 854 575 859 580 861 582

-

861 582 859 580 864 585 866 587

-

863 584 858 579 855 576 850 571 868 589

-

851 572 849 570 854 575 856 577

- - - - -

872 594 873 595 874 596 875 597 876 598 877 599 878 600 879 601 880 602 881 603 882 604

-

883 605 884 606 885 607 886 608 887 609 888 610 889 611 890 612 891 613 892 614 893 615

-

894 616 895 617 896 618 897 619

-

898 620 899 621 900 622 901 623

-

902 624 903 625 904 626 905 627

-

906 628 907 629 908 630 909 631

-

910 632 911 633 912 634 913 635

-

914 636 915 637 916 638 917 639

-

918 640 919 641 920 642 921 643

-

922 644 923 645 924 646 925 647

-

926 648 927 649 928 650 929 651

-

930 652 931 653 932 654 933 655

-

934 656 935 657 936 658 937 659

- - - - -

1004 754 1007 754 967 754 967 754 1001 754 1004 754

- - - - -

967 754 995 754 998 754 960 754 1001 754

- - - - -

1005 755 971 755 1003 755 1005 755 1003 755 1002 755

- - - - -

1002 755 963 755 1000 755 996 755 1005 755

- - - - -

986 756 1015 756 1019 756 1023 756

-

984 756 1022 756 1018 756 1014 756

-

986 756 1027 756 1029 756 1031 756 990 756 1026 756 984 756 1014 756 977 756 979 756 1015 756

-

979 756 977 756 1010 756 1011 756

-

1010 756 1007 756 971 756 1011 756

- - - - -

1009 757 1005 757 996 757 957 757 994 757 992 757 991 757 993 757 954 757 995 757 967 757 1008 757

-

973 757 975 757 1009 757 1008 757

-

982 757 1021 757 1017 757 1013 757

-

980 757 1024 757 1028 757 1030 757 988 757 1025 757 982 757 1013 757 975 757 973 757 1012 757

-

980 757 1012 757 1016 757 1020 757

- - - - -

1005 727 1009 731 1011 733 971 693

-

1009 731 975 697 978 700 1011 733

-

975 697 1013 735 1015 737 978 700

-

1013 735 1017 739 1019 741 1015 737

-

1017 739 1021 743 1023 745 1019 741

-

982 704 986 708 1023 745 1021 743

-

1025 747 1027 749 986 708 982 704

-

988 710 1029 751 1027 749 1025 747

-

1030 752 1031 753 1029 751 988 710

-

1028 750 990 712 1031 753 1030 752

-

1008 730 967 689 1007 729 1010 732

-

973 695 1008 730 1010 732 976 698

-

1012 734 973 695 976 698 1014 736

-

1016 738 1012 734 1014 736 1018 740

-

1018 740 1022 744 1020 742 1016 738

-

1020 742 1022 744 984 706 980 702

-

980 702 984 706 1026 748 1024 746

-

1024 746 1026 748 990 712 1028 750

- - - - -

1005 727 1009 731 1011 733 971 693

-

1009 731 975 697 978 700 1011 733

-

975 697 1013 735 1015 737 978 700

-

1013 735 1017 739 1019 741 1015 737

-

1017 739 1021 743 1023 745 1019 741

-

982 704 986 708 1023 745 1021 743

-

1025 747 1027 749 986 708 982 704

-

988 710 1029 751 1027 749 1025 747

-

1030 752 1031 753 1029 751 988 710

-

1028 750 990 712 1031 753 1030 752

-

1008 730 967 689 1007 729 1010 732

-

973 695 1008 730 1010 732 976 698

-

1012 734 973 695 976 698 1014 736

-

1016 738 1012 734 1014 736 1018 740

-

1018 740 1022 744 1020 742 1016 738

-

1020 742 1022 744 984 706 980 702

-

980 702 984 706 1026 748 1024 746

-

1024 746 1026 748 990 712 1028 750

-

952 674 946 668 997 719 995 717

-

993 715 942 664 946 668 952 674

-

991 713 938 660 942 664 993 715

-

938 660 991 713 992 714 940 662

-

994 716 944 666 940 662 992 714

-

996 718 999 721 948 670 955 677

-

955 677 948 670 944 666 994 716

-

945 667 949 671 1000 722 962 684 959 681 998 720 947 669 943 665 939 661 941 663

-

970 692 1006 728 1004 726 1003 725

-

1003 725 1004 726 1001 723 1002 724

-

1002 724 1001 723 960 682 963 685

- - - - -

1065 791 1050 791 1042 791

- - - - -

1042 791 1061 791 1034 791 1065 791

- - - - -

1059 792 1064 792 1047 792

- - - - -

1047 792 1066 792 1065 792 1034 792 1059 792

- - - - -

1065 793 1066 793 1045 793 1058 793 1057 793 1036 793

- - - - -

1036 793 1051 793 1050 793 1065 793 1045 793 1058 793

- - - - -

1042 794 1045 794 1066 794

- - - - -

1066 794 1047 794 1061 794 1042 794

- - - - -

1055 781 1052 778 1056 782

- - - - -

1054 780 1039 765 1057 783 1058 784

-

1058 784 1045 771 1042 768 1054 780

-

1040 766 1050 776 1051 777 1053 779

-

1053 779 1051 777 1035 761 1037 763

- - - - -

1055 781 1052 778 1056 782 1063 789 1059 785 1048 774

- - - - -

1054 780 1039 765 1057 783 1058 784

-

1058 784 1045 771 1042 768 1054 780

-

1040 766 1050 776 1051 777 1053 779

-

1053 779 1051 777 1035 761 1037 763

-

1062 788 1064 790 1049 775 1061 787

-

1048 774 1059 785 1033 759 1060 786

- - - - -

1087 818 1089 818 1085 818 1087 818 1085 818 1078 818 1071 818 1070 818 1068 818

- - - - -

1068 818 1087 818 1078 818 1071 818

- - - - -

1085 813 1088 816 1083 811 1075 803 1070 798 1071 799

- - - - -

1071 799 1078 806 1080 808 1075 803

-

1078 806 1085 813 1083 811 1080 808

-

1073 801 1076 804 1081 809 1086 814 1068 796

-

1089 817 1087 815 1082 810 1084 812

-

1084 812 1082 810 1077 805 1079 807

-

1079 807 1077 805 1072 800 1074 802

-

1074 802 1072 800 1067 795 1069 797

- - - - -

1119 849 1110 849 1107 849 1104 849 1113 849 1118 849 1104 849 1118 849 1117 849 1107 849 1104 849 1117 849 1107 849 1117 849 1119 849

- - - - -

1115 850 1101 850 1092 850 1095 850 1098 850 1116 850 1095 850 1116 850 1114 850 1092 850 1095 850 1114 850 1092 850 1114 850 1115 850

- - - - -

1117 846 1114 843 1116 845 1119 848

-

1119 848 1116 845 1098 827 1109 838

-

1108 837 1097 826 1095 824 1106 835

-

1105 834 1094 823 1091 820 1102 831

-

1103 832 1092 821 1100 829 1111 840

-

1112 841 1101 830 1115 844 1118 847

-

1118 847 1115 844 1114 843 1117 846

- - - - -

1151 886 1123 886 1155 886

- - - - -

1155 886 1126 886 1135 886 1151 886

- - - - -

1139 887 1154 887 1149 887

- - - - -

1149 887 1126 887 1155 887 1156 887 1139 887

- - - - -

1144 888 1131 888 1148 888 1152 888 1156 888 1155 888

- - - - -

1155 888 1123 888 1142 888 1144 888 1148 888 1152 888

- - - - -

1156 889 1152 889 1151 889

- - - - -

1151 889 1135 889 1139 889 1156 889

- - - - -

1130 861 1144 875 1147 878

- - - - -

1148 879 1131 862 1128 859 1146 877

-

1146 877 1151 882 1152 883 1148 879

-

1145 876 1142 873 1120 851 1150 881

-

1127 858 1143 874 1142 873 1145 876

- - - - -

1130 861 1144 875 1147 878 1140 871 1149 880 1153 884

- - - - -

1148 879 1131 862 1128 859 1146 877

-

1146 877 1151 882 1152 883 1148 879

-

1145 876 1142 873 1120 851 1150 881

-

1127 858 1143 874 1142 873 1145 876

-

1134 865 1141 872 1154 885 1138 869

-

1133 864 1125 856 1149 880 1140 871

- - - - -

1157 890 1158 891 1159 892 1160 893 1161 894 1162 895 1163 896 1164 897 1165 898 1166 899 1167 900 1168 901 1169 902 1170 903 1171 904 1172 905

-

1173 906 1174 907 1175 908 1176 909 1177 910 1178 911 1179 912 1180 913 1181 914 1182 915 1183 916 1184 917 1185 918 1186 919 1187 920 1188 921

-

1189 922 1190 923 1191 924 1192 925

-

1193 926 1194 927 1195 928 1196 929

-

1197 930 1198 931 1199 932 1200 933

-

1201 934 1202 935 1203 936 1204 937

-

1205 938 1206 939 1207 940 1208 941

-

1209 942 1210 943 1211 944 1212 945

-

1213 946 1214 947 1215 948 1216 949

-

1217 950 1218 951 1219 952 1220 953

-

1221 954 1222 955 1223 956 1224 957

-

1225 958 1226 959 1227 960 1228 961

-

1229 962 1230 963 1231 964 1232 965

-

1233 966 1234 967 1235 968 1236 969

-

1237 970 1238 971 1239 972 1240 973

-

1241 974 1242 975 1243 976 1244 977

-

1245 978 1246 979 1247 980 1248 981

-

1249 982 1250 983 1251 984 1252 985

- - - - -

1386 1118 1392 1118 1389 1118 1294 1118 1296 1118 1288 1118

- - - - -

1288 1118 1286 1118 1258 1118 1294 1118

-

1386 1118 1333 1118 1345 1118 1337 1118 1392 1118

-

1294 1118 1386 1118 1389 1118 1296 1118

- - - - -

1291 1119 1287 1119 1295 1119 1385 1119 1388 1119 1391 1119

- - - - -

1391 1119 1336 1119 1343 1119 1330 1119 1385 1119

-

1291 1119 1255 1119 1284 1119 1287 1119

-

1385 1119 1291 1119 1295 1119 1388 1119

- - - - -

1299 1120 1387 1120 1388 1120 1389 1120 1390 1120 1300 1120

- - - - -

1295 1120 1296 1120 1297 1120 1299 1120 1388 1120

-

1296 1120 1389 1120 1300 1120 1297 1120

- - - - -

1304 1121 1390 1121 1389 1121

- - - - -

1389 1121 1392 1121 1316 1121 1304 1121

- - - - -

1388 1122 1387 1122 1303 1122

- - - - -

1388 1122 1303 1122 1317 1122 1391 1122

- - - - -

1329 1123 1335 1123 1333 1123 1314 1123 1322 1123 1386 1123 1385 1123 1315 1123 1309 1123 1385 1123 1323 1123 1315 1123 1330 1123 1332 1123 1328 1123

- - - - -

1329 1123 1333 1123 1386 1123 1322 1123

-

1309 1123 1314 1123 1386 1123 1385 1123

-

1385 1123 1330 1123 1328 1123 1323 1123

- - - - -

1294 1124 1279 1124 1282 1124

- - - - -

1294 1124 1282 1124 1278 1124 1291 1124 1385 1124 1386 1124

- - - - -

1277 1125 1279 1125 1294 1125 1294 1125 1267 1125 1277 1125

- - - - -

1271 1125 1277 1125 1267 1125 1270 1125

- - - - -

1275 1126 1268 1126 1291 1126 1291 1126 1278 1126 1275 1126

- - - - -

1270 1126 1268 1126 1275 1126 1273 1126

- - - - -

1387 1127 1299 1127 1302 1127

- - - - -

1302 1127 1306 1127 1303 1127 1387 1127

- - - - -

1301 1128 1300 1128 1390 1128

- - - - -

1390 1128 1304 1128 1305 1128 1301 1128

- - - - -

1316 1129 1392 1129 1337 1129 1336 1129 1391 1129 1317 1129

- - - - -

1384 1129 1380 1129 1366 1129 1356 1129 1336 1129 1317 1129 1306 1129 1302 1129 1298 1129 1301 1129 1305 1129 1316 1129 1337 1129 1357 1129 1367 1129 1379 1129

- - - - -

1347 1130 1354 1130 1358 1130 1345 1130

-

1368 1130 1358 1130 1354 1130 1364 1130

-

1343 1130 1359 1130 1355 1130 1349 1130

-

1365 1130 1355 1130 1359 1130 1369 1130

-

1369 1130 1382 1130 1375 1130 1365 1130

-

1382 1130 1383 1130 1378 1130 1375 1130

-

1374 1130 1378 1130 1383 1130 1381 1130

-

1364 1130 1374 1130 1381 1130 1368 1130

- - - - -

1271 1004 1270 1003 1272 1005

- - - - -

1278 1011 1282 1015 1280 1013 1274 1007

-

1279 1012 1276 1009 1280 1013 1282 1015

-

1281 1014 1277 1010 1271 1004 1273 1006 1275 1008

- - - - -

1271 1004 1270 1003 1272 1005 1268 1001 1265 998 1290 1023 1265 998 1263 996 1289 1022 1291 1024 1264 997 1254 987 1292 1025 1260 993 1266 999 1293 1026 1266 999 1267 1000 1294 1027 1257 990 1261 994

- - - - -

1278 1011 1282 1015 1280 1013 1274 1007

-

1279 1012 1276 1009 1280 1013 1282 1015

-

1281 1014 1277 1010 1271 1004 1273 1006 1275 1008

-

1287 1020 1288 1021 1296 1029 1295 1028

-

1288 1021 1287 1020 1284 1017 1286 1019

-

1285 1018 1283 1016 1255 988 1258 991

-

1267 1000 1266 999 1259 992 1256 989 1253 986 1262 995 1265 998 1268 1001 1269 1002

- - - - -

1271 1131 1270 1131 1273 1131 1268 1131 1265 1131 1291 1131 1265 1131 1264 1131 1291 1131 1291 1131 1264 1131 1255 1131 1294 1131 1261 1131 1266 1131 1294 1131 1266 1131 1267 1131 1294 1131 1258 1131 1261 1131 1306 1131 1317 1131 1303 1131

- - - - -

1278 1131 1282 1131 1281 1131 1275 1131

-

1279 1131 1277 1131 1281 1131 1282 1131

-

1281 1131 1277 1131 1271 1131 1273 1131 1275 1131

-

1287 1131 1288 1131 1296 1131 1295 1131

-

1288 1131 1287 1131 1284 1131 1286 1131

-

1286 1131 1284 1131 1255 1131 1258 1131

-

1267 1131 1266 1131 1261 1131 1258 1131 1255 1131 1264 1131 1265 1131 1268 1131 1270 1131

- - - - -

1271 1132 1270 1132 1273 1132 1268 1132 1265 1132 1291 1132 1265 1132 1264 1132 1291 1132 1291 1132 1264 1132 1255 1132 1294 1132 1261 1132 1266 1132 1294 1132 1266 1132 1267 1132 1294 1132 1258 1132 1261 1132 1306 1132 1317 1132 1303 1132 1304 1132 1316 1132 1305 1132

- - - - -

1278 1132 1282 1132 1281 1132 1275 1132

-

1279 1132 1277 1132 1281 1132 1282 1132

-

1281 1132 1277 1132 1271 1132 1273 1132 1275 1132

-

1287 1132 1288 1132 1296 1132 1295 1132

-

1288 1132 1287 1132 1284 1132 1286 1132

-

1286 1132 1284 1132 1255 1132 1258 1132

-

1267 1132 1266 1132 1261 1132 1258 1132 1255 1132 1264 1132 1265 1132 1268 1132 1270 1132

- - - - -

1271 1004 1270 1003 1272 1005 1268 1001 1265 998 1290 1023 1265 998 1263 996 1289 1022 1291 1024 1264 997 1254 987 1292 1025 1260 993 1266 999 1293 1026 1266 999 1267 1000 1294 1027 1257 990 1261 994 1306 1039 1317 1050 1303 1036 1304 1037 1316 1049 1305 1038

- - - - -

1278 1011 1282 1015 1280 1013 1274 1007

-

1279 1012 1276 1009 1280 1013 1282 1015

-

1281 1014 1277 1010 1271 1004 1273 1006 1275 1008

-

1287 1020 1288 1021 1296 1029 1295 1028

-

1288 1021 1287 1020 1284 1017 1286 1019

-

1285 1018 1283 1016 1255 988 1258 991

-

1267 1000 1266 999 1259 992 1256 989 1253 986 1262 995 1265 998 1268 1001 1269 1002

-

1337 1070 1344 1077 1358 1091 1357 1090

-

1357 1090 1358 1091 1368 1101 1367 1100

-

1367 1100 1368 1101 1381 1114 1379 1112

-

1383 1116 1384 1117 1379 1112 1381 1114

-

1382 1115 1380 1113 1384 1117 1383 1116

-

1380 1113 1382 1115 1369 1102 1366 1099

-

1366 1099 1369 1102 1359 1092 1356 1089

-

1356 1089 1359 1092 1342 1075 1336 1069

- - - - -

1271 1004 1270 1003 1272 1005 1268 1001 1265 998 1290 1023 1265 998 1263 996 1289 1022 1291 1024 1264 997 1254 987 1292 1025 1260 993 1266 999 1293 1026 1266 999 1267 1000 1294 1027 1257 990 1261 994 1306 1039 1317 1050 1303 1036 1304 1037 1316 1049 1305 1038

- - - - -

1278 1011 1282 1015 1280 1013 1274 1007

-

1279 1012 1276 1009 1280 1013 1282 1015

-

1281 1014 1277 1010 1271 1004 1273 1006 1275 1008

-

1287 1020 1288 1021 1296 1029 1295 1028

-

1288 1021 1287 1020 1284 1017 1286 1019

-

1285 1018 1283 1016 1255 988 1258 991

-

1267 1000 1266 999 1259 992 1256 989 1253 986 1262 995 1265 998 1268 1001 1269 1002

-

1337 1070 1344 1077 1358 1091 1357 1090

-

1357 1090 1358 1091 1368 1101 1367 1100

-

1367 1100 1368 1101 1381 1114 1379 1112

-

1383 1116 1384 1117 1379 1112 1381 1114

-

1382 1115 1380 1113 1384 1117 1383 1116

-

1380 1113 1382 1115 1369 1102 1366 1099

-

1366 1099 1369 1102 1359 1092 1356 1089

-

1356 1089 1359 1092 1342 1075 1336 1069

-

1330 1063 1343 1076 1349 1082 1331 1064

-

1375 1108 1372 1105 1362 1095 1365 1098

-

1365 1098 1362 1095 1352 1085 1355 1088

-

1355 1088 1352 1085 1341 1074 1348 1081

-

1348 1081 1341 1074 1327 1060 1328 1061 1332 1065

-

1327 1060 1321 1054 1323 1056 1328 1061

-

1321 1054 1313 1046 1315 1048 1323 1056

-

1313 1046 1308 1041 1309 1042 1315 1048

-

1308 1041 1311 1044 1314 1047 1309 1042

-

1311 1044 1319 1052 1322 1055 1314 1047

-

1361 1094 1351 1084 1339 1072 1324 1057 1318 1051 1310 1043 1307 1040 1312 1045 1320 1053 1326 1059 1340 1073 1353 1086 1363 1096 1373 1106 1377 1110 1371 1104

-

1319 1052 1325 1058 1329 1062 1322 1055

-

1334 1067 1347 1080 1345 1078 1333 1066

-

1346 1079 1335 1068 1329 1062 1325 1058 1338 1071

-

1346 1079 1338 1071 1350 1083 1354 1087

-

1354 1087 1350 1083 1360 1093 1364 1097

-

1364 1097 1360 1093 1370 1103 1374 1107

-

1374 1107 1370 1103 1376 1109 1378 1111

-

1378 1111 1376 1109 1372 1105 1375 1108

- - - - -

1271 1004 1270 1003 1272 1005 1268 1001 1265 998 1290 1023 1265 998 1263 996 1289 1022 1291 1024 1264 997 1254 987 1292 1025 1260 993 1266 999 1293 1026 1266 999 1267 1000 1294 1027 1257 990 1261 994 1306 1039 1317 1050 1303 1036 1304 1037 1316 1049 1305 1038

- - - - -

1278 1011 1282 1015 1280 1013 1274 1007

-

1279 1012 1276 1009 1280 1013 1282 1015

-

1281 1014 1277 1010 1271 1004 1273 1006 1275 1008

-

1287 1020 1288 1021 1296 1029 1295 1028

-

1288 1021 1287 1020 1284 1017 1286 1019

-

1285 1018 1283 1016 1255 988 1258 991

-

1267 1000 1266 999 1259 992 1256 989 1253 986 1262 995 1265 998 1268 1001 1269 1002

-

1337 1070 1344 1077 1358 1091 1357 1090

-

1357 1090 1358 1091 1368 1101 1367 1100

-

1367 1100 1368 1101 1381 1114 1379 1112

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1383 1116 1384 1117 1379 1112 1381 1114

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1382 1115 1380 1113 1384 1117 1383 1116

-

1380 1113 1382 1115 1369 1102 1366 1099

-

1366 1099 1369 1102 1359 1092 1356 1089

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1356 1089 1359 1092 1342 1075 1336 1069

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1330 1063 1343 1076 1349 1082 1331 1064

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1375 1108 1372 1105 1362 1095 1365 1098

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1365 1098 1362 1095 1352 1085 1355 1088

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1355 1088 1352 1085 1341 1074 1348 1081

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1348 1081 1341 1074 1327 1060 1328 1061 1332 1065

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1327 1060 1321 1054 1323 1056 1328 1061

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1321 1054 1313 1046 1315 1048 1323 1056

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1313 1046 1308 1041 1309 1042 1315 1048

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1308 1041 1311 1044 1314 1047 1309 1042

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1311 1044 1319 1052 1322 1055 1314 1047

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1361 1094 1351 1084 1339 1072 1324 1057 1318 1051 1310 1043 1307 1040 1312 1045 1320 1053 1326 1059 1340 1073 1353 1086 1363 1096 1373 1106 1377 1110 1371 1104

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1319 1052 1325 1058 1329 1062 1322 1055

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1334 1067 1347 1080 1345 1078 1333 1066

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1346 1079 1335 1068 1329 1062 1325 1058 1338 1071

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1346 1079 1338 1071 1350 1083 1354 1087

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1354 1087 1350 1083 1360 1093 1364 1097

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1364 1097 1360 1093 1370 1103 1374 1107

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1374 1107 1370 1103 1376 1109 1378 1111

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1378 1111 1376 1109 1372 1105 1375 1108

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1297 1030 1300 1033 1301 1034 1298 1031

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1299 1032 1297 1030 1298 1031 1302 1035

- - - - -

1393 1133 1394 1134 1395 1135 1396 1136

-

1397 1137 1398 1138 1399 1139 1400 1140 1401 1141 1402 1142

-

1403 1143 1404 1144 1405 1145 1406 1146

-

1407 1147 1408 1148 1409 1149 1410 1150

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1411 1151 1412 1152 1413 1153 1414 1154

-

1415 1155 1416 1156 1417 1157 1418 1158

-

1419 1159 1420 1160 1421 1161 1422 1162 1423 1163 1424 1164

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1425 1165 1426 1166 1427 1167 1428 1168

- - - - -

1493 1272 1530 1272 1525 1272

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1432 1272 1493 1272 1525 1272 1519 1272

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1488 1228 1493 1233 1432 1172 1490 1230

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1505 1245 1456 1196 1452 1192 1501 1241

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1516 1256 1514 1254 1510 1250 1506 1246 1502 1242 1434 1174 1504 1244 1508 1248 1512 1252

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1465 1205 1461 1201 1457 1197 1453 1193 1449 1189 1447 1187 1445 1185 1441 1181 1439 1179 1443 1183 1446 1186 1448 1188 1451 1191 1455 1195 1459 1199 1463 1203

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1471 1211 1444 1184 1440 1180 1467 1207

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1505 1245 1456 1196 1452 1192 1501 1241

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1465 1205 1461 1201 1457 1197 1453 1193 1449 1189 1447 1187 1445 1185 1441 1181 1439 1179 1443 1183 1446 1186 1448 1188 1451 1191 1455 1195 1459 1199 1463 1203

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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31

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32 32 33 33 34 34 35 35

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36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

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44 44 45 45 46 46 47 47

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48 48 49 49 50 50 51 51

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52 52 53 53 54 54 55 55

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56 56 57 57 58 58 59 59

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60 60 61 61 62 62 63 63

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64 64 65 65 66 66 67 67

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68 68 69 69 70 70 71 71

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72 72 73 73 74 74 75 75

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76 76 77 77 78 78 79 79

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80 80 81 81 82 82 83 83

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84 84 85 85 86 86 87 87

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88 88 89 89 90 90 91 91

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92 92 93 93 94 94 95 95

- - - - -

101 114 103 114 105 114

- - - - -

105 114 113 114 111 114 101 114

- - - - -

107 115 109 115 104 115

- - - - -

104 115 99 115 97 115 107 115

- - - - -

104 104 105 105 103 103 99 99

-

102 102 100 100 96 96 98 98

-

106 106 97 97 101 101 110 110

-

109 109 107 107 111 111 113 113

-

104 104 108 108 112 112 105 105

- - - - -

114 116 115 117 116 118 117 119 118 120 119 121 120 122 121 123 122 124 123 125 124 126 125 127 126 128 127 129 128 130 129 131

-

130 132 131 133 132 134 133 135 134 136 135 137 136 138 137 139 138 140 139 141 140 142 141 143 142 144 143 145 144 146 145 147

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146 148 147 149 148 150 149 151

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150 152 151 153 152 154 153 155

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154 156 155 157 156 158 157 159

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158 160 159 161 160 162 161 163

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162 164 163 165 164 166 165 167

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166 168 167 169 168 170 169 171

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170 172 171 173 172 174 173 175

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174 176 175 177 176 178 177 179

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178 180 179 181 180 182 181 183

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182 184 183 185 184 186 185 187

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186 188 187 189 188 190 189 191

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190 192 191 193 192 194 193 195

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194 196 195 197 196 198 197 199

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198 200 199 201 200 202 201 203

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202 204 203 205 204 206 205 207

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206 208 207 209 208 210 209 211

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210 212 211 213 212 214 213 215

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214 216 215 217 216 218 217 219

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218 220 219 221 220 222 221 223

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222 224 223 225 224 226 225 227

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226 228 227 229 228 230 229 231

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230 232 231 233 232 234 233 235

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234 236 235 237 236 238 237 239

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238 240 239 241 240 242 241 243

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242 244 243 245 244 246 245 247

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246 248 247 249 248 250 249 251 250 252 251 253 252 254 253 255 254 256 255 257 256 258 257 259 258 260 259 261 260 262

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261 263 262 264 263 265 264 266

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265 267 266 268 267 269 268 270 269 271 270 272 271 273 272 274 273 275 274 276 275 277 276 278 277 279 278 280 279 281

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280 282 281 283 282 284 283 285

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284 286 285 287 286 288 287 289

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288 290 289 291 290 292 291 293

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292 294 293 295 294 296 295 297

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296 298 297 299 298 300 299 301

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300 302 301 303 302 304 303 305

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304 306 305 307 306 308 307 309

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308 310 309 311 310 312 311 313

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312 314 313 315 314 316 315 317

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316 318 317 319 318 320 319 321

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320 322 321 323 322 324 323 325

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324 326 325 327 326 328 327 329 328 330 329 331 330 332 331 333 332 334 333 335

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334 336 335 337 336 338 337 339 338 340 339 341 340 342 341 343 342 344 343 345

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344 346 345 347 346 348 347 349

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348 350 349 351 350 352 351 353

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352 354 353 355 354 356 355 357

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356 358 357 359 358 360 359 361

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360 362 361 363 362 364 363 365

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364 366 365 367 366 368 367 369

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368 370 369 371 370 372 371 373

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372 374 373 375 374 376 375 377

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376 378 377 379 378 380 379 381

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380 382 381 383 382 384 383 385

- - - - -

384 386 385 387 386 388 387 389 388 390 389 391 390 392 391 393 392 394 393 395 394 396 395 397 396 398 397 399 398 400 399 401

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400 402 401 403 402 404 403 405 404 406 405 407 406 408 407 409 408 410 409 411 410 412 411 413 412 414 413 415 414 416 415 417

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416 418 417 419 418 420 419 421

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420 422 421 423 422 424 423 425

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424 426 425 427 426 428 427 429

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428 430 429 431 430 432 431 433

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432 434 433 435 434 436 435 437

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436 438 437 439 438 440 439 441

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440 442 441 443 442 444 443 445

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444 446 445 447 446 448 447 449

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448 450 449 451 450 452 451 453

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452 454 453 455 454 456 455 457

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456 458 457 459 458 460 459 461

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460 462 461 463 462 464 463 465

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464 466 465 467 466 468 467 469

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468 470 469 471 470 472 471 473

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472 474 473 475 474 476 475 477

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476 478 477 479 478 480 479 481

- - - - -

480 482 481 483 482 484 483 485 484 486 485 487 486 488 487 489 488 490 489 491 490 492 491 493 492 494 493 495 494 496 495 497

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496 498 497 499 498 500 499 501 500 502 501 503 502 504 503 505 504 506 505 507 506 508 507 509 508 510 509 511 510 512 511 513

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512 514 513 515 514 516 515 517

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516 518 517 519 518 520 519 521

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520 522 521 523 522 524 523 525

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524 526 525 527 526 528 527 529

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528 530 529 531 530 532 531 533

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532 534 533 535 534 536 535 537

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536 538 537 539 538 540 539 541

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540 542 541 543 542 544 543 545

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544 546 545 547 546 548 547 549

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548 550 549 551 550 552 551 553

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552 554 553 555 554 556 555 557

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556 558 557 559 558 560 559 561

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560 562 561 563 562 564 563 565

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564 566 565 567 566 568 567 569

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568 570 569 571 570 572 571 573

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572 574 573 575 574 576 575 577

- - - - -

576 578 577 579 578 580 579 581 580 582 581 583 582 584 583 585 584 586 585 587 586 588 587 589 588 590 589 591 590 592 591 593

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592 594 593 595 594 596 595 597 596 598 597 599 598 600 599 601 600 602 601 603 602 604 603 605 604 606 605 607 606 608 607 609

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608 610 609 611 610 612 611 613

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612 614 613 615 614 616 615 617

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616 618 617 619 618 620 619 621

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620 622 621 623 622 624 623 625

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624 626 625 627 626 628 627 629

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628 630 629 631 630 632 631 633

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632 634 633 635 634 636 635 637

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636 638 637 639 638 640 639 641

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640 642 641 643 642 644 643 645

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644 646 645 647 646 648 647 649

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648 650 649 651 650 652 651 653

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652 654 653 655 654 656 655 657

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656 658 657 659 658 660 659 661

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660 662 661 663 662 664 663 665

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664 666 665 667 666 668 667 669

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668 670 669 671 670 672 671 673

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672 674 673 675 674 676 675 677 676 678 677 679 678 680 679 681 680 682 681 683 682 684 683 685 684 686 685 687 686 688 687 689

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688 690 689 691 690 692 691 693

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692 694 693 695 694 696 695 697

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696 698 697 699 698 700 699 701

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700 702 701 703 702 704 703 705

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704 706 705 707 706 708 707 709

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708 710 709 711 710 712 711 713

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712 714 713 715 714 716 715 717

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716 718 717 719 718 720 719 721

-

720 722 721 723 722 724 723 725

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724 726 725 727 726 728 727 729

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728 730 729 731 730 732 731 733

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732 734 733 735 734 736 735 737

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736 738 737 739 738 740 739 741

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740 742 741 743 742 744 743 745

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744 746 745 747 746 748 747 749

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748 750 749 751 750 752 751 753

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752 754 753 755 754 756 755 757

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756 758 757 759 758 760 759 761

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760 762 761 763 762 764 763 765

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764 766 765 767 766 768 767 769

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768 770 769 771 770 772 771 773

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772 774 773 775 774 776 775 777

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776 778 777 779 778 780 779 781

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780 782 781 783 782 784 783 785

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784 786 785 787 786 788 787 789

-

788 790 789 791 790 792 791 793

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792 794 793 795 794 796 795 797

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796 798 797 799 798 800 799 801

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800 802 801 803 802 804 803 805

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804 806 805 807 806 808 807 809

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808 810 809 811 810 812 811 813

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812 814 813 815 814 816 815 817

- - - - -

843 851 842 851 844 851 836 851 848 851 846 851 836 851 846 851 845 851 844 851 836 851 845 851 844 851 845 851 843 851

- - - - -

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- - - - -

822 824 829 831 833 835 826 828 820 822

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820 822 826 828 831 833 827 829 818 820

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841 843 816 818 828 830 832 834 844 846

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844 846 839 841 826 828 840 842 835 837

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835 837 834 836 830 832 824 826 848 850

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847 849 825 827 823 825 846 848

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850 853 859 862 862 865 853 856

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1021 1038 973 1038 984 1038 877 1038 870 1038 980 1038

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1021 1039 980 1039 929 1039

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922 1039 1021 1039 929 1039 983 1039

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991 1040 1003 1040 922 1040 940 1040

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1010 1043 1011 1043 1013 1043 1016 1043 962 1043

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976 981 1012 1017 1014 1019 1020 1025 1028 1033

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939 944 983 988 927 932 932 937 943 948

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1109 1129 1110 1130 1111 1131 1112 1132

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3.05185e-005 -1 -3.05185e-005 3.05185e-005 -1 -3.05185e-005 3.05185e-005 -1 6.1037e-005 -6.1037e-005 -1 6.1037e-005 -6.1037e-005 -1 6.1037e-005 -6.1037e-005 -1 6.1037e-005 -6.1037e-005 -1 6.1037e-005 -6.1037e-005 -1 6.1037e-005 -6.1037e-005 -1 -3.05185e-005 3.05185e-005 0 -1 0 0 -0.923884 -0.382672 -1 -3.05185e-005 3.05185e-005 0 -0.923884 0.382672 -1 -3.05185e-005 3.05185e-005 0 -0.70713 -0.707083 0 -0.70713 0.707083 0 -0.382672 -0.923884 0 -0.382672 0.923884 -1 6.1037e-005 -6.1037e-005 0 0 -1 -1 6.1037e-005 -6.1037e-005 0 0 1 -1 6.1037e-005 -6.1037e-005 0 0.382672 -0.923884 0 0.382672 0.923884 0 0.707083 -0.70713 0 0.707083 0.70713 0 0.923884 -0.382672 0 0.923884 0.382672 0 1 0 1 0 0 1 3.05185e-005 3.05185e-005 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 0 0 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 0 -1 0 1 0 0 0 -0.923884 -0.382672 1 0 0 0 -0.923884 0.382672 1 0 0 0 -0.70713 -0.707083 1 0 0 0 -0.70713 0.707083 0 -0.382672 -0.923884 1 -3.05185e-005 -0.000274667 0 -0.382672 0.923884 0 0 -1 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 0 0 1 0 0.382672 -0.923884 1 -3.05185e-005 -0.000274667 0 0.382672 0.923884 1 -3.05185e-005 -0.000274667 1 -3.05185e-005 -0.000274667 0 0.707083 -0.70713 1 -3.05185e-005 -0.000274667 0 0.707083 0.70713 0 0.923884 -0.382672 1 -3.05185e-005 -0.000274667 0 0.923884 0.382672 1 -3.05185e-005 -0.000274667 0 1 0 1 -3.05185e-005 -0.000274667 0 1 0 1 0 0 0 0.923884 0.382672 1 0 0 0 0.923884 -0.382672 1 0 0 0 0.707083 0.70713 1 0 0 0 0.707083 -0.70713 1 0 0 0 0.382672 0.923884 1 0 0 0 0.382672 -0.923884 1 0 0 0 0 1 1 0 0 0 0 -1 1 0 0 0 -0.382672 0.923884 1 0 0 0 -0.382672 -0.923884 1 0 0 0 -0.70713 0.707083 1 0 0 0 -0.70713 -0.707083 1 0 0 0 -0.923884 0.382672 1 0 0 0 -0.923884 -0.382672 1 0 0 0 -1 0 1 0 0 0 1 0 0 0.923884 0.382672 0 0.923884 -0.382672 0 0.707083 0.70713 0 0.707083 -0.70713 0 0.382672 0.923884 0 0.382672 -0.923884 0 0 1 0 0 -1 0 -0.382672 0.923884 0 -0.382672 -0.923884 0 -0.70713 0.707083 0 -0.70713 -0.707083 0 -0.923884 0.382672 0 -0.923884 -0.382672 0 -1 0 1 -4.50532e-005 -0.000302355 -1 8.41207e-005 -6.48765e-005 -1 -4.31622e-005 5.68244e-005 0 0.951062 0.309 1 0 0 0 0.951062 -0.309 1 0 0 0 0.587786 0.809016 1 0 0 0 0.587786 -0.809016 1 0 0 0 0 1 1 0 0 0 0 -1 1 0 0 0 -0.587786 0.809016 1 0 0 0 -0.587786 -0.809016 1 0 0 0 -0.951062 0.309 1 0 0 0 -0.951062 -0.309 1 0 0 0 0.951062 0.309 0 0.951062 -0.309 0 0.587786 0.809016 0 0.587786 -0.809016 0 0 1 0 0 -1 0 -0.587786 0.809016 0 -0.587786 -0.809016 0 -0.951062 0.309 0 -0.951062 -0.309 1 1.80517e-006 4.42844e-005 1 2.85561e-007 -3.67577e-005 - - - - - - - - - - - - - - -

0 0 1 0 2 0 3 0 4 0

-

5 0 6 0 7 0 8 0 9 0 10 0

- - - - -

11 1 12 1 13 1 14 1

- - - - -

15 2 16 2 17 2 18 2

- - - - -

19 3 20 3 21 3 22 3

- - - - -

23 4 24 4 25 4 26 4

- - - - -

27 5 28 5 29 5 30 5

- - - - -

31 6 32 6 33 6 34 6

- - - - -

35 7 36 7 37 7 38 7

- - - - -

39 8 40 8 41 8 42 8

- - - - -

43 9 44 9 45 9 46 9

- - - - -

47 10 48 10 49 10 50 10 51 10

-

52 10 53 10 54 10 55 10

- - - - -

56 11 57 11 58 11 59 11

- - - - -

60 12 61 12 62 12 63 12 64 12

-

65 12 66 12 67 12 68 12

- - - - -

69 13 70 13 71 13 72 13 73 13

-

74 13 75 13 76 13 77 13

- - - - -

78 14 79 14 80 14 81 14 82 14

-

83 14 84 14 85 14 86 14

- - - - -

87 15 88 15 89 15 90 15 91 15

-

92 15 93 15 94 15 95 15

- - - - -

96 16 97 16 98 16

- - - - -

105 17 106 17 107 17

- - - - -

99 17 100 17 101 17 102 17 103 17 104 17

- - - - -

171 66 152 66 165 66

- - - - -

175 66 174 66 173 66 154 66

-

152 66 171 66 172 66 176 66 175 66 154 66

- - - - -

164 67 163 67 149 67

- - - - -

169 67 151 67 167 67 170 67

-

151 67 169 67 168 67 166 67 164 67 149 67

- - - - -

157 68 142 68 156 68

- - - - -

160 68 162 68 161 68 144 68

-

144 68 142 68 157 68 158 68 159 68 160 68

- - - - -

128 38 132 42 136 46 138 48 134 44 130 40 126 36 122 32 118 28 114 24 110 20 108 18 112 22 116 26 120 30 124 34

-

129 39 150 60 152 62 133 43

-

133 43 152 62 154 64 137 47

-

137 47 154 64 155 65 139 49

-

139 49 155 65 153 63 135 45

-

135 45 153 63 151 61 131 41

-

131 41 151 61 149 59 127 37

-

127 37 149 59 147 57 123 33

-

123 33 147 57 145 55 119 29

-

119 29 145 55 143 53 115 25

-

115 25 143 53 141 51 111 21

-

111 21 141 51 140 50 109 19

-

109 19 140 50 142 52 113 23

-

113 23 142 52 144 54 117 27

-

117 27 144 54 146 56 121 31

-

121 31 146 56 148 58 125 35

-

125 35 148 58 150 60 129 39

- - - - -

177 69 178 69 179 69 186 69 187 69 188 69

- - - - -

180 69 181 69 182 69 183 69 184 69 185 69

- - - - -

189 70 190 70 191 70

- - - - -

262 199 234 199 237 199 238 199 316 199 318 199 238 199 314 199 316 199 230 199 308 199 310 199 256 199 232 199 313 199 236 199 261 199 315 199 236 199 315 199 313 199 228 199 309 199 307 199 228 199 307 199 305 199 230 199 306 199 308 199

- - - - -

318 199 262 199 237 199 241 199 271 199 269 199 240 199 238 199

-

312 199 314 199 238 199 233 199

-

312 199 233 199 230 199 310 199

-

236 199 235 199 264 199 239 199

-

234 199 261 199 236 199 239 199 267 199 241 199

-

236 199 313 199 232 199 231 199 259 199 235 199

-

256 199 309 199 228 199 227 199 252 199 255 199 231 199 232 199

-

304 199 229 199 228 199 305 199

-

230 199 229 199 304 199 306 199

- - - - -

202 200 201 200 200 200

- - - - -

216 200 202 200 200 200 198 200 199 200

-

215 200 201 200 202 200 216 200 321 200 203 200 219 200

- - - - -

195 201 209 201 196 201 194 201

-

209 201 195 201 192 201 205 201 208 201 197 201 320 201

-

194 201 193 201 192 201 195 201

- - - - -

285 164 281 160 277 156 273 152 275 154 279 158 283 162 287 166 291 170 295 174 299 178 303 182 301 180 297 176 293 172 289 168

-

316 195 314 193 292 171 296 175

-

318 197 316 195 296 175 300 179

-

319 198 318 197 300 179 302 181

-

317 196 319 198 302 181 298 177

-

315 194 317 196 298 177 294 173

-

313 192 315 194 294 173 290 169

-

311 190 313 192 290 169 286 165

-

309 188 311 190 286 165 282 161

-

307 186 309 188 282 161 278 157

-

305 184 307 186 278 157 274 153

-

304 183 305 184 274 153 272 151

-

306 185 304 183 272 151 276 155

-

308 187 306 185 276 155 280 159

-

310 189 308 187 280 159 284 163

-

312 191 310 189 284 163 288 167

-

314 193 312 191 288 167 292 171

- - - - -

285 164 281 160 277 156 273 152 275 154 279 158 283 162 287 166 291 170 295 174 299 178 303 182 301 180 297 176 293 172 289 168

-

316 195 314 193 292 171 296 175

-

318 197 316 195 296 175 300 179

-

319 198 318 197 300 179 302 181

-

317 196 319 198 302 181 298 177

-

315 194 317 196 298 177 294 173

-

313 192 315 194 294 173 290 169

-

311 190 313 192 290 169 286 165

-

309 188 311 190 286 165 282 161

-

307 186 309 188 282 161 278 157

-

305 184 307 186 278 157 274 153

-

304 183 305 184 274 153 272 151

-

306 185 304 183 272 151 276 155

-

308 187 306 185 276 155 280 159

-

310 189 308 187 280 159 284 163

-

312 191 310 189 284 163 288 167

-

314 193 312 191 288 167 292 171

-

249 128 227 106 230 109 226 105 247 126 243 122 245 124

-

220 99 260 139 265 144 222 101

-

222 101 265 144 268 147 224 103

-

224 103 268 147 270 149 225 104

-

225 104 270 149 266 145 223 102

-

223 102 266 145 263 142 221 100

-

221 100 263 142 258 137 219 98

-

219 98 258 137 254 133 215 94

-

215 94 254 133 251 130 212 91

-

212 91 251 130 248 127 210 89

-

210 89 248 127 244 123 206 85

-

206 85 244 123 242 121 205 84

-

205 84 242 121 246 125 208 87

-

208 87 246 125 250 129 211 90

-

211 90 250 129 253 132 213 92

-

213 92 253 132 257 136 217 96

-

217 96 257 136 260 139 220 99

- - - - -

363 232 360 232 351 232 363 232 351 232 350 232 343 232 357 232 354 232 354 232 342 232 343 232 358 232 346 232 344 232 348 232 346 232 358 232

- - - - -

365 232 369 232 364 232 363 232 350 232 348 232 358 232

-

358 232 344 232 342 232 354 232 353 232 366 232 352 232

- - - - -

349 233 360 233 361 233 356 233 357 233 345 233

- - - - -

364 233 368 233 362 233 359 233 347 233 349 233 361 233

-

345 233 347 233 359 233 355 233 367 233 353 233 356 233

- - - - -

329 209 325 205 323 203 327 207 331 211 335 215 339 219 341 221 337 217 333 213

-

351 231 349 229 336 216 340 220

-

350 230 351 231 340 220 338 218

-

348 228 350 230 338 218 334 214

-

346 226 348 228 334 214 330 210

-

344 224 346 226 330 210 326 206

-

342 222 344 224 326 206 322 202

-

343 223 342 222 322 202 324 204

-

345 225 343 223 324 204 328 208

-

347 227 345 225 328 208 332 212

-

349 229 347 227 332 212 336 216

- - - - - CAT3DBagRep - - - - - - - 300.449 -114.555 9.7512 300.323 -114.555 59.7512 300.323 -114.555 34.8756 312.479 -114.555 34.6268 312.479 -114.555 34.6268 349.822 -114.555 59.2537 312.479 -114.555 34.8756 350.449 -114.555 9.6517 360.449 -114.555 9.7512 360.449 -114.555 59.5012 360.449 -114.555 59.5012 398.136 -114.555 59.7512 398.136 -114.555 59.7512 410.449 -114.555 51.4012 410.449 -114.555 51.4012 410.136 -114.555 43.1012 410.136 -114.555 43.1012 397.511 -114.555 34.5012 397.511 -114.555 34.5012 361.199 -114.555 34.5012 372.261 -114.555 34.7512 410.449 -114.555 9.6512 420.449 -114.555 9.7512 439.868 -114.555 9.4512 430.158 -114.555 10.2012 430.158 -114.555 59.7512 430.158 -114.555 59.7512 419.998 -114.555 50.9512 490.54 -114.555 59.3092 450.219 -114.555 59.3092 450.219 -114.555 59.3092 449.868 -114.555 42.9535 449.868 -114.555 42.9535 479.407 -114.555 42.9535 479.407 -114.555 42.9535 489.637 -114.555 34.3092 489.637 -114.555 34.3092 489.637 -114.555 18.8377 489.637 -114.555 18.8377 479.407 -114.555 10.1932 479.407 -114.555 10.1932 461.353 -114.555 9.7512 461.353 -114.555 9.7512 450.671 -114.555 17.4624 500.54 -114.555 19.9158 500.101 -114.555 49.9254 500.101 -114.555 49.9254 509.915 -114.555 58.88 509.915 -114.555 58.88 519.388 -114.555 58.88 519.388 -114.555 58.88 529.788 -114.555 51.2323 529.788 -114.555 51.2323 530.228 -114.555 19.4317 530.228 -114.555 19.4317 520.755 -114.555 10.4773 520.755 -114.555 10.4773 511.722 -114.555 10.4773 511.722 -114.555 10.4773 500.101 -114.555 19.9158 540.228 -114.555 34.7762 580.138 -114.555 34.576 600.228 -114.555 9.7512 619.647 -114.555 9.4512 609.937 -114.555 10.2012 609.937 -114.555 59.7512 609.937 -114.555 59.7512 599.777 -114.555 50.9512 - - - - - - - - - - - - - -

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67

- - - - - CAT3DBagRep - - - - - - - 45.3272 20 158.134 45.3272 20 158.134 45.3272 20 158.134 288.097 12 257.948 288.097 12 257.948 298.439 -12 227.665 298.439 -12 227.665 299.732 0 223.879 299.732 0 223.879 40.1565 -12.0002 173.276 40.1565 -12.0002 173.276 40.1565 -12.0002 173.276 45.3272 20 158.134 45.3272 20 158.134 45.3272 20 158.134 45.3272 20 158.134 45.4539 -0.000183 239.243 45.4539 -0.000183 239.243 45.4539 -0.000183 239.243 45.4539 -0.000183 239.243 45.4539 -0.000183 239.243 59.1825 50.5904 234.145 59.1825 50.5904 234.145 59.1825 50.5904 234.145 59.1825 50.5904 234.145 80.9819 84.3176 170.311 80.9819 84.3176 170.311 80.9819 84.3176 170.311 80.9819 84.3176 170.311 80.9821 -84.3176 170.31 80.9821 -84.3176 170.31 80.9821 -84.3176 170.31 80.9821 -84.3176 170.31 95.0387 0.000107 94.0457 95.0387 0.000107 94.0457 95.0387 0.000107 94.0457 95.0387 0.000107 94.0457 102.781 50.5907 106.476 102.781 50.5907 106.476 102.781 50.5907 106.476 102.781 -50.5904 106.476 102.781 -50.5904 106.476 102.781 -50.5904 106.476 102.781 -50.5904 106.476 228.718 -22.932 303.844 228.718 -22.932 303.844 228.718 -22.932 303.844 228.718 -22.932 303.844 254.127 -81.8999 229.44 254.127 -81.8999 229.44 254.127 -81.8999 229.44 254.127 -81.8999 229.44 254.127 -81.8999 229.44 254.127 81.8999 229.44 254.127 81.8999 229.44 254.127 81.8999 229.44 254.127 81.8999 229.44 257.278 -40.4257 287.473 257.278 -40.4257 287.473 257.278 -40.4257 287.473 257.278 40.4257 287.473 257.278 40.4257 287.473 257.278 40.4257 287.473 257.278 40.4257 287.473 279.537 22.932 155.035 279.537 22.932 155.035 279.537 22.932 155.035 279.537 22.932 155.035 286.805 0 261.733 286.805 0 261.733 288.097 -12 257.948 288.097 12 257.948 292.117 40.4257 185.456 292.117 40.4257 185.456 292.117 40.4257 185.456 292.117 -40.4257 185.456 292.117 -40.4257 185.456 292.117 -40.4257 185.456 292.117 -40.4257 185.456 292.117 -40.4257 185.456 293.268 20 242.806 293.268 20 242.806 293.268 20 242.806 293.268 -20 242.806 293.268 -20 242.806 298.439 12 227.665 39.5118 20.0464 184.393 39.5118 20.0464 184.393 39.5118 -20.0466 184.392 39.5118 -20.0466 184.392 45.4539 -0.000183 239.243 45.4539 -0.000183 239.243 45.4539 -0.000183 239.243 48.1498 33.4108 159.098 48.1498 33.4108 159.098 48.1498 -33.4109 159.098 48.1498 -33.4109 159.098 48.683 44.2517 221.629 48.683 -44.252 221.628 50.4123 46.0289 224.723 50.4123 46.0289 224.723 50.4124 -46.0292 224.723 50.4124 -46.0292 224.723 53.7326 -0.000198 250.104 54.8226 -23.6091 246.912 54.8226 23.6087 246.912 56.5345 65.0762 198.637 56.5345 65.0762 198.637 56.5346 -65.0764 198.637 56.5346 -65.0764 198.637 56.7878 20.0466 133.804 56.7879 -20.0464 133.804 56.7879 -20.0464 133.804 59.1825 50.5904 234.145 59.1826 -50.5907 234.145 67.7511 73.7531 165.792 67.7512 -73.7531 165.792 78.9676 65.0763 132.947 78.9677 -65.0763 132.947 86.8192 44.252 109.956 86.8193 -44.2518 109.956 90.0801 46.0291 108.565 90.0801 46.0291 108.565 90.0802 -46.029 108.565 95.0387 0.000107 94.0457 95.0387 0.000107 94.0457 95.0387 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82 174 166 174 153 174 82 174 153 174 71 174

- - - - -

153 175 230 175 69 175 153 175 69 175 71 175

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69 176 230 176 152 176 69 176 152 176 70 176

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152 177 164 177 84 177 152 177 84 177 70 177

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164 178 172 178 6 178 164 178 6 178 84 178

- - - - -

172 179 231 179 8 179 172 179 8 179 6 179

- - - - -

8 180 231 180 173 180 8 180 173 180 85 180

- - - - -

173 181 166 181 82 181 173 181 82 181 85 181

- - - - -

63 182 141 182 230 182 63 182 230 182 153 182

- - - - -

230 183 141 183 59 183 230 183 59 183 152 183

- - - - -

79 184 171 184 231 184 79 184 231 184 172 184

- - - - -

231 185 171 185 74 185 231 185 74 185 173 185

- - - - -

148 186 56 186 220 186 148 186 220 186 145 186

- - - - -

220 187 140 187 63 187 220 187 63 187 145 187

- - - - -

139 188 219 188 146 188 139 188 146 188 59 188

- - - - -

219 189 52 189 149 189 219 189 149 189 146 189

- - - - -

52 190 228 190 160 190 52 190 160 190 149 190

- - - - -

228 191 150 191 79 191 228 191 79 191 160 191

- - - - -

151 192 229 192 161 192 151 192 161 192 74 192

- - - - -

229 193 56 193 148 193 229 193 148 193 161 193

- - - - -

56 194 218 194 215 194 56 194 215 194 220 194

- - - - -

215 195 214 195 140 195 215 195 140 195 220 195

- - - - -

214 196 212 196 138 196 214 196 138 196 140 196

- - - - -

212 197 210 197 134 197 212 197 134 197 138 197

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134 198 210 198 211 198 134 198 211 198 47 198

- - - - -

211 199 213 199 139 199 211 199 139 199 47 199

- - - - -

213 200 216 200 219 200 213 200 219 200 139 200

- - - - -

216 201 217 201 52 201 216 201 52 201 219 201

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217 202 221 202 228 202 217 202 228 202 52 202

- - - - -

221 203 223 203 150 203 221 203 150 203 228 203

- - - - -

223 204 225 204 155 204 223 204 155 204 150 204

- - - - -

225 205 227 205 158 205 225 205 158 205 155 205

- - - - -

158 206 227 206 226 206 158 206 226 206 67 206

- - - - -

226 207 224 207 151 207 226 207 151 207 67 207

- - - - -

224 208 222 208 229 208 224 208 229 208 151 208

- - - - -

222 209 218 209 56 209 222 209 56 209 229 209

- - - - -

218 210 199 210 194 210 218 210 194 210 215 210

- - - - -

194 211 192 211 214 211 194 211 214 211 215 211

- - - - -

192 212 187 212 212 212 192 212 212 212 214 212

- - - - -

187 213 185 213 210 213 187 213 210 213 212 213

- - - - -

210 214 185 214 186 214 210 214 186 214 211 214

- - - - -

186 215 193 215 213 215 186 215 213 215 211 215

- - - - -

193 216 195 216 216 216 193 216 216 216 213 216

- - - - -

195 217 200 217 217 217 195 217 217 217 216 217

- - - - -

200 218 204 218 221 218 200 218 221 218 217 218

- - - - -

204 219 206 219 223 219 204 219 223 219 221 219

- - - - -

206 220 207 220 225 220 206 220 225 220 223 220

- - - - -

207 221 209 221 227 221 207 221 227 221 225 221

- - - - -

227 222 209 222 208 222 227 222 208 222 226 222

- - - - -

208 223 205 223 224 223 208 223 224 223 226 223

- - - - -

205 224 203 224 222 224 205 224 222 224 224 224

- - - - -

203 225 199 225 218 225 203 225 218 225 222 225

- - - - -

199 226 28 226 188 226 199 226 188 226 194 226

- - - - -

188 227 24 227 192 227 188 227 192 227 194 227

- - - - -

24 228 105 228 187 228 24 228 187 228 192 228

- - - - -

105 229 103 229 185 229 105 229 185 229 187 229

- - - - -

185 230 103 230 104 230 185 230 104 230 186 230

- - - - -

104 231 114 231 193 231 104 231 193 231 186 231

- - - - -

114 232 189 232 195 232 114 232 195 232 193 232

- - - - -

189 233 32 233 200 233 189 233 200 233 195 233

- - - - -

32 234 202 234 204 234 32 234 204 234 200 234

- - - - -

202 235 43 235 206 235 202 235 206 235 204 235

- - - - -

43 236 131 236 207 236 43 236 207 236 206 236

- - - - -

131 237 132 237 209 237 131 237 209 237 207 237

- - - - -

209 238 132 238 130 238 209 238 130 238 208 238

- - - - -

130 239 39 239 205 239 130 239 205 239 208 239

- - - - -

39 240 201 240 203 240 39 240 203 240 205 240

- - - - -

201 241 28 241 199 241 201 241 199 241 203 241

- - - - -

28 242 190 242 182 242 28 242 182 242 188 242

- - - - -

182 243 100 243 24 243 182 243 24 243 188 243

- - - - -

102 244 183 244 189 244 102 244 189 244 114 244

- - - - -

183 245 191 245 32 245 183 245 32 245 189 245

- - - - -

191 246 197 246 202 246 191 246 202 246 32 246

- - - - -

197 247 123 247 43 247 197 247 43 247 202 247

- - - - -

122 248 196 248 201 248 122 248 201 248 39 248

- - - - -

196 249 190 249 28 249 196 249 28 249 201 249

- - - - -

190 250 115 250 107 250 190 250 107 250 182 250

- - - - -

107 251 97 251 100 251 107 251 100 251 182 251

- - - - -

97 252 177 252 20 252 97 252 20 252 100 252

- - - - -

20 253 177 253 98 253 20 253 98 253 102 253

- - - - -

98 254 109 254 183 254 98 254 183 254 102 254

- - - - -

109 255 116 255 191 255 109 255 191 255 183 255

- - - - -

116 256 118 256 197 256 116 256 197 256 191 256

- - - - -

118 257 120 257 123 257 118 257 123 257 197 257

- - - - -

120 258 198 258 36 258 120 258 36 258 123 258

- - - - -

36 259 198 259 119 259 36 259 119 259 122 259

- - - - -

119 260 117 260 196 260 119 260 196 260 122 260

- - - - -

117 261 115 261 190 261 117 261 190 261 196 261

- - - - -

87 262 174 262 177 262 87 262 177 262 97 262

- - - - -

177 263 174 263 89 263 177 263 89 263 98 263

- - - - -

112 264 184 264 198 264 112 264 198 264 120 264

- - - - -

198 265 184 265 110 265 198 265 110 265 119 265

- - - - -

94 266 2 266 176 266 94 266 176 266 87 266

- - - - -

176 267 175 267 174 267 176 267 174 267 87 267

- - - - -

174 268 175 268 11 268 174 268 11 268 89 268

- - - - -

11 269 178 269 96 269 11 269 96 269 89 269

- - - - -

178 270 180 270 112 270 178 270 112 270 96 270

- - - - -

180 271 181 271 184 271 180 271 184 271 112 271

- - - - -

184 272 181 272 179 272 184 272 179 272 110 272

- - - - -

179 273 2 273 94 273 179 273 94 273 110 273

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152 135 135 139 139 142 142 141 141 135 135 142 142 141 141 134 134 135 135 138 138 133 133 141 141 136 136 141 141 143 143 140 140 137 137 143 143

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145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152 135 135 139 139 142 142 141 141 135 135 142 142 141 141 134 134 135 135 138 138 133 133 141 141 136 136 141 141 143 143 140 140 137 137 143 143 156 156 151 151 168 168 170 170 67 67 167 167 170 170 157 157 156 156 154 154 158 158 170 170 155 155 171 171 169 169 150 150 155 155 169 169

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152 135 135 139 139 142 142 141 141 135 135 142 142 141 141 134 134 135 135 138 138 133 133 141 141 136 136 141 141 143 143 140 140 137 137 143 143 156 156 151 151 168 168 170 170 67 67 167 167 170 170 157 157 156 156 154 154 158 158 170 170 155 155 171 171 169 169 150 150 155 155 169 169 101 101 114 114 104 104 92 92 102 102 104 104 103 103 92 92 104 104 90 90 103 103 105 105 100 100 91 91 105 105 99 99 105 105 113 113

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152 135 135 139 139 142 142 141 141 135 135 142 142 141 141 134 134 135 135 138 138 133 133 141 141 136 136 141 141 143 143 140 140 137 137 143 143 156 156 151 151 168 168 170 170 67 67 167 167 170 170 157 157 156 156 154 154 158 158 170 170 155 155 171 171 169 169 150 150 155 155 169 169 101 101 114 114 104 104 92 92 102 102 104 104 103 103 92 92 104 104 90 90 103 103 105 105 100 100 91 91 105 105 99 99 105 105 113 113 121 121 128 128 130 130 127 127 122 122 130 130 132 132 124 124 130 130 126 126 132 132 131 131 123 123 125 125 131 131 123 123 131 131 129 129

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152 135 135 139 139 142 142 141 141 135 135 142 142 141 141 134 134 135 135 138 138 133 133 141 141 136 136 141 141 143 143 140 140 137 137 143 143 156 156 151 151 168 168 170 170 67 67 167 167 170 170 157 157 156 156 154 154 158 158 170 170 155 155 171 171 169 169 150 150 155 155 169 169 101 101 114 114 104 104 92 92 102 102 104 104 103 103 92 92 104 104 90 90 103 103 105 105 100 100 91 91 105 105 99 99 105 105 113 113 121 121 128 128 130 130 127 127 122 122 130 130 132 132 124 124 130 130 126 126 132 132 131 131 123 123 125 125 131 131 123 123 131 131 129 129 86 86 97 97 106 106 94 94 87 87 106 106 110 110 117 117 119 119 110 110 93 93 117 117 94 94 115 115 117 117 115 115 94 94 107 107

- - - - -

145 145 144 144 153 153 167 167 161 161 173 173 161 161 165 165 173 173 161 161 147 147 165 165 166 166 148 148 145 145 166 166 145 145 153 153 160 160 169 169 172 172 159 159 172 172 164 164 149 149 160 160 164 164 146 146 149 149 162 162 146 146 163 163 152 152 142 142 146 146 152 152 135 135 139 139 142 142 141 141 135 135 142 142 141 141 134 134 135 135 138 138 133 133 141 141 136 136 141 141 143 143 140 140 137 137 143 143 156 156 151 151 168 168 170 170 67 67 167 167 170 170 157 157 156 156 154 154 158 158 170 170 155 155 171 171 169 169 150 150 155 155 169 169 101 101 114 114 104 104 92 92 102 102 104 104 103 103 92 92 104 104 90 90 103 103 105 105 100 100 91 91 105 105 99 99 105 105 113 113 121 121 128 128 130 130 127 127 122 122 130 130 132 132 124 124 130 130 126 126 132 132 131 131 123 123 125 125 131 131 123 123 131 131 129 129 86 86 97 97 106 106 94 94 87 87 106 106 110 110 117 117 119 119 110 110 93 93 117 117 94 94 115 115 117 117 115 115 94 94 107 107 112 112 120 120 118 118 96 96 111 111 118 118 96 96 118 118 116 116 96 96 116 116 108 108 88 88 95 95 108 108 89 89 109 109 98 98

- - - - -

244 274 245 274 246 274 263 274 264 274 265 274 278 274 279 274 280 274 289 274 290 274 291 274

- - - - -

232 274 233 274 234 274 235 274

-

236 274 237 274 238 274 239 274

-

240 274 241 274 242 274 243 274

-

247 274 248 274 249 274 250 274

-

251 274 252 274 253 274 254 274

-

255 274 256 274 257 274 258 274

-

259 274 260 274 261 274 262 274

-

266 274 267 274 268 274 269 274

-

270 274 271 274 272 274 273 274

-

274 274 275 274 276 274 277 274

-

281 274 282 274 283 274 284 274

-

285 274 286 274 287 274 288 274

- - - - -

292 275 293 275 294 275 295 275

- - - - -

296 276 297 276 298 276 299 276

- - - - -

300 277 301 277 302 277 303 277

- - - - -

304 278 305 278 306 278 307 278

- - - - -

308 279 309 279 310 279 311 279

- - - - -

321 280 322 280 323 280

- - - - -

312 280 313 280 314 280 315 280

-

316 280 317 280 318 280 319 280 320 280

- - - - -

324 281 325 281 326 281 327 281

- - - - -

328 282 329 282 330 282 331 282

- - - - -

332 283 333 283 334 283 335 283

- - - - -

336 284 337 284 338 284 339 284

- - - - -

349 285 350 285 351 285

- - - - -

340 285 341 285 342 285 343 285

-

344 285 345 285 346 285 347 285 348 285

- - - - -

352 286 353 286 354 286 355 286

- - - - -

356 287 357 287 358 287 359 287

- - - - -

360 288 361 288 362 288 363 288

- - - - -

364 289 365 289 366 289 367 289

- - - - -

368 290 369 290 370 290 371 290

- - - - -

372 291 373 291 374 291 375 291 376 291 377 291 386 291 387 291 388 291 389 291 390 291 391 291

- - - - -

378 291 379 291 380 291 381 291 382 291 383 291 384 291 385 291

- - - - -

392 292 393 292 394 292 395 292 396 292 397 292 406 292 407 292 408 292 409 292 410 292 411 292

- - - - -

398 292 399 292 400 292 401 292 402 292 403 292 404 292 405 292

- - - - -

412 293 413 294 414 295 415 296

-

416 297 417 298 418 299 419 300

-

420 301 421 302 422 303 423 304

-

424 305 425 306 426 307 427 308

-

428 309 429 310 430 311 431 312

-

432 313 433 314 434 315 435 316

- - - - -

436 317 437 318 438 319 439 320

-

440 321 441 322 442 323 443 324

-

444 325 445 326 446 327 447 328

-

448 329 449 330 450 331 451 332

-

452 333 453 334 454 335 455 336 456 337 457 338 458 339 459 340 460 341 461 342 462 343 463 344

-

464 345 465 346 466 347 467 348

-

468 349 469 350 470 351 471 352

-

472 353 473 354 474 355 475 356

-

476 357 477 358 478 359 479 360

-

480 361 481 362 482 363 483 364

-

484 365 485 366 486 367 487 368

-

488 369 489 370 490 371 491 372

-

492 373 493 374 494 375 495 376 496 377 497 378 498 379 499 380 500 381 501 382 502 383 503 384

-

504 385 505 386 506 387 507 388

- - - - -

508 389 509 390 510 391 511 392 512 393 513 394 514 395 515 396 516 397 517 398 518 399 519 400

-

520 401 521 402 522 403 523 404 524 405 525 406 526 407 527 408 528 409 529 410 530 411 531 412

-

532 413 533 414 534 415 535 416

-

536 417 537 418 538 419 539 420

-

540 421 541 422 542 423 543 424

-

544 425 545 426 546 427 547 428

-

548 429 549 430 550 431 551 432

-

552 433 553 434 554 435 555 436

-

556 437 557 438 558 439 559 440

-

560 441 561 442 562 443 563 444

-

564 445 565 446 566 447 567 448

-

568 449 569 450 570 451 571 452

-

572 453 573 454 574 455 575 456

-

576 457 577 458 578 459 579 460

- - - - -

584 465 585 466 586 467 591 472 592 473 593 474 602 483 603 484 604 485 609 490 610 491 611 492 620 501 621 502 622 503 623 504 624 505 625 506 638 519 639 520 640 521 661 542 662 543 663 544

- - - - -

580 461 581 462 582 463 583 464

-

587 468 588 469 589 470 590 471

-

594 475 595 476 596 477 597 478

-

598 479 599 480 600 481 601 482

-

605 486 606 487 607 488 608 489

-

612 493 613 494 614 495 615 496

-

616 497 617 498 618 499 619 500

-

626 507 627 508 628 509 629 510

-

630 511 631 512 632 513 633 514

-

634 515 635 516 636 517 637 518

-

641 522 642 523 643 524 644 525

-

645 526 646 527 647 528 648 529 649 530 650 531 651 532 652 533 653 534 654 535 655 536 656 537

-

657 538 658 539 659 540 660 541

- - - - -

664 545 665 546 666 547 675 556 676 557 677 558 682 563 683 564 684 565 693 574 694 575 695 576 700 581 701 582 702 583 711 592 712 593 713 594 714 595 715 596 716 597 745 626 746 627 747 628

- - - - -

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0 0 1 1 2 2 3 3

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4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19 20 20 21 21

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22 22 23 23 24 24 25 25

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26 26 27 27 28 28 29 29 30 30 31 31

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32 32 33 33 34 34 35 35

- - - - -

36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

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44 44 45 45 46 46 47 47

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48 48 49 49 50 50 51 51

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52 52 53 53 54 54 55 55 56 56 57 57

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58 58 59 59 60 60 61 61

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62 62 63 63 64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

- - - - -

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

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80 80 81 81 82 82 83 83

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84 84 85 85 86 86 87 87

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88 88 89 89 90 90 91 91

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92 92 93 93 94 94 95 95

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96 96 97 97 98 98 99 99

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100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

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108 108 109 109 110 110 111 111

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112 112 113 113 114 114 115 115

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116 116 117 117 118 118 119 119

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120 120 121 121 122 122 123 123

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124 124 125 125 126 126 127 127

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128 128 129 129 130 130 131 131

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132 132 133 133 134 134 135 135

- - - - -

136 136 137 137 138 138 139 139 140 140 141 141 142 142 143 143 144 144 145 145 146 146 147 147 148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

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156 156 157 157 158 158 159 159

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160 160 161 161 162 162 163 163

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164 164 165 165 166 166 167 167

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168 168 169 169 170 170 171 171

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172 172 173 173 174 174 175 175

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176 176 177 177 178 178 179 179

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180 180 181 181 182 182 183 183

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184 184 185 185 186 186 187 187

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188 188 189 189 190 190 191 191

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192 192 193 193 194 194 195 195

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196 196 197 197 198 198 199 199

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200 200 201 201 202 202 203 203

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204 204 205 205 206 206 207 207

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208 208 209 209 210 210 211 211

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212 212 213 213 214 214 215 215

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216 216 217 217 218 218 219 219

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220 220 221 221 222 222 223 223

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224 224 225 225 226 226 227 227

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228 228 229 229 230 230 231 231

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232 232 233 233 234 234 235 235

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236 236 237 237 238 238 239 239

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240 240 241 241 242 242 243 243

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244 244 245 245 246 246 247 247

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248 248 249 249 250 250 251 251

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252 252 253 253 254 254 255 255

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256 256 257 257 258 258 259 259

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260 260 261 261 262 262 263 263

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264 264 265 265 266 266 267 267

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268 268 269 269 270 270 271 271

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272 272 273 273 274 274 275 275

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276 276 277 277 278 278 279 279

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280 280 281 281 282 282 283 283

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284 284 285 285 286 286 287 287

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288 288 289 289 290 290 291 291

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292 292 293 293 294 294 295 295

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296 296 297 297 298 298 299 299

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300 300 301 301 302 302 303 303

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304 304 305 305 306 306 307 307

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308 308 309 309 310 310 311 311

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312 312 313 313 314 314 315 315

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316 316 317 317 318 318 319 319

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320 320 321 321 322 322 323 323

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324 324 325 325 326 326 327 327

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328 328 329 329 330 330 331 331

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332 332 333 333 334 334 335 335

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336 336 337 337 338 338 339 339

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340 340 341 341 342 342 343 343

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344 344 345 345 346 346 347 347

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348 348 349 349 350 350 351 351

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352 352 353 353 354 354 355 355

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356 356 357 357 358 358 359 359

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360 360 361 361 362 362 363 363

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364 364 365 365 366 366 367 367

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368 368 369 369 370 370 371 371

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372 372 373 373 374 374 375 375 376 376 377 377 378 378 379 379 380 380 381 381 382 382 383 383 384 384 385 385 386 386 387 387 388 388 389 389 390 390 391 391 392 392 393 393 394 394 395 395

-

396 396 397 397 398 398 399 399

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400 400 401 401 402 402 403 403

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404 404 405 405 406 406 407 407

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408 408 409 409 410 410 411 411

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412 412 413 413 414 414 415 415

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416 416 417 417 418 418 419 419

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420 420 421 421 422 422 423 423

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424 424 425 425 426 426 427 427 428 428 429 429 430 430 431 431 432 432 433 433 434 434 435 435 436 436 437 437 438 438 439 439 440 440 441 441 442 442 443 443 444 444 445 445 446 446 447 447

-

448 448 449 449 450 450 451 451

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452 452 453 453 454 454 455 455

- - - - -

462 462 463 463 464 464 465 465 466 466 467 467 468 468 469 469 470 470 471 471 472 472 473 473 474 474 475 475 476 476 477 477 478 478 479 479 480 480 481 481 482 482 483 483 484 484 485 485 486 486 487 487 488 488 489 489 490 490 491 491 492 492 493 493 494 494 495 495 496 496 497 497 498 498 499 499 500 500 501 501 502 502 503 503 504 504 505 505 506 506 507 507 508 508 509 509 510 510 511 511 512 512 513 513 514 514 515 515 516 516 517 517 518 518 519 519 520 520 521 521 522 522 523 523 524 524 525 525 526 526 527 527 528 528 529 529 530 530 531 531 532 532 533 533 534 534 535 535 536 536 537 537 538 538 539 539 540 540 541 541 542 542 543 543 544 544 545 545 546 546 547 547 548 548 549 549 550 550 551 551 552 552 553 553 554 554 555 555 556 556 557 557 558 558 559 559 560 560 585 585 586 586 587 587 588 588 589 589 590 590 633 633 634 634 635 635

- - - - -

456 456 457 457 458 458 459 459 460 460 461 461

-

561 561 562 562 563 563 564 564 565 565 566 566 567 567 568 568 569 569 570 570 571 571 572 572 573 573 574 574 575 575 576 576 577 577 578 578 579 579 580 580 581 581 582 582 583 583 584 584

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591 591 592 592 593 593 594 594 595 595 596 596 597 597

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598 598 599 599 600 600 601 601 602 602 603 603 604 604

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605 605 606 606 607 607 608 608 609 609 610 610 611 611

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612 612 613 613 614 614 615 615 616 616 617 617 618 618

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619 619 620 620 621 621 622 622 623 623 624 624 625 625

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626 626 627 627 628 628 629 629 630 630 631 631 632 632

- - - - -

636 636 637 637 638 638 639 639 640 640 641 641 642 642 643 643 644 644 645 645 646 646 647 647 648 648 649 649 650 650 651 651 652 652 653 653 654 654 655 655 656 656 657 657 658 658 659 659

-

660 660 661 661 662 662 663 663

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664 664 665 665 666 666 667 667

-

668 668 669 669 670 670 671 671

-

672 672 673 673 674 674 675 675

-

676 676 677 677 678 678 679 679

-

680 680 681 681 682 682 683 683

-

684 684 685 685 686 686 687 687

-

688 688 689 689 690 690 691 691

-

692 692 693 693 694 694 695 695

-

696 696 697 697 698 698 699 699

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700 700 701 701 702 702 703 703

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704 704 705 705 706 706 707 707

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708 708 709 709 710 710 711 711

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712 712 713 713 714 714 715 715

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716 716 717 717 718 718 719 719

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720 720 721 721 722 722 723 723

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724 724 725 725 726 726 727 727

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728 728 729 729 730 730 731 731

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732 732 733 733 734 734 735 735

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736 736 737 737 738 738 739 739

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740 740 741 741 742 742 743 743

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744 744 745 745 746 746 747 747

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748 748 749 749 750 750 751 751

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752 752 753 753 754 754 755 755

- - - - -

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- - - - -

771 771 772 772 773 773 774 774

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793 793 794 794 795 795 796 796

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842 842 843 843 844 844 845 845

- - - - -

849 849 850 850 851 851 852 852

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853 853 854 854 855 855 856 856

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857 857 858 858 859 859 860 860

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861 861 862 862 863 863 864 864

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865 865 866 866 867 867 868 868

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869 869 870 870 871 871 872 872

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873 873 874 874 875 875 876 876

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877 877 878 878 879 879 880 880

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881 881 882 882 883 883 884 884

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885 885 886 886 887 887 888 888

-

889 889 890 890 891 891 892 892 893 893 894 894 895 895 896 896 897 897 898 898 899 899 900 900 901 901

-

902 902 903 903 904 904 905 905

-

906 906 907 907 908 908 909 909 910 910 911 911 912 912 913 913 914 914 915 915 916 916 917 917 918 918

-

919 919 920 920 921 921 922 922

- - - - -

923 923 924 924 925 925 926 926

-

927 927 928 928 929 929 930 930

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931 931 932 932 933 933 934 934

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935 935 936 936 937 937 938 938

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939 939 940 940 941 941 942 942

- - - - -

958 958 959 958 944 958 945 958 960 958 946 958 947 958 961 958 962 958 948 958 949 958 963 958 950 958 951 958 964 958 965 958 952 958 953 958 966 958 954 958 967 958 968 958 955 958 969 958 970 958 956 958 971 958 957 958 943 958

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19 29 10 29 14 29 22 29 16 29 23 29

-

20 29 19 29 23 29 26 29

- - - - -

24 30 4 30 5 30 21 30 6 30 18 30

-

7 30 8 30 24 30 18 30

- - - - -

11 11 18 18 19 19 20 20

-

10 10 19 19 18 18 9 9

-

14 14 10 10 9 9 21 21

-

22 22 14 14 21 21 15 15

-

16 16 22 22 15 15 13 13

-

23 23 16 16 13 13 24 24

-

17 17 23 23 24 24 25 25

-

26 26 12 12 27 27 28 28

- - - - -

29 31 30 32 31 33 32 34 33 35 34 36 35 37 36 38 37 39 38 40 39 41 40 42 41 43 42 44 43 45 44 46 45 47 46 48 47 49 48 50 49 51 50 52 51 53 52 54

-

53 55 54 56 55 57 56 58

-

57 59 58 60 59 61 60 62

-

61 63 62 64 63 65 64 66

-

65 67 66 68 67 69 68 70

-

69 71 70 72 71 73 72 74

-

73 75 74 76 75 77 76 78

-

77 79 78 80 79 81 80 82

-

81 83 82 84 83 85 84 86

-

85 87 86 88 87 89 88 90

-

89 91 90 92 91 93 92 94

-

93 95 94 96 95 97 96 98

-

97 99 98 100 99 101 100 102

-

101 103 102 104 103 105 104 106

-

105 107 106 108 107 109 108 110

-

109 111 110 112 111 113 112 114

-

113 115 114 116 115 117 116 118

-

117 119 118 120 119 121 120 122

-

121 123 122 124 123 125 124 126

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125 127 126 128 127 129 128 130

-

129 131 130 132 131 133 132 134

-

133 135 134 136 135 137 136 138

-

137 139 138 140 139 141 140 142

-

141 143 142 144 143 145 144 146

-

145 147 146 148 147 149 148 150 149 151 150 152 151 153 152 154 153 155 154 156 155 157 156 158 157 159 158 160 159 161 160 162 161 163 162 164 163 165 164 166 165 167 166 168 167 169 168 170

-

169 171 170 172 171 173 172 174

- - - - -

173 175 174 176 175 177 176 178

-

177 179 178 180 179 181 180 182

-

181 183 182 184 183 185 184 186

-

185 187 186 188 187 189 188 190

-

189 191 190 192 191 193 192 194

-

193 195 194 196 195 197 196 198

-

197 199 198 200 199 201 200 202 201 203 202 204 203 205 204 206

-

205 207 206 208 207 209 208 210

-

209 211 210 212 211 213 212 214 213 215 214 216 215 217 216 218

-

217 219 218 220 219 221 220 222

- - - - -

221 223 222 224 223 225 224 226

-

225 227 226 228 227 229 228 230

-

229 231 230 232 231 233 232 234

-

233 235 234 236 235 237 236 238

-

237 239 238 240 239 241 240 242

-

241 243 242 244 243 245 244 246

-

245 247 246 248 247 249 248 250 249 251 250 252 251 253 252 254

-

253 255 254 256 255 257 256 258

-

257 259 258 260 259 261 260 262 261 263 262 264 263 265 264 266

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265 267 266 268 267 269 268 270

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0 0 1 1 2 2 3 3

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4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31

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32 32 33 33 34 34 35 35

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36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

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48 48 49 49 50 50 51 51

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52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

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60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

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72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103 104 104 105 105 106 106 107 107 108 108 109 109 110 110 111 111 112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

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0 0 1 1 2 2 3 3

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4 4 5 5 6 6 7 7

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8 8 9 9 10 10 11 11

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12 12 13 13 14 14 15 15

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16 16 17 17 18 18 19 19

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20 20 21 21 22 22 23 23

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24 24 25 25 26 26 27 27

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28 28 29 29 30 30 31 31

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32 32 33 33 34 34 35 35

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36 36 37 37 38 38 39 39

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40 40 41 41 42 42 43 43

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44 44 45 45 46 46 47 47

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48 48 49 49 50 50 51 51

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52 52 53 53 54 54 55 55

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56 56 57 57 58 58 59 59

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60 60 61 61 62 62 63 63

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64 64 65 65 66 66 67 67

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68 68 69 69 70 70 71 71

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72 72 73 73 74 74 75 75

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76 76 77 77 78 78 79 79

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80 80 81 81 82 82 83 83

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84 84 85 85 86 86 87 87

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88 88 89 89 90 90 91 91 92 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 101 102 102 103 103 104 104 105 105 106 106 107 107 108 108 109 109 110 110 111 111

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112 112 113 113 114 114 115 115

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116 116 117 117 118 118 119 119 120 120 121 121 122 122 123 123 124 124 125 125 126 126 127 127 128 128 129 129 130 130 131 131 132 132 133 133 134 134 135 135 136 136 137 137 138 138 139 139

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140 140 141 141 142 142 143 143

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144 144 145 145 146 146 147 147

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148 148 149 149 150 150 151 151

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152 152 153 153 154 154 155 155

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156 156 157 157 158 158 159 159

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160 160 161 161 162 162 163 163

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164 164 165 165 166 166 167 167

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168 168 169 169 170 170 171 171

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172 172 173 173 174 174 175 175

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176 176 177 177 178 178 179 179

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180 180 181 181 182 182 183 183

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184 184 185 185 186 186 187 187

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188 188 189 189 190 190 191 191

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192 192 193 193 194 194 195 195 196 196 197 197 198 198 199 199 200 200 201 201 202 202 203 203 204 204 205 205 206 206

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207 207 208 208 209 209 210 210

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211 211 212 212 213 213 214 214 215 215 216 216 217 217 218 218 219 219 220 220 221 221 222 222 223 223 224 224 225 225

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226 226 227 227 228 228 229 229

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230 230 231 231 232 232 233 233

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234 234 235 235 236 236 237 237

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238 238 239 239 240 240 241 241

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242 242 243 243 244 244 245 245

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246 246 247 247 248 248 249 249

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250 250 251 251 252 252 253 253

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254 254 255 255 256 256 257 257

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258 258 259 259 260 260 261 261

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262 262 263 263 264 264 265 265

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266 266 267 267 268 268 269 269

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270 270 271 271 272 272 273 273

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274 274 275 275 276 276 277 277

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278 278 279 279 280 280 281 281 282 282 283 283 284 284 285 285 286 286 287 287 288 288 289 289 290 290 291 291 292 292

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293 293 294 294 295 295 296 296

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297 297 298 298 299 299 300 300 301 301 302 302 303 303 304 304 305 305 306 306 307 307 308 308 309 309 310 310 311 311

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312 312 313 313 314 314 315 315

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316 316 317 317 318 318 319 319 320 320 321 321 322 322 323 323 324 324 325 325 326 326 327 327 328 328 329 329 330 330

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331 331 332 332 333 333 334 334

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335 335 336 336 337 337 338 338

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339 339 340 340 341 341 342 342

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343 343 344 344 345 345 346 346

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347 347 348 348 349 349 350 350

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351 351 352 352 353 353 354 354

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355 355 356 356 357 357 358 358

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359 359 360 360 361 361 362 362

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363 363 364 364 365 365 366 366

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367 367 368 368 369 369 370 370

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371 371 372 372 373 373 374 374

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375 375 376 376 377 377 378 378

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379 379 380 380 381 381 382 382

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383 383 384 384 385 385 386 386

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387 387 388 388 389 389 390 390

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391 391 392 392 393 393 394 394

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395 395 396 396 397 397 398 398

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399 399 400 400 401 401 402 402

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403 403 404 404 405 405 406 406

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407 407 408 408 409 409 410 410

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411 411 412 412 413 413 414 414

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415 415 416 416 417 417 418 418

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419 419 420 420 421 421 422 422

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423 423 424 424 425 425 426 426

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427 427 428 428 429 429 430 430

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431 431 432 432 433 433 434 434

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435 435 436 436 437 437 438 438

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439 439 440 440 441 441 442 442

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443 443 444 444 445 445 446 446 447 447 448 448 449 449 450 450 451 451 452 452 453 453 454 454 455 455 456 456 457 457

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458 458 459 459 460 460 461 461

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462 462 463 463 464 464 465 465 466 466 467 467 468 468 469 469 470 470 471 471 472 472 473 473 474 474 475 475 476 476

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477 477 478 478 479 479 480 480

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481 481 482 482 483 483 484 484

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485 485 486 486 487 487 488 488

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489 489 490 490 491 491 492 492

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493 493 494 494 495 495 496 496

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497 497 498 498 499 499 500 500

- - - - -

501 501 502 502 503 503 504 504 505 505 506 506 507 507 508 508 509 509 510 510 511 511 512 512 513 513 514 514 515 515 516 516 517 517 518 518 519 519 520 520 521 521 522 522 523 523 524 524

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525 525 526 526 527 527 528 528

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529 529 530 530 531 531 532 532

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533 533 534 534 535 535 536 536

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537 537 538 538 539 539 540 540

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541 541 542 542 543 543 544 544

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545 545 546 546 547 547 548 548

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549 549 550 550 551 551 552 552

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553 553 554 554 555 555 556 556

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557 557 558 558 559 559 560 560

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561 561 562 562 563 563 564 564

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565 565 566 566 567 567 568 568

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569 569 570 570 571 571 572 572

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573 573 574 574 575 575 576 576

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577 577 578 578 579 579 580 580

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581 581 582 582 583 583 584 584

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585 585 586 586 587 587 588 588

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589 589 590 590 591 591 592 592

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593 593 594 594 595 595 596 596

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597 597 598 598 599 599 600 600

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601 601 602 602 603 603 604 604

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605 605 606 606 607 607 608 608

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609 609 610 610 611 611 612 612

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613 613 614 614 615 615 616 616

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617 617 618 618 619 619 620 620

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621 621 622 622 623 623 624 624

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625 625 626 626 627 627 628 628

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629 629 630 630 631 631 632 632

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633 633 634 634 635 635 636 636

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637 637 638 638 639 639 640 640

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641 641 642 642 643 643 644 644

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645 645 646 646 647 647 648 648

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649 649 650 650 651 651 652 652

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653 653 654 654 655 655 656 656

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657 657 658 658 659 659 660 660

- - - - -

661 661 662 662 663 663 664 664 665 665 666 666 667 667 668 668 669 669 670 670 671 671 672 672 673 673 674 674 675 675 676 676 677 677 678 678 679 679 680 680 681 681 682 682 683 683 684 684

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685 685 686 686 687 687 688 688 689 689 690 690 691 691 692 692 693 693 694 694 695 695 696 696 697 697 698 698 699 699 700 700 701 701 702 702 703 703 704 704 705 705 706 706 707 707 708 708

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709 709 710 710 711 711 712 712

-

713 713 714 714 715 715 716 716

-

717 717 718 718 719 719 720 720

-

721 721 722 722 723 723 724 724

-

725 725 726 726 727 727 728 728

-

729 729 730 730 731 731 732 732

-

733 733 734 734 735 735 736 736

-

737 737 738 738 739 739 740 740

-

741 741 742 742 743 743 744 744

-

745 745 746 746 747 747 748 748

-

749 749 750 750 751 751 752 752

-

753 753 754 754 755 755 756 756

-

757 757 758 758 759 759 760 760

-

761 761 762 762 763 763 764 764

-

765 765 766 766 767 767 768 768

-

769 769 770 770 771 771 772 772

-

773 773 774 774 775 775 776 776

-

777 777 778 778 779 779 780 780

-

781 781 782 782 783 783 784 784

-

785 785 786 786 787 787 788 788

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789 789 790 790 791 791 792 792

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793 793 794 794 795 795 796 796

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797 797 798 798 799 799 800 800

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801 801 802 802 803 803 804 804

- - - - -

805 805 806 806 807 807 808 808

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809 809 810 810 811 811 812 812

-

813 813 814 814 815 815 816 816

-

817 817 818 818 819 819 820 820

- - - - -

821 821 822 822 823 823 824 824

-

825 825 826 826 827 827 828 828

-

829 829 830 830 831 831 832 832

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833 833 834 834 835 835 836 836

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837 837 838 838 839 839 840 840

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841 841 842 842 843 843 844 844

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845 845 846 846 847 847 848 848

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849 849 850 850 851 851 852 852

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853 853 854 854 855 855 856 856

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857 857 858 858 859 859 860 860

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861 861 862 862 863 863 864 864

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865 865 866 866 867 867 868 868

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869 869 870 870 871 871 872 872

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873 873 874 874 875 875 876 876

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877 877 878 878 879 879 880 880

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881 881 882 882 883 883 884 884

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885 885 886 886 887 887 888 888

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889 889 890 890 891 891 892 892

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893 893 894 894 895 895 896 896

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897 897 898 898 899 899 900 900

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901 901 902 902 903 903 904 904

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905 905 906 906 907 907 908 908

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909 909 910 910 911 911 912 912 913 913 914 914 915 915 916 916 917 917 918 918 919 919 920 920 921 921 922 922 923 923 924 924 925 925 926 926 927 927 928 928 929 929 930 930 931 931 932 932

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933 933 934 934 935 935 936 936

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937 937 938 938 939 939 940 940 941 941 942 942 943 943 944 944 945 945 946 946 947 947 948 948 949 949 950 950 951 951 952 952 953 953 954 954 955 955 956 956 957 957 958 958 959 959 960 960

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961 961 962 962 963 963 964 964

- - - - -

965 965 966 966 967 967 968 968

-

969 969 970 970 971 971 972 972

-

973 973 974 974 975 975 976 976

-

977 977 978 978 979 979 980 980

-

981 981 982 982 983 983 984 984

-

985 985 986 986 987 987 988 988

-

989 989 990 990 991 991 992 992

-

993 993 994 994 995 995 996 996

-

997 997 998 998 999 999 1000 1000

-

1001 1001 1002 1002 1003 1003 1004 1004

-

1005 1005 1006 1006 1007 1007 1008 1008

-

1009 1009 1010 1010 1011 1011 1012 1012

-

1013 1013 1014 1014 1015 1015 1016 1016

-

1017 1017 1018 1018 1019 1019 1020 1020

-

1021 1021 1022 1022 1023 1023 1024 1024

-

1025 1025 1026 1026 1027 1027 1028 1028

-

1029 1029 1030 1030 1031 1031 1032 1032

-

1033 1033 1034 1034 1035 1035 1036 1036

-

1037 1037 1038 1038 1039 1039 1040 1040

-

1041 1041 1042 1042 1043 1043 1044 1044

-

1045 1045 1046 1046 1047 1047 1048 1048

-

1049 1049 1050 1050 1051 1051 1052 1052

-

1053 1053 1054 1054 1055 1055 1056 1056

-

1057 1057 1058 1058 1059 1059 1060 1060 1061 1061 1062 1062 1063 1063 1064 1064 1065 1065 1066 1066 1067 1067 1068 1068 1069 1069 1070 1070 1071 1071 1072 1072 1073 1073 1074 1074 1075 1075 1076 1076 1077 1077 1078 1078 1079 1079 1080 1080

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1081 1081 1082 1082 1083 1083 1084 1084

- - - - -

1110 1113 1086 1113 1112 1113 1108 1113 1086 1113 1110 1113 1102 1113 1086 1113 1108 1113 1099 1113 1086 1113 1102 1113

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1112 1113 1086 1113 1095 1113 1105 1113

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1109 1114 1111 1114 1092 1114 1107 1114 1109 1114 1092 1114 1101 1114 1107 1114 1092 1114 1106 1114 1101 1114 1092 1114 1098 1114 1106 1114 1092 1114

- - - - -

1111 1114 1097 1114 1096 1114 1092 1114

- - - - -

1095 1095 1096 1096 1097 1097 1105 1105

-

1106 1106 1098 1098 1099 1099 1100 1100

-

1101 1101 1106 1106 1100 1100 1102 1102

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1107 1107 1101 1101 1102 1102 1108 1108

-

1109 1109 1107 1107 1108 1108 1110 1110

-

1111 1111 1109 1109 1110 1110 1112 1112

-

1103 1103 1111 1111 1112 1112 1104 1104

- - - - -

1161 1163 1162 1164 1163 1165 1179 1181 1180 1182 1181 1183

- - - - -

1113 1115 1114 1116 1115 1117 1116 1118

-

1117 1119 1118 1120 1119 1121 1120 1122

-

1121 1123 1122 1124 1123 1125 1124 1126

-

1125 1127 1126 1128 1127 1129 1128 1130

-

1129 1131 1130 1132 1131 1133 1132 1134

-

1133 1135 1134 1136 1135 1137 1136 1138

-

1137 1139 1138 1140 1139 1141 1140 1142

-

1141 1143 1142 1144 1143 1145 1144 1146

-

1145 1147 1146 1148 1147 1149 1148 1150

-

1149 1151 1150 1152 1151 1153 1152 1154

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1153 1155 1154 1156 1155 1157 1156 1158

-

1157 1159 1158 1160 1159 1161 1160 1162

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1164 1166 1165 1167 1166 1168 1167 1169 1168 1170 1169 1171 1170 1172 1171 1173 1172 1174 1173 1175 1174 1176 1175 1177 1176 1178 1177 1179 1178 1180

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40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51 52 52 53 53 54 54 55 55 56 56 57 57 58 58 59 59 60 60 61 61 62 62 63 63 64 64 65 65 66 66 67 67 68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99

-

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119 120 120 121 121 122 122 123 123 124 124 125 125 126 126 127 127 128 128 129 129 130 130 131 131 132 132 133 133 134 134 135 135 136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

- - - - -

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

-

156 156 157 157 158 158 159 159

-

160 160 161 161 162 162 163 163

-

164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

-

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179

-

180 180 181 181 182 182 183 183

-

184 184 185 185 186 186 187 187

-

188 188 189 189 190 190 191 191

-

192 192 193 193 194 194 195 195

-

196 196 197 197 198 198 199 199

-

200 200 201 201 202 202 203 203

-

204 204 205 205 206 206 207 207

-

208 208 209 209 210 210 211 211

-

212 212 213 213 214 214 215 215

-

216 216 217 217 218 218 219 219

-

220 220 221 221 222 222 223 223

-

224 224 225 225 226 226 227 227

-

228 228 229 229 230 230 231 231

-

232 232 233 233 234 234 235 235

-

236 236 237 237 238 238 239 239 240 240 241 241 242 242 243 243 244 244 245 245 246 246 247 247 248 248 249 249 250 250 251 251 252 252 253 253 254 254 255 255 256 256 257 257 258 258 259 259

-

260 260 261 261 262 262 263 263

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

-

8 8 9 9 10 10 11 11

-

12 12 13 13 14 14 15 15

-

16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

-

60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99

-

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

-

120 120 121 121 122 122 123 123

-

124 124 125 125 126 126 127 127

-

128 128 129 129 130 130 131 131

-

132 132 133 133 134 134 135 135

-

136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

-

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

-

156 156 157 157 158 158 159 159

-

160 160 161 161 162 162 163 163

-

164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

-

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179 180 180 181 181 182 182 183 183 184 184 185 185 186 186 187 187 188 188 189 189 190 190 191 191 192 192 193 193 194 194 195 195 196 196 197 197 198 198 199 199

-

200 200 201 201 202 202 203 203

-

204 204 205 205 206 206 207 207

-

208 208 209 209 210 210 211 211 212 212 213 213 214 214 215 215 216 216 217 217 218 218 219 219 220 220 221 221 222 222 223 223 224 224 225 225 226 226 227 227 228 228 229 229 230 230 231 231

-

232 232 233 233 234 234 235 235

-

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

-

8 8 9 9 10 10 11 11

-

12 12 13 13 14 14 15 15

-

16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51 52 52 53 53 54 54 55 55 56 56 57 57 58 58 59 59 60 60 61 61 62 62 63 63 64 64 65 65 66 66 67 67 68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99

-

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119 120 120 121 121 122 122 123 123 124 124 125 125 126 126 127 127 128 128 129 129 130 130 131 131 132 132 133 133 134 134 135 135 136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

- - - - -

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

-

156 156 157 157 158 158 159 159

-

160 160 161 161 162 162 163 163

-

164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

-

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179

-

180 180 181 181 182 182 183 183

-

184 184 185 185 186 186 187 187

-

188 188 189 189 190 190 191 191

-

192 192 193 193 194 194 195 195

-

196 196 197 197 198 198 199 199

-

200 200 201 201 202 202 203 203

-

204 204 205 205 206 206 207 207

-

208 208 209 209 210 210 211 211

-

212 212 213 213 214 214 215 215

-

216 216 217 217 218 218 219 219

-

220 220 221 221 222 222 223 223

-

224 224 225 225 226 226 227 227

-

228 228 229 229 230 230 231 231

-

232 232 233 233 234 234 235 235

-

236 236 237 237 238 238 239 239 240 240 241 241 242 242 243 243 244 244 245 245 246 246 247 247 248 248 249 249 250 250 251 251 252 252 253 253 254 254 255 255 256 256 257 257 258 258 259 259

-

260 260 261 261 262 262 263 263

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0 0 1 1 2 2 3 3

-

4 4 5 5 6 6 7 7

-

8 8 9 9 10 10 11 11

-

12 12 13 13 14 14 15 15

-

16 16 17 17 18 18 19 19

-

20 20 21 21 22 22 23 23

-

24 24 25 25 26 26 27 27

-

28 28 29 29 30 30 31 31

-

32 32 33 33 34 34 35 35

-

36 36 37 37 38 38 39 39

-

40 40 41 41 42 42 43 43

-

44 44 45 45 46 46 47 47

-

48 48 49 49 50 50 51 51

-

52 52 53 53 54 54 55 55

-

56 56 57 57 58 58 59 59

-

60 60 61 61 62 62 63 63

-

64 64 65 65 66 66 67 67

-

68 68 69 69 70 70 71 71

-

72 72 73 73 74 74 75 75

-

76 76 77 77 78 78 79 79

-

80 80 81 81 82 82 83 83

-

84 84 85 85 86 86 87 87

-

88 88 89 89 90 90 91 91

-

92 92 93 93 94 94 95 95

-

96 96 97 97 98 98 99 99

-

100 100 101 101 102 102 103 103

-

104 104 105 105 106 106 107 107

-

108 108 109 109 110 110 111 111

-

112 112 113 113 114 114 115 115

-

116 116 117 117 118 118 119 119

-

120 120 121 121 122 122 123 123

-

124 124 125 125 126 126 127 127

-

128 128 129 129 130 130 131 131

-

132 132 133 133 134 134 135 135

-

136 136 137 137 138 138 139 139

-

140 140 141 141 142 142 143 143

-

144 144 145 145 146 146 147 147

-

148 148 149 149 150 150 151 151

-

152 152 153 153 154 154 155 155

-

156 156 157 157 158 158 159 159

-

160 160 161 161 162 162 163 163

-

164 164 165 165 166 166 167 167

-

168 168 169 169 170 170 171 171

-

172 172 173 173 174 174 175 175

-

176 176 177 177 178 178 179 179 180 180 181 181 182 182 183 183 184 184 185 185 186 186 187 187 188 188 189 189 190 190 191 191 192 192 193 193 194 194 195 195 196 196 197 197 198 198 199 199

-

200 200 201 201 202 202 203 203

-

204 204 205 205 206 206 207 207

-

208 208 209 209 210 210 211 211 212 212 213 213 214 214 215 215 216 216 217 217 218 218 219 219 220 220 221 221 222 222 223 223 224 224 225 225 226 226 227 227 228 228 229 229 230 230 231 231

-

232 232 233 233 234 234 235 235

-

236 236 237 237 238 238 239 239

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- - - - - CAT3DBagRep - - - - - - - - - - - 1 0 0 1 - - - 1 0 0 1 - - - - - - - - - - - 0 1 0 1 - - - 0 1 0 1 - - - - - - - - - - - 0 0 1 1 - - - 0 0 1 1 - - - - - - - - - - - - - - - - - - - - - -1 -0 -0 - - -90 - 90 - - - - - - -1 -0 -0 - - 0 - 90 - - - - - - - - - - - - 0 0 30000 - - - 0 0 25000 - - - - - - - - - - - - - libkinscenes.kinScene/inst_kinmodel.0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_1/axis0 - - - 0 - - - libkinscenes.kinScene/inst_kinmodel.0/joint_0/axis0 - - - 0 - - - - - - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0 - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0 - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value - - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0 - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value - - - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0 - - - libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value - - - - - From b34eed700f57771f875cfc6319ea20db5a14900e Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 8 Apr 2010 18:36:06 +0000 Subject: [PATCH 147/245] pull regression test fix from 1.0 branch. r28659:r28660 --- kdl_parser/test/pr2_desc_bracket.xml | 3 +-- kdl_parser/test/pr2_desc_bracket2.xml | 3 +-- kdl_parser/test/pr2_desc_vector.xml | 2 +- kdl_parser/test/test_kdl_parser.cpp | 1 + 4 files changed, 4 insertions(+), 5 deletions(-) diff --git a/kdl_parser/test/pr2_desc_bracket.xml b/kdl_parser/test/pr2_desc_bracket.xml index f512410..990f441 100644 --- a/kdl_parser/test/pr2_desc_bracket.xml +++ b/kdl_parser/test/pr2_desc_bracket.xml @@ -2,7 +2,7 @@ - + @@ -11,7 +11,6 @@ - diff --git a/kdl_parser/test/pr2_desc_bracket2.xml b/kdl_parser/test/pr2_desc_bracket2.xml index f3f2e00..70e513a 100644 --- a/kdl_parser/test/pr2_desc_bracket2.xml +++ b/kdl_parser/test/pr2_desc_bracket2.xml @@ -11,11 +11,10 @@ - - + diff --git a/kdl_parser/test/pr2_desc_vector.xml b/kdl_parser/test/pr2_desc_vector.xml index a6a37f3..1dcc98f 100644 --- a/kdl_parser/test/pr2_desc_vector.xml +++ b/kdl_parser/test/pr2_desc_vector.xml @@ -2,7 +2,7 @@ - + diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 52ea5ff..c229cd2 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -68,6 +68,7 @@ protected: TEST_F(TestParser, test) { for (int i=1; i Date: Thu, 8 Apr 2010 18:37:48 +0000 Subject: [PATCH 148/245] merge regression test patch from 1.0 branch. r28660:r28661 --- robot_state_publisher/src/robot_state_publisher_node.cpp | 4 +++- robot_state_publisher/test/test_publisher.cpp | 4 +++- robot_state_publisher/test/test_publisher.launch | 4 +++- 3 files changed, 9 insertions(+), 3 deletions(-) diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp index ad51100..ae54ba9 100644 --- a/robot_state_publisher/src/robot_state_publisher_node.cpp +++ b/robot_state_publisher/src/robot_state_publisher_node.cpp @@ -71,10 +71,12 @@ int main(int argc, char** argv) if (tree.getNrOfSegments() == 0){ ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf"); + ros::spin(); } else{ JointStateListener state_publisher(tree); + ros::spin(); } - ros::spin(); + return 0; } diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp index 34c06c2..41c96a7 100644 --- a/robot_state_publisher/test/test_publisher.cpp +++ b/robot_state_publisher/test/test_publisher.cpp @@ -63,6 +63,7 @@ protected: /// constructor TestPublisher() { + /* // constructs a robot model from the xml file urdf::Model robot_model; if (g_argc == 2){ @@ -78,12 +79,13 @@ protected: ROS_ERROR("Failed to extract kdl tree from robot model"); publisher = new JointStateListener(tree); + */ } /// Destructor ~TestPublisher() { - delete publisher; + // delete publisher; } }; diff --git a/robot_state_publisher/test/test_publisher.launch b/robot_state_publisher/test/test_publisher.launch index 43d8fae..79b6a9c 100644 --- a/robot_state_publisher/test/test_publisher.launch +++ b/robot_state_publisher/test/test_publisher.launch @@ -1,5 +1,7 @@ + + - + From 210cd8227810b27d4b3a6479597d28476c3775fe Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 14 Apr 2010 16:37:24 +0000 Subject: [PATCH 149/245] export boost l/c flags --- colladadom/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index da732a0..49fa283 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -11,7 +11,7 @@ http://ros.org/wiki/colladadom - + From 5edee733f677143ffee4cc541fac35b9afbb4afc Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 14 Apr 2010 16:46:12 +0000 Subject: [PATCH 150/245] add authors of collada dom --- colladadom/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 49fa283..24c3de7 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -6,7 +6,7 @@ See http://sourceforge.net/projects/collada-dom. - John Hsu, Tim Field + Du Hung Hou, Khronos.org, Marcus Barnes, Greg Corson, Herbert Law, Sebastian Schwarz, Steven Thomas, John Hsu (ros package), Tim Field (ros package) BSD http://ros.org/wiki/colladadom From d8d84e3496b8b587b67f4fa371cb704c7b96ad5f Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 14 Apr 2010 18:57:20 +0000 Subject: [PATCH 151/245] getting ready for 1.1.1 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8f96cf0..98631f5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.1.0) +rosbuild_make_distribution(1.1.1) From c6b4ab66f97a28e390279c07cd4d6af656d9a960 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 18:31:27 +0000 Subject: [PATCH 152/245] collada_urdf: cleaned up interface, removing unfinished assimp mesh-loading --- collada_urdf/CMakeLists.txt | 2 +- .../include/collada_urdf/ColladaWriter.h | 128 +++ .../{src => include/collada_urdf}/STLLoader.h | 78 +- collada_urdf/manifest.xml | 1 - collada_urdf/src/ColladaWriter.cpp | 833 +++++++++++++++ collada_urdf/src/STLLoader.cpp | 14 +- collada_urdf/src/urdf_to_collada.cpp | 954 +----------------- 7 files changed, 1008 insertions(+), 1002 deletions(-) create mode 100644 collada_urdf/include/collada_urdf/ColladaWriter.h rename collada_urdf/{src => include/collada_urdf}/STLLoader.h (65%) create mode 100644 collada_urdf/src/ColladaWriter.cpp diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt index 0763be9..7ed58f2 100644 --- a/collada_urdf/CMakeLists.txt +++ b/collada_urdf/CMakeLists.txt @@ -3,4 +3,4 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) set(ROS_BUILD_TYPE Debug) rosbuild_init() set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/STLLoader.cpp) +rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/ColladaWriter.cpp src/STLLoader.cpp) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h new file mode 100644 index 0000000..728438c --- /dev/null +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -0,0 +1,128 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#ifndef COLLADA_URDF_COLLADA_WRITER_H +#define COLLADA_URDF_COLLADA_WRITER_H + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace collada_urdf { + +class Mesh; + +class ColladaWriter : public daeErrorHandler +{ +private: + struct SCENE + { + domVisual_sceneRef vscene; + domKinematics_sceneRef kscene; + domPhysics_sceneRef pscene; + domInstance_with_extraRef viscene; + domInstance_kinematics_sceneRef kiscene; + domInstance_with_extraRef piscene; + }; + +public: + ColladaWriter(std::string const& documentName, urdf::Model* robot); + virtual ~ColladaWriter(); + + /** + * todo + * @return + */ + bool writeScene(); + +protected: + virtual void handleError(daeString msg); + virtual void handleWarning(daeString msg); + +private: + SCENE createScene(); + void setupPhysics(SCENE scene); + void addGeometries(); + void loadMesh(std::string const& filename, domGeometryRef geometry, std::string const& geometry_id); + bool loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, std::string const& geometry_id); + void buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, std::string const& geometry_id); + void addJoints(daeElementRef parent); + void addBindings(SCENE scene); + void addKinematics(SCENE scene); + void addKinematicLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); + void addVisuals(SCENE scene); + void addMaterials(); + domEffectRef addEffect(std::string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse); + void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); + domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position); + domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r); + +private: + urdf::Model* robot_; + + boost::shared_ptr collada_; + domCOLLADA* dom_; + domCOLLADA::domSceneRef scene_; + + domLibrary_geometriesRef geometriesLib_; + domLibrary_visual_scenesRef visualScenesLib_; + domLibrary_kinematics_scenesRef kinematicsScenesLib_; + domLibrary_kinematics_modelsRef kinematicsModelsLib_; + domLibrary_jointsRef jointsLib_; + domLibrary_physics_scenesRef physicsScenesLib_; + domLibrary_materialsRef materialsLib_; + domLibrary_effectsRef effectsLib_; + + domKinematics_modelRef kmodel_; + + std::map geometry_ids_; //!< link.name -> geometry.id + std::map joint_sids_; //!< joint.name -> joint.sid + std::map node_ids_; //!< joint.name -> node.id +}; + +} + +#endif diff --git a/collada_urdf/src/STLLoader.h b/collada_urdf/include/collada_urdf/STLLoader.h similarity index 65% rename from collada_urdf/src/STLLoader.h rename to collada_urdf/include/collada_urdf/STLLoader.h index 8c7d768..6bec856 100644 --- a/collada_urdf/src/STLLoader.h +++ b/collada_urdf/include/collada_urdf/STLLoader.h @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2008, Willow Garage, Inc. +* Copyright (c) 2010, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,14 +32,11 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -/* Author: Tim Field */ - -// STLLoader.h - -#ifndef COLLADA_URDF_STLLOADER_HH -#define COLLADA_URDF_STLLOADER_HH +#ifndef COLLADA_URDF_STL_LOADER_H +#define COLLADA_URDF_STL_LOADER_H #include + #include #include @@ -48,48 +45,49 @@ #define ORDER_MAX 10 #define FACE_MAX 200000 -namespace collada_urdf +namespace collada_urdf { + +class Vector3 { - class Vector3 - { - public: - Vector3(float x, float y, float z); +public: + Vector3(float x, float y, float z); - bool operator==(const Vector3& v) const; + bool operator==(Vector3 const& v) const; - float x; - float y; - float z; - }; + float x; + float y; + float z; +}; - class Mesh - { - public: - Mesh(); +class Mesh +{ +public: + Mesh(); - int getVertexIndex(const Vector3& v) const; + int getVertexIndex(Vector3 const& v) const; - void addVertex(const Vector3& v); - void addNormal(const Vector3& n); - void addIndex(unsigned int i); + void addVertex(Vector3 const& v); + void addNormal(Vector3 const& n); + void addIndex(unsigned int i); - public: - std::vector vertices; - std::vector normals; - std::vector indices; - }; +public: + std::vector vertices; + std::vector normals; + std::vector indices; +}; - class STLLoader - { - public: - Mesh* load(const std::string& filename); +class STLLoader +{ +public: + Mesh* load(std::string const& filename); + +private: + void readBinary (FILE* filein, Mesh* mesh); + uint32_t readLongInt (FILE* filein); + uint16_t readShortInt(FILE* filein); + float readFloat (FILE* filein); +}; - private: - void readBinary(FILE* filein, Mesh* mesh); - uint32_t readLongInt(FILE* filein); - uint16_t readShortInt(FILE* filein); - float readFloat(FILE* filein); - }; } #endif diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index ff3a891..d6bedf7 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -11,7 +11,6 @@ - diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp new file mode 100644 index 0000000..b6e626a --- /dev/null +++ b/collada_urdf/src/ColladaWriter.cpp @@ -0,0 +1,833 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#include "collada_urdf/ColladaWriter.h" + +#include "collada_urdf/STLLoader.h" + +#include + +#define foreach BOOST_FOREACH + +using std::string; +using std::map; +using std::vector; +using boost::shared_ptr; + +namespace collada_urdf { + +ColladaWriter::ColladaWriter(string const& documentName, urdf::Model* robot) : robot_(robot) { + daeErrorHandler::setErrorHandler(this); + + collada_.reset(new DAE()); + collada_->setIOPlugin(NULL); + collada_->setDatabase(NULL); + + daeDocument* doc = NULL; + daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root + if (error != DAE_OK || doc == NULL) + { + std::cerr << "Failed to create new document" << std::endl; + throw; + } + + dom_ = daeSafeCast(doc->getDomRoot()); + dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); + + // Create the required asset tag + domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); + { + domAsset::domCreatedRef created = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_CREATED)); + created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + domAsset::domModifiedRef modified = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED)); + modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + + domAsset::domContributorRef contrib = daeSafeCast(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR)); + domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); + authoringtool->setValue("URDF Collada Writer"); + + domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); + units->setMeter(1); + units->setName("meter"); + + domAsset::domUp_axisRef zup = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS)); + zup->setValue(UP_AXIS_Z_UP); + } + + scene_ = dom_->getScene(); + if (!scene_) + scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); + + visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); + visualScenesLib_->setId("vscenes"); + geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); + geometriesLib_->setId("geometries"); + kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); + kinematicsScenesLib_->setId("kscenes"); + kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); + kinematicsModelsLib_->setId("kmodels"); + jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); + jointsLib_->setId("joints"); + + physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + physicsScenesLib_->setId("physics_scenes"); + effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); + effectsLib_->setId("effects"); + materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); + materialsLib_->setId("materials"); +} + +ColladaWriter::~ColladaWriter() { + collada_.reset(); + DAE::cleanup(); +} + +bool ColladaWriter::writeScene() { + SCENE scene = createScene(); + + setupPhysics(scene); + addGeometries(); + addKinematics(scene); + addVisuals(scene); + addMaterials(); + addBindings(scene); + + collada_->writeAll(); + + return true; +} + +// Implementation + +ColladaWriter::SCENE ColladaWriter::createScene() { + SCENE s; + + // Create visual scene + s.vscene = daeSafeCast(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE)); + s.vscene->setId("vscene"); + s.vscene->setName("URDF Visual Scene"); + + // Create instance visual scene + s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); + s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); + + // Create kinematics scene + s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); + s.kscene->setId("kscene"); + s.kscene->setName("URDF Kinematics Scene"); + + // Create instance kinematics scene + s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); + s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); + + // Create physics scene + s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); + s.pscene->setId("pscene"); + s.pscene->setName("URDF Physics Scene"); + + // Create instance physics scene + s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); + s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); + + return s; +} + +void ColladaWriter::handleError(daeString msg) { + std::cerr << "COLLADA error: " << msg << std::endl; +} + +void ColladaWriter::handleWarning(daeString msg) { + std::cerr << "COLLADA warning: " << msg << std::endl; +} + +void ColladaWriter::setupPhysics(SCENE scene) { + // + domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + { + // 0 0 0 + domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); + g->getValue().set3(0.0, 0.0, 0.0); + // + } + // +} + +void ColladaWriter::addGeometries() { + int link_num = 0; + + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + shared_ptr urdf_link = i->second; + + if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL) + continue; + + switch (urdf_link->visual->geometry->type) { + case urdf::Geometry::MESH: { + urdf::Mesh* urdf_mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); + + string filename = urdf_mesh->filename; + urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale + + // + domGeometryRef geometry = daeSafeCast(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY)); + string geometry_id = string("g1.link") + boost::lexical_cast(link_num) + string(".geom0"); + geometry->setId(geometry_id.c_str()); + { + loadMesh(filename, geometry, geometry_id); + } + geometry_ids_[urdf_link->name] = geometry_id; + // + + link_num++; + break; + } + case urdf::Geometry::SPHERE: { + std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " is unsupported" << std::endl; + break; + } + case urdf::Geometry::BOX: { + std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " is unsupported" << std::endl; + break; + } + case urdf::Geometry::CYLINDER: { + std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << std::endl; + break; + } + default: { + std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << std::endl; + break; + } + } + } +} + +void ColladaWriter::loadMesh(string const& filename, domGeometryRef geometry, string const& geometry_id) { + // Load the mesh + resource_retriever::MemoryResource resource; + resource_retriever::Retriever retriever; + try { + resource = retriever.get(filename.c_str()); + } + catch (resource_retriever::Exception& e) { + std::cerr << "Unable to load mesh file " << filename << ": " << e.what() << std::endl; + return; + } + + // Try assimp first, then STLLoader + if (!loadMeshWithSTLLoader(resource, geometry, geometry_id)) + std::cerr << "Can't load mesh " << filename << std::endl; +} + +bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, string const& geometry_id) { + // Write the resource to a temporary file + char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; + int fd = mkstemp(tmp_filename); + write(fd, resource.data.get(), resource.size); + close(fd); + + // Import the mesh using STLLoader + STLLoader loader; + Mesh* stl_mesh = loader.load(string(tmp_filename)); + buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id); + delete stl_mesh; + + // Delete the temporary file + unlink(tmp_filename); + + return true; +} + +void ColladaWriter::buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, string const& geometry_id) { + // + domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); + { + unsigned int num_vertices = stl_mesh->vertices.size(); + unsigned int num_indices = stl_mesh->indices.size(); + unsigned int num_faces = num_indices / 3; + + // + domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); + positions_source->setId((geometry_id + string(".positions")).c_str()); + { + // + domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); + positions_array->setId((geometry_id + string(".positions-array")).c_str()); + positions_array->setCount(num_vertices * 3); + positions_array->setDigits(6); // 6 decimal places + positions_array->getValue().setCount(num_vertices * 3); + for (unsigned int j = 0; j < num_vertices; j++) { + positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x; + positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y; + positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z; + } + // + + // + domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + { + // + domAccessorRef accessor = daeSafeCast(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); + accessor->setCount(num_vertices / 3); + accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); + accessor->setStride(3); + { + // + // + // + domParamRef px = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + } + // + } + // + } + + // + domVerticesRef vertices = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); + string vertices_id = geometry_id + string(".vertices"); + vertices->setId(vertices_id.c_str()); + { + // + domInput_localRef vertices_input = daeSafeCast(vertices->createAndPlace(COLLADA_ELEMENT_INPUT)); + vertices_input->setSemantic("POSITION"); + vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId()))); + } + // + + // + domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); + triangles->setCount(num_faces); + triangles->setMaterial("mat0"); + { + // + domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_INPUT)); + vertex_offset->setSemantic("VERTEX"); + vertex_offset->setOffset(0); + vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id)); + { + //

0 1 2 3 ... + domPRef indices = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_P)); + indices->getValue().setCount(num_indices); + for (unsigned int i = 0; i < num_indices; i++) + indices->getValue()[i] = stl_mesh->indices[i]; + //

+ } + } + // + } + // +} + +void ColladaWriter::addJoints(daeElementRef parent) { + int joint_num = 0; + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + shared_ptr urdf_joint = i->second; + + // + domJointRef joint = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_JOINT)); + string joint_sid = string("joint") + boost::lexical_cast(joint_num); + joint_num++; + joint->setName(urdf_joint->name.c_str()); + joint->setSid(joint_sid.c_str()); + joint_sids_[urdf_joint->name] = joint_sid; + + double axis_x = urdf_joint->axis.x; + double axis_y = urdf_joint->axis.y; + double axis_z = urdf_joint->axis.z; + if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) { + axis_x = 1.0; + axis_y = 0.0; + axis_z = 0.0; + } + + // @hack: OpenRAVE appears to flip joint axes + axis_x *= -1.0; + axis_y *= -1.0; + axis_z *= -1.0; + + switch (urdf_joint->type) + { + case urdf::Joint::REVOLUTE: { + // + domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + revolute->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; + } + // + + // + domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); + { + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper); + } + // + } + // + break; + } + case urdf::Joint::CONTINUOUS: { + // Model as a REVOLUTE joint without limits + + // + domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + revolute->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; + } + // + } + // + break; + } + case urdf::Joint::PRISMATIC: { + // + domAxis_constraintRef prismatic = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + prismatic->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; + } + // + + // + domJoint_limitsRef limits = daeSafeCast(prismatic->createAndPlace(COLLADA_TYPE_LIMITS)); + { + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + } + // + } + // + break; + } + case urdf::Joint::FIXED: { + // Model as a REVOLUTE joint with no leeway + + domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + revolute->setSid("axis0"); + { + // + domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + axis->getValue().setCount(3); + axis->getValue()[0] = axis_x; + axis->getValue()[1] = axis_y; + axis->getValue()[2] = axis_z; + } + // + + // + domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); + { + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; + } + // + } + // + break; + } + case urdf::Joint::UNKNOWN: { + std::cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << std::endl; + break; + } + case urdf::Joint::FLOATING: { + std::cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << std::endl; + break; + } + case urdf::Joint::PLANAR: { + std::cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << std::endl; + break; + } + default: { + std::cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << std::endl; + break; + } + } + } +} + +void ColladaWriter::addBindings(SCENE scene) { + string model_id = kmodel_->getID(); + string inst_model_sid = string("inst_") + model_id; + + // + // + domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); + kmodel_bind->setNode("v1.node0"); // @todo + daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); + + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + shared_ptr urdf_joint = i->second; + + int idof = 0; // @todo assuming 1 dof joints + string joint_sid = joint_sids_[urdf_joint->name]; + string axis_name = string("axis") + boost::lexical_cast(idof); + string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; + string joint_axis_value_sid = joint_axis_sid + string("_value"); + + // + domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS)); + string node_name = node_ids_[urdf_joint->name]; + joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str()); + { + // + domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS)); + { + daeSafeCast(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str()); + } + // + // + domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE)); + { + daeSafeCast(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str()); + } + } + // + } +} + +void ColladaWriter::addKinematics(SCENE scene) { + // + domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); + kmodel->setId("k1"); + kmodel->setName(robot_->getName().c_str()); + { + // + domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + addJoints(technique); + // + + // + int link_num = 0; + addKinematicLink(robot_->getRoot(), technique, link_num); + // + } + kmodel_ = kmodel; + // + + string model_id = kmodel->getID(); + string inst_model_sid = string("inst_") + model_id; + + // + domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); + ikm->setUrl((string("#") + model_id).c_str()); + ikm->setSid(inst_model_sid.c_str()); + { + // + domKinematics_newparamRef newparam_model = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + string newparam_model_sid = string("kscene.inst_") + model_id; + newparam_model->setSid(newparam_model_sid.c_str()); + { + // kscene/inst_k1 + string model_sidref = string("kscene/inst_") + model_id; + daeSafeCast(newparam_model->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str()); + } + // + + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + shared_ptr urdf_joint = i->second; + + int idof = 0; // @todo assuming 1 dof joints + + string joint_sid = joint_sids_[urdf_joint->name]; + + string axis_name = string("axis") + boost::lexical_cast(idof); + + // + domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; + newparam->setSid(newparam_sid.c_str()); + { + // kscene/inst_k1/joint0/axis0 + string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name; + daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); + } + // + + // + domKinematics_newparamRef newparam_value = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value"); + newparam_value->setSid(newparam_value_sid.c_str()); + { + // 0 + daeSafeCast(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); + } + // + } + } + // +} + +void ColladaWriter::addKinematicLink(shared_ptr urdf_link, daeElementRef parent, int& link_num) { + // + domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); + string link_sid = string("link") + boost::lexical_cast(link_num); + link->setName(urdf_link->name.c_str()); + link->setSid(link_sid.c_str()); + link_num++; + foreach(shared_ptr urdf_joint, urdf_link->child_joints) { + // + domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); + string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; + attachment_full->setJoint(attachment_joint.c_str()); + { + addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); + addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); + addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num); + } + // + } + // +} + +void ColladaWriter::addVisuals(SCENE scene) { + // + domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); + root_node->setId("v1"); + root_node->setName(robot_->getName().c_str()); + { + int link_num = 0; + addVisualLink(robot_->getRoot(), root_node, link_num); + } +} + +void ColladaWriter::addMaterials() { + urdf::Color ambient, diffuse; + ambient.init("1 1 1 0"); + diffuse.init("1 1 1 0"); + + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + shared_ptr urdf_link = i->second; + + map::const_iterator j = geometry_ids_.find(urdf_link->name); + if (j == geometry_ids_.end()) + continue; + + string geometry_id = j->second; + + domEffectRef effect = addEffect(geometry_id, ambient, diffuse); + + // + domMaterialRef material = daeSafeCast(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL)); + string material_id = geometry_id + string(".mat"); + material->setId(material_id.c_str()); + { + // + domInstance_effectRef instance_effect = daeSafeCast(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT)); + string effect_id(effect->getId()); + instance_effect->setUrl((string("#") + effect_id).c_str()); + } + // + } +} + +domEffectRef ColladaWriter::addEffect(string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse) +{ + // + domEffectRef effect = daeSafeCast(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT)); + string effect_id = geometry_id + string(".eff"); + effect->setId(effect_id.c_str()); + { + // + domProfile_commonRef profile = daeSafeCast(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON)); + { + // + domProfile_common::domTechniqueRef technique = daeSafeCast(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE)); + { + // + domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_PHONG)); + { + // + domFx_common_color_or_textureRef ambient = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT)); + { + // r g b a + domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->createAndPlace(COLLADA_ELEMENT_COLOR)); + ambient_color->getValue().setCount(4); + ambient_color->getValue()[0] = color_ambient.r; + ambient_color->getValue()[1] = color_ambient.g; + ambient_color->getValue()[2] = color_ambient.b; + ambient_color->getValue()[3] = color_ambient.a; + // + } + // + + // + domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE)); + { + // r g b a + domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR)); + diffuse_color->getValue().setCount(4); + diffuse_color->getValue()[0] = color_diffuse.r; + diffuse_color->getValue()[1] = color_diffuse.g; + diffuse_color->getValue()[2] = color_diffuse.b; + diffuse_color->getValue()[3] = color_diffuse.a; + // + } + // + } + // + } + // + } + // + } + // + + return effect; +} + +void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeElementRef parent, int& link_num) { + // + domNodeRef node = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_NODE)); + string node_sid = string("node") + boost::lexical_cast(link_num); + string node_id = string("v1.") + node_sid; + node->setName(urdf_link->name.c_str()); + node->setSid(node_sid.c_str()); + node->setId(node_id.c_str()); + link_num++; + { + if (urdf_link->parent_joint != NULL) { + // x y z w + addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + // x y z + addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); + + // x y z angle + domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + string joint_sid = joint_sids_[urdf_link->parent_joint->name]; + string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); + joint_rotate->setSid(joint_rotate_sid.c_str()); + + node_ids_[urdf_link->parent_joint->name] = node_id; + } + + // + map::const_iterator i = geometry_ids_.find(urdf_link->name); + if (i != geometry_ids_.end()) { + domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); + string geometry_id = i->second; + string instance_geometry_url = string("#") + geometry_id; + instance_geometry->setUrl(instance_geometry_url.c_str()); + { + // + domBind_materialRef bind_material = daeSafeCast(instance_geometry->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL)); + { + // + domBind_material::domTechnique_commonRef technique_common = daeSafeCast(bind_material->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + { + // + domInstance_materialRef instance_material = daeSafeCast(technique_common->createAndPlace(COLLADA_ELEMENT_INSTANCE_MATERIAL)); + instance_material->setTarget((instance_geometry_url + string(".mat")).c_str()); + instance_material->setSymbol("mat0"); + // + } + // + } + // + } + } + // + + // + foreach(shared_ptr link2, urdf_link->child_links) + addVisualLink(link2, node, link_num); + // + } + // +} + +domTranslateRef ColladaWriter::addTranslate(daeElementRef parent, urdf::Vector3 const& position) { + // x y z + domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); + trans->getValue().setCount(3); + trans->getValue()[0] = position.x; + trans->getValue()[1] = position.y; + trans->getValue()[2] = position.z; + return trans; +} + +domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const& r) { + double ax, ay, az, aa; + + // Convert from quaternion to axis-angle + double sqr_len = r.x * r.x + r.y * r.y + r.z * r.z; + if (sqr_len > 0) { + aa = 2 * acos(r.w); + + double inv_len = 1.0 / sqrt(sqr_len); + ax = r.x * inv_len; + ay = r.y * inv_len; + az = r.z * inv_len; + } + else { + // Angle is 0 (mod 2*pi), so any axis will do + aa = 0.0; + ax = 1.0; + ay = 0.0; + az = 0.0; + } + + // x y z w + domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); + rot->getValue().setCount(4); + rot->getValue()[0] = ax; + rot->getValue()[1] = ay; + rot->getValue()[2] = az; + rot->getValue()[3] = angles::to_degrees(aa); + + return rot; +} + +} diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index b96be83..ada5ef4 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2008, Willow Garage, Inc. +* Copyright (c) 2010, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,18 +32,14 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -/* Author: Tim Field */ - -// STLLoader.cpp - #include #include #include #include -#include "STLLoader.h" +#include "collada_urdf/STLLoader.h" -using namespace collada_urdf; +namespace collada_urdf { Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { } @@ -66,8 +62,6 @@ void Mesh::addVertex(const Vector3& v) { vertices.push_back(v); } void Mesh::addNormal(const Vector3& n) { normals.push_back(n); } void Mesh::addIndex(unsigned int i) { indices.push_back(i); } -// - Mesh* STLLoader::load(const std::string& filename) { Mesh* mesh = new Mesh(); @@ -133,3 +127,5 @@ uint16_t STLLoader::readShortInt(FILE* filein) { return ival; } + +} diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index edf51c9..1693f75 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2008, Willow Garage, Inc. +* Copyright (c) 2010, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,955 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -/* Author: Tim Field */ - -// urdf_to_collada.cpp - -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include -#include - -#include - -#include "STLLoader.h" - -using namespace std; - -namespace collada_urdf { - -class ColladaWriter : public daeErrorHandler -{ -public: - struct SCENE - { - domVisual_sceneRef vscene; - domKinematics_sceneRef kscene; - domPhysics_sceneRef pscene; - domInstance_with_extraRef viscene; - domInstance_kinematics_sceneRef kiscene; - domInstance_with_extraRef piscene; - }; - - urdf::Model* robot_; - - boost::shared_ptr collada_; - domCOLLADA* dom_; - domCOLLADA::domSceneRef scene_; - - domLibrary_geometriesRef geometriesLib_; - domLibrary_visual_scenesRef visualScenesLib_; - domLibrary_kinematics_scenesRef kinematicsScenesLib_; - domLibrary_kinematics_modelsRef kinematicsModelsLib_; - domLibrary_jointsRef jointsLib_; - domLibrary_physics_scenesRef physicsScenesLib_; - domLibrary_materialsRef materialsLib_; - domLibrary_effectsRef effectsLib_; - //domLibrary_articulated_systemsRef articulatedSystemsLib_; - - domKinematics_modelRef kmodel_; - - map geometry_ids_; // link.name -> geometry.id - map joint_sids_; // joint.name -> joint.sid - map node_ids_; // joint.name -> node.id - -public: - ColladaWriter(const string& documentName, urdf::Model* robot) : robot_(robot) { - daeErrorHandler::setErrorHandler(this); - - collada_.reset(new DAE()); - collada_->setIOPlugin(NULL); - collada_->setDatabase(NULL); - - daeDocument* doc = NULL; - daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root - if (error != DAE_OK || doc == NULL) - { - cerr << "Failed to create new document\n"; - throw; - } - - dom_ = daeSafeCast(doc->getDomRoot()); - dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); - - // Create the required asset tag - domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); - { - domAsset::domCreatedRef created = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_CREATED)); - created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date - domAsset::domModifiedRef modified = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED)); - modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date - - domAsset::domContributorRef contrib = daeSafeCast(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR)); - domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); - authoringtool->setValue("URDF Collada Writer"); - - domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); - units->setMeter(1); - units->setName("meter"); - - domAsset::domUp_axisRef zup = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS)); - zup->setValue(UP_AXIS_Z_UP); - } - - scene_ = dom_->getScene(); - if (!scene_) - scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); - - visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); - visualScenesLib_->setId("vscenes"); - geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); - geometriesLib_->setId("geometries"); - kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); - kinematicsScenesLib_->setId("kscenes"); - kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); - kinematicsModelsLib_->setId("kmodels"); - jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); - jointsLib_->setId("joints"); - - physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); - physicsScenesLib_->setId("physics_scenes"); - effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); - effectsLib_->setId("effects"); - materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); - materialsLib_->setId("materials"); - - //articulatedSystemsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); - //articulatedSystemsLib_->setId("articulated_systems"); - } - - virtual ~ColladaWriter() { - collada_.reset(); - DAE::cleanup(); - } - - SCENE createScene() { - SCENE s; - - // Create visual scene - s.vscene = daeSafeCast(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE)); - s.vscene->setId("vscene"); - s.vscene->setName("URDF Visual Scene"); - - // Create instance visual scene - s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); - s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); - - // Create kinematics scene - s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); - s.kscene->setId("kscene"); - s.kscene->setName("URDF Kinematics Scene"); - - // Create instance kinematics scene - s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); - s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); - - // Create physics scene - s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); - s.pscene->setId("pscene"); - s.pscene->setName("URDF Physics Scene"); - - // Create instance physics scene - s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); - s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); - - return s; - } - - virtual void handleError(daeString msg) { - cerr << "COLLADA error: " << msg << "\n"; - } - - virtual void handleWarning(daeString msg) { - cerr << "COLLADA warning: " << msg << "\n"; - } - - bool writeScene() { - SCENE scene = createScene(); - - setupPhysics(scene); - addGeometries(); - addKinematics(scene); - addVisuals(scene); - addMaterials(); - addBindings(scene); - - collada_->writeAll(); - - return true; - } - - void setupPhysics(SCENE scene) { - // - domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - { - // 0 0 0 - domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); - g->getValue().set3(0.0, 0.0, 0.0); - // - } - // - } - - void addGeometries() { - int link_num = 0; - - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { - boost::shared_ptr urdf_link = i->second; - - if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL) - continue; - - switch (urdf_link->visual->geometry->type) { - case urdf::Geometry::MESH: { - urdf::Mesh* urdf_mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); - - string filename = urdf_mesh->filename; - urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale - - // - domGeometryRef geometry = daeSafeCast(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY)); - string geometry_id = string("g1.link") + boost::lexical_cast(link_num) + string(".geom0"); - geometry->setId(geometry_id.c_str()); - { - loadMesh(filename, geometry, geometry_id); - } - geometry_ids_[urdf_link->name] = geometry_id; - // - - link_num++; - break; - } - case urdf::Geometry::SPHERE: { - cerr << "Geometry type SPHERE of link " << urdf_link->name << " is unsupported" << endl; - break; - } - case urdf::Geometry::BOX: { - cerr << "Geometry type BOX of link " << urdf_link->name << " is unsupported" << endl; - break; - } - case urdf::Geometry::CYLINDER: { - cerr << "Geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << endl; - break; - } - default: { - cerr << "Geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << endl; - break; - } - } - } - } - - void loadMesh(const string& filename, domGeometryRef geometry, const string& geometry_id) { - // Load the mesh - resource_retriever::MemoryResource resource; - resource_retriever::Retriever retriever; - try { - resource = retriever.get(filename.c_str()); - } - catch (resource_retriever::Exception& e) { - cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl; - return; - } - - // Try assimp first, then STLLoader - if (!loadMeshWithAssimp(resource, geometry, geometry_id)) - if (!loadMeshWithSTLLoader(resource, geometry, geometry_id)) - cerr << "*** Can't load " << filename << endl; - } - - bool loadMeshWithAssimp(const resource_retriever::MemoryResource& resource, domGeometryRef geometry, const string& geometry_id) { - // Import the mesh using assimp - Assimp::Importer importer; - const aiScene* scene = importer.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); - if (!scene) - return false; - - buildMeshFromAssimp(scene, scene->mRootNode, geometry, geometry_id); - return true; - } - - bool loadMeshWithSTLLoader(const resource_retriever::MemoryResource& resource, domGeometryRef geometry, const string& geometry_id) { - // Write the resource to a temporary file - char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; - int fd = mkstemp(tmp_filename); - write(fd, resource.data.get(), resource.size); - close(fd); - - // Import the mesh using STLLoader - STLLoader loader; - Mesh* stl_mesh = loader.load(string(tmp_filename)); - buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id); - delete stl_mesh; - - // Delete the temporary file - unlink(tmp_filename); - - return true; - } - - void buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, const string& geometry_id) { - // - domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); - { - unsigned int num_vertices = stl_mesh->vertices.size(); - unsigned int num_indices = stl_mesh->indices.size(); - unsigned int num_faces = num_indices / 3; - - // - domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); - positions_source->setId((geometry_id + string(".positions")).c_str()); - { - // - domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); - positions_array->setId((geometry_id + string(".positions-array")).c_str()); - positions_array->setCount(num_vertices * 3); - positions_array->setDigits(6); // 6 decimal places - positions_array->getValue().setCount(num_vertices * 3); - for (unsigned int j = 0; j < num_vertices; j++) { - positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x; - positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y; - positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z; - } - // - - // - domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - { - // - domAccessorRef accessor = daeSafeCast(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); - accessor->setCount(num_vertices / 3); - accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); - accessor->setStride(3); - { - // - // - // - domParamRef px = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); - domParamRef py = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); - domParamRef pz = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); - } - // - } - // - } - - // - domVerticesRef vertices = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); - string vertices_id = geometry_id + string(".vertices"); - vertices->setId(vertices_id.c_str()); - { - // - domInput_localRef vertices_input = daeSafeCast(vertices->createAndPlace(COLLADA_ELEMENT_INPUT)); - vertices_input->setSemantic("POSITION"); - vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId()))); - } - // - - // - domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); - triangles->setCount(num_faces); - triangles->setMaterial("mat0"); - { - // - domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_INPUT)); - vertex_offset->setSemantic("VERTEX"); - vertex_offset->setOffset(0); - vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id)); - { - //

0 1 2 3 ... - domPRef indices = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_P)); - indices->getValue().setCount(num_indices); - for (unsigned int i = 0; i < num_indices; i++) - indices->getValue()[i] = stl_mesh->indices[i]; - //

- } - } - // - } - // - } - - // EXPERIMENTAL: untested - void buildMeshFromAssimp(const aiScene* scene, aiNode* node, daeElementRef parent, const string& geometry_id) { - if (node == NULL) - return; - - aiMatrix4x4 transform = node->mTransformation; - - aiNode* pnode = node->mParent; - while (pnode) { - // Don't convert to y-up orientation, which is what the root node in Assimp does - if (pnode->mParent != NULL) - transform = pnode->mTransformation * transform; - pnode = pnode->mParent; - } - - // - domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); - { - for (unsigned int i = 0; i < node->mNumMeshes; i++) { - aiMesh* aMesh = scene->mMeshes[i]; - - // Add in the indices for each face - for (unsigned int j = 0; j < aMesh->mNumFaces; j++) { - aiFace* aFace = &(aMesh->mFaces[j]); - for (unsigned int k = 0; k < aFace->mNumIndices; k++) { - //int index = aFace->mIndices[k]; - // @todo add index - //subMesh->AddIndex(aFace->mIndices[k]); - } - } - - domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); - { - positions_source->setId((geometry_id + string(".positions")).c_str()); - - domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); - positions_array->setId((geometry_id + string(".positions-array")).c_str()); - positions_array->setCount(aMesh->mNumVertices); - positions_array->setDigits(6); // 6 decimal places - positions_array->getValue().setCount(3 * aMesh->mNumVertices); - - for (unsigned int j = 0; j < aMesh->mNumVertices; j++) { - aiVector3D p; - p.x = aMesh->mVertices[j].x; - p.y = aMesh->mVertices[j].y; - p.z = aMesh->mVertices[j].z; - - p *= transform; - - positions_array->getValue()[j] = p.x; - positions_array->getValue()[j] = p.y; - positions_array->getValue()[j] = p.z; - - /* - if (aMesh->HasNormals()) { - p.x = aMesh->mNormals[j].x; - p.y = aMesh->mNormals[j].y; - p.z = aMesh->mNormals[j].z; - } - - // @todo add normal - //subMesh->AddNormal(p.x, p.y, p.z); - - // @todo add tex coord - //if (aMesh->mNumUVComponents[0]) - // subMesh->AddTexCoord(aMesh->mTextureCoords[0][j].x, 1.0 -aMesh->mTextureCoords[0][j].y); - //else - // subMesh->AddTexCoord(0,0); - */ - } - } - - domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); - { - triangles->setCount(aMesh->mNumFaces / 3); - } - } - - for (unsigned int i = 0; i < node->mNumChildren; i++) - buildMeshFromAssimp(scene, node->mChildren[i], mesh, geometry_id); - } - } - - void addJoints(daeElementRef parent) { - int joint_num = 0; - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { - boost::shared_ptr urdf_joint = i->second; - - // - domJointRef joint = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_JOINT)); - string joint_sid = string("joint") + boost::lexical_cast(joint_num); - joint_num++; - joint->setName(urdf_joint->name.c_str()); - joint->setSid(joint_sid.c_str()); - joint_sids_[urdf_joint->name] = joint_sid; - - double axis_x = urdf_joint->axis.x; - double axis_y = urdf_joint->axis.y; - double axis_z = urdf_joint->axis.z; - if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) { - axis_x = 1.0; - axis_y = 0.0; - axis_z = 0.0; - } - - // @hack: OpenRAVE appears to flip joint axes - axis_x *= -1.0; - axis_y *= -1.0; - axis_z *= -1.0; - - switch (urdf_joint->type) - { - case urdf::Joint::REVOLUTE: { - // - domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); - revolute->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - - // - domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); - { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower); - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper); - } - // - } - // - break; - } - case urdf::Joint::CONTINUOUS: { - // Model as a REVOLUTE joint without limits - - // - domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); - revolute->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - } - // - break; - } - case urdf::Joint::PRISMATIC: { - // - domAxis_constraintRef prismatic = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); - prismatic->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - - // - domJoint_limitsRef limits = daeSafeCast(prismatic->createAndPlace(COLLADA_TYPE_LIMITS)); - { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; - } - // - } - // - break; - } - case urdf::Joint::FIXED: { - // Model as a REVOLUTE joint with no leeway - - domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); - revolute->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - - // - domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); - { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; - } - // - } - // - break; - } - case urdf::Joint::UNKNOWN: { - cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << endl; - break; - } - case urdf::Joint::FLOATING: { - cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << endl; - break; - } - case urdf::Joint::PLANAR: { - cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << endl; - break; - } - default: { - cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << endl; - break; - } - } - } - } - - void addBindings(SCENE scene) { - string model_id = kmodel_->getID(); - string inst_model_sid = string("inst_") + model_id; - - // - // - domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); - kmodel_bind->setNode("v1.node0"); // @todo - daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); - - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { - boost::shared_ptr urdf_joint = i->second; - - int idof = 0; // @todo assuming 1 dof joints - string joint_sid = joint_sids_[urdf_joint->name]; - string axis_name = string("axis") + boost::lexical_cast(idof); - string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; - string joint_axis_value_sid = joint_axis_sid + string("_value"); - - // - domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS)); - string node_name = node_ids_[urdf_joint->name]; - joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str()); - { - // - domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS)); - { - daeSafeCast(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str()); - } - // - // - domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE)); - { - daeSafeCast(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str()); - } - } - // - } - } - - void addKinematics(SCENE scene) { - // - domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); - kmodel->setId("k1"); - kmodel->setName(robot_->getName().c_str()); - { - // - domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - addJoints(technique); - // - - // - int link_num = 0; - addKinematicLink(robot_->getRoot(), technique, link_num); - // - } - kmodel_ = kmodel; - // - - string model_id = kmodel->getID(); - string inst_model_sid = string("inst_") + model_id; - - // - domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); - ikm->setUrl((string("#") + model_id).c_str()); - ikm->setSid(inst_model_sid.c_str()); - { - // - domKinematics_newparamRef newparam_model = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); - string newparam_model_sid = string("kscene.inst_") + model_id; - newparam_model->setSid(newparam_model_sid.c_str()); - { - // kscene/inst_k1 - string model_sidref = string("kscene/inst_") + model_id; - daeSafeCast(newparam_model->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str()); - } - // - - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { - boost::shared_ptr urdf_joint = i->second; - - int idof = 0; // @todo assuming 1 dof joints - - string joint_sid = joint_sids_[urdf_joint->name]; - - string axis_name = string("axis") + boost::lexical_cast(idof); - - // - domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); - string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; - newparam->setSid(newparam_sid.c_str()); - { - // kscene/inst_k1/joint0/axis0 - string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name; - daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); - } - // - - // - domKinematics_newparamRef newparam_value = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); - string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value"); - newparam_value->setSid(newparam_value_sid.c_str()); - { - // 0 - daeSafeCast(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); - } - // - } - } - // - } - - void addKinematicLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num) { - // - domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); - string link_sid = string("link") + boost::lexical_cast(link_num); - link->setName(urdf_link->name.c_str()); - link->setSid(link_sid.c_str()); - link_num++; - for (vector >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) { - boost::shared_ptr urdf_joint = *i; - - // - domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); - string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; - attachment_full->setJoint(attachment_joint.c_str()); - { - addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); - addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); - addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num); - } - // - } - // - } - - void addVisuals(SCENE scene) { - // - domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); - root_node->setId("v1"); - root_node->setName(robot_->getName().c_str()); - { - int link_num = 0; - addVisualLink(robot_->getRoot(), root_node, link_num); - } - } - - void addMaterials() { - urdf::Color ambient, diffuse; - ambient.init("1 1 1 0"); - diffuse.init("1 1 1 0"); - - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { - boost::shared_ptr urdf_link = i->second; - - map::const_iterator j = geometry_ids_.find(urdf_link->name); - if (j != geometry_ids_.end()) { - string geometry_id = j->second; - - domEffectRef effect = addEffect(geometry_id, ambient, diffuse); - - // - domMaterialRef material = daeSafeCast(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL)); - string material_id = geometry_id + string(".mat"); - material->setId(material_id.c_str()); - { - // - domInstance_effectRef instance_effect = daeSafeCast(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT)); - string effect_id(effect->getId()); - instance_effect->setUrl((string("#") + effect_id).c_str()); - } - // - } - } - } - - domEffectRef addEffect(const string& geometry_id, const urdf::Color& color_ambient, const urdf::Color& color_diffuse) - { - // - domEffectRef effect = daeSafeCast(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT)); - string effect_id = geometry_id + string(".eff"); - effect->setId(effect_id.c_str()); - { - // - domProfile_commonRef profile = daeSafeCast(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON)); - { - // - domProfile_common::domTechniqueRef technique = daeSafeCast(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE)); - { - // - domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_PHONG)); - { - // - domFx_common_color_or_textureRef ambient = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT)); - { - // r g b a - domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->createAndPlace(COLLADA_ELEMENT_COLOR)); - ambient_color->getValue().setCount(4); - ambient_color->getValue()[0] = color_ambient.r; - ambient_color->getValue()[1] = color_ambient.g; - ambient_color->getValue()[2] = color_ambient.b; - ambient_color->getValue()[3] = color_ambient.a; - // - } - // - - // - domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE)); - { - // r g b a - domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR)); - diffuse_color->getValue().setCount(4); - diffuse_color->getValue()[0] = color_diffuse.r; - diffuse_color->getValue()[1] = color_diffuse.g; - diffuse_color->getValue()[2] = color_diffuse.b; - diffuse_color->getValue()[3] = color_diffuse.a; - // - } - // - } - // - } - // - } - // - } - // - - return effect; - } - - void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num) { - // - domNodeRef node = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_NODE)); - string node_sid = string("node") + boost::lexical_cast(link_num); - string node_id = string("v1.") + node_sid; - node->setName(urdf_link->name.c_str()); - node->setSid(node_sid.c_str()); - node->setId(node_id.c_str()); - link_num++; - { - if (urdf_link->parent_joint != NULL) { - // x y z w - addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); - // x y z - addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); - - // x y z angle - domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); - string joint_sid = joint_sids_[urdf_link->parent_joint->name]; - string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); - joint_rotate->setSid(joint_rotate_sid.c_str()); - - node_ids_[urdf_link->parent_joint->name] = node_id; - } - - // - map::const_iterator i = geometry_ids_.find(urdf_link->name); - if (i != geometry_ids_.end()) { - domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); - string geometry_id = i->second; - string instance_geometry_url = string("#") + geometry_id; - instance_geometry->setUrl(instance_geometry_url.c_str()); - { - // - domBind_materialRef bind_material = daeSafeCast(instance_geometry->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL)); - { - // - domBind_material::domTechnique_commonRef technique_common = daeSafeCast(bind_material->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - { - // - domInstance_materialRef instance_material = daeSafeCast(technique_common->createAndPlace(COLLADA_ELEMENT_INSTANCE_MATERIAL)); - instance_material->setTarget((instance_geometry_url + string(".mat")).c_str()); - instance_material->setSymbol("mat0"); - // - } - // - } - // - } - } - // - - // - for (vector >::const_iterator i = urdf_link->child_links.begin(); i != urdf_link->child_links.end(); i++) - addVisualLink(*i, node, link_num); - // - } - // - } - - domTranslateRef addTranslate(daeElementRef parent, const urdf::Vector3& position) { - // x y z - domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); - trans->getValue().setCount(3); - trans->getValue()[0] = position.x; - trans->getValue()[1] = position.y; - trans->getValue()[2] = position.z; - return trans; - } - - domRotateRef addRotate(daeElementRef parent, const urdf::Rotation& r) { - double ax, ay, az, aa; - - // Convert from quaternion to axis-angle - double sqr_len = r.x * r.x + r.y * r.y + r.z * r.z; - if (sqr_len > 0) { - aa = 2 * acos(r.w); - - double inv_len = 1.0 / sqrt(sqr_len); - ax = r.x * inv_len; - ay = r.y * inv_len; - az = r.z * inv_len; - } - else { - // Angle is 0 (mod 2*pi), so any axis will do - aa = 0.0; - ax = 1.0; - ay = 0.0; - az = 0.0; - } - - // x y z w - domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); - rot->getValue().setCount(4); - rot->getValue()[0] = ax; - rot->getValue()[1] = ay; - rot->getValue()[2] = az; - rot->getValue()[3] = angles::to_degrees(aa); - return rot; - } -}; - -} +#include "collada_urdf/ColladaWriter.h" int main(int argc, char** argv) { @@ -1003,7 +55,7 @@ int main(int argc, char** argv) return -1; } - string output_filename(argv[2]); + std::string output_filename(argv[2]); collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(output_filename, &robot); writer->writeScene(); From 5b33005a0b01dbd413542b0e5a7a471b015aa421 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 19:49:15 +0000 Subject: [PATCH 153/245] collada_urdf: more tidying up --- .../include/collada_urdf/ColladaWriter.h | 38 ++++++--- collada_urdf/include/collada_urdf/STLLoader.h | 18 ++--- collada_urdf/src/ColladaWriter.cpp | 49 ++++++------ collada_urdf/src/STLLoader.cpp | 77 +++++++++++-------- collada_urdf/src/urdf_to_collada.cpp | 23 ++++-- 5 files changed, 120 insertions(+), 85 deletions(-) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h index 728438c..5f0f263 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -69,34 +69,48 @@ private: }; public: - ColladaWriter(std::string const& documentName, urdf::Model* robot); + /** + * \brief Create a ColladaWriter using the specified URDF robot model. + */ + ColladaWriter(urdf::Model* robot); + virtual ~ColladaWriter(); /** - * todo - * @return + * \brief Write the model to a COLLADA file. + * + * \param documentName The filename of the document to write to + * \return True if the file was successfully written */ - bool writeScene(); + bool writeDocument(std::string const& documentName); protected: virtual void handleError(daeString msg); virtual void handleWarning(daeString msg); private: + void initDocument(std::string const& documentName); SCENE createScene(); - void setupPhysics(SCENE scene); + + void setupPhysics(SCENE const& scene); + void addGeometries(); void loadMesh(std::string const& filename, domGeometryRef geometry, std::string const& geometry_id); bool loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, std::string const& geometry_id); - void buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, std::string const& geometry_id); + void buildMeshFromSTLLoader(boost::shared_ptr stl_mesh, daeElementRef parent, std::string const& geometry_id); + + void addKinematics(SCENE const& scene); void addJoints(daeElementRef parent); - void addBindings(SCENE scene); - void addKinematics(SCENE scene); void addKinematicLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); - void addVisuals(SCENE scene); - void addMaterials(); - domEffectRef addEffect(std::string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse); - void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); + + void addVisuals(SCENE const& scene); + void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); + + void addMaterials(); + domEffectRef addEffect(std::string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse); + + void addBindings(SCENE const& scene); + domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position); domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r); diff --git a/collada_urdf/include/collada_urdf/STLLoader.h b/collada_urdf/include/collada_urdf/STLLoader.h index 6bec856..c96395d 100644 --- a/collada_urdf/include/collada_urdf/STLLoader.h +++ b/collada_urdf/include/collada_urdf/STLLoader.h @@ -40,10 +40,7 @@ #include #include -#define LINE_MAX_LEN 256 -#define COR3_MAX 200000 -#define ORDER_MAX 10 -#define FACE_MAX 200000 +#include namespace collada_urdf { @@ -79,13 +76,16 @@ public: class STLLoader { public: - Mesh* load(std::string const& filename); + boost::shared_ptr load(std::string const& filename); private: - void readBinary (FILE* filein, Mesh* mesh); - uint32_t readLongInt (FILE* filein); - uint16_t readShortInt(FILE* filein); - float readFloat (FILE* filein); + FILE* file_; + boost::shared_ptr mesh_; + + void readBinary(); + uint32_t readLongInt(); + uint16_t readShortInt(); + float readFloat(); }; } diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index b6e626a..f7124d5 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -47,7 +47,26 @@ using boost::shared_ptr; namespace collada_urdf { -ColladaWriter::ColladaWriter(string const& documentName, urdf::Model* robot) : robot_(robot) { +ColladaWriter::ColladaWriter(urdf::Model* robot) : robot_(robot) { } + +bool ColladaWriter::writeDocument(string const& documentName) { + initDocument(documentName); + + SCENE scene = createScene(); + + setupPhysics(scene); + addGeometries(); + addKinematics(scene); + addVisuals(scene); + addMaterials(); + addBindings(scene); + + collada_->writeAll(); + + return true; +} + +void ColladaWriter::initDocument(string const& documentName) { daeErrorHandler::setErrorHandler(this); collada_.reset(new DAE()); @@ -113,21 +132,6 @@ ColladaWriter::~ColladaWriter() { DAE::cleanup(); } -bool ColladaWriter::writeScene() { - SCENE scene = createScene(); - - setupPhysics(scene); - addGeometries(); - addKinematics(scene); - addVisuals(scene); - addMaterials(); - addBindings(scene); - - collada_->writeAll(); - - return true; -} - // Implementation ColladaWriter::SCENE ColladaWriter::createScene() { @@ -171,7 +175,7 @@ void ColladaWriter::handleWarning(daeString msg) { std::cerr << "COLLADA warning: " << msg << std::endl; } -void ColladaWriter::setupPhysics(SCENE scene) { +void ColladaWriter::setupPhysics(SCENE const& scene) { // domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); { @@ -258,9 +262,8 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con // Import the mesh using STLLoader STLLoader loader; - Mesh* stl_mesh = loader.load(string(tmp_filename)); + shared_ptr stl_mesh = loader.load(string(tmp_filename)); buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id); - delete stl_mesh; // Delete the temporary file unlink(tmp_filename); @@ -268,7 +271,7 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con return true; } -void ColladaWriter::buildMeshFromSTLLoader(Mesh* stl_mesh, daeElementRef parent, string const& geometry_id) { +void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElementRef parent, string const& geometry_id) { // domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); { @@ -498,7 +501,7 @@ void ColladaWriter::addJoints(daeElementRef parent) { } } -void ColladaWriter::addBindings(SCENE scene) { +void ColladaWriter::addBindings(SCENE const& scene) { string model_id = kmodel_->getID(); string inst_model_sid = string("inst_") + model_id; @@ -538,7 +541,7 @@ void ColladaWriter::addBindings(SCENE scene) { } } -void ColladaWriter::addKinematics(SCENE scene) { +void ColladaWriter::addKinematics(SCENE const& scene) { // domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); kmodel->setId("k1"); @@ -632,7 +635,7 @@ void ColladaWriter::addKinematicLink(shared_ptr urdf_link, dae // } -void ColladaWriter::addVisuals(SCENE scene) { +void ColladaWriter::addVisuals(SCENE const& scene) { // domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); root_node->setId("v1"); diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index ada5ef4..d962f79 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -39,14 +39,21 @@ #include "collada_urdf/STLLoader.h" +using std::string; +using boost::shared_ptr; + namespace collada_urdf { +// Vector3 + Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { } -bool Vector3::operator==(const Vector3& v) const { +bool Vector3::operator==(Vector3 const& v) const { return x == v.x && y == v.y && z == v.z; } +// Mesh + Mesh::Mesh() { } @@ -58,70 +65,74 @@ int Mesh::getVertexIndex(const Vector3& v) const { return -1; } -void Mesh::addVertex(const Vector3& v) { vertices.push_back(v); } -void Mesh::addNormal(const Vector3& n) { normals.push_back(n); } +void Mesh::addVertex(Vector3 const& v) { vertices.push_back(v); } +void Mesh::addNormal(Vector3 const& n) { normals.push_back(n); } void Mesh::addIndex(unsigned int i) { indices.push_back(i); } -Mesh* STLLoader::load(const std::string& filename) { - Mesh* mesh = new Mesh(); +// STLLoader - FILE* file = fopen(filename.c_str(), "r"); - readBinary(file, mesh); - fclose(file); +shared_ptr STLLoader::load(std::string const& filename) { + mesh_ = shared_ptr(new Mesh); - return mesh; + file_ = fopen(filename.c_str(), "r"); + readBinary(); + fclose(file_); + file_ = NULL; + + return mesh_; } -void STLLoader::readBinary(FILE* filein, Mesh* mesh) { +void STLLoader::readBinary() { // 80 byte Header for (int i = 0; i < 80; i++) - fgetc(filein); + fgetc(file_); - int face_num = readLongInt(filein); + int face_num = readLongInt(); for (int iface = 0; iface < face_num; iface++) { - Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein)); + Vector3 normal(readFloat(), readFloat(), readFloat()); + for (int i = 0; i < 3; i++) { - double x = readFloat(filein); - double y = readFloat(filein); - double z = readFloat(filein); - Vector3 vertex(x,y,z); - int index = mesh->getVertexIndex(vertex); + Vector3 vertex(readFloat(), readFloat(), readFloat()); + + int index = mesh_->getVertexIndex(vertex); if (index == -1) { - mesh->addVertex(vertex); - mesh->addNormal(normal); - index = mesh->vertices.size() - 1; + mesh_->addVertex(vertex); + mesh_->addNormal(normal); + index = mesh_->vertices.size() - 1; } - mesh->addIndex(index); + mesh_->addIndex(index); } - readShortInt(filein); // 2 byte attribute + + readShortInt(); // 2 byte attribute } } -float STLLoader::readFloat(FILE* filein) { +float STLLoader::readFloat() { float rval; - if (fread(&rval, sizeof(float), 1, filein) == 0) + if (fread(&rval, sizeof(float), 1, file_) == 0) std::cerr << "Error in STLLoader::readFloat" << std::endl; + return rval; } -uint32_t STLLoader::readLongInt(FILE* filein) { +uint32_t STLLoader::readLongInt() { union { uint32_t yint; char ychar[4]; } y; - y.ychar[0] = fgetc(filein); - y.ychar[1] = fgetc(filein); - y.ychar[2] = fgetc(filein); - y.ychar[3] = fgetc(filein); + y.ychar[0] = fgetc(file_); + y.ychar[1] = fgetc(file_); + y.ychar[2] = fgetc(file_); + y.ychar[3] = fgetc(file_); return y.yint; } -uint16_t STLLoader::readShortInt(FILE* filein) { - uint8_t c1 = fgetc(filein); - uint8_t c2 = fgetc(filein); +uint16_t STLLoader::readShortInt() { + uint8_t c1 = fgetc(file_); + uint8_t c2 = fgetc(file_); uint16_t ival = c1 | (c2 << 8); diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 1693f75..cce43ca 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -41,25 +41,32 @@ int main(int argc, char** argv) return -1; } + std::string input_filename(argv[1]); + std::string output_filename(argv[2]); + TiXmlDocument robot_model_xml; - robot_model_xml.LoadFile(argv[1]); + if (!robot_model_xml.LoadFile(input_filename.c_str())) { + std::cerr << "Error opening file " << argv[1] << std::endl; + return -1; + } + TiXmlElement* robot_xml = robot_model_xml.FirstChildElement("robot"); if (!robot_xml) { - std::cerr << "ERROR: Could not load the xml into TiXmlElement" << std::endl; + std::cerr << "Error parsing URDF model from XML" << std::endl; return -1; } urdf::Model robot; if (!robot.initXml(robot_xml)) { - std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; + std::cerr << "Error parsing URDF model from XML" << std::endl; return -1; } - std::string output_filename(argv[2]); - - collada_urdf::ColladaWriter* writer = new collada_urdf::ColladaWriter(output_filename, &robot); - writer->writeScene(); - delete writer; + collada_urdf::ColladaWriter writer(&robot); + if (!writer.writeDocument(output_filename)) { + std::cerr << "Error writing document" << std::endl; + return -1; + } return 0; } From da0af98c438b88ca1733e2610224f044e7b2b66f Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 21:01:11 +0000 Subject: [PATCH 154/245] collada_urdf: asset tag now writes correct create/modified dates and includes source --- .../include/collada_urdf/ColladaWriter.h | 14 +++++- collada_urdf/src/ColladaWriter.cpp | 46 ++++++++++++++----- collada_urdf/src/STLLoader.cpp | 7 +-- collada_urdf/src/urdf_to_collada.cpp | 2 +- 4 files changed, 52 insertions(+), 17 deletions(-) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h index 5f0f263..3120c87 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -53,6 +53,12 @@ namespace collada_urdf { +class ColladaWriterException : public std::runtime_error +{ +public: + ColladaWriterException(std::string const& what) : std::runtime_error(what) { } +}; + class Mesh; class ColladaWriter : public daeErrorHandler @@ -70,9 +76,10 @@ private: public: /** - * \brief Create a ColladaWriter using the specified URDF robot model. + * \brief Create a ColladaWriter using the specified URDF robot model and a source string, + * e.g. the name of the file the URDF was read from. */ - ColladaWriter(urdf::Model* robot); + ColladaWriter(urdf::Model* robot, std::string const& source); virtual ~ColladaWriter(); @@ -114,8 +121,11 @@ private: domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position); domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r); + std::string getTimeStampString() const; + private: urdf::Model* robot_; + std::string source_; boost::shared_ptr collada_; domCOLLADA* dom_; diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index f7124d5..8ed8720 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -36,6 +36,8 @@ #include "collada_urdf/STLLoader.h" +#include +#include #include #define foreach BOOST_FOREACH @@ -47,7 +49,10 @@ using boost::shared_ptr; namespace collada_urdf { -ColladaWriter::ColladaWriter(urdf::Model* robot) : robot_(robot) { } +ColladaWriter::ColladaWriter(urdf::Model* robot, string const& source) + : robot_(robot), source_(source) +{ +} bool ColladaWriter::writeDocument(string const& documentName) { initDocument(documentName); @@ -76,10 +81,7 @@ void ColladaWriter::initDocument(string const& documentName) { daeDocument* doc = NULL; daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root if (error != DAE_OK || doc == NULL) - { - std::cerr << "Failed to create new document" << std::endl; - throw; - } + throw ColladaWriterException("Failed to create document"); dom_ = daeSafeCast(doc->getDomRoot()); dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); @@ -87,15 +89,21 @@ void ColladaWriter::initDocument(string const& documentName) { // Create the required asset tag domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); { + string date = getTimeStampString(); + domAsset::domCreatedRef created = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_CREATED)); - created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + created->setValue(date.c_str()); domAsset::domModifiedRef modified = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED)); - modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + modified->setValue(date.c_str()); domAsset::domContributorRef contrib = daeSafeCast(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR)); + domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); authoringtool->setValue("URDF Collada Writer"); + domAsset::domContributor::domSource_dataRef sourcedata = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_SOURCE_DATA)); + sourcedata->setValue(source_.c_str()); + domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); units->setMeter(1); units->setName("meter"); @@ -217,19 +225,19 @@ void ColladaWriter::addGeometries() { break; } case urdf::Geometry::SPHERE: { - std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " is unsupported" << std::endl; + std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " not exported" << std::endl; break; } case urdf::Geometry::BOX: { - std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " is unsupported" << std::endl; + std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " not exported" << std::endl; break; } case urdf::Geometry::CYLINDER: { - std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << std::endl; + std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " not exported" << std::endl; break; } default: { - std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << std::endl; + std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " not exported" << std::endl; break; } } @@ -833,4 +841,20 @@ domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const return rot; } +string ColladaWriter::getTimeStampString() const { + //"2009-04-06T17:01:00.891550" + + // facet becomes owned by locale, so no need to explicitly delete + boost::posix_time::time_facet* facet = new boost::posix_time::time_facet("%Y-%m-%dT%H:%M:%s"); + + std::stringstream ss(std::stringstream::in | std::stringstream::out); + ss.imbue(std::locale(ss.getloc(), facet)); + ss << boost::posix_time::second_clock::local_time(); + + string date; + ss >> date; + + return date; +} + } diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index d962f79..88dfe6a 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -32,12 +32,13 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -#include -#include +#include "collada_urdf/STLLoader.h" + #include #include +#include -#include "collada_urdf/STLLoader.h" +#include using std::string; using boost::shared_ptr; diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index cce43ca..e913bbe 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -62,7 +62,7 @@ int main(int argc, char** argv) return -1; } - collada_urdf::ColladaWriter writer(&robot); + collada_urdf::ColladaWriter writer(&robot, input_filename); if (!writer.writeDocument(output_filename)) { std::cerr << "Error writing document" << std::endl; return -1; From 138cff4f75278b789e298a8df5b4641a53b15d02 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:11:53 +0000 Subject: [PATCH 155/245] collada_urdf: added unit test, new ColladaWriter constructor --- collada_urdf/CMakeLists.txt | 2 + .../include/collada_urdf/ColladaWriter.h | 20 +- collada_urdf/src/ColladaWriter.cpp | 55 +- collada_urdf/src/urdf_to_collada.cpp | 6 +- collada_urdf/test/pr2.urdf | 3399 +++++++++++++++++ collada_urdf/test/test_collada_writer.cpp | 40 + 6 files changed, 3496 insertions(+), 26 deletions(-) create mode 100644 collada_urdf/test/pr2.urdf create mode 100644 collada_urdf/test/test_collada_writer.cpp diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt index 7ed58f2..40bfa84 100644 --- a/collada_urdf/CMakeLists.txt +++ b/collada_urdf/CMakeLists.txt @@ -4,3 +4,5 @@ set(ROS_BUILD_TYPE Debug) rosbuild_init() set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/ColladaWriter.cpp src/STLLoader.cpp) + +rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/ColladaWriter.cpp src/STLLoader.cpp) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h index 3120c87..63450e5 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -76,10 +76,19 @@ private: public: /** - * \brief Create a ColladaWriter using the specified URDF robot model and a source string, - * e.g. the name of the file the URDF was read from. + * \brief Create a ColladaWriter using the specified URDF filename. + * + * \param filename The name of the URDF file to convert */ - ColladaWriter(urdf::Model* robot, std::string const& source); + ColladaWriter(std::string const& filename); + + /** + * \brief Create a ColladaWriter using the specified URDF robot model and source. + * + * \param robot The URDF model to write + * \param source The source of the model, e.g. the URL the URDF was read from + */ + ColladaWriter(boost::shared_ptr robot, std::string const& source); virtual ~ColladaWriter(); @@ -124,9 +133,10 @@ private: std::string getTimeStampString() const; private: - urdf::Model* robot_; - std::string source_; + boost::shared_ptr robot_; + std::string source_; + DAE* dae_; boost::shared_ptr collada_; domCOLLADA* dom_; domCOLLADA::domSceneRef scene_; diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index 8ed8720..1cb70d7 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -49,8 +49,24 @@ using boost::shared_ptr; namespace collada_urdf { -ColladaWriter::ColladaWriter(urdf::Model* robot, string const& source) - : robot_(robot), source_(source) +ColladaWriter::ColladaWriter(std::string const& filename) + : source_(filename), dae_(NULL), dom_(NULL) +{ + TiXmlDocument xml; + if (!xml.LoadFile(filename.c_str())) + throw ColladaWriterException("Error opening file"); + + TiXmlElement* robot_xml = xml.FirstChildElement("robot"); + if (!robot_xml) + throw ColladaWriterException("Error parsing URDF model from XML"); + + robot_ = shared_ptr(new urdf::Model); + if (!robot_->initXml(robot_xml)) + throw ColladaWriterException("Error parsing URDF model from XML"); +} + +ColladaWriter::ColladaWriter(shared_ptr robot, string const& source) + : robot_(robot), source_(source), dae_(NULL), dom_(NULL) { } @@ -71,10 +87,28 @@ bool ColladaWriter::writeDocument(string const& documentName) { return true; } +ColladaWriter::~ColladaWriter() { + collada_.reset(); + + DAE::cleanup(); +} + +// Implementation + +void ColladaWriter::handleError(daeString msg) { + std::cerr << "COLLADA error: " << msg << std::endl; +} + +void ColladaWriter::handleWarning(daeString msg) { + std::cerr << "COLLADA warning: " << msg << std::endl; +} + void ColladaWriter::initDocument(string const& documentName) { daeErrorHandler::setErrorHandler(this); - collada_.reset(new DAE()); + dae_ = new DAE(); + + collada_.reset(dae_); collada_->setIOPlugin(NULL); collada_->setDatabase(NULL); @@ -135,13 +169,6 @@ void ColladaWriter::initDocument(string const& documentName) { materialsLib_->setId("materials"); } -ColladaWriter::~ColladaWriter() { - collada_.reset(); - DAE::cleanup(); -} - -// Implementation - ColladaWriter::SCENE ColladaWriter::createScene() { SCENE s; @@ -175,14 +202,6 @@ ColladaWriter::SCENE ColladaWriter::createScene() { return s; } -void ColladaWriter::handleError(daeString msg) { - std::cerr << "COLLADA error: " << msg << std::endl; -} - -void ColladaWriter::handleWarning(daeString msg) { - std::cerr << "COLLADA warning: " << msg << std::endl; -} - void ColladaWriter::setupPhysics(SCENE const& scene) { // domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index e913bbe..939a44e 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -56,13 +56,13 @@ int main(int argc, char** argv) return -1; } - urdf::Model robot; - if (!robot.initXml(robot_xml)) { + boost::shared_ptr robot(new urdf::Model); + if (!robot->initXml(robot_xml)) { std::cerr << "Error parsing URDF model from XML" << std::endl; return -1; } - collada_urdf::ColladaWriter writer(&robot, input_filename); + collada_urdf::ColladaWriter writer(robot, input_filename); if (!writer.writeDocument(output_filename)) { std::cerr << "Error writing document" << std::endl; return -1; diff --git a/collada_urdf/test/pr2.urdf b/collada_urdf/test/pr2.urdf new file mode 100644 index 0000000..ae16a78 --- /dev/null +++ b/collada_urdf/test/pr2.urdf @@ -0,0 +1,3399 @@ + + + + + + + + + + + + + + + + + + + + true + 1000.0 + + + + true + 1.0 + 5 + + power_state + 10.0 + 87.78 + -474 + 525 + 15.52 + 16.41 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 + 640 + 1 + 0.0 0.0 0.0 + false + -129.998394137 + 129.998394137 + 0.05 + 10.0 + 0.01 + 20 + + 0.005 + true + 20 + base_scan + base_laser_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -79.2380952381 + + + + + + + + + + + + + + + + + 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+ 0 0 0 + 0.0 + map + + + + true + 100.0 + l_gripper_tool_frame + l_gripper_tool_frame_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + /map + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true + 25.0 + l_forearm_cam/image_raw + l_forearm_cam/camera_info + l_forearm_cam_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true + 25.0 + r_forearm_cam/image_raw + r_forearm_cam/camera_info + r_forearm_cam_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + + + diff --git a/collada_urdf/test/test_collada_writer.cpp b/collada_urdf/test/test_collada_writer.cpp new file mode 100644 index 0000000..74c4670 --- /dev/null +++ b/collada_urdf/test/test_collada_writer.cpp @@ -0,0 +1,40 @@ +// Copyright (c) 2010, Willow Garage, Inc. +// All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of Willow Garage, Inc. nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +#include "collada_urdf/ColladaWriter.h" + +#include + +TEST(collada_urdf, collada_writer_writes) +{ + ASSERT_TRUE(collada_urdf::ColladaWriter("test/pr2.urdf").writeDocument("test/pr2.dae")); +} + +int main(int argc, char **argv) { + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} From da358799d07423aab8fceb0fa81f023b8ec6adce Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:14:56 +0000 Subject: [PATCH 156/245] collada_urdf: urdf_to_collada catches exceptions --- collada_urdf/src/ColladaWriter.cpp | 4 ++-- collada_urdf/src/urdf_to_collada.cpp | 32 ++++++++-------------------- 2 files changed, 11 insertions(+), 25 deletions(-) diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index 1cb70d7..78c3d54 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -54,11 +54,11 @@ ColladaWriter::ColladaWriter(std::string const& filename) { TiXmlDocument xml; if (!xml.LoadFile(filename.c_str())) - throw ColladaWriterException("Error opening file"); + throw ColladaWriterException("Error reading XML file"); TiXmlElement* robot_xml = xml.FirstChildElement("robot"); if (!robot_xml) - throw ColladaWriterException("Error parsing URDF model from XML"); + throw ColladaWriterException("Error parsing URDF model from XML (robot element not found)"); robot_ = shared_ptr(new urdf::Model); if (!robot_->initXml(robot_xml)) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 939a44e..03b01c1 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -41,30 +41,16 @@ int main(int argc, char** argv) return -1; } - std::string input_filename(argv[1]); - std::string output_filename(argv[2]); - - TiXmlDocument robot_model_xml; - if (!robot_model_xml.LoadFile(input_filename.c_str())) { - std::cerr << "Error opening file " << argv[1] << std::endl; - return -1; + try + { + collada_urdf::ColladaWriter writer(argv[1]); + if (!writer.writeDocument(argv[2])) { + std::cerr << "Error writing document" << std::endl; + return -1; + } } - - TiXmlElement* robot_xml = robot_model_xml.FirstChildElement("robot"); - if (!robot_xml) { - std::cerr << "Error parsing URDF model from XML" << std::endl; - return -1; - } - - boost::shared_ptr robot(new urdf::Model); - if (!robot->initXml(robot_xml)) { - std::cerr << "Error parsing URDF model from XML" << std::endl; - return -1; - } - - collada_urdf::ColladaWriter writer(robot, input_filename); - if (!writer.writeDocument(output_filename)) { - std::cerr << "Error writing document" << std::endl; + catch (collada_urdf::ColladaWriterException ex) { + std::cerr << "Error converting document: " << ex.what() << std::endl; return -1; } From 51a5c72b3125a33ad63ad256897f7c11df7e9988 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:25:33 +0000 Subject: [PATCH 157/245] collada_urdf: more exceptions --- .../include/collada_urdf/ColladaWriter.h | 10 ++++---- collada_urdf/src/ColladaWriter.cpp | 23 ++++++++++++++++--- collada_urdf/src/STLLoader.cpp | 6 +++-- 3 files changed, 28 insertions(+), 11 deletions(-) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h index 63450e5..dac9890 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -75,15 +75,14 @@ private: }; public: - /** - * \brief Create a ColladaWriter using the specified URDF filename. + /** \brief Create a ColladaWriter using the specified URDF filename. * * \param filename The name of the URDF file to convert + * \throws ColladaWriterException if file could not be opened, or URDF could not be parsed */ ColladaWriter(std::string const& filename); - /** - * \brief Create a ColladaWriter using the specified URDF robot model and source. + /** \brief Create a ColladaWriter using the specified URDF robot model and source. * * \param robot The URDF model to write * \param source The source of the model, e.g. the URL the URDF was read from @@ -92,8 +91,7 @@ public: virtual ~ColladaWriter(); - /** - * \brief Write the model to a COLLADA file. + /** \brief Write the model to a COLLADA file. * * \param documentName The filename of the document to write to * \return True if the file was successfully written diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index 78c3d54..0981b40 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -276,20 +276,37 @@ void ColladaWriter::loadMesh(string const& filename, domGeometryRef geometry, st } // Try assimp first, then STLLoader - if (!loadMeshWithSTLLoader(resource, geometry, geometry_id)) - std::cerr << "Can't load mesh " << filename << std::endl; + try { + loadMeshWithSTLLoader(resource, geometry, geometry_id); + } + catch (ColladaWriterException e) { + std::cerr << "Unable to load mesh file " << filename << ": " << e.what() << std::endl; + } } bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, string const& geometry_id) { // Write the resource to a temporary file char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; int fd = mkstemp(tmp_filename); - write(fd, resource.data.get(), resource.size); + if (fd == -1) + throw ColladaWriterException("Couldn't create temporary file"); + + if (write(fd, resource.data.get(), resource.size) != resource.size) { + close(fd); + unlink(tmp_filename); + throw ColladaWriterException("Couldn't write resource to file"); + } close(fd); // Import the mesh using STLLoader STLLoader loader; shared_ptr stl_mesh = loader.load(string(tmp_filename)); + if (stl_mesh == shared_ptr()) { + unlink(tmp_filename); + throw ColladaWriterException("Couldn't import mesh with STLLoader"); + } + + // Build the COLLADA mesh buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id); // Delete the temporary file diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/STLLoader.cpp index 88dfe6a..138f56c 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/STLLoader.cpp @@ -73,9 +73,11 @@ void Mesh::addIndex(unsigned int i) { indices.push_back(i); } // STLLoader shared_ptr STLLoader::load(std::string const& filename) { - mesh_ = shared_ptr(new Mesh); - file_ = fopen(filename.c_str(), "r"); + if (file_ == NULL) + return shared_ptr(); + + mesh_ = shared_ptr(new Mesh); readBinary(); fclose(file_); file_ = NULL; From 275955babf96a17927666a1cbc911854508f4990 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:27:52 +0000 Subject: [PATCH 158/245] collada_urdf: writeDocument now throws instead of returning bool --- collada_urdf/include/collada_urdf/ColladaWriter.h | 3 ++- collada_urdf/src/ColladaWriter.cpp | 4 +--- collada_urdf/test/test_collada_writer.cpp | 3 ++- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h index dac9890..8b4c856 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -95,8 +95,9 @@ public: * * \param documentName The filename of the document to write to * \return True if the file was successfully written + * \throws ColladaWriterException if an error occurred writing the COLLADA file */ - bool writeDocument(std::string const& documentName); + void writeDocument(std::string const& documentName); protected: virtual void handleError(daeString msg); diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index 0981b40..a7f82e1 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -70,7 +70,7 @@ ColladaWriter::ColladaWriter(shared_ptr robot, string const& source { } -bool ColladaWriter::writeDocument(string const& documentName) { +void ColladaWriter::writeDocument(string const& documentName) { initDocument(documentName); SCENE scene = createScene(); @@ -83,8 +83,6 @@ bool ColladaWriter::writeDocument(string const& documentName) { addBindings(scene); collada_->writeAll(); - - return true; } ColladaWriter::~ColladaWriter() { diff --git a/collada_urdf/test/test_collada_writer.cpp b/collada_urdf/test/test_collada_writer.cpp index 74c4670..0f427e8 100644 --- a/collada_urdf/test/test_collada_writer.cpp +++ b/collada_urdf/test/test_collada_writer.cpp @@ -31,7 +31,8 @@ TEST(collada_urdf, collada_writer_writes) { - ASSERT_TRUE(collada_urdf::ColladaWriter("test/pr2.urdf").writeDocument("test/pr2.dae")); + // An exception will be thrown on any error opening the URDF or writing the COLLADA file + collada_urdf::ColladaWriter("test/pr2.urdf").writeDocument("test/pr2.dae"); } int main(int argc, char **argv) { From b031e157a8aa1c80157d956e6ee4476573f05478 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:30:44 +0000 Subject: [PATCH 159/245] collada_urdf: cleanup --- collada_urdf/src/ColladaWriter.cpp | 2 -- collada_urdf/src/urdf_to_collada.cpp | 7 +++---- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index a7f82e1..221f84e 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -876,8 +876,6 @@ domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const } string ColladaWriter::getTimeStampString() const { - //"2009-04-06T17:01:00.891550" - // facet becomes owned by locale, so no need to explicitly delete boost::posix_time::time_facet* facet = new boost::posix_time::time_facet("%Y-%m-%dT%H:%M:%s"); diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 03b01c1..7a60dbf 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -44,15 +44,14 @@ int main(int argc, char** argv) try { collada_urdf::ColladaWriter writer(argv[1]); - if (!writer.writeDocument(argv[2])) { - std::cerr << "Error writing document" << std::endl; - return -1; - } + writer.writeDocument(argv[2]); } catch (collada_urdf::ColladaWriterException ex) { std::cerr << "Error converting document: " << ex.what() << std::endl; return -1; } + std::cout << "Document successfully written to " << argv[2] << std::endl; + return 0; } From 47d90e0c4a0f48a81637a8ef8d43c0a5cc7393a1 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:34:11 +0000 Subject: [PATCH 160/245] collada_urdf: clean up docs --- collada_urdf/include/collada_urdf/ColladaWriter.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/ColladaWriter.h index 8b4c856..f0daa5e 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/ColladaWriter.h @@ -75,7 +75,7 @@ private: }; public: - /** \brief Create a ColladaWriter using the specified URDF filename. + /** \brief Create a ColladaWriter to import URDF from the specified file. * * \param filename The name of the URDF file to convert * \throws ColladaWriterException if file could not be opened, or URDF could not be parsed From c8cb7dce19ab4267759d469a96955b2ec0ee8d56 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 23 Apr 2010 22:45:41 +0000 Subject: [PATCH 161/245] collada_urdf: throw exception on colladadom error --- collada_urdf/src/ColladaWriter.cpp | 2 +- collada_urdf/src/urdf_to_collada.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/ColladaWriter.cpp index 221f84e..507ca31 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/ColladaWriter.cpp @@ -94,7 +94,7 @@ ColladaWriter::~ColladaWriter() { // Implementation void ColladaWriter::handleError(daeString msg) { - std::cerr << "COLLADA error: " << msg << std::endl; + throw ColladaWriterException(msg); } void ColladaWriter::handleWarning(daeString msg) { diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 7a60dbf..b390d0f 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -47,11 +47,11 @@ int main(int argc, char** argv) writer.writeDocument(argv[2]); } catch (collada_urdf::ColladaWriterException ex) { - std::cerr << "Error converting document: " << ex.what() << std::endl; + std::cerr << std::endl << "Error converting document: " << ex.what() << std::endl; return -1; } - std::cout << "Document successfully written to " << argv[2] << std::endl; + std::cout << std::endl << "Document successfully written to " << argv[2] << std::endl; return 0; } From e5fc479762370022572642f7982fbc9ee5ca2a13 Mon Sep 17 00:00:00 2001 From: wim Date: Fri, 23 Apr 2010 23:18:33 +0000 Subject: [PATCH 162/245] use new tf broadcaster with vectors --- .../robot_state_publisher.h | 6 ++--- .../src/robot_state_publisher.cpp | 22 ++++++------------- 2 files changed, 10 insertions(+), 18 deletions(-) diff --git a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h index 402aa92..67c68be 100644 --- a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h +++ b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h @@ -40,7 +40,7 @@ #include #include #include -#include +#include #include "robot_state_publisher/treefksolverposfull_recursive.hpp" namespace robot_state_publisher{ @@ -68,8 +68,8 @@ private: KDL::Tree tree_; boost::scoped_ptr solver_; std::string root_; - std::string tf_prefix_; - tf::tfMessage tf_msg_; + std::vector transforms_; + tf::TransformBroadcaster tf_broadcaster_; class empty_tree_exception: public std::exception{ virtual const char* what() const throw(){ diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index 175c029..221fe2e 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -49,12 +49,6 @@ namespace robot_state_publisher{ RobotStatePublisher::RobotStatePublisher(const Tree& tree) :tree_(tree) { - // get tf prefix - NodeHandle n_local("~"); - std::string searched_param; - n_local.searchParam("tf_prefix", searched_param); - n_local.param(searched_param, tf_prefix_, std::string()); - // build tree solver solver_.reset(new TreeFkSolverPosFull_recursive(tree_)); @@ -78,21 +72,19 @@ bool RobotStatePublisher::publishTransforms(const map& joint_pos ROS_ERROR("Could not compute link poses. The tree or the state is invalid."); return false; } - tf_msg_.transforms.resize(link_poses.size()); + transforms_.resize(link_poses.size()); // send transforms to tf - geometry_msgs::TransformStamped trans; tf::Transform tf_frame; unsigned int i = 0; for (map::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ - tf::TransformKDLToTF(f->second, tf_frame); - trans.header.stamp = time; - trans.header.frame_id = tf::resolve(tf_prefix_, root_); - trans.child_frame_id = tf::resolve(tf_prefix_, f->first); - tf::transformTFToMsg(tf_frame, trans.transform); - tf_msg_.transforms[i++] = trans; + tf::TransformKDLToTF(f->second, transforms_[i]); + transforms_[i].stamp_ = time; + transforms_[i].frame_id_ = root_; + transforms_[i].child_frame_id_ = f->first; + i++; } - tf_publisher_.publish(tf_msg_); + tf_broadcaster_.sendTransform(transforms_); return true; } From fcc7c835af0a5001a644dc45739f4fae492fb03f Mon Sep 17 00:00:00 2001 From: tfield Date: Sat, 24 Apr 2010 00:10:18 +0000 Subject: [PATCH 163/245] collada_urdf: incorporating review changes --- collada_urdf/CMakeLists.txt | 4 ++-- collada_urdf/src/urdf_to_collada.cpp | 18 +++++++++--------- collada_urdf/test/test_collada_writer.cpp | 7 ++++--- 3 files changed, 15 insertions(+), 14 deletions(-) diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt index 40bfa84..dd21f38 100644 --- a/collada_urdf/CMakeLists.txt +++ b/collada_urdf/CMakeLists.txt @@ -3,6 +3,6 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) set(ROS_BUILD_TYPE Debug) rosbuild_init() set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/ColladaWriter.cpp src/STLLoader.cpp) +rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/collada_writer.cpp src/stl_loader.cpp) -rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/ColladaWriter.cpp src/STLLoader.cpp) +rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/collada_writer.cpp src/stl_loader.cpp) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index b390d0f..e527f7b 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -32,7 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -#include "collada_urdf/ColladaWriter.h" +#include "collada_urdf/collada_writer.h" int main(int argc, char** argv) { @@ -41,17 +41,17 @@ int main(int argc, char** argv) return -1; } - try - { - collada_urdf::ColladaWriter writer(argv[1]); - writer.writeDocument(argv[2]); - } - catch (collada_urdf::ColladaWriterException ex) { - std::cerr << std::endl << "Error converting document: " << ex.what() << std::endl; + std::string input_filename(argv[1]); + std::string output_filename(argv[2]); + + boost::shared_ptr dom; + if (!collada_urdf::colladaFromFile(input_filename, dom)) { + std::cerr << std::endl << "Error converting document" << std::endl; return -1; } - std::cout << std::endl << "Document successfully written to " << argv[2] << std::endl; + dom->write("/u/tfield/test.dae"); + std::cout << std::endl << "Document successfully written to " << output_filename << std::endl; return 0; } diff --git a/collada_urdf/test/test_collada_writer.cpp b/collada_urdf/test/test_collada_writer.cpp index 0f427e8..a69fa79 100644 --- a/collada_urdf/test/test_collada_writer.cpp +++ b/collada_urdf/test/test_collada_writer.cpp @@ -25,14 +25,15 @@ // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE. -#include "collada_urdf/ColladaWriter.h" +#include "collada_urdf/collada_writer.h" #include -TEST(collada_urdf, collada_writer_writes) +TEST(collada_urdf, collada_from_file_works) { // An exception will be thrown on any error opening the URDF or writing the COLLADA file - collada_urdf::ColladaWriter("test/pr2.urdf").writeDocument("test/pr2.dae"); + boost::shared_ptr dom; + ASSERT_TRUE(collada_urdf::colladaFromFile("test/pr2.urdf", dom)); } int main(int argc, char **argv) { From b24bcc5aa6cf8f4c7f6bd6dd1f1b7d514911b244 Mon Sep 17 00:00:00 2001 From: tfield Date: Sat, 24 Apr 2010 16:59:57 +0000 Subject: [PATCH 164/245] collada_urdf: review changes --- .../{ColladaWriter.h => collada_writer.h} | 58 +++++---- .../{STLLoader.h => stl_loader.h} | 0 .../{ColladaWriter.cpp => collada_writer.cpp} | 111 +++++++++++------- .../src/{STLLoader.cpp => stl_loader.cpp} | 2 +- 4 files changed, 100 insertions(+), 71 deletions(-) rename collada_urdf/include/collada_urdf/{ColladaWriter.h => collada_writer.h} (80%) rename collada_urdf/include/collada_urdf/{STLLoader.h => stl_loader.h} (100%) rename collada_urdf/src/{ColladaWriter.cpp => collada_writer.cpp} (94%) rename collada_urdf/src/{STLLoader.cpp => stl_loader.cpp} (99%) diff --git a/collada_urdf/include/collada_urdf/ColladaWriter.h b/collada_urdf/include/collada_urdf/collada_writer.h similarity index 80% rename from collada_urdf/include/collada_urdf/ColladaWriter.h rename to collada_urdf/include/collada_urdf/collada_writer.h index f0daa5e..69025fc 100644 --- a/collada_urdf/include/collada_urdf/ColladaWriter.h +++ b/collada_urdf/include/collada_urdf/collada_writer.h @@ -59,6 +59,36 @@ public: ColladaWriterException(std::string const& what) : std::runtime_error(what) { } }; +/** Constructs a COLLADA DOM from a file, given the file name + * \param file The filename from where to read the XML + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromFile(std::string const& file, boost::shared_ptr& dom); + +/** Constructs a COLLADA DOM from a string containing XML + * \param xml A string containing the XML description of the robot + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromString(std::string const& xml, boost::shared_ptr& dom); + +/** Constructs a COLLADA DOM from a TiXmlDocument + * \param xml_doc The TiXmlDocument containing the XML description of the robot + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); + +/** Constructs a COLLADA DOM from a URDF robot model + * \param robot_model The URDF robot model + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom); + +// + class Mesh; class ColladaWriter : public daeErrorHandler @@ -75,29 +105,10 @@ private: }; public: - /** \brief Create a ColladaWriter to import URDF from the specified file. - * - * \param filename The name of the URDF file to convert - * \throws ColladaWriterException if file could not be opened, or URDF could not be parsed - */ - ColladaWriter(std::string const& filename); - - /** \brief Create a ColladaWriter using the specified URDF robot model and source. - * - * \param robot The URDF model to write - * \param source The source of the model, e.g. the URL the URDF was read from - */ - ColladaWriter(boost::shared_ptr robot, std::string const& source); - + ColladaWriter(urdf::Model const& robot); virtual ~ColladaWriter(); - /** \brief Write the model to a COLLADA file. - * - * \param documentName The filename of the document to write to - * \return True if the file was successfully written - * \throws ColladaWriterException if an error occurred writing the COLLADA file - */ - void writeDocument(std::string const& documentName); + boost::shared_ptr convert(); protected: virtual void handleError(daeString msg); @@ -132,10 +143,7 @@ private: std::string getTimeStampString() const; private: - boost::shared_ptr robot_; - std::string source_; - - DAE* dae_; + urdf::Model robot_; boost::shared_ptr collada_; domCOLLADA* dom_; domCOLLADA::domSceneRef scene_; diff --git a/collada_urdf/include/collada_urdf/STLLoader.h b/collada_urdf/include/collada_urdf/stl_loader.h similarity index 100% rename from collada_urdf/include/collada_urdf/STLLoader.h rename to collada_urdf/include/collada_urdf/stl_loader.h diff --git a/collada_urdf/src/ColladaWriter.cpp b/collada_urdf/src/collada_writer.cpp similarity index 94% rename from collada_urdf/src/ColladaWriter.cpp rename to collada_urdf/src/collada_writer.cpp index 507ca31..90364e0 100644 --- a/collada_urdf/src/ColladaWriter.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -32,9 +32,9 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -#include "collada_urdf/ColladaWriter.h" +#include "collada_urdf/collada_writer.h" -#include "collada_urdf/STLLoader.h" +#include "collada_urdf/stl_loader.h" #include #include @@ -49,40 +49,66 @@ using boost::shared_ptr; namespace collada_urdf { -ColladaWriter::ColladaWriter(std::string const& filename) - : source_(filename), dae_(NULL), dom_(NULL) -{ - TiXmlDocument xml; - if (!xml.LoadFile(filename.c_str())) - throw ColladaWriterException("Error reading XML file"); +bool colladaFromFile(std::string const& file, boost::shared_ptr& dom) { + TiXmlDocument urdf_xml; + if (!urdf_xml.LoadFile(file)) { + ROS_ERROR("Could not load XML file"); + return false; + } - TiXmlElement* robot_xml = xml.FirstChildElement("robot"); - if (!robot_xml) - throw ColladaWriterException("Error parsing URDF model from XML (robot element not found)"); - - robot_ = shared_ptr(new urdf::Model); - if (!robot_->initXml(robot_xml)) - throw ColladaWriterException("Error parsing URDF model from XML"); + return colladaFromXml(&urdf_xml, dom); } -ColladaWriter::ColladaWriter(shared_ptr robot, string const& source) - : robot_(robot), source_(source), dae_(NULL), dom_(NULL) -{ +bool colladaFromString(std::string const& xml, boost::shared_ptr& dom) { + TiXmlDocument urdf_xml; + if (urdf_xml.Parse(xml.c_str()) == 0) { + ROS_ERROR("Could not parse XML document"); + return false; + } + + return colladaFromXml(&urdf_xml, dom); } -void ColladaWriter::writeDocument(string const& documentName) { - initDocument(documentName); +bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom) { + urdf::Model robot_model; + if (!robot_model.initXml(xml_doc)) { + ROS_ERROR("Could not generate robot model"); + return false; + } - SCENE scene = createScene(); + return colladaFromUrdfModel(robot_model, dom); +} - setupPhysics(scene); - addGeometries(); - addKinematics(scene); - addVisuals(scene); - addMaterials(); - addBindings(scene); +bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom) { + ColladaWriter writer(robot_model); + dom = writer.convert(); - collada_->writeAll(); + return dom != shared_ptr(); +} + +// + +ColladaWriter::ColladaWriter(urdf::Model const& robot) : robot_(robot), dom_(NULL) { } + +shared_ptr ColladaWriter::convert() { + try { + initDocument("collada_urdf"); + + SCENE scene = createScene(); + + setupPhysics(scene); + addGeometries(); + addKinematics(scene); + addVisuals(scene); + addMaterials(); + addBindings(scene); + + return collada_; + } + catch (ColladaWriterException ex) { + ROS_ERROR("Error converting: %s", ex.what()); + return shared_ptr(); + } } ColladaWriter::~ColladaWriter() { @@ -98,15 +124,13 @@ void ColladaWriter::handleError(daeString msg) { } void ColladaWriter::handleWarning(daeString msg) { - std::cerr << "COLLADA warning: " << msg << std::endl; + std::cerr << "COLLADA DOM warning: " << msg << std::endl; } void ColladaWriter::initDocument(string const& documentName) { daeErrorHandler::setErrorHandler(this); - dae_ = new DAE(); - - collada_.reset(dae_); + collada_.reset(new DAE); collada_->setIOPlugin(NULL); collada_->setDatabase(NULL); @@ -133,9 +157,6 @@ void ColladaWriter::initDocument(string const& documentName) { domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); authoringtool->setValue("URDF Collada Writer"); - domAsset::domContributor::domSource_dataRef sourcedata = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_SOURCE_DATA)); - sourcedata->setValue(source_.c_str()); - domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); units->setMeter(1); units->setName("meter"); @@ -215,7 +236,7 @@ void ColladaWriter::setupPhysics(SCENE const& scene) { void ColladaWriter::addGeometries() { int link_num = 0; - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + for (map >::const_iterator i = robot_.links_.begin(); i != robot_.links_.end(); i++) { shared_ptr urdf_link = i->second; if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL) @@ -397,7 +418,7 @@ void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElement void ColladaWriter::addJoints(daeElementRef parent) { int joint_num = 0; - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { shared_ptr urdf_joint = i->second; // @@ -553,7 +574,7 @@ void ColladaWriter::addBindings(SCENE const& scene) { kmodel_bind->setNode("v1.node0"); // @todo daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { shared_ptr urdf_joint = i->second; int idof = 0; // @todo assuming 1 dof joints @@ -587,7 +608,7 @@ void ColladaWriter::addKinematics(SCENE const& scene) { // domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); kmodel->setId("k1"); - kmodel->setName(robot_->getName().c_str()); + kmodel->setName(robot_.getName().c_str()); { // domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); @@ -596,7 +617,7 @@ void ColladaWriter::addKinematics(SCENE const& scene) { // int link_num = 0; - addKinematicLink(robot_->getRoot(), technique, link_num); + addKinematicLink(robot_.getRoot(), technique, link_num); // } kmodel_ = kmodel; @@ -621,7 +642,7 @@ void ColladaWriter::addKinematics(SCENE const& scene) { } // - for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { shared_ptr urdf_joint = i->second; int idof = 0; // @todo assuming 1 dof joints @@ -670,7 +691,7 @@ void ColladaWriter::addKinematicLink(shared_ptr urdf_link, dae { addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); - addKinematicLink(robot_->getLink(urdf_joint->child_link_name), attachment_full, link_num); + addKinematicLink(robot_.getLink(urdf_joint->child_link_name), attachment_full, link_num); } // } @@ -681,10 +702,10 @@ void ColladaWriter::addVisuals(SCENE const& scene) { // domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); root_node->setId("v1"); - root_node->setName(robot_->getName().c_str()); + root_node->setName(robot_.getName().c_str()); { int link_num = 0; - addVisualLink(robot_->getRoot(), root_node, link_num); + addVisualLink(robot_.getRoot(), root_node, link_num); } } @@ -693,7 +714,7 @@ void ColladaWriter::addMaterials() { ambient.init("1 1 1 0"); diffuse.init("1 1 1 0"); - for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + for (map >::const_iterator i = robot_.links_.begin(); i != robot_.links_.end(); i++) { shared_ptr urdf_link = i->second; map::const_iterator j = geometry_ids_.find(urdf_link->name); diff --git a/collada_urdf/src/STLLoader.cpp b/collada_urdf/src/stl_loader.cpp similarity index 99% rename from collada_urdf/src/STLLoader.cpp rename to collada_urdf/src/stl_loader.cpp index 138f56c..7278c05 100644 --- a/collada_urdf/src/STLLoader.cpp +++ b/collada_urdf/src/stl_loader.cpp @@ -32,7 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -#include "collada_urdf/STLLoader.h" +#include "collada_urdf/stl_loader.h" #include #include From 2083f8ef9a12fafb404cd0b405930f33ed966383 Mon Sep 17 00:00:00 2001 From: tfield Date: Sat, 24 Apr 2010 17:45:27 +0000 Subject: [PATCH 165/245] collada_urdf: link Boost.System --- collada_urdf/CMakeLists.txt | 10 ++++- .../include/collada_urdf/collada_writer.h | 32 +------------- .../include/collada_urdf/stl_loader.h | 2 + collada_urdf/src/collada_writer.cpp | 43 ++----------------- collada_urdf/src/stl_loader.cpp | 2 + collada_urdf/src/urdf_to_collada.cpp | 4 +- ...llada_writer.cpp => test_collada_urdf.cpp} | 4 +- 7 files changed, 23 insertions(+), 74 deletions(-) rename collada_urdf/test/{test_collada_writer.cpp => test_collada_urdf.cpp} (96%) diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt index dd21f38..ee272a6 100644 --- a/collada_urdf/CMakeLists.txt +++ b/collada_urdf/CMakeLists.txt @@ -3,6 +3,12 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) set(ROS_BUILD_TYPE Debug) rosbuild_init() set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp src/collada_writer.cpp src/stl_loader.cpp) -rosbuild_add_gtest(test_collada_writer test/test_collada_writer.cpp src/collada_writer.cpp src/stl_loader.cpp) +rosbuild_add_library(collada_urdf src/collada_urdf.cpp src/collada_writer.cpp src/stl_loader.cpp) +rosbuild_link_boost(collada_urdf system) + +rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp) +target_link_libraries(urdf_to_collada collada_urdf) + +rosbuild_add_gtest(test_collada_writer test/test_collada_urdf.cpp) +target_link_libraries(test_collada_writer collada_urdf) diff --git a/collada_urdf/include/collada_urdf/collada_writer.h b/collada_urdf/include/collada_urdf/collada_writer.h index 69025fc..d579d80 100644 --- a/collada_urdf/include/collada_urdf/collada_writer.h +++ b/collada_urdf/include/collada_urdf/collada_writer.h @@ -32,6 +32,8 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ +/* Author: Tim Field */ + #ifndef COLLADA_URDF_COLLADA_WRITER_H #define COLLADA_URDF_COLLADA_WRITER_H @@ -59,36 +61,6 @@ public: ColladaWriterException(std::string const& what) : std::runtime_error(what) { } }; -/** Constructs a COLLADA DOM from a file, given the file name - * \param file The filename from where to read the XML - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromFile(std::string const& file, boost::shared_ptr& dom); - -/** Constructs a COLLADA DOM from a string containing XML - * \param xml A string containing the XML description of the robot - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromString(std::string const& xml, boost::shared_ptr& dom); - -/** Constructs a COLLADA DOM from a TiXmlDocument - * \param xml_doc The TiXmlDocument containing the XML description of the robot - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); - -/** Constructs a COLLADA DOM from a URDF robot model - * \param robot_model The URDF robot model - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom); - -// - class Mesh; class ColladaWriter : public daeErrorHandler diff --git a/collada_urdf/include/collada_urdf/stl_loader.h b/collada_urdf/include/collada_urdf/stl_loader.h index c96395d..4241c54 100644 --- a/collada_urdf/include/collada_urdf/stl_loader.h +++ b/collada_urdf/include/collada_urdf/stl_loader.h @@ -32,6 +32,8 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ +/* Author: Tim Field */ + #ifndef COLLADA_URDF_STL_LOADER_H #define COLLADA_URDF_STL_LOADER_H diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index 90364e0..11b5b0e 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -32,6 +32,8 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ +/* Author: Tim Field */ + #include "collada_urdf/collada_writer.h" #include "collada_urdf/stl_loader.h" @@ -49,45 +51,6 @@ using boost::shared_ptr; namespace collada_urdf { -bool colladaFromFile(std::string const& file, boost::shared_ptr& dom) { - TiXmlDocument urdf_xml; - if (!urdf_xml.LoadFile(file)) { - ROS_ERROR("Could not load XML file"); - return false; - } - - return colladaFromXml(&urdf_xml, dom); -} - -bool colladaFromString(std::string const& xml, boost::shared_ptr& dom) { - TiXmlDocument urdf_xml; - if (urdf_xml.Parse(xml.c_str()) == 0) { - ROS_ERROR("Could not parse XML document"); - return false; - } - - return colladaFromXml(&urdf_xml, dom); -} - -bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom) { - urdf::Model robot_model; - if (!robot_model.initXml(xml_doc)) { - ROS_ERROR("Could not generate robot model"); - return false; - } - - return colladaFromUrdfModel(robot_model, dom); -} - -bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom) { - ColladaWriter writer(robot_model); - dom = writer.convert(); - - return dom != shared_ptr(); -} - -// - ColladaWriter::ColladaWriter(urdf::Model const& robot) : robot_(robot), dom_(NULL) { } shared_ptr ColladaWriter::convert() { @@ -310,7 +273,7 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con if (fd == -1) throw ColladaWriterException("Couldn't create temporary file"); - if (write(fd, resource.data.get(), resource.size) != resource.size) { + if ((uint32_t) write(fd, resource.data.get(), resource.size) != resource.size) { close(fd); unlink(tmp_filename); throw ColladaWriterException("Couldn't write resource to file"); diff --git a/collada_urdf/src/stl_loader.cpp b/collada_urdf/src/stl_loader.cpp index 7278c05..77b8b2d 100644 --- a/collada_urdf/src/stl_loader.cpp +++ b/collada_urdf/src/stl_loader.cpp @@ -32,6 +32,8 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ +/* Author: Tim Field */ + #include "collada_urdf/stl_loader.h" #include diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index e527f7b..6081c79 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -32,7 +32,9 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -#include "collada_urdf/collada_writer.h" +/* Author: Tim Field */ + +#include "collada_urdf/collada_urdf.h" int main(int argc, char** argv) { diff --git a/collada_urdf/test/test_collada_writer.cpp b/collada_urdf/test/test_collada_urdf.cpp similarity index 96% rename from collada_urdf/test/test_collada_writer.cpp rename to collada_urdf/test/test_collada_urdf.cpp index a69fa79..0c17a8e 100644 --- a/collada_urdf/test/test_collada_writer.cpp +++ b/collada_urdf/test/test_collada_urdf.cpp @@ -25,7 +25,9 @@ // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE. -#include "collada_urdf/collada_writer.h" +/* Author: Tim Field */ + +#include "collada_urdf/collada_urdf.h" #include From 51126cf4585c67c6410b144712a04201e0bfb6c0 Mon Sep 17 00:00:00 2001 From: tfield Date: Sat, 24 Apr 2010 17:46:20 +0000 Subject: [PATCH 166/245] collada_urdf: split top-level API functions into own header --- .../include/collada_urdf/collada_urdf.h | 80 ++++++++++++++++++ collada_urdf/src/collada_urdf.cpp | 82 +++++++++++++++++++ 2 files changed, 162 insertions(+) create mode 100644 collada_urdf/include/collada_urdf/collada_urdf.h create mode 100644 collada_urdf/src/collada_urdf.cpp diff --git a/collada_urdf/include/collada_urdf/collada_urdf.h b/collada_urdf/include/collada_urdf/collada_urdf.h new file mode 100644 index 0000000..a1d3f66 --- /dev/null +++ b/collada_urdf/include/collada_urdf/collada_urdf.h @@ -0,0 +1,80 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Tim Field */ + +#ifndef COLLADA_URDF_COLLADA_URDF_H +#define COLLADA_URDF_COLLADA_URDF_H + +#include + +#include + +#include + +#include "urdf/model.h" + +namespace collada_urdf { + +/** Constructs a COLLADA DOM from a file, given the filename + * \param file The filename from where to read the XML + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromFile(std::string const& file, boost::shared_ptr& dom); + +/** Constructs a COLLADA DOM from a string containing XML + * \param xml A string containing the XML description of the robot + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromString(std::string const& xml, boost::shared_ptr& dom); + +/** Constructs a COLLADA DOM from a TiXmlDocument + * \param xml_doc The TiXmlDocument containing the XML description of the robot + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); + +/** Constructs a COLLADA DOM from a URDF robot model + * \param robot_model The URDF robot model + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom); + +} + +#endif diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp new file mode 100644 index 0000000..b407e74 --- /dev/null +++ b/collada_urdf/src/collada_urdf.cpp @@ -0,0 +1,82 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Tim Field */ + +#include "collada_urdf/collada_urdf.h" +#include "collada_urdf/collada_writer.h" + +using std::string; +using boost::shared_ptr; + +namespace collada_urdf { + +bool colladaFromFile(string const& file, shared_ptr& dom) { + TiXmlDocument urdf_xml; + if (!urdf_xml.LoadFile(file)) { + ROS_ERROR("Could not load XML file"); + return false; + } + + return colladaFromXml(&urdf_xml, dom); +} + +bool colladaFromString(string const& xml, shared_ptr& dom) { + TiXmlDocument urdf_xml; + if (urdf_xml.Parse(xml.c_str()) == 0) { + ROS_ERROR("Could not parse XML document"); + return false; + } + + return colladaFromXml(&urdf_xml, dom); +} + +bool colladaFromXml(TiXmlDocument* xml_doc, shared_ptr& dom) { + urdf::Model robot_model; + if (!robot_model.initXml(xml_doc)) { + ROS_ERROR("Could not generate robot model"); + return false; + } + + return colladaFromUrdfModel(robot_model, dom); +} + +bool colladaFromUrdfModel(urdf::Model const& robot_model, shared_ptr& dom) { + ColladaWriter writer(robot_model); + dom = writer.convert(); + + return dom != shared_ptr(); +} + +} From 3ab12d3c7f52c7db06902dcd2fbb4d11522526ae Mon Sep 17 00:00:00 2001 From: tfield Date: Sat, 24 Apr 2010 18:22:25 +0000 Subject: [PATCH 167/245] collada_urdf: added colladaToFile --- .../include/collada_urdf/collada_urdf.h | 25 ++++++++----- .../include/collada_urdf/collada_writer.h | 2 + collada_urdf/src/collada_urdf.cpp | 15 +++++--- collada_urdf/src/collada_writer.cpp | 37 +++++++++---------- collada_urdf/src/urdf_to_collada.cpp | 4 +- collada_urdf/test/test_collada_urdf.cpp | 6 +-- 6 files changed, 50 insertions(+), 39 deletions(-) diff --git a/collada_urdf/include/collada_urdf/collada_urdf.h b/collada_urdf/include/collada_urdf/collada_urdf.h index a1d3f66..7030f82 100644 --- a/collada_urdf/include/collada_urdf/collada_urdf.h +++ b/collada_urdf/include/collada_urdf/collada_urdf.h @@ -47,34 +47,41 @@ namespace collada_urdf { -/** Constructs a COLLADA DOM from a file, given the filename - * \param file The filename from where to read the XML +/** Construct a COLLADA DOM from an URDF file + * \param file The filename from where to read the URDF * \param dom The resulting COLLADA DOM * \return true on success, false on failure */ -bool colladaFromFile(std::string const& file, boost::shared_ptr& dom); +bool colladaFromUrdfFile(std::string const& file, boost::shared_ptr& dom); -/** Constructs a COLLADA DOM from a string containing XML +/** Construct a COLLADA DOM from a string containing URDF * \param xml A string containing the XML description of the robot * \param dom The resulting COLLADA DOM * \return true on success, false on failure */ -bool colladaFromString(std::string const& xml, boost::shared_ptr& dom); +bool colladaFromUrdfString(std::string const& xml, boost::shared_ptr& dom); -/** Constructs a COLLADA DOM from a TiXmlDocument - * \param xml_doc The TiXmlDocument containing the XML description of the robot +/** Construct a COLLADA DOM from a TiXmlDocument containing URDF + * \param xml_doc The TiXmlDocument containing URDF * \param dom The resulting COLLADA DOM * \return true on success, false on failure */ -bool colladaFromXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); +bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); -/** Constructs a COLLADA DOM from a URDF robot model +/** Construct a COLLADA DOM from a URDF robot model * \param robot_model The URDF robot model * \param dom The resulting COLLADA DOM * \return true on success, false on failure */ bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom); +/** Write a COLLADA DOM to a file + * \param dom COLLADA DOM to write + * \param file The filename to write the document to + * \return true on success, false on failure + */ +bool colladaToFile(boost::shared_ptr dom, std::string const& file); + } #endif diff --git a/collada_urdf/include/collada_urdf/collada_writer.h b/collada_urdf/include/collada_urdf/collada_writer.h index d579d80..3bf0c30 100644 --- a/collada_urdf/include/collada_urdf/collada_writer.h +++ b/collada_urdf/include/collada_urdf/collada_writer.h @@ -115,6 +115,8 @@ private: std::string getTimeStampString() const; private: + static int s_doc_count_; + urdf::Model robot_; boost::shared_ptr collada_; domCOLLADA* dom_; diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index b407e74..69fbd3f 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -42,27 +42,27 @@ using boost::shared_ptr; namespace collada_urdf { -bool colladaFromFile(string const& file, shared_ptr& dom) { +bool colladaFromUrdfFile(string const& file, shared_ptr& dom) { TiXmlDocument urdf_xml; if (!urdf_xml.LoadFile(file)) { ROS_ERROR("Could not load XML file"); return false; } - return colladaFromXml(&urdf_xml, dom); + return colladaFromUrdfXml(&urdf_xml, dom); } -bool colladaFromString(string const& xml, shared_ptr& dom) { +bool colladaFromUrdfString(string const& xml, shared_ptr& dom) { TiXmlDocument urdf_xml; if (urdf_xml.Parse(xml.c_str()) == 0) { ROS_ERROR("Could not parse XML document"); return false; } - return colladaFromXml(&urdf_xml, dom); + return colladaFromUrdfXml(&urdf_xml, dom); } -bool colladaFromXml(TiXmlDocument* xml_doc, shared_ptr& dom) { +bool colladaFromUrdfXml(TiXmlDocument* xml_doc, shared_ptr& dom) { urdf::Model robot_model; if (!robot_model.initXml(xml_doc)) { ROS_ERROR("Could not generate robot model"); @@ -79,4 +79,9 @@ bool colladaFromUrdfModel(urdf::Model const& robot_model, shared_ptr& dom) return dom != shared_ptr(); } +bool colladaToFile(shared_ptr dom, string const& file) { + daeString uri = dom->getDoc(0)->getDocumentURI()->getURI(); + return dom->writeTo(uri, file); +} + } diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index 11b5b0e..7265365 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -51,11 +51,22 @@ using boost::shared_ptr; namespace collada_urdf { -ColladaWriter::ColladaWriter(urdf::Model const& robot) : robot_(robot), dom_(NULL) { } +int ColladaWriter::s_doc_count_ = 0; + +ColladaWriter::ColladaWriter(urdf::Model const& robot) : robot_(robot), dom_(NULL) { + daeErrorHandler::setErrorHandler(this); + + collada_.reset(new DAE); + collada_->setIOPlugin(NULL); + collada_->setDatabase(NULL); +} + +ColladaWriter::~ColladaWriter() { } shared_ptr ColladaWriter::convert() { try { - initDocument("collada_urdf"); + string doc_count_str = boost::lexical_cast(s_doc_count_++); + initDocument(string("collada_urdf_") + doc_count_str + string(".dae")); SCENE scene = createScene(); @@ -74,12 +85,6 @@ shared_ptr ColladaWriter::convert() { } } -ColladaWriter::~ColladaWriter() { - collada_.reset(); - - DAE::cleanup(); -} - // Implementation void ColladaWriter::handleError(daeString msg) { @@ -91,12 +96,7 @@ void ColladaWriter::handleWarning(daeString msg) { } void ColladaWriter::initDocument(string const& documentName) { - daeErrorHandler::setErrorHandler(this); - - collada_.reset(new DAE); - collada_->setIOPlugin(NULL); - collada_->setDatabase(NULL); - + // Create the document daeDocument* doc = NULL; daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root if (error != DAE_OK || doc == NULL) @@ -105,7 +105,7 @@ void ColladaWriter::initDocument(string const& documentName) { dom_ = daeSafeCast(doc->getDomRoot()); dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); - // Create the required asset tag + // Create asset elements domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); { string date = getTimeStampString(); @@ -128,10 +128,8 @@ void ColladaWriter::initDocument(string const& documentName) { zup->setValue(UP_AXIS_Z_UP); } - scene_ = dom_->getScene(); - if (!scene_) - scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); - + // Create top-level elements + scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); visualScenesLib_->setId("vscenes"); geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); @@ -142,7 +140,6 @@ void ColladaWriter::initDocument(string const& documentName) { kinematicsModelsLib_->setId("kmodels"); jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); jointsLib_->setId("joints"); - physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); physicsScenesLib_->setId("physics_scenes"); effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 6081c79..5eb9d16 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -47,12 +47,12 @@ int main(int argc, char** argv) std::string output_filename(argv[2]); boost::shared_ptr dom; - if (!collada_urdf::colladaFromFile(input_filename, dom)) { + if (!collada_urdf::colladaFromUrdfFile(input_filename, dom)) { std::cerr << std::endl << "Error converting document" << std::endl; return -1; } - dom->write("/u/tfield/test.dae"); + collada_urdf::colladaToFile(dom, output_filename); std::cout << std::endl << "Document successfully written to " << output_filename << std::endl; return 0; diff --git a/collada_urdf/test/test_collada_urdf.cpp b/collada_urdf/test/test_collada_urdf.cpp index 0c17a8e..895fa50 100644 --- a/collada_urdf/test/test_collada_urdf.cpp +++ b/collada_urdf/test/test_collada_urdf.cpp @@ -31,11 +31,11 @@ #include -TEST(collada_urdf, collada_from_file_works) +TEST(collada_urdf, collada_from_urdf_file_works) { - // An exception will be thrown on any error opening the URDF or writing the COLLADA file boost::shared_ptr dom; - ASSERT_TRUE(collada_urdf::colladaFromFile("test/pr2.urdf", dom)); + ASSERT_TRUE(collada_urdf::colladaFromUrdfFile("test/pr2.urdf", dom)); + ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); } int main(int argc, char **argv) { From de6ad90cf17476a74a3f8ad9fd449eb598a597ca Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 26 Apr 2010 19:00:40 +0000 Subject: [PATCH 168/245] collada_urdf: ColladaWriterException -> ColladaUrdfException --- collada_urdf/include/collada_urdf/collada_urdf.h | 6 ++++++ collada_urdf/include/collada_urdf/collada_writer.h | 13 +++++++------ collada_urdf/src/collada_urdf.cpp | 5 +++++ collada_urdf/src/collada_writer.cpp | 14 +++++++------- 4 files changed, 25 insertions(+), 13 deletions(-) diff --git a/collada_urdf/include/collada_urdf/collada_urdf.h b/collada_urdf/include/collada_urdf/collada_urdf.h index 7030f82..44f5837 100644 --- a/collada_urdf/include/collada_urdf/collada_urdf.h +++ b/collada_urdf/include/collada_urdf/collada_urdf.h @@ -47,6 +47,12 @@ namespace collada_urdf { +class ColladaUrdfException : public std::runtime_error +{ +public: + ColladaUrdfException(std::string const& what); +}; + /** Construct a COLLADA DOM from an URDF file * \param file The filename from where to read the URDF * \param dom The resulting COLLADA DOM diff --git a/collada_urdf/include/collada_urdf/collada_writer.h b/collada_urdf/include/collada_urdf/collada_writer.h index 3bf0c30..6aada98 100644 --- a/collada_urdf/include/collada_urdf/collada_writer.h +++ b/collada_urdf/include/collada_urdf/collada_writer.h @@ -37,6 +37,8 @@ #ifndef COLLADA_URDF_COLLADA_WRITER_H #define COLLADA_URDF_COLLADA_WRITER_H +#include "collada_urdf/collada_urdf.h" + #include #include @@ -55,14 +57,13 @@ namespace collada_urdf { -class ColladaWriterException : public std::runtime_error -{ -public: - ColladaWriterException(std::string const& what) : std::runtime_error(what) { } -}; - class Mesh; +/** + * Implements writing urdf::Model objects to a COLLADA DOM. + * + * The API for this class is unstable. The public API for collada_urdf is declared in collada_urdf.h. + */ class ColladaWriter : public daeErrorHandler { private: diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 69fbd3f..63ea86e 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -42,6 +42,11 @@ using boost::shared_ptr; namespace collada_urdf { +ColladaUrdfException::ColladaUrdfException(std::string const& what) + : std::runtime_error(what) +{ +} + bool colladaFromUrdfFile(string const& file, shared_ptr& dom) { TiXmlDocument urdf_xml; if (!urdf_xml.LoadFile(file)) { diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index 7265365..8fe3dea 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -79,7 +79,7 @@ shared_ptr ColladaWriter::convert() { return collada_; } - catch (ColladaWriterException ex) { + catch (ColladaUrdfException ex) { ROS_ERROR("Error converting: %s", ex.what()); return shared_ptr(); } @@ -88,7 +88,7 @@ shared_ptr ColladaWriter::convert() { // Implementation void ColladaWriter::handleError(daeString msg) { - throw ColladaWriterException(msg); + throw ColladaUrdfException(msg); } void ColladaWriter::handleWarning(daeString msg) { @@ -100,7 +100,7 @@ void ColladaWriter::initDocument(string const& documentName) { daeDocument* doc = NULL; daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root if (error != DAE_OK || doc == NULL) - throw ColladaWriterException("Failed to create document"); + throw ColladaUrdfException("Failed to create document"); dom_ = daeSafeCast(doc->getDomRoot()); dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); @@ -258,7 +258,7 @@ void ColladaWriter::loadMesh(string const& filename, domGeometryRef geometry, st try { loadMeshWithSTLLoader(resource, geometry, geometry_id); } - catch (ColladaWriterException e) { + catch (ColladaUrdfException e) { std::cerr << "Unable to load mesh file " << filename << ": " << e.what() << std::endl; } } @@ -268,12 +268,12 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; int fd = mkstemp(tmp_filename); if (fd == -1) - throw ColladaWriterException("Couldn't create temporary file"); + throw ColladaUrdfException("Couldn't create temporary file"); if ((uint32_t) write(fd, resource.data.get(), resource.size) != resource.size) { close(fd); unlink(tmp_filename); - throw ColladaWriterException("Couldn't write resource to file"); + throw ColladaUrdfException("Couldn't write resource to file"); } close(fd); @@ -282,7 +282,7 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con shared_ptr stl_mesh = loader.load(string(tmp_filename)); if (stl_mesh == shared_ptr()) { unlink(tmp_filename); - throw ColladaWriterException("Couldn't import mesh with STLLoader"); + throw ColladaUrdfException("Couldn't import STL mesh"); } // Build the COLLADA mesh From 49dd64ef66d0af265038095b38ab254d39d2799b Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 26 Apr 2010 19:44:55 +0000 Subject: [PATCH 169/245] collada_urdf: more unit tests --- collada_urdf/test/test_collada_urdf.cpp | 42 +++++++++++++++++++++++++ 1 file changed, 42 insertions(+) diff --git a/collada_urdf/test/test_collada_urdf.cpp b/collada_urdf/test/test_collada_urdf.cpp index 895fa50..677d029 100644 --- a/collada_urdf/test/test_collada_urdf.cpp +++ b/collada_urdf/test/test_collada_urdf.cpp @@ -31,6 +31,17 @@ #include +#include +#include +#include + +std::string readTestUrdfString() { + std::ifstream file("test/pr2.urdf"); + std::stringstream ss; + ss << file.rdbuf(); + return ss.str(); +} + TEST(collada_urdf, collada_from_urdf_file_works) { boost::shared_ptr dom; @@ -38,6 +49,37 @@ TEST(collada_urdf, collada_from_urdf_file_works) ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); } +TEST(collada_urdf, collada_from_urdf_string_works) +{ + std::string urdf_str = readTestUrdfString(); + + boost::shared_ptr dom; + ASSERT_TRUE(collada_urdf::colladaFromUrdfString(urdf_str, dom)); + ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); +} + +TEST(collada_urdf, collada_from_urdf_xml_works) +{ + TiXmlDocument urdf_xml; + ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0); + + boost::shared_ptr dom; + ASSERT_TRUE(collada_urdf::colladaFromUrdfXml(&urdf_xml, dom)); + ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); +} + +TEST(collada_urdf, collada_from_urdf_model_works) +{ + urdf::Model robot_model; + TiXmlDocument urdf_xml; + ASSERT_TRUE(urdf_xml.Parse(readTestUrdfString().c_str()) > 0); + ASSERT_TRUE(robot_model.initXml(&urdf_xml)); + + boost::shared_ptr dom; + ASSERT_TRUE(collada_urdf::colladaFromUrdfModel(robot_model, dom)); + ASSERT_TRUE(collada_urdf::colladaToFile(dom, "test/pr2.dae")); +} + int main(int argc, char **argv) { testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); From 1879bebcf051685aef874d7fc9264100907f89a7 Mon Sep 17 00:00:00 2001 From: tfoote Date: Fri, 30 Apr 2010 17:02:02 +0000 Subject: [PATCH 170/245] reving for 1.1.2 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 98631f5..d2f23fc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.1.1) +rosbuild_make_distribution(1.1.2) From 03d1d90b720f435c6200b289b4b5b07a2be8d62e Mon Sep 17 00:00:00 2001 From: tfield Date: Wed, 5 May 2010 05:05:28 +0000 Subject: [PATCH 171/245] collada_urdf: update review status --- collada_urdf/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index d6bedf7..8594903 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -6,7 +6,7 @@ Tim Field BSD - + http://ros.org/wiki/collada_urdf From 807cef55189e33be5a188d5bd01df401b0e52a92 Mon Sep 17 00:00:00 2001 From: tfield Date: Wed, 12 May 2010 04:19:12 +0000 Subject: [PATCH 172/245] robot_state_publisher: indexing test bags --- robot_state_publisher/CMakeLists.txt | 2 +- robot_state_publisher/test/test_publisher.launch | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt index 56f67f7..b3220fe 100644 --- a/robot_state_publisher/CMakeLists.txt +++ b/robot_state_publisher/CMakeLists.txt @@ -35,4 +35,4 @@ rosbuild_declare_test(test_publisher) rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_publisher.launch) # Download needed data file -rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states.bag test/joint_states.bag 6a41221f3569766052754a65ecd061ce) +rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states_indexed.bag test/joint_states_indexed.bag 793e0b566ebe4698265a936b92fa2bba) diff --git a/robot_state_publisher/test/test_publisher.launch b/robot_state_publisher/test/test_publisher.launch index 79b6a9c..29aa39d 100644 --- a/robot_state_publisher/test/test_publisher.launch +++ b/robot_state_publisher/test/test_publisher.launch @@ -1,5 +1,5 @@ - + From ddefd5656013e1db1120c0d4a8d3ff9ba84dc0d2 Mon Sep 17 00:00:00 2001 From: leibs Date: Wed, 12 May 2010 17:34:04 +0000 Subject: [PATCH 173/245] updating to release 1.1.3 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d2f23fc..6484240 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.1.2) +rosbuild_make_distribution(1.1.3) From 37b000d41d97e4e98412a7453970a3f139a63743 Mon Sep 17 00:00:00 2001 From: tfield Date: Fri, 14 May 2010 01:10:36 +0000 Subject: [PATCH 174/245] collada_urdf: fix mesh loading bug --- collada_urdf/src/stl_loader.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/collada_urdf/src/stl_loader.cpp b/collada_urdf/src/stl_loader.cpp index 77b8b2d..4194f99 100644 --- a/collada_urdf/src/stl_loader.cpp +++ b/collada_urdf/src/stl_loader.cpp @@ -95,10 +95,16 @@ void STLLoader::readBinary() { int face_num = readLongInt(); for (int iface = 0; iface < face_num; iface++) { - Vector3 normal(readFloat(), readFloat(), readFloat()); + float nx = readFloat(); + float ny = readFloat(); + float nz = readFloat(); + Vector3 normal(nx, ny, nz); for (int i = 0; i < 3; i++) { - Vector3 vertex(readFloat(), readFloat(), readFloat()); + float vx = readFloat(); + float vy = readFloat(); + float vz = readFloat(); + Vector3 vertex(vx, vy, vz); int index = mesh_->getVertexIndex(vertex); if (index == -1) { From ae891899a8c7aee476291d3dd8c6eb57ccd888ab Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 17 May 2010 02:36:17 +0000 Subject: [PATCH 175/245] collada_urdf: transform nodes by link visual origin; remove OpenRAVE bug workaround --- collada_urdf/src/collada_writer.cpp | 30 ++++++++++++++++++++++++----- 1 file changed, 25 insertions(+), 5 deletions(-) diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index 8fe3dea..72c2013 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -399,9 +399,9 @@ void ColladaWriter::addJoints(daeElementRef parent) { } // @hack: OpenRAVE appears to flip joint axes - axis_x *= -1.0; - axis_y *= -1.0; - axis_z *= -1.0; + //axis_x *= -1.0; + //axis_y *= -1.0; + //axis_z *= -1.0; switch (urdf_joint->type) { @@ -763,6 +763,9 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle node->setSid(node_sid.c_str()); node->setId(node_id.c_str()); link_num++; + + domNodeRef parent_node = node; + { if (urdf_link->parent_joint != NULL) { // x y z w @@ -770,8 +773,25 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle // x y z addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); + if (urdf_link->visual != NULL) { + // + domNodeRef visual_node = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_NODE)); + string visual_sid("visual"); + string visual_id = node_id + "." + visual_sid; + visual_node->setName("visual"); + visual_node->setSid(visual_sid.c_str()); + visual_node->setId(visual_id.c_str()); + + parent_node = visual_node; + + // x y z w + addRotate(parent_node, urdf_link->visual->origin.rotation); + // x y z + addTranslate(parent_node, urdf_link->visual->origin.position); + } + // x y z angle - domRotateRef joint_rotate = addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + domRotateRef joint_rotate = addRotate(parent_node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); string joint_sid = joint_sids_[urdf_link->parent_joint->name]; string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); joint_rotate->setSid(joint_rotate_sid.c_str()); @@ -782,7 +802,7 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle // map::const_iterator i = geometry_ids_.find(urdf_link->name); if (i != geometry_ids_.end()) { - domInstance_geometryRef instance_geometry = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); + domInstance_geometryRef instance_geometry = daeSafeCast(parent_node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); string geometry_id = i->second; string instance_geometry_url = string("#") + geometry_id; instance_geometry->setUrl(instance_geometry_url.c_str()); From c8db59bef02b3c12f856e3d13c693284283dc70a Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 17 May 2010 04:26:39 +0000 Subject: [PATCH 176/245] collada_urdf: need to use ros::init for logging to work --- collada_urdf/src/urdf_to_collada.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 5eb9d16..6785ebe 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -43,6 +43,8 @@ int main(int argc, char** argv) return -1; } + ros::init(argc, argv, "urdf_to_collada"); + std::string input_filename(argv[1]); std::string output_filename(argv[2]); From 01196304b675a12a373e073b761cc2cd574740de Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 17 May 2010 04:52:20 +0000 Subject: [PATCH 177/245] collada_urdf: trimming collada by not writing null transforms; shifted away from deprecated createAndPlace API; added option to add transform before an existing element --- .../include/collada_urdf/collada_writer.h | 4 +- collada_urdf/src/collada_writer.cpp | 232 ++++++++++-------- 2 files changed, 126 insertions(+), 110 deletions(-) diff --git a/collada_urdf/include/collada_urdf/collada_writer.h b/collada_urdf/include/collada_urdf/collada_writer.h index 6aada98..0c137df 100644 --- a/collada_urdf/include/collada_urdf/collada_writer.h +++ b/collada_urdf/include/collada_urdf/collada_writer.h @@ -110,8 +110,8 @@ private: void addBindings(SCENE const& scene); - domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position); - domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r); + domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position, daeElementRef before = NULL, bool ignore_zero_translations = false); + domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r, daeElementRef before = NULL, bool ignore_zero_rotations = false); std::string getTimeStampString() const; diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index 72c2013..9b8aa1f 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -106,45 +106,45 @@ void ColladaWriter::initDocument(string const& documentName) { dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); // Create asset elements - domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); + domAssetRef asset = daeSafeCast(dom_->add(COLLADA_ELEMENT_ASSET)); { string date = getTimeStampString(); - domAsset::domCreatedRef created = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_CREATED)); + domAsset::domCreatedRef created = daeSafeCast(asset->add(COLLADA_ELEMENT_CREATED)); created->setValue(date.c_str()); - domAsset::domModifiedRef modified = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED)); + domAsset::domModifiedRef modified = daeSafeCast(asset->add(COLLADA_ELEMENT_MODIFIED)); modified->setValue(date.c_str()); - domAsset::domContributorRef contrib = daeSafeCast(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR)); + domAsset::domContributorRef contrib = daeSafeCast(asset->add(COLLADA_ELEMENT_CONTRIBUTOR)); - domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); + domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->add(COLLADA_ELEMENT_AUTHORING_TOOL)); authoringtool->setValue("URDF Collada Writer"); - domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); + domAsset::domUnitRef units = daeSafeCast(asset->add(COLLADA_ELEMENT_UNIT)); units->setMeter(1); units->setName("meter"); - domAsset::domUp_axisRef zup = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS)); + domAsset::domUp_axisRef zup = daeSafeCast(asset->add(COLLADA_ELEMENT_UP_AXIS)); zup->setValue(UP_AXIS_Z_UP); } // Create top-level elements - scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); - visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); + scene_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_SCENE)); + visualScenesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); visualScenesLib_->setId("vscenes"); - geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); + geometriesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); geometriesLib_->setId("geometries"); - kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); + kinematicsScenesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); kinematicsScenesLib_->setId("kscenes"); - kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); + kinematicsModelsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); kinematicsModelsLib_->setId("kmodels"); - jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); + jointsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_JOINTS)); jointsLib_->setId("joints"); - physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + physicsScenesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); physicsScenesLib_->setId("physics_scenes"); - effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); + effectsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_EFFECTS)); effectsLib_->setId("effects"); - materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); + materialsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_MATERIALS)); materialsLib_->setId("materials"); } @@ -152,30 +152,30 @@ ColladaWriter::SCENE ColladaWriter::createScene() { SCENE s; // Create visual scene - s.vscene = daeSafeCast(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE)); + s.vscene = daeSafeCast(visualScenesLib_->add(COLLADA_ELEMENT_VISUAL_SCENE)); s.vscene->setId("vscene"); s.vscene->setName("URDF Visual Scene"); // Create instance visual scene - s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); + s.viscene = daeSafeCast(scene_->add(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); // Create kinematics scene - s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); + s.kscene = daeSafeCast(kinematicsScenesLib_->add(COLLADA_ELEMENT_KINEMATICS_SCENE)); s.kscene->setId("kscene"); s.kscene->setName("URDF Kinematics Scene"); // Create instance kinematics scene - s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); + s.kiscene = daeSafeCast(scene_->add(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); // Create physics scene - s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); + s.pscene = daeSafeCast(physicsScenesLib_->add(COLLADA_ELEMENT_PHYSICS_SCENE)); s.pscene->setId("pscene"); s.pscene->setName("URDF Physics Scene"); // Create instance physics scene - s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); + s.piscene = daeSafeCast(scene_->add(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); return s; @@ -183,10 +183,10 @@ ColladaWriter::SCENE ColladaWriter::createScene() { void ColladaWriter::setupPhysics(SCENE const& scene) { // - domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); { // 0 0 0 - domTargetable_float3Ref g = daeSafeCast(common->createAndPlace(COLLADA_ELEMENT_GRAVITY)); + domTargetable_float3Ref g = daeSafeCast(common->add(COLLADA_ELEMENT_GRAVITY)); g->getValue().set3(0.0, 0.0, 0.0); // } @@ -210,7 +210,7 @@ void ColladaWriter::addGeometries() { urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale // - domGeometryRef geometry = daeSafeCast(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY)); + domGeometryRef geometry = daeSafeCast(geometriesLib_->add(COLLADA_ELEMENT_GEOMETRY)); string geometry_id = string("g1.link") + boost::lexical_cast(link_num) + string(".geom0"); geometry->setId(geometry_id.c_str()); { @@ -296,18 +296,18 @@ bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource con void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElementRef parent, string const& geometry_id) { // - domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); + domMeshRef mesh = daeSafeCast(parent->add(COLLADA_ELEMENT_MESH)); { unsigned int num_vertices = stl_mesh->vertices.size(); unsigned int num_indices = stl_mesh->indices.size(); unsigned int num_faces = num_indices / 3; // - domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); + domSourceRef positions_source = daeSafeCast(mesh->add(COLLADA_ELEMENT_SOURCE)); positions_source->setId((geometry_id + string(".positions")).c_str()); { // - domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); + domFloat_arrayRef positions_array = daeSafeCast(positions_source->add(COLLADA_ELEMENT_FLOAT_ARRAY)); positions_array->setId((geometry_id + string(".positions-array")).c_str()); positions_array->setCount(num_vertices * 3); positions_array->setDigits(6); // 6 decimal places @@ -320,10 +320,10 @@ void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElement // // - domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); { // - domAccessorRef accessor = daeSafeCast(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); + domAccessorRef accessor = daeSafeCast(source_tech->add(COLLADA_ELEMENT_ACCESSOR)); accessor->setCount(num_vertices / 3); accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); accessor->setStride(3); @@ -331,9 +331,9 @@ void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElement // // // - domParamRef px = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); - domParamRef py = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); - domParamRef pz = daeSafeCast(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + domParamRef px = daeSafeCast(accessor->add(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(accessor->add(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(accessor->add(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); } // } @@ -341,30 +341,30 @@ void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElement } // - domVerticesRef vertices = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); + domVerticesRef vertices = daeSafeCast(mesh->add(COLLADA_ELEMENT_VERTICES)); string vertices_id = geometry_id + string(".vertices"); vertices->setId(vertices_id.c_str()); { // - domInput_localRef vertices_input = daeSafeCast(vertices->createAndPlace(COLLADA_ELEMENT_INPUT)); + domInput_localRef vertices_input = daeSafeCast(vertices->add(COLLADA_ELEMENT_INPUT)); vertices_input->setSemantic("POSITION"); vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId()))); } // // - domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); + domTrianglesRef triangles = daeSafeCast(mesh->add(COLLADA_ELEMENT_TRIANGLES)); triangles->setCount(num_faces); triangles->setMaterial("mat0"); { // - domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_INPUT)); + domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->add(COLLADA_ELEMENT_INPUT)); vertex_offset->setSemantic("VERTEX"); vertex_offset->setOffset(0); vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id)); { //

0 1 2 3 ... - domPRef indices = daeSafeCast(triangles->createAndPlace(COLLADA_ELEMENT_P)); + domPRef indices = daeSafeCast(triangles->add(COLLADA_ELEMENT_P)); indices->getValue().setCount(num_indices); for (unsigned int i = 0; i < num_indices; i++) indices->getValue()[i] = stl_mesh->indices[i]; @@ -382,7 +382,7 @@ void ColladaWriter::addJoints(daeElementRef parent) { shared_ptr urdf_joint = i->second; // - domJointRef joint = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_JOINT)); + domJointRef joint = daeSafeCast(parent->add(COLLADA_ELEMENT_JOINT)); string joint_sid = string("joint") + boost::lexical_cast(joint_num); joint_num++; joint->setName(urdf_joint->name.c_str()); @@ -398,20 +398,15 @@ void ColladaWriter::addJoints(daeElementRef parent) { axis_z = 0.0; } - // @hack: OpenRAVE appears to flip joint axes - //axis_x *= -1.0; - //axis_y *= -1.0; - //axis_z *= -1.0; - switch (urdf_joint->type) { case urdf::Joint::REVOLUTE: { // - domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + domAxis_constraintRef revolute = daeSafeCast(joint->add(COLLADA_ELEMENT_REVOLUTE)); revolute->setSid("axis0"); { // - domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + domAxisRef axis = daeSafeCast(revolute->add(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); axis->getValue()[0] = axis_x; @@ -421,10 +416,10 @@ void ColladaWriter::addJoints(daeElementRef parent) { // // - domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); + domJoint_limitsRef limits = daeSafeCast(revolute->add(COLLADA_ELEMENT_LIMITS)); { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower); - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper); + daeSafeCast(limits->add(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower); + daeSafeCast(limits->add(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper); } // } @@ -435,11 +430,11 @@ void ColladaWriter::addJoints(daeElementRef parent) { // Model as a REVOLUTE joint without limits // - domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + domAxis_constraintRef revolute = daeSafeCast(joint->add(COLLADA_ELEMENT_REVOLUTE)); revolute->setSid("axis0"); { // - domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + domAxisRef axis = daeSafeCast(revolute->add(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); axis->getValue()[0] = axis_x; @@ -453,11 +448,11 @@ void ColladaWriter::addJoints(daeElementRef parent) { } case urdf::Joint::PRISMATIC: { // - domAxis_constraintRef prismatic = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + domAxis_constraintRef prismatic = daeSafeCast(joint->add(COLLADA_ELEMENT_PRISMATIC)); prismatic->setSid("axis0"); { // - domAxisRef axis = daeSafeCast(prismatic->createAndPlace(COLLADA_ELEMENT_AXIS)); + domAxisRef axis = daeSafeCast(prismatic->add(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); axis->getValue()[0] = axis_x; @@ -467,10 +462,10 @@ void ColladaWriter::addJoints(daeElementRef parent) { // // - domJoint_limitsRef limits = daeSafeCast(prismatic->createAndPlace(COLLADA_TYPE_LIMITS)); + domJoint_limitsRef limits = daeSafeCast(prismatic->add(COLLADA_ELEMENT_LIMITS)); { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + daeSafeCast(limits->add(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->add(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; } // } @@ -480,11 +475,11 @@ void ColladaWriter::addJoints(daeElementRef parent) { case urdf::Joint::FIXED: { // Model as a REVOLUTE joint with no leeway - domAxis_constraintRef revolute = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + domAxis_constraintRef revolute = daeSafeCast(joint->add(COLLADA_ELEMENT_REVOLUTE)); revolute->setSid("axis0"); { // - domAxisRef axis = daeSafeCast(revolute->createAndPlace(COLLADA_ELEMENT_AXIS)); + domAxisRef axis = daeSafeCast(revolute->add(COLLADA_ELEMENT_AXIS)); { axis->getValue().setCount(3); axis->getValue()[0] = axis_x; @@ -494,10 +489,10 @@ void ColladaWriter::addJoints(daeElementRef parent) { // // - domJoint_limitsRef limits = daeSafeCast(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); + domJoint_limitsRef limits = daeSafeCast(revolute->add(COLLADA_ELEMENT_LIMITS)); { - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; - daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; + daeSafeCast(limits->add(COLLADA_ELEMENT_MIN))->getValue() = 0.0; + daeSafeCast(limits->add(COLLADA_ELEMENT_MAX))->getValue() = 0.0; } // } @@ -530,9 +525,9 @@ void ColladaWriter::addBindings(SCENE const& scene) { // // - domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); + domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->add(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); kmodel_bind->setNode("v1.node0"); // @todo - daeSafeCast(kmodel_bind->createAndPlace(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); + daeSafeCast(kmodel_bind->add(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { shared_ptr urdf_joint = i->second; @@ -544,20 +539,20 @@ void ColladaWriter::addBindings(SCENE const& scene) { string joint_axis_value_sid = joint_axis_sid + string("_value"); // - domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->createAndPlace(COLLADA_ELEMENT_BIND_JOINT_AXIS)); + domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->add(COLLADA_ELEMENT_BIND_JOINT_AXIS)); string node_name = node_ids_[urdf_joint->name]; joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str()); { // - domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_AXIS)); + domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->add(COLLADA_ELEMENT_AXIS)); { - daeSafeCast(axis_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_sid.c_str()); + daeSafeCast(axis_bind->add(COLLADA_ELEMENT_PARAM))->setValue(joint_axis_sid.c_str()); } // // - domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->createAndPlace(COLLADA_ELEMENT_VALUE)); + domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->add(COLLADA_ELEMENT_VALUE)); { - daeSafeCast(value_bind->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_axis_value_sid.c_str()); + daeSafeCast(value_bind->add(COLLADA_ELEMENT_PARAM))->setValue(joint_axis_value_sid.c_str()); } } // @@ -566,12 +561,12 @@ void ColladaWriter::addBindings(SCENE const& scene) { void ColladaWriter::addKinematics(SCENE const& scene) { // - domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); + domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->add(COLLADA_ELEMENT_KINEMATICS_MODEL)); kmodel->setId("k1"); kmodel->setName(robot_.getName().c_str()); { // - domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); addJoints(technique); // @@ -587,18 +582,18 @@ void ColladaWriter::addKinematics(SCENE const& scene) { string inst_model_sid = string("inst_") + model_id; // - domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); + domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->add(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); ikm->setUrl((string("#") + model_id).c_str()); ikm->setSid(inst_model_sid.c_str()); { // - domKinematics_newparamRef newparam_model = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + domKinematics_newparamRef newparam_model = daeSafeCast(ikm->add(COLLADA_ELEMENT_NEWPARAM)); string newparam_model_sid = string("kscene.inst_") + model_id; newparam_model->setSid(newparam_model_sid.c_str()); { // kscene/inst_k1 string model_sidref = string("kscene/inst_") + model_id; - daeSafeCast(newparam_model->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str()); + daeSafeCast(newparam_model->add(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str()); } // @@ -612,23 +607,23 @@ void ColladaWriter::addKinematics(SCENE const& scene) { string axis_name = string("axis") + boost::lexical_cast(idof); // - domKinematics_newparamRef newparam = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + domKinematics_newparamRef newparam = daeSafeCast(ikm->add(COLLADA_ELEMENT_NEWPARAM)); string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; newparam->setSid(newparam_sid.c_str()); { // kscene/inst_k1/joint0/axis0 string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name; - daeSafeCast(newparam->createAndPlace(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); + daeSafeCast(newparam->add(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); } // // - domKinematics_newparamRef newparam_value = daeSafeCast(ikm->createAndPlace(COLLADA_ELEMENT_NEWPARAM)); + domKinematics_newparamRef newparam_value = daeSafeCast(ikm->add(COLLADA_ELEMENT_NEWPARAM)); string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value"); newparam_value->setSid(newparam_value_sid.c_str()); { // 0 - daeSafeCast(newparam_value->createAndPlace(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); + daeSafeCast(newparam_value->add(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); } // } @@ -638,19 +633,22 @@ void ColladaWriter::addKinematics(SCENE const& scene) { void ColladaWriter::addKinematicLink(shared_ptr urdf_link, daeElementRef parent, int& link_num) { // - domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); + domLinkRef link = daeSafeCast(parent->add(COLLADA_ELEMENT_LINK)); string link_sid = string("link") + boost::lexical_cast(link_num); link->setName(urdf_link->name.c_str()); link->setSid(link_sid.c_str()); link_num++; foreach(shared_ptr urdf_joint, urdf_link->child_joints) { - // - domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); + // + domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->add(COLLADA_ELEMENT_ATTACHMENT_FULL)); string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; attachment_full->setJoint(attachment_joint.c_str()); { - addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation); - addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position); + // x y z w + addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation, NULL, true); + // x y z + addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position, NULL, true); + addKinematicLink(robot_.getLink(urdf_joint->child_link_name), attachment_full, link_num); } // @@ -660,7 +658,7 @@ void ColladaWriter::addKinematicLink(shared_ptr urdf_link, dae void ColladaWriter::addVisuals(SCENE const& scene) { // - domNodeRef root_node = daeSafeCast(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE)); + domNodeRef root_node = daeSafeCast(scene.vscene->add(COLLADA_ELEMENT_NODE)); root_node->setId("v1"); root_node->setName(robot_.getName().c_str()); { @@ -686,12 +684,12 @@ void ColladaWriter::addMaterials() { domEffectRef effect = addEffect(geometry_id, ambient, diffuse); // - domMaterialRef material = daeSafeCast(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL)); + domMaterialRef material = daeSafeCast(materialsLib_->add(COLLADA_ELEMENT_MATERIAL)); string material_id = geometry_id + string(".mat"); material->setId(material_id.c_str()); { // - domInstance_effectRef instance_effect = daeSafeCast(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT)); + domInstance_effectRef instance_effect = daeSafeCast(material->add(COLLADA_ELEMENT_INSTANCE_EFFECT)); string effect_id(effect->getId()); instance_effect->setUrl((string("#") + effect_id).c_str()); } @@ -702,24 +700,24 @@ void ColladaWriter::addMaterials() { domEffectRef ColladaWriter::addEffect(string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse) { // - domEffectRef effect = daeSafeCast(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT)); + domEffectRef effect = daeSafeCast(effectsLib_->add(COLLADA_ELEMENT_EFFECT)); string effect_id = geometry_id + string(".eff"); effect->setId(effect_id.c_str()); { // - domProfile_commonRef profile = daeSafeCast(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON)); + domProfile_commonRef profile = daeSafeCast(effect->add(COLLADA_ELEMENT_PROFILE_COMMON)); { // - domProfile_common::domTechniqueRef technique = daeSafeCast(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE)); + domProfile_common::domTechniqueRef technique = daeSafeCast(profile->add(COLLADA_ELEMENT_TECHNIQUE)); { // - domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_PHONG)); + domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->add(COLLADA_ELEMENT_PHONG)); { // - domFx_common_color_or_textureRef ambient = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT)); + domFx_common_color_or_textureRef ambient = daeSafeCast(phong->add(COLLADA_ELEMENT_AMBIENT)); { // r g b a - domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->createAndPlace(COLLADA_ELEMENT_COLOR)); + domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->add(COLLADA_ELEMENT_COLOR)); ambient_color->getValue().setCount(4); ambient_color->getValue()[0] = color_ambient.r; ambient_color->getValue()[1] = color_ambient.g; @@ -730,10 +728,10 @@ domEffectRef ColladaWriter::addEffect(string const& geometry_id, urdf::Color con // // - domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE)); + domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->add(COLLADA_ELEMENT_DIFFUSE)); { // r g b a - domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR)); + domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->add(COLLADA_ELEMENT_COLOR)); diffuse_color->getValue().setCount(4); diffuse_color->getValue()[0] = color_diffuse.r; diffuse_color->getValue()[1] = color_diffuse.g; @@ -756,7 +754,7 @@ domEffectRef ColladaWriter::addEffect(string const& geometry_id, urdf::Color con void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeElementRef parent, int& link_num) { // - domNodeRef node = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_NODE)); + domNodeRef node = daeSafeCast(parent->add(COLLADA_ELEMENT_NODE)); string node_sid = string("node") + boost::lexical_cast(link_num); string node_id = string("v1.") + node_sid; node->setName(urdf_link->name.c_str()); @@ -769,13 +767,13 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle { if (urdf_link->parent_joint != NULL) { // x y z w - addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true); // x y z - addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position); + addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position, NULL, true); if (urdf_link->visual != NULL) { // - domNodeRef visual_node = daeSafeCast(node->createAndPlace(COLLADA_ELEMENT_NODE)); + domNodeRef visual_node = daeSafeCast(node->add(COLLADA_ELEMENT_NODE)); string visual_sid("visual"); string visual_id = node_id + "." + visual_sid; visual_node->setName("visual"); @@ -785,9 +783,9 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle parent_node = visual_node; // x y z w - addRotate(parent_node, urdf_link->visual->origin.rotation); + addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true); // x y z - addTranslate(parent_node, urdf_link->visual->origin.position); + addTranslate(parent_node, urdf_link->visual->origin.position, NULL, true); } // x y z angle @@ -802,19 +800,19 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle // map::const_iterator i = geometry_ids_.find(urdf_link->name); if (i != geometry_ids_.end()) { - domInstance_geometryRef instance_geometry = daeSafeCast(parent_node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); + domInstance_geometryRef instance_geometry = daeSafeCast(parent_node->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); string geometry_id = i->second; string instance_geometry_url = string("#") + geometry_id; instance_geometry->setUrl(instance_geometry_url.c_str()); { // - domBind_materialRef bind_material = daeSafeCast(instance_geometry->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL)); + domBind_materialRef bind_material = daeSafeCast(instance_geometry->add(COLLADA_ELEMENT_BIND_MATERIAL)); { // - domBind_material::domTechnique_commonRef technique_common = daeSafeCast(bind_material->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domBind_material::domTechnique_commonRef technique_common = daeSafeCast(bind_material->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); { // - domInstance_materialRef instance_material = daeSafeCast(technique_common->createAndPlace(COLLADA_ELEMENT_INSTANCE_MATERIAL)); + domInstance_materialRef instance_material = daeSafeCast(technique_common->add(COLLADA_ELEMENT_INSTANCE_MATERIAL)); instance_material->setTarget((instance_geometry_url + string(".mat")).c_str()); instance_material->setSymbol("mat0"); // @@ -834,9 +832,18 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle // } -domTranslateRef ColladaWriter::addTranslate(daeElementRef parent, urdf::Vector3 const& position) { +domTranslateRef ColladaWriter::addTranslate(daeElementRef parent, urdf::Vector3 const& position, daeElementRef before, bool ignore_zero_translations) { + if (ignore_zero_translations && position.x == 0.0 && position.y == 0.0 && position.z == 0.0) + return NULL; + // x y z - domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); + domTranslateRef trans; + if (before) { + trans = daeSafeCast(parent->createElement(COLLADA_ELEMENT_TRANSLATE)); + parent->addBefore(trans, before); + } + else + trans = daeSafeCast(parent->add(COLLADA_ELEMENT_TRANSLATE)); trans->getValue().setCount(3); trans->getValue()[0] = position.x; trans->getValue()[1] = position.y; @@ -844,7 +851,7 @@ domTranslateRef ColladaWriter::addTranslate(daeElementRef parent, urdf::Vector3 return trans; } -domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const& r) { +domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const& r, daeElementRef before, bool ignore_zero_rotations) { double ax, ay, az, aa; // Convert from quaternion to axis-angle @@ -858,7 +865,10 @@ domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const az = r.z * inv_len; } else { - // Angle is 0 (mod 2*pi), so any axis will do + if (ignore_zero_rotations) + return NULL; + + // Angle is 0 (mod 2*pi), so no need to add rotate node aa = 0.0; ax = 1.0; ay = 0.0; @@ -866,7 +876,13 @@ domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const } // x y z w - domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); + domRotateRef rot; + if (before) { + rot = daeSafeCast(parent->createElement(COLLADA_ELEMENT_ROTATE)); + parent->addBefore(rot, before); + } + else + rot = daeSafeCast(parent->add(COLLADA_ELEMENT_ROTATE)); rot->getValue().setCount(4); rot->getValue()[0] = ax; rot->getValue()[1] = ay; From 2ac03e3094b3cc7e0578edcd21c89b9e3107a855 Mon Sep 17 00:00:00 2001 From: gerkey Date: Wed, 19 May 2010 20:26:42 +0000 Subject: [PATCH 178/245] Added Ubuntu platform tags to manifest --- assimp/manifest.xml | 3 +++ collada_urdf/manifest.xml | 3 +++ colladadom/manifest.xml | 3 +++ convex_decomposition/manifest.xml | 3 +++ ivcon/manifest.xml | 3 +++ kdl_parser/manifest.xml | 3 +++ resource_retriever/manifest.xml | 3 +++ robot_state_publisher/manifest.xml | 3 +++ urdf/manifest.xml | 3 +++ 9 files changed, 27 insertions(+) diff --git a/assimp/manifest.xml b/assimp/manifest.xml index 31154bf..368c952 100644 --- a/assimp/manifest.xml +++ b/assimp/manifest.xml @@ -19,4 +19,7 @@ + + + diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index 8594903..1507da3 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -13,4 +13,7 @@ + + + diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 24c3de7..c730aba 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -14,4 +14,7 @@ + + + diff --git a/convex_decomposition/manifest.xml b/convex_decomposition/manifest.xml index 97580c9..075eca9 100644 --- a/convex_decomposition/manifest.xml +++ b/convex_decomposition/manifest.xml @@ -23,4 +23,7 @@ appears to be no available revision control. http://www.amillionpixels.us/ConvexDecomposition.zip + + + diff --git a/ivcon/manifest.xml b/ivcon/manifest.xml index c9cf53c..172cf82 100644 --- a/ivcon/manifest.xml +++ b/ivcon/manifest.xml @@ -17,4 +17,7 @@ are no local modifications to this package. + + + diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml index 6c6c552..afa6bc9 100644 --- a/kdl_parser/manifest.xml +++ b/kdl_parser/manifest.xml @@ -18,6 +18,9 @@ + + + diff --git a/resource_retriever/manifest.xml b/resource_retriever/manifest.xml index da64e13..5ab0755 100644 --- a/resource_retriever/manifest.xml +++ b/resource_retriever/manifest.xml @@ -21,6 +21,9 @@ + + + diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml index 83f1e2d..69aed7e 100644 --- a/robot_state_publisher/manifest.xml +++ b/robot_state_publisher/manifest.xml @@ -26,6 +26,9 @@ + + + diff --git a/urdf/manifest.xml b/urdf/manifest.xml index 87ecdd8..f0ad062 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -17,6 +17,9 @@ + + + From 1afc96d0c596a5e9bd6cbb74048c499d785eea69 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Thu, 20 May 2010 04:08:54 +0000 Subject: [PATCH 179/245] collada writer now exports mimic joints through formulas --- .../include/collada_urdf/collada_writer.h | 2 +- collada_urdf/src/collada_writer.cpp | 41 +++++++++++++++++++ 2 files changed, 42 insertions(+), 1 deletion(-) diff --git a/collada_urdf/include/collada_urdf/collada_writer.h b/collada_urdf/include/collada_urdf/collada_writer.h index 0c137df..c9c8297 100644 --- a/collada_urdf/include/collada_urdf/collada_writer.h +++ b/collada_urdf/include/collada_urdf/collada_writer.h @@ -112,7 +112,7 @@ private: domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position, daeElementRef before = NULL, bool ignore_zero_translations = false); domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r, daeElementRef before = NULL, bool ignore_zero_rotations = false); - + void addMimicJoint(domFormulaRef formula, const std::string& joint_sid,const std::string& joint_mimic_sid, double multiplier, double offset); std::string getTimeStampString() const; private: diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index 9b8aa1f..b734a24 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -574,6 +574,18 @@ void ColladaWriter::addKinematics(SCENE const& scene) { int link_num = 0; addKinematicLink(robot_.getRoot(), technique, link_num); // + + // add a formula for each mimic joint + for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { + shared_ptr urdf_joint = i->second; + if( !!urdf_joint->mimic ) { + string joint_sid = string("k1/")+joint_sids_[urdf_joint->name]; + string joint_mimic_sid = string("k1/")+joint_sids_[urdf_joint->mimic->joint_name]; + // + addMimicJoint(daeSafeCast(technique->add(COLLADA_ELEMENT_FORMULA)), joint_sid,joint_mimic_sid,urdf_joint->mimic->multiplier,urdf_joint->mimic->offset); + // + } + } } kmodel_ = kmodel; // @@ -892,6 +904,35 @@ domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const return rot; } + void ColladaWriter::addMimicJoint(domFormulaRef formula, const std::string& joint_sid,const std::string& joint_mimic_sid, double multiplier, double offset) +{ + string sid = joint_sid+string(".formula"); + formula->setSid(sid.c_str()); + + domCommon_float_or_paramRef ptarget = daeSafeCast(formula->createAndPlace(COLLADA_ELEMENT_TARGET)); + daeSafeCast(ptarget->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_sid.c_str()); + + domFormula_techniqueRef pftec = daeSafeCast(formula->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // a x b + daeElementRef pmath_math = pftec->createAndPlace("math"); + daeElementRef pmath_apply = pmath_math->createAndPlace("apply"); + { + daeElementRef pmath_plus = pmath_apply->createAndPlace("plus"); + daeElementRef pmath_apply1 = pmath_apply->createAndPlace("apply"); + { + daeElementRef pmath_times = pmath_apply1->createAndPlace("times"); + daeElementRef pmath_const0 = pmath_apply1->createAndPlace("cn"); + pmath_const0->setCharData(boost::lexical_cast(multiplier)); + daeElementRef pmath_symb = pmath_apply1->createAndPlace("csymbol"); + pmath_symb->setAttribute("encoding","COLLADA"); + pmath_symb->setCharData(joint_mimic_sid); + } + daeElementRef pmath_const1 = pmath_apply->createAndPlace("cn"); + pmath_const1->setCharData(boost::lexical_cast(offset)); + } +} + string ColladaWriter::getTimeStampString() const { // facet becomes owned by locale, so no need to explicitly delete boost::posix_time::time_facet* facet = new boost::posix_time::time_facet("%Y-%m-%dT%H:%M:%s"); From 9223320aa47b0055bd5f21f7952e8c1a10251142 Mon Sep 17 00:00:00 2001 From: jfaust Date: Fri, 21 May 2010 18:37:26 +0000 Subject: [PATCH 180/245] Upgrade version to 1.1.700 --- assimp/Makefile | 22 ++------- assimp/assimp.patch | 106 ++++++++++++++++++++++---------------------- 2 files changed, 57 insertions(+), 71 deletions(-) diff --git a/assimp/Makefile b/assimp/Makefile index c635316..4702f19 100644 --- a/assimp/Makefile +++ b/assimp/Makefile @@ -1,44 +1,30 @@ all: installed -REVISION=258 PACKAGE_NAME=`rospack find assimp` # Regular download -TARBALL_NAME = assimp-r$(REVISION) +TARBALL_NAME = assimp-1.1.700 TARBALL = build/$(TARBALL_NAME).tar.gz TARBALL_URL = http://pr.willowgarage.com/downloads/$(TARBALL_NAME).tar.gz TARBALL_PATCH = assimp.patch UNPACK_CMD = tar xzf -SOURCE_DIR = build/assimp_svn +SOURCE_DIR = build/$(TARBALL_NAME) include $(shell rospack find mk)/download_unpack_build.mk -# SVN checkout (only for package maintainers) -SVN_DIR = $(SOURCE_DIR) -#build/assimp_svn -SVN_REVISION = -r $(REVISION) -SVN_URL = https://assimp.svn.sourceforge.net/svnroot/assimp/trunk -include $(shell rospack find mk)/svn_checkout.mk - ASSIMP_DIR = $(shell rospack find assimp) BOOST_INCLUDE_DIRS = $(shell rosboost-cfg --include_dirs) BOOST_LIBRARY_DIRS = $(shell rosboost-cfg --lib_dirs signals,thread) BOOST_LIBRARIES = $(shell rosboost-cfg --lflags signals,thread) -CMAKE_ARGS = -D CMAKE_INSTALL_PREFIX=$(PACKAGE_NAME) \ +CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(PACKAGE_NAME) \ -D CMAKE_BUILD_TYPE=RelWithDebInfo \ -D boost_include_dirs=$(BOOST_INCLUDE_DIRS) \ -D boost_library_dirs=$(BOOST_LIBRARY_DIRS) \ -D boost_libraries="$(BOOST_LIBRARIES)" -# Build tarball (only for package maintainers) -build_tarball: $(SVN_DIR) - -cd $(SVN_DIR)/build && make clean - -cd $(SVN_DIR) && rm -rf build - cd build && tar --exclude="test" --exclude="workspaces" --exclude="tools" --exclude="scripts" --exclude="samples" --exclude="port" --exclude="obj" --exclude="bin" --exclude=".svn" -czf ../$(TARBALL) assimp_svn - installed: $(SOURCE_DIR)/unpacked cd $(SOURCE_DIR) && mkdir -p build && cd build && cmake $(CMAKE_ARGS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) && make install mkdir -p $(PACKAGE_NAME)/include/assimp cp -r $(SOURCE_DIR)/include/* $(PACKAGE_NAME)/include/assimp/ - #touch installed + touch installed clean: -cd $(SVN_DIR)/build && make clean diff --git a/assimp/assimp.patch b/assimp/assimp.patch index 346edd7..48fd01b 100644 --- a/assimp/assimp.patch +++ b/assimp/assimp.patch @@ -1,61 +1,61 @@ -Index: code/CMakeLists.txt -=================================================================== ---- code/CMakeLists.txt (revision 526) -+++ code/CMakeLists.txt (working copy) -@@ -1,6 +1,16 @@ - - SET( HEADER_PATH ../include/ ) - -+message(status " debug: ${boost_include_dirs}" ) -+INCLUDE_DIRECTORIES( -+ include -+ ${boost_include_dirs} -+) -+ -+LINK_DIRECTORIES( -+ ${boost_library_dirs} -+) -+ - SOURCE_GROUP( Logging FILES - ${HEADER_PATH}/DefaultLogger.h - ${HEADER_PATH}/IOStream.h -@@ -583,6 +593,10 @@ - ) - ADD_DEFINITIONS(-DASSIMP_BUILD_DLL_EXPORT) - -+TARGET_LINK_LIBRARIES( assimp ${boost_libraries}) -+ -+INSTALL (TARGETS assimp DESTINATION ${CMAKE_INSTALL_PREFIX}/lib) -+ - if (WIN32) - if ( MSVC80 ) - ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS ) -Index: CMakeLists.txt -=================================================================== ---- CMakeLists.txt (revision 526) -+++ CMakeLists.txt (working copy) -@@ -1,13 +1,24 @@ - cmake_minimum_required( VERSION 2.6 ) - PROJECT( AssetImporter ) +--- CMakeLists.txt.old 2010-05-21 11:08:29.598051070 -0700 ++++ CMakeLists.txt 2010-05-21 11:19:28.595500290 -0700 +@@ -20,6 +20,21 @@ SET( INCLUDE_INSTALL_DIR "${CMAKE_INSTAL + SET( BIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/bin" CACHE PATH + "Path the tool executables are installed to." ) +SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to override automatic detection.") +SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to override automatic detection.") +SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override automatic detection.") + -+message(status " debug: ${boost_include_dirs}" ) + - SET( CMAKE_CURRENT_SOURCE_DIR ${CMAKE_HOME_DIRECTORY}/code ) - SET( CMAKE_CURRENT_BINARY_DIR ${CMAKE_HOME_DIRECTORY}/bin ) - - INCLUDE_DIRECTORIES( - include -+ ${boost_include_dirs} - ) - -+LINK_DIRECTORIES( -+ ${boost_library_dirs} ++message(status " debug: ${boost_include_dirs} ${boost_libraries}" ) ++INCLUDE_DIRECTORIES( ++ include ++ ${boost_include_dirs} +) + - SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_HOME_DIRECTORY}/lib ) - SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_HOME_DIRECTORY}/bin ) - ++LINK_DIRECTORIES( ++ ${boost_library_dirs} ++) ++ + # Libs + ADD_SUBDIRECTORY( code/ ) + IF ( WIN32 ) +--- code/CMakeLists.txt.old 2010-05-21 11:25:22.057223769 -0700 ++++ code/CMakeLists.txt 2010-05-21 11:25:47.295533481 -0700 +@@ -1,25 +1,6 @@ + SET( LIBRARY_VERSION "1.0.0" ) + SET( LIBRARY_SOVERSION "1" ) + +-IF ( ENABLE_BOOST_WORKAROUND ) +- INCLUDE_DIRECTORIES( BoostWorkaround ) +- ADD_DEFINITIONS( -DASSIMP_BUILD_BOOST_WORKAROUND ) +- MESSAGE( STATUS "Building a non-boost version of Assimp." ) +-ELSE ( ENABLE_BOOST_WORKAROUND ) +- FIND_PACKAGE( Boost 1.35 ) +- +- IF ( NOT Boost_FOUND ) +- MESSAGE( FATAL_ERROR +- "Boost libraries (http://www.boost.org/) not found. " +- "You can build a non-boost version of Assimp with slightly reduced " +- "functionality by specifying -DENABLE_BOOST_WORKAROUND=ON." +- ) +- ENDIF ( NOT Boost_FOUND ) +- +- INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIRS} ) +-ENDIF ( ENABLE_BOOST_WORKAROUND ) +- +- + # + # Listing and grouping of all the source files for use with IDE project + # generators. +@@ -691,6 +672,8 @@ ADD_LIBRARY( assimp SHARED + ${COMPILER_HEADERS} + ) + ++TARGET_LINK_LIBRARIES( assimp ${boost_libraries}) ++ + ADD_DEFINITIONS( -DASSIMP_BUILD_DLL_EXPORT ) + + if ( WIN32 ) From 3f5af78096fa2fb51caa5b855dd4110f3a4129e7 Mon Sep 17 00:00:00 2001 From: hsu Date: Mon, 24 May 2010 23:46:35 +0000 Subject: [PATCH 181/245] #4116, switch so translate first then rotate --- collada_urdf/src/collada_writer.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index b734a24..f34b9ea 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -656,10 +656,10 @@ void ColladaWriter::addKinematicLink(shared_ptr urdf_link, dae string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; attachment_full->setJoint(attachment_joint.c_str()); { - // x y z w - addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation, NULL, true); // x y z addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position, NULL, true); + // x y z w + addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation, NULL, true); addKinematicLink(robot_.getLink(urdf_joint->child_link_name), attachment_full, link_num); } @@ -778,10 +778,10 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle { if (urdf_link->parent_joint != NULL) { - // x y z w - addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true); // x y z addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position, NULL, true); + // x y z w + addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true); if (urdf_link->visual != NULL) { // @@ -794,10 +794,10 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle parent_node = visual_node; - // x y z w - addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true); // x y z addTranslate(parent_node, urdf_link->visual->origin.position, NULL, true); + // x y z w + addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true); } // x y z angle From 2602c7fc70d3e5b4b6ff08d299799d2b078b9de7 Mon Sep 17 00:00:00 2001 From: wim Date: Fri, 4 Jun 2010 00:40:33 +0000 Subject: [PATCH 182/245] getting ready for 1.1.4 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6484240..6a755b5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.1.3) +rosbuild_make_distribution(1.1.4) From 95eba4fbf4913a7f4fbcff676cc5a8e04d40835c Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 17:27:04 +0000 Subject: [PATCH 183/245] also print tree status when only one link in tree --- urdf/src/check_urdf.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/urdf/src/check_urdf.cpp b/urdf/src/check_urdf.cpp index 7712060..6f37716 100644 --- a/urdf/src/check_urdf.cpp +++ b/urdf/src/check_urdf.cpp @@ -90,8 +90,7 @@ int main(int argc, char** argv) boost::shared_ptr root_link=robot.getRoot(); if (!root_link) return -1; - if (!root_link->child_links.empty()) - std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl; + std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl; // print entire tree From d99805a47c33afce54ebb7c5a2df1e622758d092 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 19:18:08 +0000 Subject: [PATCH 184/245] Deprecate parsing of joints that are not attached to any links. This is not supported by the URDF spec, but the parser used to allow this. #4448 --- urdf/src/model.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index dd5a56d..03fefcd 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -263,7 +263,6 @@ bool Model::initTree(std::map &parent_link_tree) std::string child_link_name = joint->second->child_link_name; ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); - if (parent_link_name.empty() && !child_link_name.empty()) { ROS_ERROR(" Joint %s specifies child link but not parent link.",(joint->second)->name.c_str()); @@ -276,7 +275,7 @@ bool Model::initTree(std::map &parent_link_tree) } else if (parent_link_name.empty() && child_link_name.empty()) { - ROS_DEBUG(" Joint %s specifies no parent link and no child link. This is an abstract joint.",(joint->second)->name.c_str()); + ROS_WARN(" Joint %s specifies no parent link and no child link. The Boxturtle urdf parser had a bug that allowed this type of joints, but this is not a valid joint according to the URDF spec.",(joint->second)->name.c_str()); } else { @@ -329,7 +328,6 @@ bool Model::initRoot(std::map &parent_link_tree) this->root_link_.reset(); - // for (std::map::iterator p=parent_link_tree.begin(); p!=parent_link_tree.end(); p++) // find the links that have no parent in the tree for (std::map >::iterator l=this->links_.begin(); l!=this->links_.end(); l++) { From 6c67fc7b04216636545710985bd18034e93b3412 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 19:37:26 +0000 Subject: [PATCH 185/245] Fix bug that allowed parent links of a joint to be automatically added, #4198 --- urdf/src/model.cpp | 9 +- urdf/test/pr2_desc.urdf | 6504 +++++++++++++++++++-------------------- 2 files changed, 3218 insertions(+), 3295 deletions(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 03fefcd..7ad9b45 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -290,13 +290,8 @@ bool Model::initTree(std::map &parent_link_tree) this->getLink(parent_link_name, parent_link); if (!parent_link) { - ROS_DEBUG(" parent link '%s' of joint '%s' not found. Automatically adding it. This must be the root link", - parent_link_name.c_str(), joint->first.c_str() ); - - parent_link.reset(new Link); - parent_link->name = parent_link_name; - this->links_.insert(make_pair(parent_link->name, parent_link)); - ROS_DEBUG(" successfully added new link '%s'", parent_link->name.c_str()); + ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() ); + return false; } //set parent link for child link diff --git a/urdf/test/pr2_desc.urdf b/urdf/test/pr2_desc.urdf index a1e15b8..07308a0 100644 --- a/urdf/test/pr2_desc.urdf +++ b/urdf/test/pr2_desc.urdf @@ -1,26 +1,19 @@ - - + + + + + + - - - - - - - - - - - @@ -28,46 +21,52 @@ 1000.0 - - + true 1.0 5 - + power_state 10.0 - 87.78 + 87.78 -474 525 15.52 16.41 - + - + + - + + - + + - + + - + + - + + - - - - - + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 - 640 - 1 - - 0.0 0.0 0.0 - false - - -80 - 80 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - 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l_gripper_l_finger_link - l_gripper_l_finger_pose_ground_truth - 0.0 - map - - - + l_gripper_l_finger_bumper + + + + + + + + + + + + + + + + + + true + + l_gripper_r_finger_link_geom + 100.0 + true 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - - - - - - - - true - - l_gripper_palm_link_geom - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - true - - - - - true - 0.01 - 0.0001 - 0 - 0 - 0.0001 - 0 - 0.0001 - 0 - 0 - 0 - 0.82025 0.188 0.790675 - 0 -0 0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - unit_box - PR2/White - - - true - false - - - l_gripper_float_link - l_gripper_palm_link - l_gripper_float_link - 1 0 0 - -0.05 - 0.001 - - - l_gripper_l_finger_tip_link - l_gripper_float_link - l_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - l_gripper_r_finger_tip_link - l_gripper_float_link - l_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - + l_gripper_r_finger_bumper + + + + + + + + + + + + + + + + + true + false + + l_gripper_l_finger_tip_link_geom + 100.0 + true 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + false + + l_gripper_r_finger_tip_link_geom + 100.0 + true 100.0 - l_gripper_tool_frame - l_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - /map - - - - true - - - - - - - - - - - + l_gripper_r_finger_tip_bumper + + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + base_link + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + + l_gripper_r_parallel_link + l_gripper_r_finger_tip_link + l_gripper_r_finger_tip_link + 0 0 1 + -0.018 -0.021 0 + + + l_gripper_l_parallel_link + l_gripper_l_finger_tip_link + l_gripper_l_finger_tip_link + 0 0 1 + -0.018 0.021 0 + + + l_gripper_l_finger_tip_link + l_gripper_r_finger_tip_link + l_gripper_r_finger_tip_link + 0 1 0 + + + + true + + + + true + + + + + + + + + + true + + l_gripper_palm_link_geom + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90.0 - 0.1 - 100 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true 25.0 - - true - 25.0 - l_forearm_cam/image_raw - l_forearm_cam/camera_info - l_forearm_cam_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - + l_forearm_cam/image_raw + l_forearm_cam/camera_info + l_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90.0 - 0.1 - 100 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true 25.0 - - true - 25.0 - r_forearm_cam/image_raw - r_forearm_cam/camera_info - r_forearm_cam_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - + r_forearm_cam/image_raw + r_forearm_cam/camera_info + r_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + From 2ee00304a3d677aca659408af51d4c180806e537 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 21:42:35 +0000 Subject: [PATCH 186/245] Default axis field is (1,0,0) and not (0,0,0) --- urdf/src/joint.cpp | 28 +++++++++++++--------------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index 637da37..87ad46e 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -471,26 +471,24 @@ bool Joint::initXml(TiXmlElement* config) } // Get Joint Axis - if (this->type != FLOATING) + if (this->type != FLOATING && this->type != FIXED) { // axis TiXmlElement *axis_xml = config->FirstChildElement("axis"); - if (axis_xml) - { - if (!axis_xml->Attribute("xyz")) - ROS_INFO("no xyz attribute for axis element for Joint link '%s', using default values", this->name.c_str()); - else - { + if (!axis_xml){ + ROS_DEBUG("no axis elemement for Joint link '%s', defaulting to (1,0,0) axis", this->name.c_str()); + this->axis = Vector3(1.0, 0.0, 0.0); + } + else{ + if (!axis_xml->Attribute("xyz")){ + ROS_ERROR("no xyz attribute for axis element for Joint link '%s'", this->name.c_str()); + } + else { if (!this->axis.init(axis_xml->Attribute("xyz"))) { - if (this->type == PLANAR) - ROS_DEBUG("PLANAR Joint '%s' will require an axis tag in the future which indicates the surface normal of the plane.", this->name.c_str()); - else - { - ROS_ERROR("Malformed axis element for joint '%s'", this->name.c_str()); - this->axis.clear(); - return false; - } + ROS_ERROR("Malformed axis element for joint '%s'", this->name.c_str()); + this->axis.clear(); + return false; } } } From e63fd96b55b45404ef54280afefda750068f0ed1 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 21:48:07 +0000 Subject: [PATCH 187/245] Add regression tests for cases with 1, 2 links in urdf, with and without fixed joints. Fix bug where 2-link urdf is not accepted #4042 #4185 --- robot_state_publisher/CMakeLists.txt | 13 +- .../src/joint_state_listener.cpp | 2 +- .../src/robot_state_publisher.cpp | 2 +- .../src/treefksolverposfull_recursive.cpp | 6 +- robot_state_publisher/test/one_link.urdf | 3 + robot_state_publisher/test/pr2.urdf | 6519 ++++++++--------- robot_state_publisher/test/test_publisher.cpp | 24 +- .../test/test_two_links_fixed_joint.cpp | 120 + .../test/test_two_links_fixed_joint.launch | 6 + .../test/test_two_links_moving_joint.cpp | 122 + .../test/test_two_links_moving_joint.launch | 6 + .../test/two_links_fixed_joint.urdf | 10 + .../test/two_links_moving_joint.urdf | 10 + 13 files changed, 3556 insertions(+), 3287 deletions(-) create mode 100644 robot_state_publisher/test/one_link.urdf create mode 100644 robot_state_publisher/test/test_two_links_fixed_joint.cpp create mode 100644 robot_state_publisher/test/test_two_links_fixed_joint.launch create mode 100644 robot_state_publisher/test/test_two_links_moving_joint.cpp create mode 100644 robot_state_publisher/test/test_two_links_moving_joint.launch create mode 100644 robot_state_publisher/test/two_links_fixed_joint.urdf create mode 100644 robot_state_publisher/test/two_links_moving_joint.urdf diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt index b3220fe..0dc2111 100644 --- a/robot_state_publisher/CMakeLists.txt +++ b/robot_state_publisher/CMakeLists.txt @@ -31,8 +31,19 @@ rosbuild_add_executable(test_publisher test/test_publisher.cpp ) target_link_libraries(test_publisher ${PROJECT_NAME}) rosbuild_add_gtest_build_flags(test_publisher) rosbuild_declare_test(test_publisher) - rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_publisher.launch) +rosbuild_add_executable(test_two_links_fixed_joint test/test_two_links_fixed_joint.cpp ) +target_link_libraries(test_two_links_fixed_joint ${PROJECT_NAME}) +rosbuild_add_gtest_build_flags(test_two_links_fixed_joint) +rosbuild_declare_test(test_two_links_fixed_joint) +rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_two_links_fixed_joint.launch) + +rosbuild_add_executable(test_two_links_moving_joint test/test_two_links_moving_joint.cpp ) +target_link_libraries(test_two_links_moving_joint ${PROJECT_NAME}) +rosbuild_add_gtest_build_flags(test_two_links_moving_joint) +rosbuild_declare_test(test_two_links_moving_joint) +rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_two_links_moving_joint.launch) + # Download needed data file rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states_indexed.bag test/joint_states_indexed.bag 793e0b566ebe4698265a936b92fa2bba) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 268117b..69df07a 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -64,7 +64,7 @@ JointStateListener::~JointStateListener() void JointStateListener::callbackJointState(const JointStateConstPtr& state) { - if (state->get_name_size() != state->get_position_size()){ + if (state->name.size() != state->position.size()){ ROS_ERROR("Robot state publisher received an invalid joint state vector"); return; } diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index 221fe2e..ffb0405 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -68,7 +68,7 @@ bool RobotStatePublisher::publishTransforms(const map& joint_pos // calculate transforms form root to every segment in tree map link_poses; solver_->JntToCart(joint_positions, link_poses); - if (link_poses.size() < 2){ + if (link_poses.empty()){ ROS_ERROR("Could not compute link poses. The tree or the state is invalid."); return false; } diff --git a/robot_state_publisher/src/treefksolverposfull_recursive.cpp b/robot_state_publisher/src/treefksolverposfull_recursive.cpp index 7fdf560..fd6fcd3 100644 --- a/robot_state_publisher/src/treefksolverposfull_recursive.cpp +++ b/robot_state_publisher/src/treefksolverposfull_recursive.cpp @@ -54,7 +54,7 @@ void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_i const Frame& previous_frame, const SegmentMap::const_iterator this_segment) { // get pose of this segment - Frame this_frame = previous_frame; + Frame this_frame; double jnt_p = 0; if (this_segment->second.segment.getJoint().getType() != Joint::None){ map::const_iterator jnt_pos = q_in.find(this_segment->second.segment.getJoint().getName()); @@ -64,7 +64,9 @@ void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_i } jnt_p = jnt_pos->second; } - this_frame = this_frame * this_segment->second.segment.pose(jnt_p); + this_frame = previous_frame * this_segment->second.segment.pose(jnt_p); + double r, p, y; + this_frame.M.GetRPY(r, p, y); if (this_segment->first != tree.getRootSegment()->first) p_out.insert(make_pair(this_segment->first, this_frame)); diff --git a/robot_state_publisher/test/one_link.urdf b/robot_state_publisher/test/one_link.urdf new file mode 100644 index 0000000..be21ee1 --- /dev/null +++ b/robot_state_publisher/test/one_link.urdf @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/robot_state_publisher/test/pr2.urdf b/robot_state_publisher/test/pr2.urdf index 81f8d79..07308a0 100644 --- a/robot_state_publisher/test/pr2.urdf +++ b/robot_state_publisher/test/pr2.urdf @@ -1,1032 +1,988 @@ - 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l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - - - - - - - - true - - l_gripper_palm_link_geom - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - true - - - - l_gripper_l_finger_tip_link - l_gripper_float_link - l_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - l_gripper_r_finger_tip_link - l_gripper_float_link - l_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - + l_gripper_r_finger_bumper + + + + + + + + + + + + + + + + + true + false + + l_gripper_l_finger_tip_link_geom + 100.0 + true 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + false + + l_gripper_r_finger_tip_link_geom + 100.0 + true 100.0 - l_gripper_tool_frame - l_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - /map - - - - true - - - - - - - - - - - + l_gripper_r_finger_tip_bumper + + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + base_link + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + + l_gripper_r_parallel_link + l_gripper_r_finger_tip_link + l_gripper_r_finger_tip_link + 0 0 1 + -0.018 -0.021 0 + + + l_gripper_l_parallel_link + l_gripper_l_finger_tip_link + l_gripper_l_finger_tip_link + 0 0 1 + -0.018 0.021 0 + + + l_gripper_l_finger_tip_link + l_gripper_r_finger_tip_link + l_gripper_r_finger_tip_link + 0 1 0 + + + + true + + + + true + + + + + + + + + + true + + l_gripper_palm_link_geom + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - l_forearm_cam/image - l_forearm_cam_frame - - - - true - PR2/Blue - - true - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true + 25.0 + l_forearm_cam/image_raw + l_forearm_cam/camera_info + l_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90 - 0.1 - 100 - 20.0 - - true - 20.0 - r_forearm_cam/image - r_forearm_cam_frame - - - - true - PR2/Blue - - true - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true + 25.0 + r_forearm_cam/image_raw + r_forearm_cam/camera_info + r_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp index 41c96a7..530170e 100644 --- a/robot_state_publisher/test/test_publisher.cpp +++ b/robot_state_publisher/test/test_publisher.cpp @@ -62,31 +62,11 @@ public: protected: /// constructor TestPublisher() - { - /* - // constructs a robot model from the xml file - urdf::Model robot_model; - if (g_argc == 2){ - if (!robot_model.initFile(g_argv[1])) - ROS_ERROR("Failed to construct robot model from xml string"); - } - else - ROS_ERROR("No robot model as argument given"); - - // constructs a kdl tree from the robot model - Tree tree; - if (!kdl_parser::treeFromUrdfModel(robot_model, tree)) - ROS_ERROR("Failed to extract kdl tree from robot model"); - - publisher = new JointStateListener(tree); - */ - } + {} /// Destructor ~TestPublisher() - { - // delete publisher; - } + {} }; diff --git a/robot_state_publisher/test/test_two_links_fixed_joint.cpp b/robot_state_publisher/test/test_two_links_fixed_joint.cpp new file mode 100644 index 0000000..f0355c0 --- /dev/null +++ b/robot_state_publisher/test/test_two_links_fixed_joint.cpp @@ -0,0 +1,120 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include +#include +#include +#include +#include "robot_state_publisher/joint_state_listener.h" + + +using namespace ros; +using namespace tf; +using namespace robot_state_publisher; + + +int g_argc; +char** g_argv; + +#define EPS 0.01 + +class TestPublisher : public testing::Test +{ +public: + JointStateListener* publisher; + +protected: + /// constructor + TestPublisher() + {} + + /// Destructor + ~TestPublisher() + {} +}; + + + + + +TEST_F(TestPublisher, test) +{ + ROS_INFO("Creating tf listener"); + TransformListener tf; + + ROS_INFO("Publishing joint state to robot state publisher"); + ros::NodeHandle n; + ros::Publisher js_pub = n.advertise("joint_states", 100); + sensor_msgs::JointState js_msg; + for (unsigned int i=0; i<100; i++){ + js_msg.header.stamp = ros::Time::now(); + js_pub.publish(js_msg); + ros::Duration(0.1).sleep(); + } + + ASSERT_TRUE(tf.canTransform("link1", "link2", Time())); + ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time())); + + tf::StampedTransform t; + tf.lookupTransform("link1", "link2",Time(), t ); + EXPECT_NEAR(t.getOrigin().x(), 5.0, EPS); + EXPECT_NEAR(t.getOrigin().y(), 0.0, EPS); + EXPECT_NEAR(t.getOrigin().z(), 0.0, EPS); + + SUCCEED(); +} + + + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_robot_state_publisher"); + ros::NodeHandle node; + boost::thread ros_thread(boost::bind(&ros::spin)); + + g_argc = argc; + g_argv = argv; + int res = RUN_ALL_TESTS(); + ros_thread.interrupt(); + ros_thread.join(); + + return res; +} diff --git a/robot_state_publisher/test/test_two_links_fixed_joint.launch b/robot_state_publisher/test/test_two_links_fixed_joint.launch new file mode 100644 index 0000000..9ad67b0 --- /dev/null +++ b/robot_state_publisher/test/test_two_links_fixed_joint.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/robot_state_publisher/test/test_two_links_moving_joint.cpp b/robot_state_publisher/test/test_two_links_moving_joint.cpp new file mode 100644 index 0000000..2f05f79 --- /dev/null +++ b/robot_state_publisher/test/test_two_links_moving_joint.cpp @@ -0,0 +1,122 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include +#include +#include +#include +#include "robot_state_publisher/joint_state_listener.h" + + +using namespace ros; +using namespace tf; +using namespace robot_state_publisher; + + +int g_argc; +char** g_argv; + +#define EPS 0.01 + +class TestPublisher : public testing::Test +{ +public: + JointStateListener* publisher; + +protected: + /// constructor + TestPublisher() + {} + + /// Destructor + ~TestPublisher() + {} +}; + + + + + +TEST_F(TestPublisher, test) +{ + ROS_INFO("Creating tf listener"); + TransformListener tf; + + ROS_INFO("Publishing joint state to robot state publisher"); + ros::NodeHandle n; + ros::Publisher js_pub = n.advertise("joint_states", 100); + sensor_msgs::JointState js_msg; + js_msg.name.push_back("joint1"); + js_msg.position.push_back(M_PI); + for (unsigned int i=0; i<100; i++){ + js_msg.header.stamp = ros::Time::now(); + js_pub.publish(js_msg); + ros::Duration(0.1).sleep(); + } + + ASSERT_TRUE(tf.canTransform("link1", "link2", Time())); + ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time())); + + tf::StampedTransform t; + tf.lookupTransform("link1", "link2",Time(), t ); + EXPECT_NEAR(t.getOrigin().x(), 5.0, EPS); + EXPECT_NEAR(t.getOrigin().y(), 0.0, EPS); + EXPECT_NEAR(t.getOrigin().z(), 0.0, EPS); + + SUCCEED(); +} + + + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_robot_state_publisher"); + ros::NodeHandle node; + boost::thread ros_thread(boost::bind(&ros::spin)); + + g_argc = argc; + g_argv = argv; + int res = RUN_ALL_TESTS(); + ros_thread.interrupt(); + ros_thread.join(); + + return res; +} diff --git a/robot_state_publisher/test/test_two_links_moving_joint.launch b/robot_state_publisher/test/test_two_links_moving_joint.launch new file mode 100644 index 0000000..51a4b55 --- /dev/null +++ b/robot_state_publisher/test/test_two_links_moving_joint.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/robot_state_publisher/test/two_links_fixed_joint.urdf b/robot_state_publisher/test/two_links_fixed_joint.urdf new file mode 100644 index 0000000..8bd84ef --- /dev/null +++ b/robot_state_publisher/test/two_links_fixed_joint.urdf @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/robot_state_publisher/test/two_links_moving_joint.urdf b/robot_state_publisher/test/two_links_moving_joint.urdf new file mode 100644 index 0000000..eb50dd6 --- /dev/null +++ b/robot_state_publisher/test/two_links_moving_joint.urdf @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file From 3a32abefd9b584b49aeb4aed100382659014a2ea Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 22:01:00 +0000 Subject: [PATCH 188/245] add test for urdf without any joints --- robot_state_publisher/CMakeLists.txt | 6 + robot_state_publisher/test/test_one_link.cpp | 111 ++++++++++++++++++ .../test/test_one_link.launch | 6 + 3 files changed, 123 insertions(+) create mode 100644 robot_state_publisher/test/test_one_link.cpp create mode 100644 robot_state_publisher/test/test_one_link.launch diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt index 0dc2111..8b840f8 100644 --- a/robot_state_publisher/CMakeLists.txt +++ b/robot_state_publisher/CMakeLists.txt @@ -33,6 +33,12 @@ rosbuild_add_gtest_build_flags(test_publisher) rosbuild_declare_test(test_publisher) rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_publisher.launch) +rosbuild_add_executable(test_one_link test/test_one_link.cpp ) +target_link_libraries(test_one_link ${PROJECT_NAME}) +rosbuild_add_gtest_build_flags(test_one_link) +rosbuild_declare_test(test_one_link) +rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_one_link.launch) + rosbuild_add_executable(test_two_links_fixed_joint test/test_two_links_fixed_joint.cpp ) target_link_libraries(test_two_links_fixed_joint ${PROJECT_NAME}) rosbuild_add_gtest_build_flags(test_two_links_fixed_joint) diff --git a/robot_state_publisher/test/test_one_link.cpp b/robot_state_publisher/test/test_one_link.cpp new file mode 100644 index 0000000..3115042 --- /dev/null +++ b/robot_state_publisher/test/test_one_link.cpp @@ -0,0 +1,111 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Wim Meeussen */ + +#include +#include +#include +#include +#include +#include +#include +#include "robot_state_publisher/joint_state_listener.h" + + +using namespace ros; +using namespace tf; +using namespace robot_state_publisher; + + +int g_argc; +char** g_argv; + +#define EPS 0.01 + +class TestPublisher : public testing::Test +{ +public: + JointStateListener* publisher; + +protected: + /// constructor + TestPublisher() + {} + + /// Destructor + ~TestPublisher() + {} +}; + + + + + +TEST_F(TestPublisher, test) +{ + ROS_INFO("Creating tf listener"); + TransformListener tf; + + ROS_INFO("Publishing joint state to robot state publisher"); + ros::NodeHandle n; + ros::Publisher js_pub = n.advertise("joint_states", 100); + sensor_msgs::JointState js_msg; + for (unsigned int i=0; i<100; i++){ + js_msg.header.stamp = ros::Time::now(); + js_pub.publish(js_msg); + ros::Duration(0.1).sleep(); + } + + SUCCEED(); +} + + + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_robot_state_publisher"); + ros::NodeHandle node; + boost::thread ros_thread(boost::bind(&ros::spin)); + + g_argc = argc; + g_argv = argv; + int res = RUN_ALL_TESTS(); + ros_thread.interrupt(); + ros_thread.join(); + + return res; +} diff --git a/robot_state_publisher/test/test_one_link.launch b/robot_state_publisher/test/test_one_link.launch new file mode 100644 index 0000000..f46d8ee --- /dev/null +++ b/robot_state_publisher/test/test_one_link.launch @@ -0,0 +1,6 @@ + + + + + + From fdd1094772ef51a95bf558ca3e8a2b1a7931e88a Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 22:07:27 +0000 Subject: [PATCH 189/245] update kdl parser to comply with latest urdf bugfixes --- kdl_parser/test/pr2_desc.xml | 6504 +++++++++++++-------------- kdl_parser/test/test_kdl_parser.cpp | 6 +- 2 files changed, 3219 insertions(+), 3291 deletions(-) diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index df794c6..07308a0 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -1,26 +1,19 @@ - - + + + + + + - - - - - - - - - - - @@ -28,46 +21,52 @@ 1000.0 - - + true 1.0 5 - + power_state 10.0 - 87.78 + 87.78 -474 525 15.52 16.41 - + - + + - + + - + + - + + - + + - + + - - - - - + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 - 640 - 1 - - 0.0 0.0 0.0 - false - - -80 - 80 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + R8G8B8 2448 2050 @@ -898,2551 +993,2384 @@ true 20.0 - /prosilica/cam_info - /prosilica/image - /prosilica/image_rect - /prosilica/cam_info_service - /prosilica/poll - hight_def_optical_frame + /prosilica/image_raw + /prosilica/camera_info + /prosilica/request_image + high_def_frame 1224.5 1224.5 1025.5 - 2955 - 0 - 0 - 0 - 0 - 0 + 2955 + + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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l_gripper_l_finger_link - l_gripper_l_finger_pose_ground_truth - 0.0 - map - - - + l_gripper_l_finger_bumper + + + + + + + + + + + + + + + + + + true + + l_gripper_r_finger_link_geom + 100.0 + true 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - - - - - - - - true - - l_gripper_palm_link_geom - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - true - - - - - true - 0.01 - 0.0001 - 0 - 0 - 0.0001 - 0 - 0.0001 - 0 - 0 - 0 - 0.82025 0.188 0.790675 - 0 -0 0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - unit_box - PR2/White - - - true - false - - - l_gripper_float_link - l_gripper_palm_link - l_gripper_float_link - 1 0 0 - -0.05 - 0.001 - - - l_gripper_l_finger_tip_link - l_gripper_float_link - l_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - l_gripper_r_finger_tip_link - l_gripper_float_link - l_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - + l_gripper_r_finger_bumper + + + + + + + + + + + + + + + + + true + false + + l_gripper_l_finger_tip_link_geom + 100.0 + true 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - + l_gripper_l_finger_tip_bumper + + + + + + + + + + + + + + + + + true + false + + l_gripper_r_finger_tip_link_geom + 100.0 + true 100.0 - l_gripper_tool_frame - l_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - /map - - - - true - - - - - - - - - - - + l_gripper_r_finger_tip_bumper + + + + + + + + + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_pose_ground_truth + 0.0 + base_link + + + + true + 100.0 + l_gripper_l_finger_link + l_gripper_l_finger_force_ground_truth + l_gripper_l_finger_link + + + + + + + + + + + + l_gripper_r_parallel_link + l_gripper_r_finger_tip_link + l_gripper_r_finger_tip_link + 0 0 1 + -0.018 -0.021 0 + + + l_gripper_l_parallel_link + l_gripper_l_finger_tip_link + l_gripper_l_finger_tip_link + 0 0 1 + -0.018 0.021 0 + + + l_gripper_l_finger_tip_link + l_gripper_r_finger_tip_link + l_gripper_r_finger_tip_link + 0 1 0 + + + + true + + + + true + + + + + + + + + + true + + l_gripper_palm_link_geom + 100.0 + + true + 100.0 + l_gripper_palm_bumper + + + + + + + + true + 100.0 + l_gripper_palm_link + l_gripper_palm_pose_ground_truth + 0 0 0 + 0 0 0 + 0.0 + map + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90.0 - 0.1 - 100 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true 25.0 - - true - 25.0 - l_forearm_cam/image_raw - l_forearm_cam/camera_info - l_forearm_cam_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - + l_forearm_cam/image_raw + l_forearm_cam/camera_info + l_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90.0 - 0.1 - 100 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 640 480 + L8 + 90 + 0.1 + 100 + 25.0 + + true 25.0 - - true - 25.0 - r_forearm_cam/image_raw - r_forearm_cam/camera_info - r_forearm_cam_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - + r_forearm_cam/image_raw + r_forearm_cam/camera_info + r_forearm_cam_optical_frame + 0 + 320.5 + 320.5 + 240.5 + + + 320 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + + + + true + PR2/Blue + diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index c229cd2..9f28362 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -73,9 +73,9 @@ TEST_F(TestParser, test) } ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); - ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)38); - ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)72); - ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment()); + ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)42); + ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)79); + ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment()); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); ASSERT_EQ(my_tree.getSegment("base_link")->second.segment.getInertia().getMass(), 116.0); From 217a5ba7575c9bd4db0459ad782d8c253c449487 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 22:11:53 +0000 Subject: [PATCH 190/245] use pr2 dscription with fixed gripper joint --- kdl_parser/test/pr2_desc.xml | 6 ++++++ kdl_parser/test/test_kdl_parser.cpp | 4 ++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml index 07308a0..ebef6c6 100644 --- a/kdl_parser/test/pr2_desc.xml +++ b/kdl_parser/test/pr2_desc.xml @@ -2311,11 +2311,14 @@ + + + true @@ -3202,11 +3205,14 @@ + + + true diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp index 9f28362..c43d75f 100644 --- a/kdl_parser/test/test_kdl_parser.cpp +++ b/kdl_parser/test/test_kdl_parser.cpp @@ -73,8 +73,8 @@ TEST_F(TestParser, test) } ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); - ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)42); - ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)79); + ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)44); + ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)81); ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment()); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); From 4232496f32398aa006f545c67731f4fbd7405f80 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 22 Jun 2010 22:12:29 +0000 Subject: [PATCH 191/245] use pr2 dscription with fixed gripper joint --- urdf/test/pr2_desc.urdf | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/urdf/test/pr2_desc.urdf b/urdf/test/pr2_desc.urdf index 07308a0..ebef6c6 100644 --- a/urdf/test/pr2_desc.urdf +++ b/urdf/test/pr2_desc.urdf @@ -2311,11 +2311,14 @@ + + + true @@ -3202,11 +3205,14 @@ + + + true From 598019400c1f22c86f07486aecf06afe3e123aaf Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 24 Jun 2010 19:17:27 +0000 Subject: [PATCH 192/245] search for parameter in initParam --- urdf/src/model.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 7ad9b45..6a670a6 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -70,10 +70,19 @@ bool Model::initParam(const std::string& param) { ros::NodeHandle nh; std::string xml_string; - if (!nh.getParam(param, xml_string)){ - ROS_ERROR("Could not find parameter %s on parameter server", param.c_str()); - return false; - } + + // gets the location of the robot description on the parameter server + std::string full_param; + if (!nh.searchParam(param, full_param)){ + ROS_ERROR("Could not find parameter %s on parameter server", param.c_str()); + return false; + } + + // read the robot description from the parameter server + if (!nh.getParam(full_param, xml_string)){ + ROS_ERROR("Could read parameter %s on parameter server", full_param.c_str()); + return false; + } return initString(xml_string); } From 2b84aed3e5d6848dae1548ce9070a3f72631dc67 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 24 Jun 2010 19:20:16 +0000 Subject: [PATCH 193/245] initParam() calls through to urdf::initParam() --- kdl_parser/include/kdl_parser/kdl_parser.hpp | 7 +++++++ kdl_parser/src/kdl_parser.cpp | 9 +++++++++ 2 files changed, 16 insertions(+) diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp index 65720e3..ba7e2c8 100644 --- a/kdl_parser/include/kdl_parser/kdl_parser.hpp +++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp @@ -51,6 +51,13 @@ namespace kdl_parser{ */ bool treeFromFile(const std::string& file, KDL::Tree& tree); +/** Constructs a KDL tree from the parameter server, given the parameter name + * \param param the name of the parameter on the parameter server + * \param tree The resulting KDL Tree + * returns true on success, false on failure + */ +bool treeFromParam(const std::string& param, KDL::Tree& tree); + /** Constructs a KDL tree from a string containing xml * \param xml A string containting the xml description of the robot * \param tree The resulting KDL Tree diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index 358e2c5..f5abc69 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -138,6 +138,15 @@ bool treeFromFile(const string& file, Tree& tree) return treeFromXml(&urdf_xml, tree); } +bool treeFromParam(const string& param, Tree& tree) +{ + urdf::Model robot_model; + if (!robot_model.initParam(param)){ + ROS_ERROR("Could not generate robot model"); + return false; + } + return treeFromUrdfModel(robot_model, tree); +} bool treeFromString(const string& xml, Tree& tree) { From 71ba181883e5b26f563b36bc4f42e621f7a19814 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 24 Jun 2010 19:52:13 +0000 Subject: [PATCH 194/245] When tree has only fixed joints, publish state to tf without expecting empy joint state messages --- robot_state_publisher/CMakeLists.txt | 4 +- .../src/joint_state_listener.cpp | 47 ++++++++++- .../src/robot_state_publisher_node.cpp | 82 ------------------- .../test/test_two_links_fixed_joint.cpp | 12 +-- 4 files changed, 50 insertions(+), 95 deletions(-) delete mode 100644 robot_state_publisher/src/robot_state_publisher_node.cpp diff --git a/robot_state_publisher/CMakeLists.txt b/robot_state_publisher/CMakeLists.txt index 8b840f8..5c68421 100644 --- a/robot_state_publisher/CMakeLists.txt +++ b/robot_state_publisher/CMakeLists.txt @@ -22,9 +22,9 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) #uncomment if you have defined services #rosbuild_gensrv() -rosbuild_add_library(${PROJECT_NAME} src/joint_state_listener.cpp src/robot_state_publisher.cpp src/treefksolverposfull_recursive.cpp) +rosbuild_add_library(${PROJECT_NAME} src/robot_state_publisher.cpp src/treefksolverposfull_recursive.cpp) -rosbuild_add_executable(state_publisher src/robot_state_publisher_node.cpp ) +rosbuild_add_executable(state_publisher src/joint_state_listener.cpp ) target_link_libraries(state_publisher ${PROJECT_NAME}) rosbuild_add_executable(test_publisher test/test_publisher.cpp ) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 69df07a..e7b2eee 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -38,6 +38,8 @@ #include #include "robot_state_publisher/robot_state_publisher.h" #include "robot_state_publisher/joint_state_listener.h" +#include + using namespace std; using namespace ros; @@ -53,8 +55,18 @@ JointStateListener::JointStateListener(const KDL::Tree& tree) n_tilde_.param("publish_frequency", publish_freq, 50.0); publish_rate_ = Rate(publish_freq); - // subscribe to mechanism state - joint_state_sub_ = n_.subscribe("joint_states", 1, &JointStateListener::callbackJointState, this);; + if (tree.getNrOfJoints() == 0){ + boost::shared_ptr empty_state(new sensor_msgs::JointState); + empty_state->header.stamp = ros::Time::now(); + while (ros::ok()){ + this->callbackJointState(empty_state); + publish_rate_.sleep(); + } + } + else{ + // subscribe to mechanism state + joint_state_sub_ = n_.subscribe("joint_states", 1, &JointStateListener::callbackJointState, this); + } }; @@ -77,3 +89,34 @@ void JointStateListener::callbackJointState(const JointStateConstPtr& state) publish_rate_.sleep(); } + + + + +// ---------------------------------- +// ----- MAIN ----------------------- +// ---------------------------------- +int main(int argc, char** argv) +{ + // Initialize ros + ros::init(argc, argv, "robot_state_publisher"); + NodeHandle node; + + // gets the location of the robot description on the parameter server + KDL::Tree tree; + if (!kdl_parser::treeFromParam("robot_description", tree)){ + ROS_ERROR("Failed to extract kdl tree from xml robot description"); + return -1; + } + + if (tree.getNrOfSegments() == 0){ + ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf"); + ros::spin(); + } + else{ + JointStateListener state_publisher(tree); + ros::spin(); + } + + return 0; +} diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp deleted file mode 100644 index ae54ba9..0000000 --- a/robot_state_publisher/src/robot_state_publisher_node.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2008, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Wim Meeussen */ - -#include -#include -#include -#include -#include "robot_state_publisher/joint_state_listener.h" - -using namespace std; -using namespace ros; -using namespace KDL; -using namespace robot_state_publisher; - - - -// ---------------------------------- -// ----- MAIN ----------------------- -// ---------------------------------- -int main(int argc, char** argv) -{ - // Initialize ros - ros::init(argc, argv, "robot_state_publisher"); - NodeHandle node; - - // gets the location of the robot description on the parameter server - string full_param_name; - node.searchParam("robot_description",full_param_name); - string robot_desc; - - // constructs a kdl tree from the robot model - node.param(full_param_name, robot_desc, string()); - Tree tree; - if (!kdl_parser::treeFromString(robot_desc, tree)){ - ROS_ERROR("Failed to extract kdl tree from xml robot description"); - return -1; - } - - if (tree.getNrOfSegments() == 0){ - ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf"); - ros::spin(); - } - else{ - JointStateListener state_publisher(tree); - ros::spin(); - } - - return 0; -} diff --git a/robot_state_publisher/test/test_two_links_fixed_joint.cpp b/robot_state_publisher/test/test_two_links_fixed_joint.cpp index f0355c0..530ffd1 100644 --- a/robot_state_publisher/test/test_two_links_fixed_joint.cpp +++ b/robot_state_publisher/test/test_two_links_fixed_joint.cpp @@ -78,15 +78,9 @@ TEST_F(TestPublisher, test) ROS_INFO("Creating tf listener"); TransformListener tf; - ROS_INFO("Publishing joint state to robot state publisher"); - ros::NodeHandle n; - ros::Publisher js_pub = n.advertise("joint_states", 100); - sensor_msgs::JointState js_msg; - for (unsigned int i=0; i<100; i++){ - js_msg.header.stamp = ros::Time::now(); - js_pub.publish(js_msg); - ros::Duration(0.1).sleep(); - } + // don't need to publish joint state for tree with only fixed joints + // wait for tf data to come in + ros::Duration(10.0).sleep(); ASSERT_TRUE(tf.canTransform("link1", "link2", Time())); ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time())); From cd2a20999424ae948b5232a170ed8ee8beab6739 Mon Sep 17 00:00:00 2001 From: wim Date: Fri, 25 Jun 2010 17:49:50 +0000 Subject: [PATCH 195/245] getting ready for 1.1.5 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6a755b5..522e855 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.1.4) +rosbuild_make_distribution(1.1.5) From 12a8e7ead37ca3a02f91fc0bb3d88eae265ca8dc Mon Sep 17 00:00:00 2001 From: wim Date: Fri, 25 Jun 2010 22:50:35 +0000 Subject: [PATCH 196/245] getting ready for 1.2.0 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 522e855..800105b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.1.5) +rosbuild_make_distribution(1.2.0) From b78a3ba597873448718070c21af696d89889c7d6 Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 28 Jun 2010 21:07:36 +0000 Subject: [PATCH 197/245] deprecate field 'reference_position --- urdf/src/joint.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index 87ad46e..c696d95 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -275,6 +275,7 @@ bool JointCalibration::initXml(TiXmlElement* config) } else { + ROS_WARN("The field 'reference_position' of a joint calibraiton is deprecated. Use the 'rising' and 'falling' fields instead."); try { this->reference_position = boost::lexical_cast(reference_position_str); From dc22f6379153bda35190afce95e4d674ef373b06 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 7 Jul 2010 23:56:06 +0000 Subject: [PATCH 198/245] preparing for 1.2.1 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 800105b..049c5e3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.2.0) +rosbuild_make_distribution(1.2.1) From 1b30be26e61197d3806c238eb2fc01907f35bb27 Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 12 Jul 2010 16:34:22 +0000 Subject: [PATCH 199/245] better error message when no links are found in urdf file --- urdf/src/model.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index 6a670a6..dfade4c 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -212,6 +212,11 @@ bool Model::initXml(TiXmlElement *robot_xml) return false; } } + if (this->links_.empty()){ + ROS_ERROR("No link elements found in urdf file"); + return false; + } + // Get all Joint elements for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) { From 89be14e58b8925d19affbe534317ea7c508e5ccb Mon Sep 17 00:00:00 2001 From: hsu Date: Mon, 12 Jul 2010 22:04:37 +0000 Subject: [PATCH 200/245] fix NaN on normalize for ticket #4247 --- urdf/include/urdf/pose.h | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h index 48e57ab..89e0ec9 100644 --- a/urdf/include/urdf/pose.h +++ b/urdf/include/urdf/pose.h @@ -168,10 +168,20 @@ public: this->y * this->y + this->z * this->z + this->w * this->w); - this->x /= s; - this->y /= s; - this->z /= s; - this->w /= s; + if (s == 0.0) + { + this->x = 0.0; + this->y = 0.0; + this->z = 0.0; + this->w = 1.0; + } + else + { + this->x /= s; + this->y /= s; + this->z /= s; + this->w /= s; + } }; }; From 3438a44a14429fb8d600fc8fd050cbcec4133e52 Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 13 Jul 2010 00:23:37 +0000 Subject: [PATCH 201/245] construct kdl object directly from quaternion --- kdl_parser/src/kdl_parser.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp index f5abc69..114aa40 100644 --- a/kdl_parser/src/kdl_parser.cpp +++ b/kdl_parser/src/kdl_parser.cpp @@ -53,9 +53,7 @@ Vector toKdl(urdf::Vector3 v) // construct rotation Rotation toKdl(urdf::Rotation r) { - double roll, pitch, yaw; - r.getRPY(roll, pitch, yaw); - return Rotation::RPY(roll, pitch, yaw); + return Rotation::Quaternion(r.x, r.y, r.z, r.w); } // construct pose From cc896f2f2f8f28333f7c3893e3d45038a0a0e794 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 13 Jul 2010 00:38:52 +0000 Subject: [PATCH 202/245] fix singularity for getRPY. need to add unit test for this particular problem. --- urdf/include/urdf/pose.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h index 89e0ec9..74eaef5 100644 --- a/urdf/include/urdf/pose.h +++ b/urdf/include/urdf/pose.h @@ -114,7 +114,8 @@ public: sqw = this->w * this->w; roll = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz); - pitch = asin(-2 * (this->x*this->z - this->w*this->y)); + double sarg = -2 * (this->x*this->z - this->w*this->y); + pitch = sarg <= 1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg)); yaw = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz); }; From 489af450677671a677b293ce1b91f6a8b21b6adb Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 13 Jul 2010 01:30:08 +0000 Subject: [PATCH 203/245] update test to check for nan getRPY per #4247 --- urdf/test/singularity.urdf | 31 ++++++++++++++ urdf/test/test_robot_model_parser.cpp | 52 +++++++++++++++++++++++- urdf/test/test_robot_model_parser.launch | 2 +- 3 files changed, 82 insertions(+), 3 deletions(-) create mode 100644 urdf/test/singularity.urdf diff --git a/urdf/test/singularity.urdf b/urdf/test/singularity.urdf new file mode 100644 index 0000000..f86fa92 --- /dev/null +++ b/urdf/test/singularity.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/test/test_robot_model_parser.cpp b/urdf/test/test_robot_model_parser.cpp index 0be1a77..f238762 100644 --- a/urdf/test/test_robot_model_parser.cpp +++ b/urdf/test/test_robot_model_parser.cpp @@ -52,6 +52,21 @@ class TestParser : public testing::Test public: Model robot; + bool checkModel() + { + // get root link + boost::shared_ptr root_link=this->robot.getRoot(); + if (!root_link) + { + ROS_ERROR("no root link %s",this->robot.getName().c_str()); + return false; + } + + // go through entire tree + return this->traverse_tree(root_link); + + }; + protected: /// constructor TestParser() @@ -63,6 +78,36 @@ protected: ~TestParser() { } + + bool traverse_tree(boost::shared_ptr link,int level = 0) + { + level+=2; + int count = 0; + for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + { + if (*child) + { + // check rpy + double roll,pitch,yaw; + (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(roll,pitch,yaw); + + if (isnan(roll) || isnan(pitch) || isnan(yaw)) + { + ROS_ERROR("getRPY() returned nan!"); + return false; + } + // recurse down the tree + return this->traverse_tree(*child,level); + } + else + { + ROS_ERROR("root link: %s has a null child!",link->name.c_str()); + return false; + } + } + // no children + return true; + }; }; @@ -71,15 +116,18 @@ protected: TEST_F(TestParser, test) { std::string folder = std::string(g_argv[1]) + "/test/"; - printf("Folder %s",folder.c_str()); + ROS_INFO("Folder %s",folder.c_str()); for (int i=2; i - + From a6203bdf1127af9446eab639a4f907c2d739b93c Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 13 Jul 2010 05:16:21 +0000 Subject: [PATCH 204/245] #4247 fix wrong coefficient in previous correction --- urdf/include/urdf/pose.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h index 74eaef5..dbf81ee 100644 --- a/urdf/include/urdf/pose.h +++ b/urdf/include/urdf/pose.h @@ -115,7 +115,7 @@ public: roll = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz); double sarg = -2 * (this->x*this->z - this->w*this->y); - pitch = sarg <= 1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg)); + pitch = sarg <= 1.0 ? -2.0*M_PI : (sarg >= 1.0 ? 2.0*M_PI : asin(sarg)); yaw = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz); }; From 4338f41fa6525e94ce420aefa985e8e8fd09fe29 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 13 Jul 2010 05:19:46 +0000 Subject: [PATCH 205/245] #4247 fix wrong coefficient in previous correction --- urdf/include/urdf/pose.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h index dbf81ee..9013806 100644 --- a/urdf/include/urdf/pose.h +++ b/urdf/include/urdf/pose.h @@ -115,7 +115,7 @@ public: roll = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz); double sarg = -2 * (this->x*this->z - this->w*this->y); - pitch = sarg <= 1.0 ? -2.0*M_PI : (sarg >= 1.0 ? 2.0*M_PI : asin(sarg)); + pitch = sarg <= -1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg)); yaw = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz); }; From 2f7c19c8a2569b9a6827bf79dd996ddc45c9b49d Mon Sep 17 00:00:00 2001 From: wim Date: Tue, 13 Jul 2010 16:28:18 +0000 Subject: [PATCH 206/245] preparing for 1.2.2 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 049c5e3..8d019f5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.2.1) +rosbuild_make_distribution(1.2.2) From 2cac8c6027c4291517967a12a71bd1ee26b9049b Mon Sep 17 00:00:00 2001 From: rdiankov Date: Fri, 23 Jul 2010 04:35:48 +0000 Subject: [PATCH 207/245] fixed visual model transforms in urdf_to_collada exporter --- collada_urdf/src/collada_writer.cpp | 64 ++++++++++++++++++----------- 1 file changed, 39 insertions(+), 25 deletions(-) diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index f34b9ea..a9a703f 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -198,13 +198,19 @@ void ColladaWriter::addGeometries() { for (map >::const_iterator i = robot_.links_.begin(); i != robot_.links_.end(); i++) { shared_ptr urdf_link = i->second; - - if (urdf_link->visual == NULL || urdf_link->visual->geometry == NULL) + boost::shared_ptr< urdf::Geometry > geometry; + if( !!urdf_link->visual ) { + geometry = urdf_link->visual->geometry; + } + else if (!!urdf_link->collision ) { + geometry = urdf_link->collision->geometry; + } + if( !geometry ) { continue; - - switch (urdf_link->visual->geometry->type) { + } + switch (geometry->type) { case urdf::Geometry::MESH: { - urdf::Mesh* urdf_mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); + urdf::Mesh* urdf_mesh = (urdf::Mesh*) geometry.get(); string filename = urdf_mesh->filename; urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale @@ -235,7 +241,7 @@ void ColladaWriter::addGeometries() { break; } default: { - std::cerr << "Warning: geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " not exported" << std::endl; + std::cerr << "Warning: geometry type " << geometry->type << " of link " << urdf_link->name << " not exported" << std::endl; break; } } @@ -777,31 +783,23 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle domNodeRef parent_node = node; { - if (urdf_link->parent_joint != NULL) { + if (!!urdf_link->parent_joint) { // x y z addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position, NULL, true); // x y z w addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true); - if (urdf_link->visual != NULL) { - // - domNodeRef visual_node = daeSafeCast(node->add(COLLADA_ELEMENT_NODE)); - string visual_sid("visual"); - string visual_id = node_id + "." + visual_sid; - visual_node->setName("visual"); - visual_node->setSid(visual_sid.c_str()); - visual_node->setId(visual_id.c_str()); - - parent_node = visual_node; - - // x y z - addTranslate(parent_node, urdf_link->visual->origin.position, NULL, true); - // x y z w - addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true); - } - + domRotateRef joint_rotate; // x y z angle - domRotateRef joint_rotate = addRotate(parent_node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + //joint_rotate = addRotate(parent_node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); + + joint_rotate = daeSafeCast(parent_node->add(COLLADA_ELEMENT_ROTATE)); + joint_rotate->getValue().setCount(4); + joint_rotate->getValue()[0] = urdf_link->parent_joint->axis.x; + joint_rotate->getValue()[1] = urdf_link->parent_joint->axis.y; + joint_rotate->getValue()[2] = urdf_link->parent_joint->axis.z; + joint_rotate->getValue()[3] = 0; + string joint_sid = joint_sids_[urdf_link->parent_joint->name]; string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); joint_rotate->setSid(joint_rotate_sid.c_str()); @@ -809,6 +807,22 @@ void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeEle node_ids_[urdf_link->parent_joint->name] = node_id; } + if (!!urdf_link->visual) { + // + domNodeRef visual_node = daeSafeCast(node->add(COLLADA_ELEMENT_NODE)); + string visual_sid("visual"); + string visual_id = node_id + "." + visual_sid; + visual_node->setName("visual"); + visual_node->setSid(visual_sid.c_str()); + visual_node->setId(visual_id.c_str()); + parent_node = visual_node; + + // x y z + addTranslate(parent_node, urdf_link->visual->origin.position, NULL, true); + // x y z w + addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true); + } + // map::const_iterator i = geometry_ids_.find(urdf_link->name); if (i != geometry_ids_.end()) { From 84dee0978652aa8a079c3dc75a80564a0f769872 Mon Sep 17 00:00:00 2001 From: jfaust Date: Tue, 31 Aug 2010 18:51:05 +0000 Subject: [PATCH 208/245] Upgrade assimp to svn rev 811 -- this includes some fixes for collada loading as well as uri syntax --- assimp/Makefile | 2 +- assimp/assimp.patch | 87 +++++++++++++++++++++------------------------ 2 files changed, 42 insertions(+), 47 deletions(-) diff --git a/assimp/Makefile b/assimp/Makefile index 4702f19..02abba6 100644 --- a/assimp/Makefile +++ b/assimp/Makefile @@ -2,7 +2,7 @@ all: installed PACKAGE_NAME=`rospack find assimp` # Regular download -TARBALL_NAME = assimp-1.1.700 +TARBALL_NAME = assimp-svn-811 TARBALL = build/$(TARBALL_NAME).tar.gz TARBALL_URL = http://pr.willowgarage.com/downloads/$(TARBALL_NAME).tar.gz TARBALL_PATCH = assimp.patch diff --git a/assimp/assimp.patch b/assimp/assimp.patch index 48fd01b..2e2866d 100644 --- a/assimp/assimp.patch +++ b/assimp/assimp.patch @@ -1,61 +1,56 @@ ---- CMakeLists.txt.old 2010-05-21 11:08:29.598051070 -0700 -+++ CMakeLists.txt 2010-05-21 11:19:28.595500290 -0700 -@@ -20,6 +20,21 @@ SET( INCLUDE_INSTALL_DIR "${CMAKE_INSTAL - SET( BIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/bin" CACHE PATH - "Path the tool executables are installed to." ) +Index: code/CMakeLists.txt +=================================================================== +--- code/CMakeLists.txt (revision 811) ++++ code/CMakeLists.txt (working copy) +@@ -742,6 +742,8 @@ + SOVERSION ${LIBRARY_SOVERSION} + ) + ++target_link_libraries(assimp ${boost_libraries}) ++ + INSTALL( TARGETS assimp DESTINATION ${LIB_INSTALL_DIR} ) + INSTALL( FILES ${PUBLIC_HEADERS} DESTINATION ${INCLUDE_INSTALL_DIR}/assimp ) + INSTALL( FILES ${COMPILER_HEADERS} DESTINATION ${INCLUDE_INSTALL_DIR}/assimp/Compiler ) +Index: CMakeLists.txt +=================================================================== +--- CMakeLists.txt (revision 811) ++++ CMakeLists.txt (working copy) +@@ -25,26 +25,21 @@ + CONFIGURE_FILE( "${CMAKE_SOURCE_DIR}/assimp.pc.in" "${CMAKE_BINARY_DIR}/assimp.pc" @ONLY ) + INSTALL( FILES "${CMAKE_BINARY_DIR}/assimp.pc" DESTINATION ${LIB_INSTALL_DIR}/pkgconfig/ ) +-# Globally enbale Boost resp. the Boost workaround – it is also needed by the +-# tools which include the Assimp headers. +-IF ( ENABLE_BOOST_WORKAROUND ) +- INCLUDE_DIRECTORIES( BoostWorkaround ) +- ADD_DEFINITIONS( -DASSIMP_BUILD_BOOST_WORKAROUND ) +- MESSAGE( STATUS "Building a non-boost version of Assimp." ) +-ELSE ( ENABLE_BOOST_WORKAROUND ) +- FIND_PACKAGE( Boost 1.35 ) +SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to override automatic detection.") +SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to override automatic detection.") +SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override automatic detection.") -+ -+ + +- IF ( NOT Boost_FOUND ) +- MESSAGE( FATAL_ERROR +- "Boost libraries (http://www.boost.org/) not found. " +- "You can build a non-boost version of Assimp with slightly reduced " +- "functionality by specifying -DENABLE_BOOST_WORKAROUND=ON." +- ) +- ENDIF ( NOT Boost_FOUND ) + +- INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIRS} ) +-ENDIF ( ENABLE_BOOST_WORKAROUND ) +message(status " debug: ${boost_include_dirs} ${boost_libraries}" ) +INCLUDE_DIRECTORIES( + include + ${boost_include_dirs} +) -+ + +LINK_DIRECTORIES( + ${boost_library_dirs} +) + - # Libs ADD_SUBDIRECTORY( code/ ) IF ( WIN32 ) ---- code/CMakeLists.txt.old 2010-05-21 11:25:22.057223769 -0700 -+++ code/CMakeLists.txt 2010-05-21 11:25:47.295533481 -0700 -@@ -1,25 +1,6 @@ - SET( LIBRARY_VERSION "1.0.0" ) - SET( LIBRARY_SOVERSION "1" ) - --IF ( ENABLE_BOOST_WORKAROUND ) -- INCLUDE_DIRECTORIES( BoostWorkaround ) -- ADD_DEFINITIONS( -DASSIMP_BUILD_BOOST_WORKAROUND ) -- MESSAGE( STATUS "Building a non-boost version of Assimp." ) --ELSE ( ENABLE_BOOST_WORKAROUND ) -- FIND_PACKAGE( Boost 1.35 ) -- -- IF ( NOT Boost_FOUND ) -- MESSAGE( FATAL_ERROR -- "Boost libraries (http://www.boost.org/) not found. " -- "You can build a non-boost version of Assimp with slightly reduced " -- "functionality by specifying -DENABLE_BOOST_WORKAROUND=ON." -- ) -- ENDIF ( NOT Boost_FOUND ) -- -- INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIRS} ) --ENDIF ( ENABLE_BOOST_WORKAROUND ) -- -- - # - # Listing and grouping of all the source files for use with IDE project - # generators. -@@ -691,6 +672,8 @@ ADD_LIBRARY( assimp SHARED - ${COMPILER_HEADERS} - ) - -+TARGET_LINK_LIBRARIES( assimp ${boost_libraries}) -+ - ADD_DEFINITIONS( -DASSIMP_BUILD_DLL_EXPORT ) - - if ( WIN32 ) + ADD_SUBDIRECTORY( test/ ) From 5e0e8f7f9d442e5f5b467c28c2bf5f5b432c8b3f Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 29 Sep 2010 17:58:03 +0000 Subject: [PATCH 209/245] Robot state publisher supports full trees and flattened trees --- .../robot_state_publisher.h | 1 + .../treefksolverposfull_recursive.hpp | 11 +++++-- .../src/robot_state_publisher.cpp | 22 +++++++++---- .../src/treefksolverposfull_recursive.cpp | 33 +++++++++++-------- 4 files changed, 43 insertions(+), 24 deletions(-) diff --git a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h index 67c68be..5d0b7ac 100644 --- a/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h +++ b/robot_state_publisher/include/robot_state_publisher/robot_state_publisher.h @@ -65,6 +65,7 @@ public: private: ros::Publisher tf_publisher_; + bool flatten_tree_; KDL::Tree tree_; boost::scoped_ptr solver_; std::string root_; diff --git a/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp b/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp index 4c3e9ea..1d11b52 100644 --- a/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp +++ b/robot_state_publisher/include/robot_state_publisher/treefksolverposfull_recursive.hpp @@ -24,6 +24,8 @@ #define KDLTREEFKSOLVERPOSFULL_RECURSIVE_HPP #include +#include + namespace KDL { @@ -34,11 +36,14 @@ public: TreeFkSolverPosFull_recursive(const Tree& _tree); ~TreeFkSolverPosFull_recursive(); - int JntToCart(const std::map& q_in, std::map& p_out); + int JntToCart(const std::map& q_in, std::map >& p_out, bool flatten_tree=true); private: - void addFrameToMap(const std::map& q_in, std::map& p_out, - const Frame& previous_frame, const SegmentMap::const_iterator this_segment); + void addFrameToMap(const std::map& q_in, + std::map >& p_out, + const tf::Stamped& previous_frame, + const SegmentMap::const_iterator this_segment, + bool flatten_tree); Tree tree; diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp index ffb0405..8faadd2 100644 --- a/robot_state_publisher/src/robot_state_publisher.cpp +++ b/robot_state_publisher/src/robot_state_publisher.cpp @@ -52,6 +52,10 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree) // build tree solver solver_.reset(new TreeFkSolverPosFull_recursive(tree_)); + // get parameter to flatter tree or not + ros::NodeHandle n_private("~"); + n_private.param("flatten_tree", flatten_tree_, false); + // advertise tf message NodeHandle n; tf_publisher_ = n.advertise("/tf", 5); @@ -65,27 +69,31 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree) bool RobotStatePublisher::publishTransforms(const map& joint_positions, const Time& time) { - // calculate transforms form root to every segment in tree - map link_poses; - solver_->JntToCart(joint_positions, link_poses); + // calculate transforms + map > link_poses; + solver_->JntToCart(joint_positions, link_poses, flatten_tree_); + if (link_poses.empty()){ ROS_ERROR("Could not compute link poses. The tree or the state is invalid."); return false; } transforms_.resize(link_poses.size()); - // send transforms to tf - tf::Transform tf_frame; unsigned int i = 0; - for (map::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ + tf::Transform tf_frame; + for (map >::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){ tf::TransformKDLToTF(f->second, transforms_[i]); transforms_[i].stamp_ = time; - transforms_[i].frame_id_ = root_; + transforms_[i].frame_id_ = f->second.frame_id_; transforms_[i].child_frame_id_ = f->first; i++; } + tf_broadcaster_.sendTransform(transforms_); return true; } } + + + diff --git a/robot_state_publisher/src/treefksolverposfull_recursive.cpp b/robot_state_publisher/src/treefksolverposfull_recursive.cpp index fd6fcd3..c4700cd 100644 --- a/robot_state_publisher/src/treefksolverposfull_recursive.cpp +++ b/robot_state_publisher/src/treefksolverposfull_recursive.cpp @@ -38,23 +38,27 @@ TreeFkSolverPosFull_recursive::~TreeFkSolverPosFull_recursive() { } -int TreeFkSolverPosFull_recursive::JntToCart(const map& q_in, map& p_out) + +int TreeFkSolverPosFull_recursive::JntToCart(const map& q_in, map >& p_out, bool flatten_tree) { // clear output p_out.clear(); - addFrameToMap(q_in, p_out, Frame::Identity(), tree.getRootSegment()); + addFrameToMap(q_in, p_out, tf::Stamped(KDL::Frame::Identity(), ros::Time(), tree.getRootSegment()->second.segment.getName()), tree.getRootSegment(), flatten_tree); return 0; } - -void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_in, map& p_out, - const Frame& previous_frame, const SegmentMap::const_iterator this_segment) + +void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_in, + map >& p_out, + const tf::Stamped& previous_frame, + const SegmentMap::const_iterator this_segment, + bool flatten_tree) { // get pose of this segment - Frame this_frame; + tf::Stamped this_frame; double jnt_p = 0; if (this_segment->second.segment.getJoint().getType() != Joint::None){ map::const_iterator jnt_pos = q_in.find(this_segment->second.segment.getJoint().getName()); @@ -64,17 +68,18 @@ void TreeFkSolverPosFull_recursive::addFrameToMap(const map& q_i } jnt_p = jnt_pos->second; } - this_frame = previous_frame * this_segment->second.segment.pose(jnt_p); - double r, p, y; - this_frame.M.GetRPY(r, p, y); + this_frame = tf::Stamped(previous_frame * this_segment->second.segment.pose(jnt_p), ros::Time(), previous_frame.frame_id_); + if (this_segment->first != tree.getRootSegment()->first) - p_out.insert(make_pair(this_segment->first, this_frame)); + p_out.insert(make_pair(this_segment->first, tf::Stamped(this_frame, ros::Time(), previous_frame.frame_id_))); // get poses of child segments - for (vector::const_iterator child=this_segment->second.children.begin(); child !=this_segment->second.children.end(); child++) - addFrameToMap(q_in, p_out, this_frame, *child); - + for (vector::const_iterator child=this_segment->second.children.begin(); child !=this_segment->second.children.end(); child++){ + if (flatten_tree) + addFrameToMap(q_in, p_out, this_frame, *child, flatten_tree); + else + addFrameToMap(q_in, p_out, tf::Stamped(KDL::Frame::Identity(), ros::Time(), this_segment->first), *child, flatten_tree); + } } - } From 78ee3ed5e5c0126148772f4cd020a48c1376fff2 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 29 Sep 2010 18:06:37 +0000 Subject: [PATCH 210/245] remove deprecated reference position. #4216 --- urdf/src/joint.cpp | 21 --------------------- 1 file changed, 21 deletions(-) diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp index c696d95..89b59b9 100644 --- a/urdf/src/joint.cpp +++ b/urdf/src/joint.cpp @@ -266,27 +266,6 @@ bool JointCalibration::initXml(TiXmlElement* config) { this->clear(); - // Get reference_position - const char* reference_position_str = config->Attribute("reference_position"); - if (reference_position_str == NULL) - { - ROS_DEBUG("joint calibration: no reference_position, using default value"); - this->reference_position = 0; - } - else - { - ROS_WARN("The field 'reference_position' of a joint calibraiton is deprecated. Use the 'rising' and 'falling' fields instead."); - try - { - this->reference_position = boost::lexical_cast(reference_position_str); - } - catch (boost::bad_lexical_cast &e) - { - ROS_ERROR("reference_position value (%s) is not a float",reference_position_str); - return false; - } - } - // Get rising edge position const char* rising_position_str = config->Attribute("rising"); if (rising_position_str == NULL) From 4de63d55a87bf4678b6a3ab647b975e244f8d6b2 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 29 Sep 2010 18:46:10 +0000 Subject: [PATCH 211/245] remove deprecated support for loating joint --- urdf/src/model.cpp | 13 +- urdf/test/pr2_desc.urdf | 698 ++--- urdf/test/pr2_desc_explicit_world.urdf | 3448 ---------------------- urdf/test/pr2_desc_no_joint.urdf | 1 - urdf/test/test_robot_model_parser.launch | 2 +- 5 files changed, 280 insertions(+), 3882 deletions(-) delete mode 100644 urdf/test/pr2_desc_explicit_world.urdf diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index dfade4c..12ef8bc 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -277,20 +277,11 @@ bool Model::initTree(std::map &parent_link_tree) std::string child_link_name = joint->second->child_link_name; ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str()); - if (parent_link_name.empty() && !child_link_name.empty()) + if (parent_link_name.empty() || child_link_name.empty()) { - ROS_ERROR(" Joint %s specifies child link but not parent link.",(joint->second)->name.c_str()); + ROS_ERROR(" Joint %s is missing a parent and/or child link specification.",(joint->second)->name.c_str()); return false; } - else if (!parent_link_name.empty() && child_link_name.empty()) - { - ROS_ERROR(" Joint %s specifies parent link but not child link.",(joint->second)->name.c_str()); - return false; - } - else if (parent_link_name.empty() && child_link_name.empty()) - { - ROS_WARN(" Joint %s specifies no parent link and no child link. The Boxturtle urdf parser had a bug that allowed this type of joints, but this is not a valid joint according to the URDF spec.",(joint->second)->name.c_str()); - } else { // find child and parent links diff --git a/urdf/test/pr2_desc.urdf b/urdf/test/pr2_desc.urdf index ebef6c6..cbc5c77 100644 --- a/urdf/test/pr2_desc.urdf +++ b/urdf/test/pr2_desc.urdf @@ -1,6 +1,6 @@ - + @@ -14,6 +14,7 @@ + @@ -54,6 +55,9 @@ + + + @@ -83,7 +87,7 @@ - + @@ -156,7 +160,7 @@ false -129.998394137 129.998394137 - 0.05 + 0.08 10.0 0.01 20 @@ -175,8 +179,7 @@ - - + @@ -202,7 +205,7 @@ - + -79.2380952381 @@ -226,7 +229,7 @@ - + @@ -243,9 +246,8 @@ - - + 79.2380952381 @@ -269,7 +271,7 @@ - + @@ -286,9 +288,8 @@ - - + -79.2380952381 @@ -301,8 +302,7 @@ - - + @@ -328,7 +328,7 @@ - + -79.2380952381 @@ -352,7 +352,7 @@ - + @@ -369,9 +369,8 @@ - - + 79.2380952381 @@ -395,7 +394,7 @@ - + @@ -412,9 +411,8 @@ - - + -79.2380952381 @@ -427,8 +425,7 @@ - - + @@ -454,7 +451,7 @@ - + -79.2380952381 @@ -478,7 +475,7 @@ - + @@ -495,9 +492,8 @@ - - + 79.2380952381 @@ -521,7 +517,7 @@ - + @@ -538,9 +534,8 @@ - - + -79.2380952381 @@ -553,8 +548,7 @@ - - + @@ -580,7 +574,7 @@ - + -79.2380952381 @@ -604,7 +598,7 @@ - + @@ -621,9 +615,8 @@ - - + 79.2380952381 @@ -647,7 +640,7 @@ - + @@ -664,9 +657,8 @@ - - + -79.2380952381 @@ -686,7 +678,6 @@ - @@ -708,8 +699,7 @@ - - + @@ -725,7 +715,7 @@ - + @@ -747,9 +737,8 @@ - - + -52143.33 @@ -799,8 +788,7 @@ - - + @@ -815,21 +803,18 @@ - + - - - - - + + 6.0 @@ -839,8 +824,7 @@ - - + @@ -855,7 +839,7 @@ - + @@ -866,10 +850,8 @@ - - - - + + 6.0 @@ -1375,13 +1357,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 15.0 + stereo_projection_pattern_high_res_red.png + projector_wg6802418_child_frame + stereo_projection_pattern_filter.png + projector_wg6802418_controller/image + projector_wg6802418_controller/projector + 0.785398163397 + 0.4 + 10 + + - - + @@ -1396,7 +1443,7 @@ - + @@ -1442,7 +1489,7 @@ false -79.9999999086 79.9999999086 - 0.05 + 0.08 10.0 0.01 40 @@ -1457,9 +1504,8 @@ - - - + + -6.05 @@ -1476,8 +1522,7 @@ - - + @@ -1488,7 +1533,7 @@ - + @@ -1505,8 +1550,7 @@ - - + @@ -1521,7 +1565,7 @@ - + @@ -1540,8 +1584,7 @@ - - + @@ -1575,23 +1618,12 @@ - + 32.6525111499 - - r_shoulder_pan_link_geom - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - true @@ -1599,28 +1631,18 @@ - - r_shoulder_lift_link_geom - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - true - + 63.1552452977 - + 61.8948225713 @@ -1640,7 +1662,7 @@ - + @@ -1652,17 +1674,6 @@ - - r_upper_arm_link_geom - - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - true @@ -1670,8 +1681,7 @@ - - + @@ -1706,7 +1716,7 @@ - + -90.5142857143 @@ -1717,8 +1727,7 @@ - - + @@ -1733,7 +1742,7 @@ - + @@ -1748,24 +1757,13 @@ -1.0 - - r_elbow_flex_link_geom - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - true - + -36.167452007 @@ -1785,7 +1783,7 @@ - + @@ -1802,8 +1800,7 @@ - - + @@ -1817,7 +1814,7 @@ - + @@ -1834,8 +1831,7 @@ - - + @@ -1864,30 +1860,9 @@ true - - r_forearm_link_geom - 100.0 - - true - 100.0 - r_forearm_bumper - - - true - - r_wrist_flex_link_geom - 100.0 - - true - 100.0 - r_wrist_flex_bumper - - - - @@ -1895,22 +1870,12 @@ true - - r_wrist_roll_link_geom - 100.0 - - true - 100.0 - r_wrist_roll_bumper - - - - + @@ -1930,7 +1895,7 @@ - + @@ -1996,7 +1961,7 @@ - + @@ -2026,7 +1991,7 @@ - + @@ -2038,70 +2003,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -2120,7 +2021,7 @@ - + @@ -2150,7 +2051,7 @@ - + @@ -2170,6 +2071,7 @@ true 100.0 + r_gripper_l_finger_link r_gripper_l_finger_bumper @@ -2178,7 +2080,6 @@ - @@ -2194,6 +2095,7 @@ 100.0 true + r_gripper_r_finger_link 100.0 r_gripper_r_finger_bumper @@ -2203,7 +2105,6 @@ - @@ -2219,6 +2120,7 @@ 100.0 true + r_gripper_l_finger_tip_link 100.0 r_gripper_l_finger_tip_bumper @@ -2228,7 +2130,6 @@ - @@ -2244,6 +2145,7 @@ 100.0 true + r_gripper_r_finger_tip_link 100.0 r_gripper_r_finger_tip_bumper @@ -2253,7 +2155,6 @@ - @@ -2281,6 +2182,58 @@ + + true + 0.17126 + 7.7562e-05 + 1.49095e-06 + -9.83385e-06 + 0.000197083 + -3.06125e-06 + 0.000181054 + 0.03598 + 0.0173 + -0.00164 + 0.82991 -0.157 0.790675 + 0 -0 0 + true + false + + + true + 0.17389 + 7.73841e-05 + -2.09309e-06 + -8.36228e-06 + 0.000198474 + 2.4611e-06 + 0.00018107 + 0.03576 + -0.01736 + -0.00095 + 0.82991 -0.219 0.790675 + 0 -0 0 + true + false + + + + + r_gripper_r_parallel_link + r_gripper_palm_link + r_gripper_palm_link + 0 0 -1 + 0.2 + 0.05891 -0.031 0 + + + r_gripper_l_parallel_link + r_gripper_palm_link + r_gripper_palm_link + 0 0 1 + 0.2 + 0.05891 0.031 0 + r_gripper_r_parallel_link r_gripper_r_finger_tip_link @@ -2327,11 +2280,11 @@ true 100.0 + r_gripper_palm_link r_gripper_palm_bumper - @@ -2346,7 +2299,7 @@ - + - - + @@ -2382,7 +2332,7 @@ - + @@ -2399,8 +2349,7 @@ - - + @@ -2415,7 +2364,7 @@ - + @@ -2434,8 +2383,7 @@ - - + @@ -2469,23 +2417,12 @@ - + 32.6525111499 - - l_shoulder_pan_link_geom - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - true @@ -2493,28 +2430,18 @@ - - l_shoulder_lift_link_geom - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - true - + 63.1552452977 - + 61.8948225713 @@ -2534,7 +2461,7 @@ - + @@ -2546,17 +2473,6 @@ - - l_upper_arm_link_geom - - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - true @@ -2564,8 +2480,7 @@ - - + @@ -2600,7 +2515,7 @@ - + -90.5142857143 @@ -2611,8 +2526,7 @@ - - + @@ -2627,7 +2541,7 @@ - + @@ -2642,24 +2556,13 @@ -1.0 - - l_elbow_flex_link_geom - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - true - + -36.167452007 @@ -2679,7 +2582,7 @@ - + @@ -2696,8 +2599,7 @@ - - + @@ -2711,7 +2613,7 @@ - + @@ -2728,8 +2630,7 @@ - - + @@ -2758,30 +2659,9 @@ true - - l_forearm_link_geom - 100.0 - - true - 100.0 - l_forearm_bumper - - - true - - l_wrist_flex_link_geom - 100.0 - - true - 100.0 - l_wrist_flex_bumper - - - - @@ -2789,22 +2669,12 @@ true - - l_wrist_roll_link_geom - 100.0 - - true - 100.0 - l_wrist_roll_bumper - - - - + @@ -2824,7 +2694,7 @@ - + @@ -2890,7 +2760,7 @@ - + @@ -2920,7 +2790,7 @@ - + @@ -2932,70 +2802,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -3014,7 +2820,7 @@ - + @@ -3044,7 +2850,7 @@ - + @@ -3064,6 +2870,7 @@ true 100.0 + l_gripper_l_finger_link l_gripper_l_finger_bumper @@ -3072,7 +2879,6 @@ - @@ -3088,6 +2894,7 @@ 100.0 true + l_gripper_r_finger_link 100.0 l_gripper_r_finger_bumper @@ -3097,7 +2904,6 @@ - @@ -3113,6 +2919,7 @@ 100.0 true + l_gripper_l_finger_tip_link 100.0 l_gripper_l_finger_tip_bumper @@ -3122,7 +2929,6 @@ - @@ -3138,6 +2944,7 @@ 100.0 true + l_gripper_r_finger_tip_link 100.0 l_gripper_r_finger_tip_bumper @@ -3147,7 +2954,6 @@ - @@ -3175,6 +2981,58 @@ + + true + 0.17126 + 7.7562e-05 + 1.49095e-06 + -9.83385e-06 + 0.000197083 + -3.06125e-06 + 0.000181054 + 0.03598 + 0.0173 + -0.00164 + 0.82991 0.219 0.790675 + 0 -0 0 + true + false + + + true + 0.17389 + 7.73841e-05 + -2.09309e-06 + -8.36228e-06 + 0.000198474 + 2.4611e-06 + 0.00018107 + 0.03576 + -0.01736 + -0.00095 + 0.82991 0.157 0.790675 + 0 -0 0 + true + false + + + + + l_gripper_r_parallel_link + l_gripper_palm_link + l_gripper_palm_link + 0 0 -1 + 0.2 + 0.05891 -0.031 0 + + + l_gripper_l_parallel_link + l_gripper_palm_link + l_gripper_palm_link + 0 0 1 + 0.2 + 0.05891 0.031 0 + l_gripper_r_parallel_link l_gripper_r_finger_tip_link @@ -3221,11 +3079,11 @@ true 100.0 + l_gripper_palm_link l_gripper_palm_bumper - @@ -3240,7 +3098,7 @@ - + diff --git a/urdf/test/pr2_desc_explicit_world.urdf b/urdf/test/pr2_desc_explicit_world.urdf deleted file mode 100644 index ff3db28..0000000 --- a/urdf/test/pr2_desc_explicit_world.urdf +++ /dev/null @@ -1,3448 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - true - 1000.0 - - - - - true - 1.0 - 5 - - power_state - 10.0 - 87.78 - -474 - 525 - 15.52 - 16.41 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 - 640 - 1 - - 0.0 0.0 0.0 - false - - -80 - 80 - - 0.05 - 10.0 - 0.01 - 20.0 - - 0.005 - true - 20.0 - base_scan - base_laser_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79.2380952381 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -79.2380952381 - - - - true - - base_link_geom - 100.0 - - true - 100.0 - base_bumper - - - - - - - true - 100.0 - base_link - base_pose_ground_truth - 0.01 - map - 25.7 25.7 0 - 0 0 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - torso_lift_link_geom - 100.0 - - true - 100.0 - torso_lift_bumper - - - - - - - - -52143.33 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - R8G8B8 - 2448 2050 - 45 - 0.1 - 100 - 20.0 - - true - 20.0 - /prosilica/cam_info - /prosilica/image - /prosilica/image_rect - /prosilica/cam_info_service - /prosilica/poll - hight_def_optical_frame - 1224.5 - 1224.5 - 1025.5 - 2955 - 0 - 0 - 0 - 0 - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - B8G8R8 - 90.0 - 0.1 - 100 - 25.0 - - true - 25.0 - wide_stereo/left/image_raw - wide_stereo/left/camera_info - wide_stereo_optical_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - B8G8R8 - 90.0 - 0.1 - 100 - 25.0 - - true - 25.0 - wide_stereo/right/image_raw - wide_stereo/right/camera_info - wide_stereo_optical_frame - 0.09 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - - - - - - true - 20.0 - wide_stereo_l_stereo_camera_sensor - wide_stereo_r_stereo_camera_sensor - wide_stereo/raw_stereo - wide_stereo_optical_frame - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - -0.09 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 45.0 - 0.1 - 100 - 25.0 - - true - 25.0 - narrow_stereo/left/image_raw - narrow_stereo/left/camera_info - narrow_stereo_optical_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 772.55 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 45.0 - 0.1 - 100 - 25.0 - - true - 25.0 - narrow_stereo/right/image_raw - narrow_stereo/right/camera_info - narrow_stereo_optical_frame - 0.09 - 320.5 - 320.5 - 240.5 - - - 772.55 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - - - - - - true - 20.0 - narrow_stereo_l_stereo_camera_sensor - narrow_stereo_r_stereo_camera_sensor - narrow_stereo/raw_stereo - narrow_stereo_optical_frame - 320.5 - 320.5 - 240.5 - - - 772.55 - 0 - 0 - 0 - 0 - 0 - -0.09 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 - 640 - 1 - - 0.0 0.0 0.0 - false - - -80 - 80 - - 0.05 - 10.0 - 0.01 - 40.0 - - 0.005 - true - 40.0 - tilt_scan - laser_tilt_link - - - - - - - - - -6.05 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - r_shoulder_pan_link_geom - 100.0 - - true - 100.0 - r_shoulder_pan_bumper - - - - - true - - - - - - r_shoulder_lift_link_geom - 100.0 - - true - 100.0 - r_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - r_upper_arm_link_geom - 100.0 - - true - 100.0 - r_upper_arm_bumper - - - - true - - - -1.0 - - - r_elbow_flex_link_geom - 100.0 - - true - 100.0 - r_elbow_flex_bumper - - - - - true - - - - - - true - - - - - - -36.17 - - - - 90.5142857143 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - r_forearm_link_geom - 100.0 - - true - 100.0 - r_forearm_bumper - - - - - - true - - r_wrist_flex_link_geom - 100.0 - - true - 100.0 - r_wrist_flex_bumper - - - - - - - - - true - - r_wrist_roll_link_geom - 100.0 - - true - 100.0 - r_wrist_roll_bumper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - r_gripper_l_finger_link_geom - 100.0 - - true - 100.0 - r_gripper_l_finger_bumper - - - - - - - - - - - - - - - - true - - r_gripper_r_finger_link_geom - 100.0 - - true - 100.0 - r_gripper_r_finger_bumper - - - - - - - - - - - - - - - true - false - - r_gripper_l_finger_tip_link_geom - 100.0 - - true - 100.0 - r_gripper_l_finger_tip_bumper - - - - - - - - - - - - - - - true - false - - r_gripper_r_finger_tip_link_geom - 100.0 - - true - 100.0 - r_gripper_r_finger_tip_bumper - - - - - - - - - - - true - 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_pose_ground_truth - 0.0 - map - - - - true - 100.0 - r_gripper_l_finger_link - r_gripper_l_finger_force_ground_truth - r_gripper_l_finger_link - - - - - - - - - - - - - true - - r_gripper_palm_link_geom - 100.0 - - true - 100.0 - r_gripper_palm_bumper - - - - - - true - - - - - true - 0.01 - 0.0001 - 0 - 0 - 0.0001 - 0 - 0.0001 - 0 - 0 - 0 - 0.82025 0.188 0.790675 - 0 -0 0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - unit_box - PR2/White - - - true - false - - - r_gripper_float_link - r_gripper_palm_link - r_gripper_float_link - 1 0 0 - -0.05 - 0.001 - - - r_gripper_l_finger_tip_link - r_gripper_float_link - r_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - r_gripper_r_finger_tip_link - r_gripper_float_link - r_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - - true - 100.0 - r_gripper_palm_link - r_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - true - 100.0 - r_gripper_tool_frame - r_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - /map - - - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l_shoulder_pan_link_geom - 100.0 - - true - 100.0 - l_shoulder_pan_bumper - - - - - true - - - - - - l_shoulder_lift_link_geom - 100.0 - - true - 100.0 - l_r_shoulder_lift_bumper - - - - true - - - - - - true - - - - - - - - 63.16 - - - - 61.89 - - - - 32.65 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l_upper_arm_link_geom - 100.0 - - true - 100.0 - l_upper_arm_bumper - - - - true - - - -1.0 - - - l_elbow_flex_link_geom - 100.0 - - true - 100.0 - l_elbow_flex_bumper - - - - - true - - - - - - true - - - - - - -36.17 - - - - 90.5142857143 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - l_forearm_link_geom - 100.0 - - true - 100.0 - l_forearm_bumper - - - - - - true - - l_wrist_flex_link_geom - 100.0 - - true - 100.0 - l_wrist_flex_bumper - - - - - - - - - true - - l_wrist_roll_link_geom - 100.0 - - true - 100.0 - l_wrist_roll_bumper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - l_gripper_l_finger_link_geom - 100.0 - - true - 100.0 - l_gripper_l_finger_bumper - - - - - - - - - - - - - - - - true - - l_gripper_r_finger_link_geom - 100.0 - - true - 100.0 - l_gripper_r_finger_bumper - - - - - - - - - - - - - - - true - false - - l_gripper_l_finger_tip_link_geom - 100.0 - - true - 100.0 - l_gripper_l_finger_tip_bumper - - - - - - - - - - - - - - - true - false - - l_gripper_r_finger_tip_link_geom - 100.0 - - true - 100.0 - l_gripper_r_finger_tip_bumper - - - - - - - - - - - true - 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_pose_ground_truth - 0.0 - map - - - - true - 100.0 - l_gripper_l_finger_link - l_gripper_l_finger_force_ground_truth - l_gripper_l_finger_link - - - - - - - - - - - - - true - - l_gripper_palm_link_geom - 100.0 - - true - 100.0 - l_gripper_palm_bumper - - - - - - true - - - - - true - 0.01 - 0.0001 - 0 - 0 - 0.0001 - 0 - 0.0001 - 0 - 0 - 0 - 0.82025 0.188 0.790675 - 0 -0 0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - - 0 0 0 - 0 -0 0 - 0.0 0.0 0.0 - unit_box - PR2/White - - - true - false - - - l_gripper_float_link - l_gripper_palm_link - l_gripper_float_link - 1 0 0 - -0.05 - 0.001 - - - l_gripper_l_finger_tip_link - l_gripper_float_link - l_gripper_l_finger_tip_link - 0 1 0 - 0 0 0 - - - l_gripper_r_finger_tip_link - l_gripper_float_link - l_gripper_r_finger_tip_link - 0 1 0 - 0 0 0 - - - - - true - 100.0 - l_gripper_palm_link - l_gripper_palm_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - map - - - - true - 100.0 - l_gripper_tool_frame - l_gripper_tool_frame_pose_ground_truth - 0 0 0 - 0 0 0 - 0.0 - /map - - - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90.0 - 0.1 - 100 - 25.0 - - true - 25.0 - l_forearm_cam/image_raw - l_forearm_cam/camera_info - l_forearm_cam_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 640 480 - L8 - 90.0 - 0.1 - 100 - 25.0 - - true - 25.0 - r_forearm_cam/image_raw - r_forearm_cam/camera_info - r_forearm_cam_frame - 0.0 - 320.5 - 320.5 - 240.5 - - - 320.0 - 0 - 0 - 0 - 0 - 0 - - - - true - PR2/Blue - - true - - - diff --git a/urdf/test/pr2_desc_no_joint.urdf b/urdf/test/pr2_desc_no_joint.urdf index 04839d2..11fc4fd 100644 --- a/urdf/test/pr2_desc_no_joint.urdf +++ b/urdf/test/pr2_desc_no_joint.urdf @@ -1,7 +1,6 @@ - diff --git a/urdf/test/test_robot_model_parser.launch b/urdf/test/test_robot_model_parser.launch index 3ee95ab..8e262c2 100644 --- a/urdf/test/test_robot_model_parser.launch +++ b/urdf/test/test_robot_model_parser.launch @@ -1,5 +1,5 @@ - + From 90922b4cfca3db282b5f0df467e4205662ed7e5d Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 21 Oct 2010 04:48:46 +0000 Subject: [PATCH 212/245] colladadom: adding missing rosdeps on libxml2 and unzip --- colladadom/manifest.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index c730aba..001a1ef 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -10,6 +10,8 @@ BSD http://ros.org/wiki/colladadom + + From 6c8748c0e703967e0396b00c7ed2361c758bdfb8 Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 21 Oct 2010 22:27:13 +0000 Subject: [PATCH 213/245] getting ready for 1.3.0 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8d019f5..e84f1ee 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.2.2) +rosbuild_make_distribution(1.3.0) From 3fd805d1eaf9b75638c404b77d39be6f37e8eb00 Mon Sep 17 00:00:00 2001 From: tfield Date: Thu, 11 Nov 2010 05:07:10 +0000 Subject: [PATCH 214/245] collada_urdf: fixing invalid urdf in test --- collada_urdf/test/pr2.urdf | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/collada_urdf/test/pr2.urdf b/collada_urdf/test/pr2.urdf index ae16a78..17d8633 100644 --- a/collada_urdf/test/pr2.urdf +++ b/collada_urdf/test/pr2.urdf @@ -2245,11 +2245,6 @@ - - - - - true @@ -3145,11 +3140,6 @@ - - - - - true From 89cefec28e31918cb680d68edbc26a2a18e9579d Mon Sep 17 00:00:00 2001 From: wim Date: Thu, 11 Nov 2010 21:00:44 +0000 Subject: [PATCH 215/245] getting ready for 1.3.1 release --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e84f1ee..8a16e22 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.3.0) +rosbuild_make_distribution(1.3.1) From 2940fdf3d6b66a40298d91a960e4ac2a0182ce2c Mon Sep 17 00:00:00 2001 From: kwc Date: Sat, 20 Nov 2010 04:12:35 +0000 Subject: [PATCH 216/245] 1.3.2. Added ros_comm dependency --- CMakeLists.txt | 2 +- stack.xml | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8a16e22..5ae2089 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,4 +16,4 @@ set(ROSPACK_MAKEDIST true) # variables. #list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) -rosbuild_make_distribution(1.3.1) +rosbuild_make_distribution(1.3.2) diff --git a/stack.xml b/stack.xml index ea2973b..6d3c88c 100644 --- a/stack.xml +++ b/stack.xml @@ -7,12 +7,13 @@ object model (C++) of the robot. John Hsu johnhsu@willowgarage.com, Wim Meeussen - BSD,GPL,MIT + GPL,BSD,MIT http://ros.org/wiki/robot_model - - + + + From bc143cd55cb1b29b1d3c56e6041741a7620f03f6 Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 29 Nov 2010 19:48:58 +0000 Subject: [PATCH 217/245] collada_urdf: adding support for URDF material colors (thanks to Kei Okada) #4276 --- collada_urdf/src/collada_writer.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp index a9a703f..7453fd1 100644 --- a/collada_urdf/src/collada_writer.cpp +++ b/collada_urdf/src/collada_writer.cpp @@ -697,6 +697,17 @@ void ColladaWriter::addMaterials() { if (j == geometry_ids_.end()) continue; + if (!urdf_link->visual->material->texture_filename.empty()) { + ambient.r = ambient.g = ambient.b = 1; ambient.a = 0; + diffuse.r = diffuse.g = diffuse.b = 1; diffuse.a = 0; + } + else { + ambient.r = diffuse.r = urdf_link->visual->material->color.r; + ambient.g = diffuse.g = urdf_link->visual->material->color.g; + ambient.b = diffuse.b = urdf_link->visual->material->color.b; + ambient.a = diffuse.a = urdf_link->visual->material->color.a; + } + string geometry_id = j->second; domEffectRef effect = addEffect(geometry_id, ambient, diffuse); From 750f7a5b9467f7a59cca2caaae34825925d69eb4 Mon Sep 17 00:00:00 2001 From: tfield Date: Mon, 29 Nov 2010 22:20:15 +0000 Subject: [PATCH 218/245] robot_model: adding rosdep.yaml for pcre; adding dependency of colladadom on pcre #4594 --- colladadom/manifest.xml | 1 + rosdep.yaml | 3 +++ 2 files changed, 4 insertions(+) create mode 100644 rosdep.yaml diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 001a1ef..194318d 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -12,6 +12,7 @@ http://ros.org/wiki/colladadom + diff --git a/rosdep.yaml b/rosdep.yaml new file mode 100644 index 0000000..3238800 --- /dev/null +++ b/rosdep.yaml @@ -0,0 +1,3 @@ +pcre: + ubuntu: libpcre3-dev + fedora: pcre-devel From dacb572019e010bc1bb16bd9e4b31848efdb4eca Mon Sep 17 00:00:00 2001 From: eitan Date: Wed, 1 Dec 2010 19:02:17 +0000 Subject: [PATCH 219/245] Fixing bug with timestamps when there are only fixed joints --- robot_state_publisher/src/joint_state_listener.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index e7b2eee..84f4875 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -57,8 +57,8 @@ JointStateListener::JointStateListener(const KDL::Tree& tree) if (tree.getNrOfJoints() == 0){ boost::shared_ptr empty_state(new sensor_msgs::JointState); - empty_state->header.stamp = ros::Time::now(); while (ros::ok()){ + empty_state->header.stamp = ros::Time::now(); this->callbackJointState(empty_state); publish_rate_.sleep(); } From 6ee8c4c17e8824a3105c8bec8b7891fbfacf6dc0 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Wed, 1 Dec 2010 19:05:25 +0000 Subject: [PATCH 220/245] added collada support into the urdf library --- colladadom/collada-dom.patch | 22 + urdf/CMakeLists.txt | 2 +- urdf/include/urdf/model.h | 8 +- urdf/manifest.xml | 2 +- urdf/src/collada_model_reader.cpp | 2685 +++++++++++++++++++++++++++++ urdf/src/model.cpp | 28 +- 6 files changed, 2740 insertions(+), 7 deletions(-) create mode 100644 urdf/src/collada_model_reader.cpp diff --git a/colladadom/collada-dom.patch b/colladadom/collada-dom.patch index eb05cec..e28599d 100644 --- a/colladadom/collada-dom.patch +++ b/colladadom/collada-dom.patch @@ -52,3 +52,25 @@ Index: dom/make/domTest.mk ifeq ($(os),ps3) # PS3 doesn't support C++ locales, so tell boost not to use them ccFlags += -DBOOST_NO_STD_LOCALE + +--- dom/src/dae/daeSIDResolver.cpp ++++ dom/src/dae/daeSIDResolver.cpp +@@ -152,6 +152,18 @@ + list& remainingPart) { + remainingPart.clear(); + ++ // custom change for following instance urls (Rosen Diankov) ++ if ( strncmp( container->getElementName(), "instance_", 9 ) == 0 ) { ++ daeURI *uri = (daeURI*)container->getAttributeValue("url"); ++ if ( uri != NULL && uri->getElement() != NULL ) { ++ daeElement *e = findWithDots( uri->getElement(), s, profile, finder, remainingPart ); ++ if ( e != NULL ) { ++ //found it ++ return e; ++ } ++ } ++ } ++ + // First see if the whole thing resolves correctly + if (daeElement* result = finder(container, s, profile)) + return result; diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 4dceb93..64d4b42 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -22,7 +22,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_gensrv() #common commands for building c++ executables and libraries -rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp) +rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp) #target_link_libraries(${PROJECT_NAME} another_library) rosbuild_add_boost_directories() #rosbuild_link_boost(${PROJECT_NAME} thread) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index 264520f..0d52895 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -46,7 +46,6 @@ namespace urdf{ - class Model { public: @@ -86,7 +85,7 @@ public: /// \brief complete list of Materials std::map > materials_; -private: +protected: void clear(); std::string name_; @@ -105,13 +104,14 @@ private: /// it's time to find the root Link bool initRoot(std::map &parent_link_tree); - +private: /// Model is restricted to a tree for now, which means there exists one root link /// typically, root link is the world(inertial). Where world is a special link /// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? /// hmm... boost::shared_ptr root_link_; - + + friend class ColladaModelReader; }; } diff --git a/urdf/manifest.xml b/urdf/manifest.xml index f0ad062..d03ca3f 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -12,7 +12,7 @@ - + diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp new file mode 100644 index 0000000..6f03f61 --- /dev/null +++ b/urdf/src/collada_model_reader.cpp @@ -0,0 +1,2685 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Rosen Diankov, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Rosen Diankov, used OpenRAVE files for reference */ +#include "urdf/model.h" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++) +#define FOREACHC FOREACH + +namespace urdf{ + +class UnlinkFilename +{ +public: + UnlinkFilename(const std::string& filename) : _filename(filename) {} + virtual ~UnlinkFilename() { unlink(_filename.c_str()); } + std::string _filename; +}; +static std::list > _listTempFilenames; + +class ColladaModelReader : public daeErrorHandler +{ + + class JointAxisBinding + { + public: + JointAxisBinding(daeElementRef pvisualtrans, domAxis_constraintRef pkinematicaxis, domCommon_float_or_paramRef jointvalue, domKinematics_axis_infoRef kinematics_axis_info, domMotion_axis_infoRef motion_axis_info) : pvisualtrans(pvisualtrans), pkinematicaxis(pkinematicaxis), jointvalue(jointvalue), kinematics_axis_info(kinematics_axis_info), motion_axis_info(motion_axis_info) { + BOOST_ASSERT( !!pkinematicaxis ); + daeElement* pae = pvisualtrans->getParentElement(); + while (!!pae) { + visualnode = daeSafeCast (pae); + if (!!visualnode) { + break; + } + pae = pae->getParentElement(); + } + + if (!visualnode) { + ROS_WARN_STREAM(str(boost::format("couldn't find parent node of element id %s, sid %s\n")%pkinematicaxis->getID()%pkinematicaxis->getSid())); + } + } + + daeElementRef pvisualtrans; + domAxis_constraintRef pkinematicaxis; + domCommon_float_or_paramRef jointvalue; + domNodeRef visualnode; + domKinematics_axis_infoRef kinematics_axis_info; + domMotion_axis_infoRef motion_axis_info; + }; + + /// \brief inter-collada bindings for a kinematics scene + class KinematicsSceneBindings + { + public: + std::list< std::pair > listKinematicsVisualBindings; + std::list listAxisBindings; + + bool AddAxisInfo(const domInstance_kinematics_model_Array& arr, domKinematics_axis_infoRef kinematics_axis_info, domMotion_axis_infoRef motion_axis_info) + { + if( !kinematics_axis_info ) { + return false; + } + for(size_t ik = 0; ik < arr.getCount(); ++ik) { + daeElement* pelt = daeSidRef(kinematics_axis_info->getAxis(), arr[ik]->getUrl().getElement()).resolve().elt; + if( !!pelt ) { + // look for the correct placement + bool bfound = false; + FOREACH(itbinding,listAxisBindings) { + if( itbinding->pkinematicaxis.cast() == pelt ) { + itbinding->kinematics_axis_info = kinematics_axis_info; + if( !!motion_axis_info ) { + itbinding->motion_axis_info = motion_axis_info; + } + bfound = true; + break; + } + } + if( !bfound ) { + ROS_WARN_STREAM(str(boost::format("could not find binding for axis: %s, %s\n")%kinematics_axis_info->getAxis()%pelt->getAttribute("sid"))); + return false; + } + return true; + } + } + ROS_WARN_STREAM(str(boost::format("could not find kinematics axis target: %s\n")%kinematics_axis_info->getAxis())); + return false; + } + }; + + struct USERDATA + { + USERDATA() {} + USERDATA(double scale) : scale(scale) {} + double scale; + boost::shared_ptr p; ///< custom managed data + }; + + enum GeomType { + GeomNone = 0, + GeomBox = 1, + GeomSphere = 2, + GeomCylinder = 3, + GeomTrimesh = 4, + }; + + struct GEOMPROPERTIES + { + Pose _t; ///< local transformation of the geom primitive with respect to the link's coordinate system + Vector3 vGeomData; ///< for boxes, first 3 values are extents + ///< for sphere it is radius + ///< for cylinder, first 2 values are radius and height + ///< for trimesh, none + Color diffuseColor, ambientColor; ///< hints for how to color the meshes + std::vector vertices; + std::vector indices; + + ///< discretization value is chosen. Should be transformed by _t before rendering + GeomType type; ///< the type of geometry primitive + + + // generate a sphere triangulation starting with an icosahedron + // all triangles are oriented counter clockwise + static void GenerateSphereTriangulation(std::vector realvertices, std::vector realindices, int levels) + { + const double GTS_M_ICOSAHEDRON_X = 0.850650808352039932181540497063011072240401406; + const double GTS_M_ICOSAHEDRON_Y = 0.525731112119133606025669084847876607285497935; + const double GTS_M_ICOSAHEDRON_Z = 0; + std::vector tempvertices[2]; + std::vector tempindices[2]; + + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y)); + + const int nindices=60; + int indices[nindices] = { + 0, 1, 2, + 1, 3, 4, + 3, 5, 6, + 2, 4, 7, + 5, 6, 8, + 2, 7, 9, + 0, 5, 8, + 7, 9, 10, + 0, 1, 5, + 7, 10, 11, + 1, 3, 5, + 6, 10, 11, + 3, 6, 11, + 9, 10, 8, + 3, 4, 11, + 6, 8, 10, + 4, 7, 11, + 1, 2, 4, + 0, 8, 9, + 0, 2, 9 + }; + + Vector3 v[3]; + // make sure oriented CCW + for(int i = 0; i < nindices; i += 3 ) { + v[0] = tempvertices[0][indices[i]]; + v[1] = tempvertices[0][indices[i+1]]; + v[2] = tempvertices[0][indices[i+2]]; + if( _dot3(v[0], _cross3(_sub3(v[1],v[0]),_sub3(v[2],v[0]))) < 0 ) { + std::swap(indices[i], indices[i+1]); + } + } + + tempindices[0].resize(nindices); + std::copy(&indices[0],&indices[nindices],tempindices[0].begin()); + std::vector* curvertices = &tempvertices[0], *newvertices = &tempvertices[1]; + std::vector *curindices = &tempindices[0], *newindices = &tempindices[1]; + while(levels-- > 0) { + + newvertices->resize(0); + newvertices->reserve(2*curvertices->size()); + newvertices->insert(newvertices->end(), curvertices->begin(), curvertices->end()); + newindices->resize(0); + newindices->reserve(4*curindices->size()); + + std::map< uint64_t, int > mapnewinds; + std::map< uint64_t, int >::iterator it; + + for(size_t i = 0; i < curindices->size(); i += 3) { + // for ever tri, create 3 new vertices and 4 new triangles. + v[0] = curvertices->at(curindices->at(i)); + v[1] = curvertices->at(curindices->at(i+1)); + v[2] = curvertices->at(curindices->at(i+2)); + + int inds[3]; + for(int j = 0; j < 3; ++j) { + uint64_t key = ((uint64_t)curindices->at(i+j)<<32)|(uint64_t)curindices->at(i + ((j+1)%3)); + it = mapnewinds.find(key); + + if( it == mapnewinds.end() ) { + inds[j] = mapnewinds[key] = mapnewinds[(key<<32)|(key>>32)] = (int)newvertices->size(); + newvertices->push_back(_normalize3(_add3(v[j],v[(j+1)%3 ]))); + } + else { + inds[j] = it->second; + } + } + + newindices->push_back(curindices->at(i)); newindices->push_back(inds[0]); newindices->push_back(inds[2]); + newindices->push_back(inds[0]); newindices->push_back(curindices->at(i+1)); newindices->push_back(inds[1]); + newindices->push_back(inds[2]); newindices->push_back(inds[0]); newindices->push_back(inds[1]); + newindices->push_back(inds[2]); newindices->push_back(inds[1]); newindices->push_back(curindices->at(i+2)); + } + + std::swap(newvertices,curvertices); + std::swap(newindices,curindices); + } + + realvertices = *curvertices; + realindices = *curindices; + } + + bool InitCollisionMesh(double fTessellation=1.0) + { + if( type == GeomTrimesh ) { + return true; + } + indices.clear(); + vertices.clear(); + + if( fTessellation < 0.01f ) { + fTessellation = 0.01f; + } + // start tesselating + switch(type) { + case GeomSphere: { + // log_2 (1+ tess) + GenerateSphereTriangulation(vertices,indices, 3 + (int)(logf(fTessellation) / logf(2.0f)) ); + double fRadius = vGeomData.x; + FOREACH(it, vertices) { + it->x *= fRadius; + it->y *= fRadius; + it->z *= fRadius; + } + break; + } + case GeomBox: { + // trivial + Vector3 ex = vGeomData; + Vector3 v[8] = { Vector3(ex.x, ex.y, ex.z), + Vector3(ex.x, ex.y, -ex.z), + Vector3(ex.x, -ex.y, ex.z), + Vector3(ex.x, -ex.y, -ex.z), + Vector3(-ex.x, ex.y, ex.z), + Vector3(-ex.x, ex.y, -ex.z), + Vector3(-ex.x, -ex.y, ex.z), + Vector3(-ex.x, -ex.y, -ex.z) }; + const int nindices = 36; + int startindices[] = { + 0, 1, 2, + 1, 2, 3, + 4, 5, 6, + 5, 6, 7, + 0, 1, 4, + 1, 4, 5, + 2, 3, 6, + 3, 6, 7, + 0, 2, 4, + 2, 4, 6, + 1, 3, 5, + 3, 5, 7 + }; + + for(int i = 0; i < nindices; i += 3 ) { + Vector3 v1 = v[startindices[i]]; + Vector3 v2 = v[startindices[i+1]]; + Vector3 v3 = v[startindices[i+2]]; + if( _dot3(v1, _sub3(v2,_cross3(v1, _sub3(v3,v1)))) < 0 ) { + std::swap(indices[i], indices[i+1]); + } + } + + vertices.resize(8); + std::copy(&v[0],&v[8],vertices.begin()); + indices.resize(nindices); + std::copy(&startindices[0],&startindices[nindices],indices.begin()); + break; + } + case GeomCylinder: { + // cylinder is on y axis + double rad = vGeomData.x, len = vGeomData.y*0.5f; + + int numverts = (int)(fTessellation*24.0f) + 3; + double dtheta = 2 * M_PI / (double)numverts; + vertices.push_back(Vector3(0,0,len)); + vertices.push_back(Vector3(0,0,-len)); + vertices.push_back(Vector3(rad,0,len)); + vertices.push_back(Vector3(rad,0,-len)); + + for(int i = 0; i < numverts+1; ++i) { + double s = rad * std::sin(dtheta * (double)i); + double c = rad * std::cos(dtheta * (double)i); + + int off = (int)vertices.size(); + vertices.push_back(Vector3(c, s, len)); + vertices.push_back(Vector3(c, s, -len)); + + indices.push_back(0); indices.push_back(off); indices.push_back(off-2); + indices.push_back(1); indices.push_back(off-1); indices.push_back(off+1); + indices.push_back(off-2); indices.push_back(off); indices.push_back(off-1); + indices.push_back(off); indices.push_back(off-1); indices.push_back(off+1); + } + break; + } + default: + BOOST_ASSERT(0); + } + return true; + } + }; + + public: + ColladaModelReader(Model& model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) { + daeErrorHandler::setErrorHandler(this); + _resourcedir = "."; + } + virtual ~ColladaModelReader() { + _vuserdata.clear(); + _collada.reset(); + DAE::cleanup(); + } + + bool InitFromFile(const std::string& filename) { + ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s, filename: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE%filename)); + _collada.reset(new DAE); + _dom = _collada->open(filename); + if (!_dom) { + return false; + } + _filename=filename; + + size_t maxchildren = _countChildren(_dom); + _vuserdata.resize(0); + _vuserdata.reserve(maxchildren); + + double dScale = 1.0; + _processUserData(_dom, dScale); + ROS_DEBUG_STREAM(str(boost::format("processed children: %d/%d\n")%_vuserdata.size()%maxchildren)); + return _Extract(); + } + + bool InitFromData(const std::string& pdata) { + ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE)); + _collada.reset(new DAE); + _dom = _collada->openFromMemory(".",pdata.c_str()); + if (!_dom) { + return false; + } + + size_t maxchildren = _countChildren(_dom); + _vuserdata.resize(0); + _vuserdata.reserve(maxchildren); + + double dScale = 1.0; + _processUserData(_dom, dScale); + ROS_DEBUG_STREAM(str(boost::format("processed children: %d/%d\n")%_vuserdata.size()%maxchildren)); + return _Extract(); + } + +protected: + + /// \extract the first possible robot in the scene + bool _Extract() + { + _model.clear(); + std::list< std::pair > > listPossibleBodies; + domCOLLADA::domSceneRef allscene = _dom->getScene(); + if( !allscene ) { + return false; + } + + // parse each instance kinematics scene, prioritize real robots + for (size_t iscene = 0; iscene < allscene->getInstance_kinematics_scene_array().getCount(); iscene++) { + domInstance_kinematics_sceneRef kiscene = allscene->getInstance_kinematics_scene_array()[iscene]; + domKinematics_sceneRef kscene = daeSafeCast (kiscene->getUrl().getElement().cast()); + if (!kscene) { + continue; + } + boost::shared_ptr bindings(new KinematicsSceneBindings()); + _ExtractKinematicsVisualBindings(allscene->getInstance_visual_scene(),kiscene,*bindings); + for(size_t ias = 0; ias < kscene->getInstance_articulated_system_array().getCount(); ++ias) { + if( _ExtractArticulatedSystem(kscene->getInstance_articulated_system_array()[ias], *bindings) ) { + _PostProcess(); + return true; + } + } + for(size_t ikmodel = 0; ikmodel < kscene->getInstance_kinematics_model_array().getCount(); ++ikmodel) { + listPossibleBodies.push_back(std::make_pair(kscene->getInstance_kinematics_model_array()[ikmodel], bindings)); + } + } + + FOREACH(it, listPossibleBodies) { + if( _ExtractKinematicsModel(it->first, *it->second) ) { + _PostProcess(); + return true; + } + } + + return false; + } + + void _PostProcess() + { + std::map parent_link_tree; + // building tree: name mapping + if (!_model.initTree(parent_link_tree)) { + ROS_ERROR("failed to build tree"); + } + + // find the root link + if (!_model.initRoot(parent_link_tree)) { + ROS_ERROR("failed to find root link"); + } + } + + /// \brief extracts an articulated system. Note that an articulated system can include other articulated systems + bool _ExtractArticulatedSystem(domInstance_articulated_systemRef ias, KinematicsSceneBindings& bindings) + { + if( !ias ) { + return false; + } + ROS_DEBUG_STREAM(str(boost::format("instance articulated system sid %s\n")%ias->getSid())); + domArticulated_systemRef articulated_system = daeSafeCast (ias->getUrl().getElement().cast()); + if( !articulated_system ) { + return false; + } + + boost::shared_ptr pinterface_type = _ExtractInterfaceType(ias->getExtra_array()); + if( !pinterface_type ) { + pinterface_type = _ExtractInterfaceType(articulated_system->getExtra_array()); + } + if( !!pinterface_type ) { + ROS_DEBUG_STREAM(str(boost::format("robot type: %s")%(*pinterface_type))); + } + + // set the name + if( _model.name_.size() == 0 && !!ias->getName() ) { + _model.name_ = ias->getName(); + } + if( _model.name_.size() == 0 && !!ias->getSid()) { + _model.name_ = ias->getSid(); + } + if( _model.name_.size() == 0 && !!articulated_system->getName() ) { + _model.name_ = articulated_system->getName(); + } + if( _model.name_.size() == 0 && !!articulated_system->getId()) { + _model.name_ = articulated_system->getId(); + } + + if( !!articulated_system->getMotion() ) { + domInstance_articulated_systemRef ias_new = articulated_system->getMotion()->getInstance_articulated_system(); + if( !!articulated_system->getMotion()->getTechnique_common() ) { + for(size_t i = 0; i < articulated_system->getMotion()->getTechnique_common()->getAxis_info_array().getCount(); ++i) { + domMotion_axis_infoRef motion_axis_info = articulated_system->getMotion()->getTechnique_common()->getAxis_info_array()[i]; + // this should point to a kinematics axis_info + domKinematics_axis_infoRef kinematics_axis_info = daeSafeCast(daeSidRef(motion_axis_info->getAxis(), ias_new->getUrl().getElement()).resolve().elt); + if( !!kinematics_axis_info ) { + // find the parent kinematics and go through all its instance kinematics models + daeElement* pparent = kinematics_axis_info->getParent(); + while(!!pparent && pparent->typeID() != domKinematics::ID()) { + pparent = pparent->getParent(); + } + BOOST_ASSERT(!!pparent); + bindings.AddAxisInfo(daeSafeCast(pparent)->getInstance_kinematics_model_array(), kinematics_axis_info, motion_axis_info); + } + else { + ROS_WARN_STREAM(str(boost::format("failed to find kinematics axis %s\n")%motion_axis_info->getAxis())); + } + } + } + if( !_ExtractArticulatedSystem(ias_new,bindings) ) { + return false; + } + } + else { + if( !articulated_system->getKinematics() ) { + ROS_WARN_STREAM(str(boost::format("collada tag empty? instance_articulated_system=%s\n")%ias->getID())); + return true; + } + + if( !!articulated_system->getKinematics()->getTechnique_common() ) { + for(size_t i = 0; i < articulated_system->getKinematics()->getTechnique_common()->getAxis_info_array().getCount(); ++i) { + bindings.AddAxisInfo(articulated_system->getKinematics()->getInstance_kinematics_model_array(), articulated_system->getKinematics()->getTechnique_common()->getAxis_info_array()[i], NULL); + } + } + + for(size_t ik = 0; ik < articulated_system->getKinematics()->getInstance_kinematics_model_array().getCount(); ++ik) { + _ExtractKinematicsModel(articulated_system->getKinematics()->getInstance_kinematics_model_array()[ik],bindings); + } + } + + _ExtractRobotManipulators(articulated_system); + _ExtractRobotAttachedSensors(articulated_system); + return true; + } + + bool _ExtractKinematicsModel(domInstance_kinematics_modelRef ikm, KinematicsSceneBindings& bindings) + { + if( !ikm ) { + return false; + } + ROS_DEBUG_STREAM(str(boost::format("instance kinematics model sid %s\n")%ikm->getSid())); + domKinematics_modelRef kmodel = daeSafeCast (ikm->getUrl().getElement().cast()); + if (!kmodel) { + ROS_WARN_STREAM(str(boost::format("%s does not reference valid kinematics\n")%ikm->getSid())); + return false; + } + domPhysics_modelRef pmodel; + boost::shared_ptr pinterface_type = _ExtractInterfaceType(ikm->getExtra_array()); + if( !pinterface_type ) { + pinterface_type = _ExtractInterfaceType(kmodel->getExtra_array()); + } + if( !!pinterface_type ) { + ROS_DEBUG_STREAM(str(boost::format("kinbody interface type: %s")%(*pinterface_type))); + } + + // find matching visual node + domNodeRef pvisualnode; + FOREACH(it, bindings.listKinematicsVisualBindings) { + if( it->second == ikm ) { + pvisualnode = it->first; + break; + } + } + if( !pvisualnode ) { + ROS_WARN_STREAM(str(boost::format("failed to find visual node for instance kinematics model %s\n")%ikm->getSid())); + return false; + } + + if( _model.name_.size() == 0 && !!ikm->getName() ) { + _model.name_ = ikm->getName(); + } + if( _model.name_.size() == 0 && !!ikm->getID() ) { + _model.name_ = ikm->getID(); + } + + if (!_ExtractKinematicsModel(kmodel, pvisualnode, pmodel, bindings.listAxisBindings)) { + ROS_WARN_STREAM(str(boost::format("failed to load kinbody from kinematics model %s\n")%kmodel->getID())); + return false; + } + return true; + } + + /// \brief append the kinematics model to the openrave kinbody + bool _ExtractKinematicsModel(domKinematics_modelRef kmodel, domNodeRef pnode, domPhysics_modelRef pmodel, const std::list& listAxisBindings) + { + std::vector vdomjoints; + ROS_DEBUG_STREAM(str(boost::format("kinematics model: %s\n")%_model.name_)); + if( !!pnode ) { + ROS_DEBUG_STREAM(str(boost::format("node name: %s\n")%pnode->getId())); + } + + // Process joint of the kinbody + domKinematics_model_techniqueRef ktec = kmodel->getTechnique_common(); + + // Store joints + for (size_t ijoint = 0; ijoint < ktec->getJoint_array().getCount(); ++ijoint) { + vdomjoints.push_back(ktec->getJoint_array()[ijoint]); + } + + // Store instances of joints + for (size_t ijoint = 0; ijoint < ktec->getInstance_joint_array().getCount(); ++ijoint) { + domJointRef pelt = daeSafeCast (ktec->getInstance_joint_array()[ijoint]->getUrl().getElement()); + if (!pelt) { + ROS_WARN_STREAM("failed to get joint from instance\n"); + } + else { + vdomjoints.push_back(pelt); + } + } + + ROS_DEBUG_STREAM(str(boost::format("Number of root links in the kmodel %d\n")%ktec->getLink_array().getCount())); + for (size_t ilink = 0; ilink < ktec->getLink_array().getCount(); ++ilink) { + _ExtractLink(ktec->getLink_array()[ilink], ilink == 0 ? pnode : domNodeRef(), Pose(), Pose(), vdomjoints, listAxisBindings); + } + + // TODO: implement mathml + for (size_t iform = 0; iform < ktec->getFormula_array().getCount(); ++iform) { + domFormulaRef pf = ktec->getFormula_array()[iform]; + if (!pf->getTarget()) { + ROS_WARN_STREAM("formula target not valid\n"); + continue; + } + + // find the target joint + boost::shared_ptr pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf); + if (!pjoint) { + continue; + } + + if (!!pf->getTechnique_common()) { + daeElementRef peltmath; + daeTArray children; + pf->getTechnique_common()->getChildren(children); + for (size_t ichild = 0; ichild < children.getCount(); ++ichild) { + daeElementRef pelt = children[ichild]; + if (_checkMathML(pelt,std::string("math")) ) { + peltmath = pelt; + } + else { + ROS_WARN_STREAM(str(boost::format("unsupported formula element: %s\n")%pelt->getElementName())); + } + } + if (!!peltmath) { + // full math xml spec not supported, only looking for ax+b pattern: + // a x b + double a = 1, b = 0; + daeElementRef psymboljoint; + BOOST_ASSERT(peltmath->getChildren().getCount()>0); + daeElementRef papplyelt = peltmath->getChildren()[0]; + BOOST_ASSERT(_checkMathML(papplyelt,"apply")); + BOOST_ASSERT(papplyelt->getChildren().getCount()>0); + if( _checkMathML(papplyelt->getChildren()[0],"plus") ) { + BOOST_ASSERT(papplyelt->getChildren().getCount()==3); + daeElementRef pa = papplyelt->getChildren()[1]; + daeElementRef pb = papplyelt->getChildren()[2]; + if( !_checkMathML(papplyelt->getChildren()[1],"apply") ) { + std::swap(pa,pb); + } + if( !_checkMathML(pa,"csymbol") ) { + BOOST_ASSERT(_checkMathML(pa,"apply")); + BOOST_ASSERT(_checkMathML(pa->getChildren()[0],"times")); + if( _checkMathML(pa->getChildren()[1],"csymbol") ) { + psymboljoint = pa->getChildren()[1]; + BOOST_ASSERT(_checkMathML(pa->getChildren()[2],"cn")); + std::stringstream ss(pa->getChildren()[2]->getCharData()); + ss >> a; + } + else { + psymboljoint = pa->getChildren()[2]; + BOOST_ASSERT(_checkMathML(pa->getChildren()[1],"cn")); + std::stringstream ss(pa->getChildren()[1]->getCharData()); + ss >> a; + } + } + else { + psymboljoint = pa; + } + BOOST_ASSERT(_checkMathML(pb,"cn")); + { + std::stringstream ss(pb->getCharData()); + ss >> b; + } + } + else if( _checkMathML(papplyelt->getChildren()[0],"minus") ) { + BOOST_ASSERT(_checkMathML(papplyelt->getChildren()[1],"csymbol")); + a = -1; + psymboljoint = papplyelt->getChildren()[1]; + } + else { + BOOST_ASSERT(_checkMathML(papplyelt->getChildren()[0],"csymbol")); + psymboljoint = papplyelt->getChildren()[0]; + } + BOOST_ASSERT(psymboljoint->hasAttribute("encoding")); + BOOST_ASSERT(psymboljoint->getAttribute("encoding")==std::string("COLLADA")); + boost::shared_ptr pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf); + if( !!pbasejoint ) { + // set the mimic properties + pjoint->mimic.reset(new JointMimic()); + pjoint->mimic->joint_name = pbasejoint->name; + pjoint->mimic->multiplier = a; + pjoint->mimic->offset = b; + ROS_DEBUG_STREAM(str(boost::format("assigning joint %s to mimic %s %f %f\n")%pjoint->name%pbasejoint->name%a%b)); + } + } + } + } + return true; + } + + /// \brief Extract Link info and add it to an existing body + boost::shared_ptr _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector& vdomjoints, const std::list& listAxisBindings) { + // Set link name with the name of the COLLADA's Link + std::string linkname = _ExtractLinkName(pdomlink); + if( linkname.size() == 0 ) { + ROS_WARN_STREAM(" has no name or id, falling back to !\n"); + if( !!pdomnode ) { + if (!!pdomnode->getName()) { + linkname = pdomnode->getName(); + } + if( linkname.size() == 0 && !!pdomnode->getID()) { + linkname = pdomnode->getID(); + } + } + } + + boost::shared_ptr plink; + _model.getLink(linkname,plink); + if( !plink ) { + plink.reset(new Link()); + plink->name = linkname; + plink->visual.reset(new Visual()); + _model.links_.insert(std::make_pair(linkname,plink)); + } + + _getUserData(pdomlink)->p = plink; + if( !!pdomnode ) { + ROS_DEBUG_STREAM(str(boost::format("Node Id %s and Name %s\n")%pdomnode->getId()%pdomnode->getName())); + } + + std::list listGeomProperties; + if (!pdomlink) { + ROS_WARN_STREAM("Extract object NOT kinematics !!!\n"); + _ExtractGeometry(pdomnode,listGeomProperties,listAxisBindings,Pose()); + } + else { + ROS_DEBUG_STREAM(str(boost::format("Attachment link elements: %d\n")%pdomlink->getAttachment_full_array().getCount())); + Pose tlink = _poseFromMatrix(_ExtractFullTransform(pdomlink)); + plink->visual->origin = _poseMult(tParentLink, tlink); // use the kinematics coordinate system for each link +// ROS_INFO("link %s rot: %f %f %f %f",linkname.c_str(),plink->visual->origin.rotation.w, plink->visual->origin.rotation.x,plink->visual->origin.rotation.y,plink->visual->origin.rotation.z); +// ROS_INFO("link %s trans: %f %f %f",linkname.c_str(),plink->visual->origin.position.x,plink->visual->origin.position.y,plink->visual->origin.position.z); + + // Get the geometry + _ExtractGeometry(pdomnode,listGeomProperties,listAxisBindings,_poseMult(_poseMult(tParentWorldLink,tlink),plink->visual->origin)); + + ROS_DEBUG_STREAM(str(boost::format("After ExtractGeometry Attachment link elements: %d\n")%pdomlink->getAttachment_full_array().getCount())); + + // Process all atached links + for (size_t iatt = 0; iatt < pdomlink->getAttachment_full_array().getCount(); ++iatt) { + domLink::domAttachment_fullRef pattfull = pdomlink->getAttachment_full_array()[iatt]; + + // get link kinematics transformation + Pose tatt = _poseFromMatrix(_ExtractFullTransform(pattfull)); + + // process attached links + daeElement* peltjoint = daeSidRef(pattfull->getJoint(), pattfull).resolve().elt; + domJointRef pdomjoint = daeSafeCast (peltjoint); + + if (!pdomjoint) { + domInstance_jointRef pdomijoint = daeSafeCast (peltjoint); + if (!!pdomijoint) { + pdomjoint = daeSafeCast (pdomijoint->getUrl().getElement().cast()); + } + } + + if (!pdomjoint || pdomjoint->typeID() != domJoint::ID()) { + ROS_WARN_STREAM(str(boost::format("could not find attached joint %s!\n")%pattfull->getJoint())); + return boost::shared_ptr(); + } + + // get direct child link + if (!pattfull->getLink()) { + ROS_WARN_STREAM(str(boost::format("joint %s needs to be attached to a valid link\n")%pdomjoint->getID())); + continue; + } + + // find the correct joint in the bindings + daeTArray vdomaxes = pdomjoint->getChildrenByType(); + domNodeRef pchildnode; + + // see if joint has a binding to a visual node + FOREACHC(itaxisbinding,listAxisBindings) { + for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { + // If the binding for the joint axis is found, retrieve the info + if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { + pchildnode = itaxisbinding->visualnode; + break; + } + } + if( !!pchildnode ) { + break; + } + } + if (!pchildnode) { + ROS_DEBUG_STREAM(str(boost::format("joint %s has no visual binding\n")%pdomjoint->getID())); + } + + // create the joints before creating the child links + std::vector > vjoints(vdomaxes.getCount()); + for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { + bool joint_active = true; // if not active, put into the passive list + FOREACHC(itaxisbinding,listAxisBindings) { + if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { + if( !!itaxisbinding->kinematics_axis_info ) { + if( !!itaxisbinding->kinematics_axis_info->getActive() ) { + joint_active = resolveBool(itaxisbinding->kinematics_axis_info->getActive(),itaxisbinding->kinematics_axis_info); + } + } + break; + } + } + + boost::shared_ptr pjoint(new Joint()); + pjoint->limits.reset(new JointLimits()); + pjoint->parent_link_name = plink->name; + + if( !!pdomjoint->getName() ) { + pjoint->name = pdomjoint->getName(); + } + else { + pjoint->name = str(boost::format("dummy%d")%_model.joints_.size()); + } + + if( !joint_active ) { + ROS_INFO_STREAM(str(boost::format("joint %s is passive, but adding to hierarchy\n")%pjoint->name)); + } + + domAxis_constraintRef pdomaxis = vdomaxes[ic]; + if( strcmp(pdomaxis->getElementName(), "revolute") == 0 ) { + pjoint->type = Joint::REVOLUTE; + } + else if( strcmp(pdomaxis->getElementName(), "prismatic") == 0 ) { + pjoint->type = Joint::PRISMATIC; + } + else { + ROS_WARN_STREAM(str(boost::format("unsupported joint type: %s\n")%pdomaxis->getElementName())); + } + + _getUserData(pdomjoint)->p = pjoint; + _getUserData(pdomaxis)->p = boost::shared_ptr(new int(_model.joints_.size())); + _model.joints_[pjoint->name] = pjoint; + vjoints[ic] = pjoint; + } + + boost::shared_ptr pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, listAxisBindings); + + if (!pchildlink) { + ROS_WARN_STREAM(str(boost::format("Link has no child: %s\n")%plink->name)); + continue; + } + + int numjoints = 0; + for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { + domKinematics_axis_infoRef kinematics_axis_info; + domMotion_axis_infoRef motion_axis_info; + FOREACHC(itaxisbinding,listAxisBindings) { + bool bfound = false; + if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { + kinematics_axis_info = itaxisbinding->kinematics_axis_info; + motion_axis_info = itaxisbinding->motion_axis_info; + bfound = true; + break; + } + } + domAxis_constraintRef pdomaxis = vdomaxes[ic]; + if (!pchildlink) { + // create dummy child link + // multiple axes can be easily done with "empty links" + ROS_WARN_STREAM(str(boost::format("creating dummy link %s, num joints %d\n")%plink->name%numjoints)); + + std::stringstream ss; + ss << plink->name; + ss <<"_dummy" << numjoints; + pchildlink.reset(new Link()); + pchildlink->name = ss.str(); + _model.links_.insert(std::make_pair(pchildlink->name,pchildlink)); + } + + ROS_DEBUG_STREAM(str(boost::format("Joint %s assigned %d \n")%vjoints[ic]->name%ic)); + boost::shared_ptr pjoint = vjoints[ic]; + pjoint->child_link_name = pchildlink->name; + + // Axes and Anchor assignment. + pjoint->axis.x = pdomaxis->getAxis()->getValue()[0]; + pjoint->axis.y = pdomaxis->getAxis()->getValue()[1]; + pjoint->axis.z = pdomaxis->getAxis()->getValue()[2]; + + if (!motion_axis_info) { + ROS_WARN_STREAM(str(boost::format("No motion axis info for joint %s\n")%pjoint->name)); + } + + // Sets the Speed and the Acceleration of the joint + if (!!motion_axis_info) { + if (!!motion_axis_info->getSpeed()) { + pjoint->limits->velocity = resolveFloat(motion_axis_info->getSpeed(),motion_axis_info); + ROS_DEBUG("... Joint Speed: %f...\n",pjoint->limits->velocity); + } + if (!!motion_axis_info->getAcceleration()) { + pjoint->limits->effort = resolveFloat(motion_axis_info->getAcceleration(),motion_axis_info); + ROS_DEBUG("... Joint effort: %f...\n",pjoint->limits->effort); + } + } + + bool joint_locked = false; // if locked, joint angle is static + bool kinematics_limits = false; + + if (!!kinematics_axis_info) { + if (!!kinematics_axis_info->getLocked()) { + joint_locked = resolveBool(kinematics_axis_info->getLocked(),kinematics_axis_info); + } + + if (joint_locked) { // If joint is locked set limits to the static value. + if( pjoint->type == Joint::REVOLUTE || pjoint->type ==Joint::PRISMATIC) { + ROS_WARN_STREAM("lock joint!!\n"); + pjoint->limits->lower = 0; + pjoint->limits->upper = 0; + } + } + else if (kinematics_axis_info->getLimits()) { // If there are articulated system kinematics limits + kinematics_limits = true; + double fscale = (pjoint->type == Joint::REVOLUTE)?(M_PI/180.0f):_GetUnitScale(kinematics_axis_info); + if( pjoint->type == Joint::REVOLUTE || pjoint->type ==Joint::PRISMATIC) { + pjoint->limits->lower = fscale*(double)(resolveFloat(kinematics_axis_info->getLimits()->getMin(),kinematics_axis_info)); + pjoint->limits->upper = fscale*(double)(resolveFloat(kinematics_axis_info->getLimits()->getMax(),kinematics_axis_info)); + } + } + } + + // Search limits in the joints section + if (!kinematics_axis_info || (!joint_locked && !kinematics_limits)) { + // If there are NO LIMITS + if( !pdomaxis->getLimits() ) { + ROS_DEBUG_STREAM(str(boost::format("There are NO LIMITS in joint %s:%d ...\n")%pjoint->name%kinematics_limits)); + if( pjoint->type == Joint::REVOLUTE ) { + pjoint->type = Joint::CONTINUOUS; // continuous means revolute? + pjoint->limits->lower = -M_PI; + pjoint->limits->upper = M_PI; + } + else { + pjoint->limits->lower = -100000; + pjoint->limits->upper = 100000; + } + } + else { + ROS_DEBUG_STREAM(str(boost::format("There are LIMITS in joint %s ...\n")%pjoint->name)); + double fscale = (pjoint->type == Joint::REVOLUTE)?(M_PI/180.0f):_GetUnitScale(pdomaxis); + pjoint->limits->lower = (double)pdomaxis->getLimits()->getMin()->getValue()*fscale; + pjoint->limits->upper = (double)pdomaxis->getLimits()->getMax()->getValue()*fscale; + } + } + + //ROS_INFO("joint %s axis: %f %f %f",pjoint->name.c_str(),pjoint->axis.x,pjoint->axis.y,pjoint->axis.z); + pjoint->parent_to_joint_origin_transform = tatt; + pjoint->limits->velocity = pjoint->type == Joint::PRISMATIC ? 0.01 : 0.5f; + pchildlink.reset(); + ++numjoints; + } + } + } + + //pdomlink->getAttachment_start_array(); + //pdomlink->getAttachment_end_array(); + + plink->visual->geometry = _CreateGeometry(plink->name, listGeomProperties); + return plink; + } + + boost::shared_ptr _CreateGeometry(const std::string& name, const std::list& listGeomProperties) + { + boost::shared_ptr geometry(new Mesh()); + geometry->type = Geometry::MESH; + geometry->scale.x = 1; + geometry->scale.y = 1; + geometry->scale.z = 1; + + std::vector vertices; + std::vector indices; + FOREACHC(it, listGeomProperties) { + int voffset = vertices.size(), ioffset = indices.size(); + vertices.resize(vertices.size()+it->vertices.size()); + for(size_t i = 0; i < it->vertices.size(); ++i) { + vertices[voffset+i] = _poseMult(it->_t, it->vertices[i]); + } + indices.resize(indices.size()+it->indices.size()); + for(size_t i = 0; i < it->indices.size(); ++i) { + indices[ioffset+i] = voffset+it->indices[i]; + } + } + + // have to save the geometry into individual collada 1.4 files since URDF does not allow triangle meshes to be specified + std::stringstream daedata; + daedata << str(boost::format("\n\ +\n\ + \n\ + \n\ + Rosen Diankov\n\ + \n\ + robot_model/urdf temporary collada geometry\n\ + \n\ + \n\ + \n\ + Z_UP\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + 0.0 0.0 0.1 1\n\ + \n\ + \n\ + 0.8 0.8 0.8 1\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + ")%(vertices.size()*3)); + // fill with vertices + FOREACH(it,vertices) { + daedata << it->x << " " << it->y << " " << it->z << " "; + } + daedata << str(boost::format("\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ +

")%vertices.size()%(indices.size()/3)); + // fill with indices + FOREACH(it,indices) { + daedata << *it << " "; + } + daedata << str(boost::format("

\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ +")%name%name); + + //= str(boost::format("%s/models/%s.dae")%_resourcedir%name); + geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); + int fd = mkstemps(&geometry->filename[0],4); + //ROS_INFO("temp file: %s",geometry->filename.c_str()); + std::string daedatastr = daedata.str(); + if( (size_t)write(fd,daedatastr.c_str(),daedatastr.size()) != daedatastr.size() ) { + ROS_ERROR("failed to write to geometry dae file %s",geometry->filename.c_str()); + } + close(fd); + _listTempFilenames.push_back(boost::shared_ptr(new UnlinkFilename(geometry->filename))); + geometry->filename = std::string("file://") + geometry->filename; + return geometry; + } + + /// Extract Geometry and apply the transformations of the node + /// \param pdomnode Node to extract the goemetry + /// \param plink Link of the kinematics model + void _ExtractGeometry(const domNodeRef pdomnode,std::list& listGeomProperties, const std::list& listAxisBindings, const Pose& tlink) + { + if( !pdomnode ) { + return; + } + + ROS_DEBUG_STREAM(str(boost::format("ExtractGeometry(node,link) of %s\n")%pdomnode->getName())); + + // For all child nodes of pdomnode + for (size_t i = 0; i < pdomnode->getNode_array().getCount(); i++) { + // check if contains a joint + bool contains=false; + FOREACHC(it,listAxisBindings) { + // don't check ID's check if the reference is the same! + if ( (pdomnode->getNode_array()[i]) == (it->visualnode)){ + contains=true; + break; + } + } + if (contains) { + continue; + } + + _ExtractGeometry(pdomnode->getNode_array()[i],listGeomProperties, listAxisBindings,tlink); + // Plink stayes the same for all children + // replace pdomnode by child = pdomnode->getNode_array()[i] + // hope for the best! + // put everything in a subroutine in order to process pdomnode too! + } + + unsigned int nGeomBefore = listGeomProperties.size(); // #of Meshes already associated to this link + + // get the geometry + for (size_t igeom = 0; igeom < pdomnode->getInstance_geometry_array().getCount(); ++igeom) { + domInstance_geometryRef domigeom = pdomnode->getInstance_geometry_array()[igeom]; + domGeometryRef domgeom = daeSafeCast (domigeom->getUrl().getElement()); + if (!domgeom) { + continue; + } + + // Gets materials + std::map mapmaterials; + if (!!domigeom->getBind_material() && !!domigeom->getBind_material()->getTechnique_common()) { + const domInstance_material_Array& matarray = domigeom->getBind_material()->getTechnique_common()->getInstance_material_array(); + for (size_t imat = 0; imat < matarray.getCount(); ++imat) { + domMaterialRef pmat = daeSafeCast(matarray[imat]->getTarget().getElement()); + if (!!pmat) { + mapmaterials[matarray[imat]->getSymbol()] = pmat; + } + } + } + + // Gets the geometry + _ExtractGeometry(domgeom, mapmaterials, listGeomProperties); + } + + std::list::iterator itgeom= listGeomProperties.begin(); + for (unsigned int i=0; i< nGeomBefore; i++) { + itgeom++; // change only the transformations of the newly found geometries. + } + + boost::array tmnodegeom = _poseMult(_matrixFromPose(_poseInverse(tlink)), _poseMult(_getNodeParentTransform(pdomnode), _ExtractFullTransform(pdomnode))); + Pose tnodegeom; + Vector3 vscale(1,1,1); + _decompose(tmnodegeom, tnodegeom, vscale); + +// std::stringstream ss; ss << "geom: "; +// for(int i = 0; i < 4; ++i) { +// ss << tmnodegeom[4*0+i] << " " << tmnodegeom[4*1+i] << " " << tmnodegeom[4*2+i] << " "; +// } +// ROS_INFO(ss.str().c_str()); + + // Switch between different type of geometry PRIMITIVES + for (; itgeom != listGeomProperties.end(); itgeom++) { + itgeom->_t = tnodegeom; + switch (itgeom->type) { + case GeomBox: + itgeom->vGeomData.x *= vscale.x; + itgeom->vGeomData.y *= vscale.y; + itgeom->vGeomData.z *= vscale.z; + break; + case GeomSphere: { + itgeom->vGeomData.x *= std::max(vscale.z, std::max(vscale.x, vscale.y)); + break; + } + case GeomCylinder: + itgeom->vGeomData.x *= std::max(vscale.x, vscale.y); + itgeom->vGeomData.y *= vscale.z; + break; + case GeomTrimesh: + for(size_t i = 0; i < itgeom->vertices.size(); ++i ) { + itgeom->vertices[i] = _poseMult(tmnodegeom,itgeom->vertices[i]); + } + itgeom->_t = Pose(); // reset back to identity + break; + default: + ROS_WARN_STREAM(str(boost::format("unknown geometry type: %d\n")%itgeom->type)); + } + } + } + + /// Paint the Geometry with the color material + /// \param pmat Material info of the COLLADA's model + /// \param geom Geometry properties in OpenRAVE + void _FillGeometryColor(const domMaterialRef pmat, GEOMPROPERTIES& geom) + { + if( !!pmat && !!pmat->getInstance_effect() ) { + domEffectRef peffect = daeSafeCast(pmat->getInstance_effect()->getUrl().getElement().cast()); + if( !!peffect ) { + domProfile_common::domTechnique::domPhongRef pphong = daeSafeCast(peffect->getDescendant(daeElement::matchType(domProfile_common::domTechnique::domPhong::ID()))); + if( !!pphong ) { + if( !!pphong->getAmbient() && !!pphong->getAmbient()->getColor() ) { + domFx_color c = pphong->getAmbient()->getColor()->getValue(); + geom.ambientColor.r = c[0]; + geom.ambientColor.g = c[1]; + geom.ambientColor.b = c[2]; + geom.ambientColor.a = c[3]; + } + if( !!pphong->getDiffuse() && !!pphong->getDiffuse()->getColor() ) { + domFx_color c = pphong->getDiffuse()->getColor()->getValue(); + geom.diffuseColor.r = c[0]; + geom.diffuseColor.g = c[1]; + geom.diffuseColor.b = c[2]; + geom.diffuseColor.a = c[3]; + } + } + } + } + } + + /// Extract the Geometry in TRIANGLES and adds it to OpenRave + /// \param triRef Array of triangles of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + /// \param plink Link of the kinematics model + bool _ExtractGeometry(const domTrianglesRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + + size_t triangleIndexStride = 0, vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + + const domList_of_uints& indexArray =triRef->getP()->getValue(); + geom.indices.reserve(triRef->getCount()*3); + geom.vertices.reserve(triRef->getCount()*3); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + int k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + for(size_t itri = 0; itri < triRef->getCount(); ++itri) { + if(k+2*triangleIndexStride < indexArray.getCount() ) { + for (int j=0;j<3;j++) { + int index0 = indexArray.get(k)*vertexStride; + domFloat fl0 = listFloats.get(index0); + domFloat fl1 = listFloats.get(index0+1); + domFloat fl2 = listFloats.get(index0+2); + k+=triangleIndexStride; + geom.indices.push_back(geom.vertices.size()); + geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + } + } + } + else { + ROS_WARN_STREAM("float array not defined!\n"); + } + break; + } + } + if( geom.indices.size() != 3*triRef->getCount() ) { + ROS_WARN_STREAM("triangles declares wrong count!\n"); + } + geom.InitCollisionMesh(); + return true; + } + + /// Extract the Geometry in TRIGLE FANS and adds it to OpenRave + /// \param triRef Array of triangle fans of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + bool _ExtractGeometry(const domTrifansRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + + size_t triangleIndexStride = 0, vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + size_t primitivecount = triRef->getCount(); + if( primitivecount > triRef->getP_array().getCount() ) { + ROS_WARN_STREAM("trifans has incorrect count\n"); + primitivecount = triRef->getP_array().getCount(); + } + for(size_t ip = 0; ip < primitivecount; ++ip) { + domList_of_uints indexArray =triRef->getP_array()[ip]->getValue(); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + int k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + size_t usedindices = 3*(indexArray.getCount()-2); + if( geom.indices.capacity() < geom.indices.size()+usedindices ) { + geom.indices.reserve(geom.indices.size()+usedindices); + } + if( geom.vertices.capacity() < geom.vertices.size()+indexArray.getCount() ) { + geom.vertices.reserve(geom.vertices.size()+indexArray.getCount()); + } + size_t startoffset = (int)geom.vertices.size(); + while(k < (int)indexArray.getCount() ) { + int index0 = indexArray.get(k)*vertexStride; + domFloat fl0 = listFloats.get(index0); + domFloat fl1 = listFloats.get(index0+1); + domFloat fl2 = listFloats.get(index0+2); + k+=triangleIndexStride; + geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + for(size_t ivert = startoffset+2; ivert < geom.vertices.size(); ++ivert) { + geom.indices.push_back(startoffset); + geom.indices.push_back(ivert-1); + geom.indices.push_back(ivert); + } + } + else { + ROS_WARN_STREAM("float array not defined!\n"); + } + break; + } + } + } + + geom.InitCollisionMesh(); + return false; + } + + /// Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave + /// \param triRef Array of Triangle Strips of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + bool _ExtractGeometry(const domTristripsRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + size_t triangleIndexStride = 0, vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + size_t primitivecount = triRef->getCount(); + if( primitivecount > triRef->getP_array().getCount() ) { + ROS_WARN_STREAM("tristrips has incorrect count\n"); + primitivecount = triRef->getP_array().getCount(); + } + for(size_t ip = 0; ip < primitivecount; ++ip) { + domList_of_uints indexArray = triRef->getP_array()[ip]->getValue(); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + int k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + size_t usedindices = indexArray.getCount()-2; + if( geom.indices.capacity() < geom.indices.size()+usedindices ) { + geom.indices.reserve(geom.indices.size()+usedindices); + } + if( geom.vertices.capacity() < geom.vertices.size()+indexArray.getCount() ) { + geom.vertices.reserve(geom.vertices.size()+indexArray.getCount()); + } + + size_t startoffset = (int)geom.vertices.size(); + while(k < (int)indexArray.getCount() ) { + int index0 = indexArray.get(k)*vertexStride; + domFloat fl0 = listFloats.get(index0); + domFloat fl1 = listFloats.get(index0+1); + domFloat fl2 = listFloats.get(index0+2); + k+=triangleIndexStride; + geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + + bool bFlip = false; + for(size_t ivert = startoffset+2; ivert < geom.vertices.size(); ++ivert) { + geom.indices.push_back(ivert-2); + geom.indices.push_back(bFlip ? ivert : ivert-1); + geom.indices.push_back(bFlip ? ivert-1 : ivert); + bFlip = !bFlip; + } + } + else { + ROS_WARN_STREAM("float array not defined!\n"); + } + break; + } + } + } + + geom.InitCollisionMesh(); + return false; + } + + /// Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave + /// \param triRef Array of Triangle Strips of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + bool _ExtractGeometry(const domPolylistRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + + size_t triangleIndexStride = 0,vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + const domList_of_uints& indexArray =triRef->getP()->getValue(); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + size_t k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + for(size_t ipoly = 0; ipoly < triRef->getVcount()->getValue().getCount(); ++ipoly) { + size_t numverts = triRef->getVcount()->getValue()[ipoly]; + if(numverts > 0 && k+(numverts-1)*triangleIndexStride < indexArray.getCount() ) { + size_t startoffset = geom.vertices.size(); + for (size_t j=0;j& mapmaterials, std::list& listGeomProperties) + { + if( !geom ) { + return false; + } + std::vector vconvexhull; + if (geom->getMesh()) { + const domMeshRef meshRef = geom->getMesh(); + for (size_t tg = 0;tggetTriangles_array().getCount();tg++) { + _ExtractGeometry(meshRef->getTriangles_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + for (size_t tg = 0;tggetTrifans_array().getCount();tg++) { + _ExtractGeometry(meshRef->getTrifans_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + for (size_t tg = 0;tggetTristrips_array().getCount();tg++) { + _ExtractGeometry(meshRef->getTristrips_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + for (size_t tg = 0;tggetPolylist_array().getCount();tg++) { + _ExtractGeometry(meshRef->getPolylist_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + if( meshRef->getPolygons_array().getCount()> 0 ) { + ROS_WARN_STREAM("openrave does not support collada polygons\n"); + } + + // if( alltrimesh.vertices.size() == 0 ) { + // const domVerticesRef vertsRef = meshRef->getVertices(); + // for (size_t i=0;igetInput_array().getCount();i++) { + // domInput_localRef localRef = vertsRef->getInput_array()[i]; + // daeString str = localRef->getSemantic(); + // if ( strcmp(str,"POSITION") == 0 ) { + // const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + // if( !node ) + // continue; + // double fUnitScale = _GetUnitScale(node); + // const domFloat_arrayRef flArray = node->getFloat_array(); + // if (!!flArray) { + // const domList_of_floats& listFloats = flArray->getValue(); + // int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + // vconvexhull.reserve(vconvexhull.size()+listFloats.getCount()); + // for (size_t vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride) { + // //btVector3 verts[3]; + // domFloat fl0 = listFloats.get(vertIndex); + // domFloat fl1 = listFloats.get(vertIndex+1); + // domFloat fl2 = listFloats.get(vertIndex+2); + // vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + // } + // } + // } + // } + // + // _computeConvexHull(vconvexhull,alltrimesh); + // } + + return true; + } + else if (geom->getConvex_mesh()) { + { + const domConvex_meshRef convexRef = geom->getConvex_mesh(); + daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); + if ( !!otherElemRef ) { + domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef; + ROS_WARN_STREAM( "otherLinked\n"); + } + else { + ROS_WARN("convexMesh polyCount = %d\n",(int)convexRef->getPolygons_array().getCount()); + ROS_WARN("convexMesh triCount = %d\n",(int)convexRef->getTriangles_array().getCount()); + } + } + + const domConvex_meshRef convexRef = geom->getConvex_mesh(); + //daeString urlref = convexRef->getConvex_hull_of().getURI(); + daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI(); + if (urlref2) { + daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); + + // Load all the geometry libraries + for ( size_t i = 0; i < _dom->getLibrary_geometries_array().getCount(); i++) { + domLibrary_geometriesRef libgeom = _dom->getLibrary_geometries_array()[i]; + for (size_t i = 0; i < libgeom->getGeometry_array().getCount(); i++) { + domGeometryRef lib = libgeom->getGeometry_array()[i]; + if (!strcmp(lib->getId(),urlref2+1)) { // skip the # at the front of urlref2 + //found convex_hull geometry + domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh(); + if (meshElement) { + const domVerticesRef vertsRef = meshElement->getVertices(); + for (size_t i=0;igetInput_array().getCount();i++) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + vconvexhull.reserve(vconvexhull.size()+flArray->getCount()); + const domList_of_floats& listFloats = flArray->getValue(); + for (size_t k=0;k+2getCount();k+=3) { + domFloat fl0 = listFloats.get(k); + domFloat fl1 = listFloats.get(k+1); + domFloat fl2 = listFloats.get(k+2); + vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + } + } + } + } + } + } + } + } + else { + //no getConvex_hull_of but direct vertices + const domVerticesRef vertsRef = convexRef->getVertices(); + for (size_t i=0;igetInput_array().getCount();i++) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + vconvexhull.reserve(vconvexhull.size()+flArray->getCount()); + for (size_t k=0;k+2getCount();k+=3) { + domFloat fl0 = listFloats.get(k); + domFloat fl1 = listFloats.get(k+1); + domFloat fl2 = listFloats.get(k+2); + vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + } + } + } + } + + if( vconvexhull.size()> 0 ) { + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + //_computeConvexHull(vconvexhull,trimesh); + geom.InitCollisionMesh(); + } + return true; + } + + return false; + } + + /// \brief extract the robot manipulators + void _ExtractRobotManipulators(const domArticulated_systemRef as) + { + for(size_t ie = 0; ie < as->getExtra_array().getCount(); ++ie) { + domExtraRef pextra = as->getExtra_array()[ie]; + if( strcmp(pextra->getType(), "manipulator") == 0 ) { + std::string name = pextra->getAttribute("name"); + if( name.size() == 0 ) { + name = str(boost::format("manipulator%d")%_nGlobalManipulatorId++); + } + domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); + if( !!tec ) { +// RobotBase::ManipulatorPtr pmanip(new RobotBase::Manipulator(probot)); +// pmanip->_name = name; +// daeElement* pframe_origin = tec->getChild("frame_origin"); +// daeElement* pframe_tip = tec->getChild("frame_tip"); +// if( !!pframe_origin ) { +// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); +// if( !!plink ) { +// pmanip->_pBase = boost::static_pointer_cast(_getUserData(plink)->p); +// } +// if( !pmanip->_pBase ) { +// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); +// continue; +// } +// } +// if( !!pframe_tip ) { +// daeElementRef plink = daeSafeCast(daeSidRef(pframe_tip->getAttribute("link"), as).resolve().elt); +// if( !!plink ) { +// pmanip->_pEndEffector = boost::static_pointer_cast(_getUserData(plink)->p); +// } +// if( !pmanip->_pEndEffector ) { +// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame tip %s\n")%name%pframe_tip->getAttribute("link"))); +// continue; +// } +// pmanip->_tGrasp = _ExtractFullTransformFromChildren(pframe_tip); +// } +// +// for(size_t ic = 0; ic < tec->getContents().getCount(); ++ic) { +// daeElementRef pgripper_axis = tec->getContents()[ic]; +// if( pgripper_axis->getElementName() == std::string("gripper_axis") ) { +// domAxis_constraintRef paxis = daeSafeCast(daeSidRef(pgripper_axis->getAttribute("axis"), as).resolve().elt); +// if( !!paxis ) { +// boost::shared_ptr pdofindex = boost::static_pointer_cast(_getUserData(paxis)->p); +// if( !!pdofindex ) { +// if( *pdofindex < 0 ) { +// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s references passive joint\n")%name%pgripper_axis->getAttribute("axis"))); +// } +// else { +// float closingdirection = 0; +// daeElementRef pclosingdirection = daeElementRef(pgripper_axis->getChild("closingdirection")); +// if( !pclosingdirection || !resolveCommon_float_or_param(pclosingdirection,as,closingdirection) ) { +// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s failed to process closing direction\n")%name%pgripper_axis->getAttribute("axis"))); +// } +// pmanip->_vgripperdofindices.push_back(*pdofindex); +// pmanip->_vClosingDirection.push_back((double)closingdirection); +// } +// continue; +// } +// } +// ROS_WARN_STREAM(str(boost::format("could not find manipulator gripper axis %s\n")%pgripper_axis->getAttribute("axis"))); +// } +// } +// probot->GetManipulators().push_back(pmanip); + } + else { + ROS_WARN_STREAM(str(boost::format("cannot create robot %s manipulator %s\n")%_model.name_%name)); + } + } + } + } + + /// \brief Extract Sensors attached to a Robot + void _ExtractRobotAttachedSensors(const domArticulated_systemRef as) + { + for (size_t ie = 0; ie < as->getExtra_array().getCount(); ie++) { + domExtraRef pextra = as->getExtra_array()[ie]; + if( strcmp(pextra->getType(), "sensor") == 0 ) { + std::string name = pextra->getAttribute("name"); + if( name.size() == 0 ) { + name = str(boost::format("sensor%d")%_nGlobalSensorId++); + } + domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); + if( !!tec ) { +// RobotBase::AttachedSensorPtr pattachedsensor(new RobotBase::AttachedSensor(probot)); +// pattachedsensor->_name = name; +// daeElement* pframe_origin = tec->getChild("frame_origin"); +// if( !!pframe_origin ) { +// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); +// if( !!plink ) { +// pattachedsensor->pattachedlink = boost::static_pointer_cast(_getUserData(plink)->p); +// } +// if( !pattachedsensor->pattachedlink.lock() ) { +// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); +// continue; +// } +// pattachedsensor->trelative = _ExtractFullTransformFromChildren(pframe_origin); +// } +// if( !_ExtractSensor(pattachedsensor->psensor,tec->getChild("instance_sensor")) ) { +// ROS_WARN_STREAM(str(boost::format("cannot find instance_sensor for attached sensor %s:%s\n")%_model.name_%name)); +// } +// else { +// pattachedsensor->pdata = pattachedsensor->GetSensor()->CreateSensorData(); +// } +// probot->GetAttachedSensors().push_back(pattachedsensor); + } + else { + ROS_WARN_STREAM(str(boost::format("cannot create robot %s attached sensor %s\n")%_model.name_%name)); + } + } + } + } + + /// \brief Extract an instance of a sensor +// bool _ExtractSensor(SensorBasePtr& psensor, daeElementRef instance_sensor) +// { +// if( !instance_sensor ) { +// return false; +// } +// if( instance_sensor->hasAttribute("url") ) { +// ROS_WARN_STREAM("instance_sensor has no url\n"); +// return false; +// } +// +// std::string instance_id = instance_sensor->getAttribute("id"); +// std::string instance_url = instance_sensor->getAttribute("url"); +// daeElementRef domsensor = _getElementFromUrl(daeURI(*instance_sensor,instance_url)); +// if( !domsensor ) { +// ROS_WARN_STREAM(str(boost::format("failed to find senor id %s url=%s\n")%instance_id%instance_url)); +// return false; +// } +// if( !domsensor->hasAttribute("type") ) { +// ROS_WARN_STREAM("collada needs type attribute\n"); +// return false; +// } +// psensor = RaveCreateSensor(_penv, domsensor->getAttribute("type")); +// if( !psensor ) { +// return false; +// } +// +// // Create the custom XML reader to read in the data (determined by users) +// BaseXMLReaderPtr pcurreader = RaveCallXMLReader(PT_Sensor,psensor->GetXMLId(),psensor, std::list >()); +// if( !pcurreader ) { +// pcurreader.reset(); +// return false; +// } +// _ProcessXMLReader(pcurreader,domsensor); +// psensor->__mapReadableInterfaces[psensor->GetXMLId()] = pcurreader->GetReadable(); +// if( !psensor->Init(instance_sensor->getAttribute("args")) ) { +// ROS_WARN_STREAM(str(boost::format("failed to initialize sensor %s\n"))); +// psensor.reset(); +// } +// return true; +// } + + /// \brief feed the collada data into the base readers xml class +// static void _ProcessXMLReader(BaseXMLReaderPtr preader, daeElementRef elt) +// { +// daeTArray children; +// elt->getChildren(children); +// std::list > atts; +// for (size_t i = 0; i < children.getCount(); i++) { +// std::string xmltag = tolowerstring(children[i]->getElementName()); +// daeTArray domatts; +// children[i]->getAttributes(domatts); +// atts.clear(); +// for(size_t j = 0; j < domatts.getCount(); ++j) { +// atts.push_back(std::make_pair(domatts[j].name,domatts[j].value)); +// } +// preader->startElement(xmltag,atts); +// _ProcessXMLReader(preader,children[i]); +// preader->characters(children[i]->getCharData()); +// preader->endElement(xmltag); +// } +// } + + inline daeElementRef _getElementFromUrl(const daeURI &uri) + { + return daeStandardURIResolver(*_collada).resolveElement(uri); + } + + static daeElement* searchBinding(domCommon_sidref_or_paramRef paddr, daeElementRef parent) + { + if( !!paddr->getSIDREF() ) { + return daeSidRef(paddr->getSIDREF()->getValue(),parent).resolve().elt; + } + if (!!paddr->getParam()) { + return searchBinding(paddr->getParam()->getValue(),parent); + } + return NULL; + } + + /// Search a given parameter reference and stores the new reference to search. + /// \param ref the reference name to search + /// \param parent The array of parameter where the method searchs. + static daeElement* searchBinding(daeString ref, daeElementRef parent) + { + if( !parent ) { + return NULL; + } + daeElement* pelt = NULL; + domKinematics_sceneRef kscene = daeSafeCast(parent.cast()); + if( !!kscene ) { + pelt = searchBindingArray(ref,kscene->getInstance_articulated_system_array()); + if( !!pelt ) { + return pelt; + } + return searchBindingArray(ref,kscene->getInstance_kinematics_model_array()); + } + domArticulated_systemRef articulated_system = daeSafeCast(parent.cast()); + if( !!articulated_system ) { + if( !!articulated_system->getKinematics() ) { + pelt = searchBindingArray(ref,articulated_system->getKinematics()->getInstance_kinematics_model_array()); + if( !!pelt ) { + return pelt; + } + } + if( !!articulated_system->getMotion() ) { + return searchBinding(ref,articulated_system->getMotion()->getInstance_articulated_system()); + } + return NULL; + } + // try to get a bind array + daeElementRef pbindelt; + const domKinematics_bind_Array* pbindarray = NULL; + const domKinematics_newparam_Array* pnewparamarray = NULL; + domInstance_articulated_systemRef ias = daeSafeCast(parent.cast()); + if( !!ias ) { + pbindarray = &ias->getBind_array(); + pbindelt = ias->getUrl().getElement(); + pnewparamarray = &ias->getNewparam_array(); + } + if( !pbindarray || !pbindelt ) { + domInstance_kinematics_modelRef ikm = daeSafeCast(parent.cast()); + if( !!ikm ) { + pbindarray = &ikm->getBind_array(); + pbindelt = ikm->getUrl().getElement(); + pnewparamarray = &ikm->getNewparam_array(); + } + } + if( !!pbindarray && !!pbindelt ) { + for (size_t ibind = 0; ibind < pbindarray->getCount(); ++ibind) { + domKinematics_bindRef pbind = (*pbindarray)[ibind]; + if( !!pbind->getSymbol() && strcmp(pbind->getSymbol(), ref) == 0 ) { + // found a match + if( !!pbind->getParam() ) { + return searchBinding(pbind->getParam()->getRef(), pbindelt); + } + else if( !!pbind->getSIDREF() ) { + return daeSidRef(pbind->getSIDREF()->getValue(), pbindelt).resolve().elt; + } + } + } + for(size_t inewparam = 0; inewparam < pnewparamarray->getCount(); ++inewparam) { + domKinematics_newparamRef newparam = (*pnewparamarray)[inewparam]; + if( !!newparam->getSid() && strcmp(newparam->getSid(), ref) == 0 ) { + if( !!newparam->getSIDREF() ) { // can only bind with SIDREF + return daeSidRef(newparam->getSIDREF()->getValue(),pbindelt).resolve().elt; + } + ROS_WARN_STREAM(str(boost::format("newparam sid=%s does not have SIDREF\n")%newparam->getSid())); + } + } + } + ROS_WARN_STREAM(str(boost::format("failed to get binding '%s' for element: %s\n")%ref%parent->getElementName())); + return NULL; + } + + static daeElement* searchBindingArray(daeString ref, const domInstance_articulated_system_Array& paramArray) + { + for(size_t iikm = 0; iikm < paramArray.getCount(); ++iikm) { + daeElement* pelt = searchBinding(ref,paramArray[iikm].cast()); + if( !!pelt ) { + return pelt; + } + } + return NULL; + } + + static daeElement* searchBindingArray(daeString ref, const domInstance_kinematics_model_Array& paramArray) + { + for(size_t iikm = 0; iikm < paramArray.getCount(); ++iikm) { + daeElement* pelt = searchBinding(ref,paramArray[iikm].cast()); + if( !!pelt ) { + return pelt; + } + } + return NULL; + } + + template static xsBoolean resolveBool(domCommon_bool_or_paramRef paddr, const U& parent) { + if( !!paddr->getBool() ) { + return paddr->getBool()->getValue(); + } + if( !paddr->getParam() ) { + ROS_WARN_STREAM("param not specified, setting to 0\n"); + return false; + } + for(size_t iparam = 0; iparam < parent->getNewparam_array().getCount(); ++iparam) { + domKinematics_newparamRef pnewparam = parent->getNewparam_array()[iparam]; + if( !!pnewparam->getSid() && strcmp(pnewparam->getSid(), paddr->getParam()->getValue()) == 0 ) { + if( !!pnewparam->getBool() ) { + return pnewparam->getBool()->getValue(); + } + else if( !!pnewparam->getSIDREF() ) { + domKinematics_newparam::domBoolRef ptarget = daeSafeCast(daeSidRef(pnewparam->getSIDREF()->getValue(), pnewparam).resolve().elt); + if( !ptarget ) { + ROS_WARN("failed to resolve %s from %s\n", pnewparam->getSIDREF()->getValue(), paddr->getID()); + continue; + } + return ptarget->getValue(); + } + } + } + ROS_WARN_STREAM(str(boost::format("failed to resolve %s\n")%paddr->getParam()->getValue())); + return false; + } + template static domFloat resolveFloat(domCommon_float_or_paramRef paddr, const U& parent) { + if( !!paddr->getFloat() ) { + return paddr->getFloat()->getValue(); + } + if( !paddr->getParam() ) { + ROS_WARN_STREAM("param not specified, setting to 0\n"); + return 0; + } + for(size_t iparam = 0; iparam < parent->getNewparam_array().getCount(); ++iparam) { + domKinematics_newparamRef pnewparam = parent->getNewparam_array()[iparam]; + if( !!pnewparam->getSid() && strcmp(pnewparam->getSid(), paddr->getParam()->getValue()) == 0 ) { + if( !!pnewparam->getFloat() ) { + return pnewparam->getFloat()->getValue(); + } + else if( !!pnewparam->getSIDREF() ) { + domKinematics_newparam::domFloatRef ptarget = daeSafeCast(daeSidRef(pnewparam->getSIDREF()->getValue(), pnewparam).resolve().elt); + if( !ptarget ) { + ROS_WARN("failed to resolve %s from %s\n", pnewparam->getSIDREF()->getValue(), paddr->getID()); + continue; + } + return ptarget->getValue(); + } + } + } + ROS_WARN_STREAM(str(boost::format("failed to resolve %s\n")%paddr->getParam()->getValue())); + return 0; + } + + static bool resolveCommon_float_or_param(daeElementRef pcommon, daeElementRef parent, float& f) + { + daeElement* pfloat = pcommon->getChild("float"); + if( !!pfloat ) { + std::stringstream sfloat(pfloat->getCharData()); + sfloat >> f; + return !!sfloat; + } + daeElement* pparam = pcommon->getChild("param"); + if( !!pparam ) { + if( pparam->hasAttribute("ref") ) { + ROS_WARN_STREAM("cannot process param ref\n"); + } + else { + daeElement* pelt = daeSidRef(pparam->getCharData(),parent).resolve().elt; + if( !!pelt ) { + ROS_WARN_STREAM(str(boost::format("found param ref: %s from %s\n")%pelt->getCharData()%pparam->getCharData())); + } + } + } + return false; + } + + static boost::array _matrixIdentity() + { + boost::array m = {{1,0,0,0,0,1,0,0,0,0,1,0}}; + return m; + }; + + /// Gets all transformations applied to the node + static boost::array _getTransform(daeElementRef pelt) + { + boost::array m = _matrixIdentity(); + domRotateRef protate = daeSafeCast(pelt); + if( !!protate ) { + m = _matrixFromAxisAngle(Vector3(protate->getValue()[0],protate->getValue()[1],protate->getValue()[2]), (double)(protate->getValue()[3]*(M_PI/180.0))); + return m; + } + + domTranslateRef ptrans = daeSafeCast(pelt); + if( !!ptrans ) { + double scale = _GetUnitScale(pelt); + m[3] = ptrans->getValue()[0]*scale; + m[7] = ptrans->getValue()[1]*scale; + m[11] = ptrans->getValue()[2]*scale; + return m; + } + + domMatrixRef pmat = daeSafeCast(pelt); + if( !!pmat ) { + double scale = _GetUnitScale(pelt); + for(int i = 0; i < 3; ++i) { + m[4*i+0] = pmat->getValue()[4*i+0]; + m[4*i+1] = pmat->getValue()[4*i+1]; + m[4*i+2] = pmat->getValue()[4*i+2]; + m[4*i+3] = pmat->getValue()[4*i+3]*scale; + } + return m; + } + + domScaleRef pscale = daeSafeCast(pelt); + if( !!pscale ) { + m[0] = pscale->getValue()[0]; + m[4*1+1] = pscale->getValue()[1]; + m[4*2+2] = pscale->getValue()[2]; + return m; + } + + domLookatRef pcamera = daeSafeCast(pelt); + if( pelt->typeID() == domLookat::ID() ) { + ROS_ERROR_STREAM("look at transform not implemented\n"); + return m; + } + + domSkewRef pskew = daeSafeCast(pelt); + if( !!pskew ) { + ROS_ERROR_STREAM("skew transform not implemented\n"); + } + + return m; + } + + /// Travels recursively the node parents of the given one + /// to extract the Transform arrays that affects the node given + template static boost::array _getNodeParentTransform(const T pelt) { + domNodeRef pnode = daeSafeCast(pelt->getParent()); + if( !pnode ) { + return _matrixIdentity(); + } + return _poseMult(_getNodeParentTransform(pnode), _ExtractFullTransform(pnode)); + } + + /// \brief Travel by the transformation array and calls the _getTransform method + template static boost::array _ExtractFullTransform(const T pelt) { + boost::array t = _matrixIdentity(); + for(size_t i = 0; i < pelt->getContents().getCount(); ++i) { + t = _poseMult(t, _getTransform(pelt->getContents()[i])); + } + return t; + } + + /// \brief Travel by the transformation array and calls the _getTransform method + template static boost::array _ExtractFullTransformFromChildren(const T pelt) { + boost::array t = _matrixIdentity(); + daeTArray children; pelt->getChildren(children); + for(size_t i = 0; i < children.getCount(); ++i) { + t = _poseMult(t, _getTransform(children[i])); + } + return t; + } + + // decompose a matrix into a scale and rigid transform (necessary for model scales) + void _decompose(const boost::array& tm, Pose& tout, Vector3& vscale) + { + vscale.x = 1; vscale.y = 1; vscale.z = 1; + tout = _poseFromMatrix(tm); + } + + virtual void handleError( daeString msg ) + { + ROS_ERROR("COLLADA error: %s\n", msg); + } + + virtual void handleWarning( daeString msg ) + { + ROS_WARN("COLLADA warning: %s\n", msg); + } + + inline static double _GetUnitScale(daeElement* pelt) + { + return ((USERDATA*)pelt->getUserData())->scale; + } + + domTechniqueRef _ExtractOpenRAVEProfile(const domTechnique_Array& arr) + { + for(size_t i = 0; i < arr.getCount(); ++i) { + if( strcmp(arr[i]->getProfile(), "OpenRAVE") == 0 ) { + return arr[i]; + } + } + return domTechniqueRef(); + } + + /// \brief returns an openrave interface type from the extra array + boost::shared_ptr _ExtractInterfaceType(const domExtra_Array& arr) { + for(size_t i = 0; i < arr.getCount(); ++i) { + if( strcmp(arr[i]->getType(),"interface_type") == 0 ) { + domTechniqueRef tec = _ExtractOpenRAVEProfile(arr[i]->getTechnique_array()); + if( !!tec ) { + daeElement* ptype = tec->getChild("interface"); + if( !!ptype ) { + return boost::shared_ptr(new std::string(ptype->getCharData())); + } + } + } + } + return boost::shared_ptr(); + } + + std::string _ExtractLinkName(domLinkRef pdomlink) { + std::string linkname; + if( !!pdomlink ) { + if( !!pdomlink->getName() ) { + linkname = pdomlink->getName(); + } + if( linkname.size() == 0 && !!pdomlink->getID() ) { + linkname = pdomlink->getID(); + } + } + return linkname; + } + + bool _checkMathML(daeElementRef pelt,const std::string& type) + { + if( pelt->getElementName()==type ) { + return true; + } + // check the substring after ':' + std::string name = pelt->getElementName(); + std::size_t pos = name.find_last_of(':'); + if( pos == std::string::npos ) { + return false; + } + return name.substr(pos+1)==type; + } + + boost::shared_ptr _getJointFromRef(xsToken targetref, daeElementRef peltref) { + daeElement* peltjoint = daeSidRef(targetref, peltref).resolve().elt; + domJointRef pdomjoint = daeSafeCast (peltjoint); + + if (!pdomjoint) { + domInstance_jointRef pdomijoint = daeSafeCast (peltjoint); + if (!!pdomijoint) { + pdomjoint = daeSafeCast (pdomijoint->getUrl().getElement().cast()); + } + } + + if (!pdomjoint || pdomjoint->typeID() != domJoint::ID() || !pdomjoint->getName()) { + ROS_WARN_STREAM(str(boost::format("could not find collada joint %s!\n")%targetref)); + return boost::shared_ptr(); + } + + boost::shared_ptr pjoint = _model.joints_[std::string(pdomjoint->getName())]; + if(!pjoint) { + ROS_WARN_STREAM(str(boost::format("could not find openrave joint %s!\n")%pdomjoint->getName())); + } + return pjoint; + } + + /// \brief go through all kinematics binds to get a kinematics/visual pair + /// \param kiscene instance of one kinematics scene, binds the kinematic and visual models + /// \param bindings the extracted bindings + static void _ExtractKinematicsVisualBindings(domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings& bindings) + { + domKinematics_sceneRef kscene = daeSafeCast (kiscene->getUrl().getElement().cast()); + if (!kscene) { + return; + } + for (size_t imodel = 0; imodel < kiscene->getBind_kinematics_model_array().getCount(); imodel++) { + domArticulated_systemRef articulated_system; // if filled, contains robot-specific information, so create a robot + domBind_kinematics_modelRef kbindmodel = kiscene->getBind_kinematics_model_array()[imodel]; + if (!kbindmodel->getNode()) { + ROS_WARN_STREAM("do not support kinematics models without references to nodes\n"); + continue; + } + + // visual information + domNodeRef node = daeSafeCast(daeSidRef(kbindmodel->getNode(), viscene->getUrl().getElement()).resolve().elt); + if (!node) { + ROS_WARN_STREAM(str(boost::format("bind_kinematics_model does not reference valid node %s\n")%kbindmodel->getNode())); + continue; + } + + // kinematics information + daeElement* pelt = searchBinding(kbindmodel,kscene); + domInstance_kinematics_modelRef kimodel = daeSafeCast(pelt); + if (!kimodel) { + if( !pelt ) { + ROS_WARN_STREAM("bind_kinematics_model does not reference element\n"); + } + else { + ROS_WARN_STREAM(str(boost::format("bind_kinematics_model cannot find reference to %s%s:\n")%pelt->getElementName())); + } + continue; + } + bindings.listKinematicsVisualBindings.push_back(std::make_pair(node,kimodel)); + } + // axis info + for (size_t ijoint = 0; ijoint < kiscene->getBind_joint_axis_array().getCount(); ++ijoint) { + domBind_joint_axisRef bindjoint = kiscene->getBind_joint_axis_array()[ijoint]; + daeElementRef pjtarget = daeSidRef(bindjoint->getTarget(), viscene->getUrl().getElement()).resolve().elt; + if (!pjtarget) { + ROS_ERROR_STREAM(str(boost::format("Target Node %s NOT found!!!\n")%bindjoint->getTarget())); + continue; + } + daeElement* pelt = searchBinding(bindjoint->getAxis(),kscene); + domAxis_constraintRef pjointaxis = daeSafeCast(pelt); + if (!pjointaxis) { + continue; + } + bindings.listAxisBindings.push_back(JointAxisBinding(pjtarget, pjointaxis, bindjoint->getValue(), NULL, NULL)); + } + } + + size_t _countChildren(daeElement* pelt) { + size_t c = 1; + daeTArray children; + pelt->getChildren(children); + for (size_t i = 0; i < children.getCount(); ++i) { + c += _countChildren(children[i]); + } + return c; + } + + void _processUserData(daeElement* pelt, double scale) + { + // getChild could be optimized since asset tag is supposed to appear as the first element + domAssetRef passet = daeSafeCast (pelt->getChild("asset")); + if (!!passet && !!passet->getUnit()) { + scale = passet->getUnit()->getMeter(); + } + + _vuserdata.push_back(USERDATA(scale)); + pelt->setUserData(&_vuserdata.back()); + daeTArray children; + pelt->getChildren(children); + for (size_t i = 0; i < children.getCount(); ++i) { + if (children[i] != passet) { + _processUserData(children[i], scale); + } + } + } + + USERDATA* _getUserData(daeElement* pelt) + { + BOOST_ASSERT(!!pelt); + void* p = pelt->getUserData(); + BOOST_ASSERT(!!p); + return (USERDATA*)p; + } + + // + // openrave math functions (from geometry.h) + // + + static Vector3 _poseMult(const Pose& p, const Vector3& v) + { + double ww = 2 * p.rotation.x * p.rotation.x; + double wx = 2 * p.rotation.x * p.rotation.y; + double wy = 2 * p.rotation.x * p.rotation.z; + double wz = 2 * p.rotation.x * p.rotation.w; + double xx = 2 * p.rotation.y * p.rotation.y; + double xy = 2 * p.rotation.y * p.rotation.z; + double xz = 2 * p.rotation.y * p.rotation.w; + double yy = 2 * p.rotation.z * p.rotation.z; + double yz = 2 * p.rotation.z * p.rotation.w; + Vector3 vnew; + vnew.x = (1-xx-yy) * v.x + (wx-yz) * v.y + (wy+xz)*v.z + p.position.x; + vnew.y = (wx+yz) * v.x + (1-ww-yy) * v.y + (xy-wz)*v.z + p.position.y; + vnew.z = (wy-xz) * v.x + (xy+wz) * v.y + (1-ww-xx)*v.z + p.position.z; + return vnew; + } + + static Vector3 _poseMult(const boost::array& m, const Vector3& v) + { + Vector3 vnew; + vnew.x = m[4*0+0] * v.x + m[4*0+1] * v.y + m[4*0+2] * v.z + m[4*0+3]; + vnew.y = m[4*1+0] * v.x + m[4*1+1] * v.y + m[4*1+2] * v.z + m[4*1+3]; + vnew.z = m[4*2+0] * v.x + m[4*2+1] * v.y + m[4*2+2] * v.z + m[4*2+3]; + return vnew; + } + + static boost::array _poseMult(const boost::array& m0, const boost::array& m1) + { + boost::array mres; + mres[0*4+0] = m0[0*4+0]*m1[0*4+0]+m0[0*4+1]*m1[1*4+0]+m0[0*4+2]*m1[2*4+0]; + mres[0*4+1] = m0[0*4+0]*m1[0*4+1]+m0[0*4+1]*m1[1*4+1]+m0[0*4+2]*m1[2*4+1]; + mres[0*4+2] = m0[0*4+0]*m1[0*4+2]+m0[0*4+1]*m1[1*4+2]+m0[0*4+2]*m1[2*4+2]; + mres[1*4+0] = m0[1*4+0]*m1[0*4+0]+m0[1*4+1]*m1[1*4+0]+m0[1*4+2]*m1[2*4+0]; + mres[1*4+1] = m0[1*4+0]*m1[0*4+1]+m0[1*4+1]*m1[1*4+1]+m0[1*4+2]*m1[2*4+1]; + mres[1*4+2] = m0[1*4+0]*m1[0*4+2]+m0[1*4+1]*m1[1*4+2]+m0[1*4+2]*m1[2*4+2]; + mres[2*4+0] = m0[2*4+0]*m1[0*4+0]+m0[2*4+1]*m1[1*4+0]+m0[2*4+2]*m1[2*4+0]; + mres[2*4+1] = m0[2*4+0]*m1[0*4+1]+m0[2*4+1]*m1[1*4+1]+m0[2*4+2]*m1[2*4+1]; + mres[2*4+2] = m0[2*4+0]*m1[0*4+2]+m0[2*4+1]*m1[1*4+2]+m0[2*4+2]*m1[2*4+2]; + mres[3] = m1[3] * m0[0] + m1[7] * m0[1] + m1[11] * m0[2] + m0[3]; + mres[7] = m1[3] * m0[4] + m1[7] * m0[5] + m1[11] * m0[6] + m0[7]; + mres[11] = m1[3] * m0[8] + m1[7] * m0[9] + m1[11] * m0[10] + m0[11]; + return mres; + } + + static Pose _poseMult(const Pose& p0, const Pose& p1) + { + Pose p; + p.position = _poseMult(p0,p1.position); + p.rotation = _quatMult(p0.rotation,p1.rotation); + return p; + } + + static Pose _poseInverse(const Pose& p) + { + Pose pinv; + pinv.rotation.x = -p.rotation.x; + pinv.rotation.y = -p.rotation.y; + pinv.rotation.z = -p.rotation.z; + pinv.rotation.w = p.rotation.w; + Vector3 t = _poseMult(pinv,p.position); + pinv.position.x = -t.x; + pinv.position.y = -t.y; + pinv.position.z = -t.z; + return pinv; + } + + static Rotation _quatMult(const Rotation& quat0, const Rotation& quat1) + { + Rotation q; + q.x = quat0.w*quat1.x + quat0.x*quat1.w + quat0.y*quat1.z - quat0.z*quat1.y; + q.y = quat0.w*quat1.y + quat0.y*quat1.w + quat0.z*quat1.x - quat0.x*quat1.z; + q.z = quat0.w*quat1.z + quat0.z*quat1.w + quat0.x*quat1.y - quat0.y*quat1.x; + q.w = quat0.w*quat1.w - quat0.x*quat1.x - quat0.y*quat1.y - quat0.z*quat1.z; + double fnorm = std::sqrt(q.x*q.x+q.y*q.y+q.z*q.z+q.w*q.w); + // don't touch the divides + q.x /= fnorm; + q.y /= fnorm; + q.z /= fnorm; + q.w /= fnorm; + return q; + } + + static boost::array _matrixFromAxisAngle(const Vector3& axis, double angle) + { + return _matrixFromQuat(_quatFromAxisAngle(axis.x,axis.y,axis.z,angle)); + } + + static boost::array _matrixFromQuat(const Rotation& quat) + { + boost::array m; + double qq1 = 2*quat.x*quat.x; + double qq2 = 2*quat.y*quat.y; + double qq3 = 2*quat.z*quat.z; + m[4*0+0] = 1 - qq2 - qq3; + m[4*0+1] = 2*(quat.x*quat.y - quat.w*quat.z); + m[4*0+2] = 2*(quat.x*quat.z + quat.w*quat.y); + m[4*0+3] = 0; + m[4*1+0] = 2*(quat.x*quat.y + quat.w*quat.z); + m[4*1+1] = 1 - qq1 - qq3; + m[4*1+2] = 2*(quat.y*quat.z - quat.w*quat.x); + m[4*1+3] = 0; + m[4*2+0] = 2*(quat.x*quat.z - quat.w*quat.y); + m[4*2+1] = 2*(quat.y*quat.z + quat.w*quat.x); + m[4*2+2] = 1 - qq1 - qq2; + m[4*2+3] = 0; + return m; + } + + static Pose _poseFromMatrix(const boost::array& m) + { + Pose t; + t.rotation = _quatFromMatrix(m); + t.position.x = m[3]; + t.position.y = m[7]; + t.position.z = m[11]; + return t; + } + + static boost::array _matrixFromPose(const Pose& t) + { + boost::array m = _matrixFromQuat(t.rotation); + m[3] = t.position.x; + m[7] = t.position.y; + m[11] = t.position.z; + return m; + } + + static Rotation _quatFromAxisAngle(double x, double y, double z, double angle) + { + Rotation q; + double axislen = std::sqrt(x*x+y*y+z*z); + if( axislen == 0 ) { + return q; + } + angle *= 0.5; + double sang = std::sin(angle)/axislen; + q.w = std::cos(angle); + q.x = x*sang; + q.y = y*sang; + q.z = z*sang; + return q; + } + + static Rotation _quatFromMatrix(const boost::array& mat) + { + Rotation rot; + double tr = mat[4*0+0] + mat[4*1+1] + mat[4*2+2]; + if (tr >= 0) { + rot.w = tr + 1; + rot.x = (mat[4*2+1] - mat[4*1+2]); + rot.y = (mat[4*0+2] - mat[4*2+0]); + rot.z = (mat[4*1+0] - mat[4*0+1]); + } + else { + // find the largest diagonal element and jump to the appropriate case + if (mat[4*1+1] > mat[4*0+0]) { + if (mat[4*2+2] > mat[4*1+1]) { + rot.z = (mat[4*2+2] - (mat[4*0+0] + mat[4*1+1])) + 1; + rot.x = (mat[4*2+0] + mat[4*0+2]); + rot.y = (mat[4*1+2] + mat[4*2+1]); + rot.w = (mat[4*1+0] - mat[4*0+1]); + } + else { + rot.y = (mat[4*1+1] - (mat[4*2+2] + mat[4*0+0])) + 1; + rot.z = (mat[4*1+2] + mat[4*2+1]); + rot.x = (mat[4*0+1] + mat[4*1+0]); + rot.w = (mat[4*0+2] - mat[4*2+0]); + } + } + else if (mat[4*2+2] > mat[4*0+0]) { + rot.z = (mat[4*2+2] - (mat[4*0+0] + mat[4*1+1])) + 1; + rot.x = (mat[4*2+0] + mat[4*0+2]); + rot.y = (mat[4*1+2] + mat[4*2+1]); + rot.w = (mat[4*1+0] - mat[4*0+1]); + } + else { + rot.x = (mat[4*0+0] - (mat[4*1+1] + mat[4*2+2])) + 1; + rot.y = (mat[4*0+1] + mat[4*1+0]); + rot.z = (mat[4*2+0] + mat[4*0+2]); + rot.w = (mat[4*2+1] - mat[4*1+2]); + } + } + double fnorm = std::sqrt(rot.x*rot.x+rot.y*rot.y+rot.z*rot.z+rot.w*rot.w); + // don't touch the divides + rot.x /= fnorm; + rot.y /= fnorm; + rot.z /= fnorm; + rot.w /= fnorm; + return rot; + } + + static double _dot3(const Vector3& v0, const Vector3& v1) + { + return v0.x*v1.x + v0.y*v1.y + v0.z*v1.z; + } + static Vector3 _cross3(const Vector3& v0, const Vector3& v1) + { + Vector3 v; + v.x = v0.y * v1.z - v0.z * v1.y; + v.y = v0.z * v1.x - v0.x * v1.z; + v.z = v0.x * v1.y - v0.y * v1.x; + return v; + } + static Vector3 _sub3(const Vector3& v0, const Vector3& v1) + { + Vector3 v; + v.x = v0.x-v1.x; + v.y = v0.y-v1.y; + v.z = v0.z-v1.z; + return v; + } + static Vector3 _add3(const Vector3& v0, const Vector3& v1) + { + Vector3 v; + v.x = v0.x+v1.x; + v.y = v0.y+v1.y; + v.z = v0.z+v1.z; + return v; + } + static Vector3 _normalize3(const Vector3& v0) + { + Vector3 v; + double norm = std::sqrt(v0.x*v0.x+v0.y*v0.y+v0.z*v0.z); + v.x = v0.x/norm; + v.y = v0.y/norm; + v.z = v0.z/norm; + return v; + } + + boost::shared_ptr _collada; + domCOLLADA* _dom; + std::vector _vuserdata; // all userdata + int _nGlobalSensorId, _nGlobalManipulatorId; + std::string _filename; + std::string _resourcedir; + Model& _model; +}; + +bool urdfFromColladaFile(std::string const& daefilename, Model& model) +{ + ColladaModelReader reader(model); + return reader.InitFromFile(daefilename); +} + +bool urdfFromColladaData(std::string const& data, Model& model) +{ + ColladaModelReader reader(model); + return reader.InitFromData(data); +} + +bool urdfFromTiXML(TiXmlElement *robot_xml, Model& model) +{ + ColladaModelReader reader(model); + // have to convert all xml back to string (sigh..) + std::stringstream ss; + ss << *robot_xml; + return reader.InitFromData(ss.str()); +} + +bool IsColladaFile(const std::string& filename) +{ + size_t len = filename.size(); + if( len < 4 ) + return false; + return filename[len-4] == '.' && ::tolower(filename[len-3]) == 'd' && ::tolower(filename[len-2]) == 'a' && ::tolower(filename[len-1]) == 'e'; +} + +bool IsColladaData(const std::string& data) +{ + return data.find("RootElement() ) { + if( std::string("COLLADA") == xml_doc->RootElement()->ValueStr() ) { + return urdfFromTiXML(xml_doc->RootElement(),*this); + } + } + TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot"); if (!robot_xml) { @@ -120,6 +141,11 @@ bool Model::initXml(TiXmlElement *robot_xml) ROS_DEBUG("Parsing robot xml"); if (!robot_xml) return false; + // necessary for COLLADA compatibility + if( std::string("COLLADA") == robot_xml->ValueStr() ) { + return urdfFromTiXML(robot_xml,*this); + } + // Get robot name const char *name = robot_xml->Attribute("name"); if (!name) @@ -298,7 +324,7 @@ bool Model::initTree(std::map &parent_link_tree) ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() ); return false; } - + //set parent link for child link child_link->setParent(parent_link); From ae9109c75bf4acc1d5c3e76a36adacd2ac094cb1 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Wed, 1 Dec 2010 20:58:22 +0000 Subject: [PATCH 221/245] moved recent to collada changes robot_model_collada2010 branch --- colladadom/collada-dom.patch | 22 - urdf/CMakeLists.txt | 2 +- urdf/include/urdf/model.h | 8 +- urdf/manifest.xml | 2 +- urdf/src/collada_model_reader.cpp | 2685 ----------------------------- urdf/src/model.cpp | 28 +- 6 files changed, 7 insertions(+), 2740 deletions(-) delete mode 100644 urdf/src/collada_model_reader.cpp diff --git a/colladadom/collada-dom.patch b/colladadom/collada-dom.patch index e28599d..eb05cec 100644 --- a/colladadom/collada-dom.patch +++ b/colladadom/collada-dom.patch @@ -52,25 +52,3 @@ Index: dom/make/domTest.mk ifeq ($(os),ps3) # PS3 doesn't support C++ locales, so tell boost not to use them ccFlags += -DBOOST_NO_STD_LOCALE - ---- dom/src/dae/daeSIDResolver.cpp -+++ dom/src/dae/daeSIDResolver.cpp -@@ -152,6 +152,18 @@ - list& remainingPart) { - remainingPart.clear(); - -+ // custom change for following instance urls (Rosen Diankov) -+ if ( strncmp( container->getElementName(), "instance_", 9 ) == 0 ) { -+ daeURI *uri = (daeURI*)container->getAttributeValue("url"); -+ if ( uri != NULL && uri->getElement() != NULL ) { -+ daeElement *e = findWithDots( uri->getElement(), s, profile, finder, remainingPart ); -+ if ( e != NULL ) { -+ //found it -+ return e; -+ } -+ } -+ } -+ - // First see if the whole thing resolves correctly - if (daeElement* result = finder(container, s, profile)) - return result; diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 64d4b42..4dceb93 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -22,7 +22,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_gensrv() #common commands for building c++ executables and libraries -rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp) +rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp) #target_link_libraries(${PROJECT_NAME} another_library) rosbuild_add_boost_directories() #rosbuild_link_boost(${PROJECT_NAME} thread) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index 0d52895..264520f 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -46,6 +46,7 @@ namespace urdf{ + class Model { public: @@ -85,7 +86,7 @@ public: /// \brief complete list of Materials std::map > materials_; -protected: +private: void clear(); std::string name_; @@ -104,14 +105,13 @@ protected: /// it's time to find the root Link bool initRoot(std::map &parent_link_tree); -private: + /// Model is restricted to a tree for now, which means there exists one root link /// typically, root link is the world(inertial). Where world is a special link /// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? /// hmm... boost::shared_ptr root_link_; - - friend class ColladaModelReader; + }; } diff --git a/urdf/manifest.xml b/urdf/manifest.xml index d03ca3f..f0ad062 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -12,7 +12,7 @@ - + diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp deleted file mode 100644 index 6f03f61..0000000 --- a/urdf/src/collada_model_reader.cpp +++ /dev/null @@ -1,2685 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2010, Rosen Diankov, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redstributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Rosen Diankov, used OpenRAVE files for reference */ -#include "urdf/model.h" - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++) -#define FOREACHC FOREACH - -namespace urdf{ - -class UnlinkFilename -{ -public: - UnlinkFilename(const std::string& filename) : _filename(filename) {} - virtual ~UnlinkFilename() { unlink(_filename.c_str()); } - std::string _filename; -}; -static std::list > _listTempFilenames; - -class ColladaModelReader : public daeErrorHandler -{ - - class JointAxisBinding - { - public: - JointAxisBinding(daeElementRef pvisualtrans, domAxis_constraintRef pkinematicaxis, domCommon_float_or_paramRef jointvalue, domKinematics_axis_infoRef kinematics_axis_info, domMotion_axis_infoRef motion_axis_info) : pvisualtrans(pvisualtrans), pkinematicaxis(pkinematicaxis), jointvalue(jointvalue), kinematics_axis_info(kinematics_axis_info), motion_axis_info(motion_axis_info) { - BOOST_ASSERT( !!pkinematicaxis ); - daeElement* pae = pvisualtrans->getParentElement(); - while (!!pae) { - visualnode = daeSafeCast (pae); - if (!!visualnode) { - break; - } - pae = pae->getParentElement(); - } - - if (!visualnode) { - ROS_WARN_STREAM(str(boost::format("couldn't find parent node of element id %s, sid %s\n")%pkinematicaxis->getID()%pkinematicaxis->getSid())); - } - } - - daeElementRef pvisualtrans; - domAxis_constraintRef pkinematicaxis; - domCommon_float_or_paramRef jointvalue; - domNodeRef visualnode; - domKinematics_axis_infoRef kinematics_axis_info; - domMotion_axis_infoRef motion_axis_info; - }; - - /// \brief inter-collada bindings for a kinematics scene - class KinematicsSceneBindings - { - public: - std::list< std::pair > listKinematicsVisualBindings; - std::list listAxisBindings; - - bool AddAxisInfo(const domInstance_kinematics_model_Array& arr, domKinematics_axis_infoRef kinematics_axis_info, domMotion_axis_infoRef motion_axis_info) - { - if( !kinematics_axis_info ) { - return false; - } - for(size_t ik = 0; ik < arr.getCount(); ++ik) { - daeElement* pelt = daeSidRef(kinematics_axis_info->getAxis(), arr[ik]->getUrl().getElement()).resolve().elt; - if( !!pelt ) { - // look for the correct placement - bool bfound = false; - FOREACH(itbinding,listAxisBindings) { - if( itbinding->pkinematicaxis.cast() == pelt ) { - itbinding->kinematics_axis_info = kinematics_axis_info; - if( !!motion_axis_info ) { - itbinding->motion_axis_info = motion_axis_info; - } - bfound = true; - break; - } - } - if( !bfound ) { - ROS_WARN_STREAM(str(boost::format("could not find binding for axis: %s, %s\n")%kinematics_axis_info->getAxis()%pelt->getAttribute("sid"))); - return false; - } - return true; - } - } - ROS_WARN_STREAM(str(boost::format("could not find kinematics axis target: %s\n")%kinematics_axis_info->getAxis())); - return false; - } - }; - - struct USERDATA - { - USERDATA() {} - USERDATA(double scale) : scale(scale) {} - double scale; - boost::shared_ptr p; ///< custom managed data - }; - - enum GeomType { - GeomNone = 0, - GeomBox = 1, - GeomSphere = 2, - GeomCylinder = 3, - GeomTrimesh = 4, - }; - - struct GEOMPROPERTIES - { - Pose _t; ///< local transformation of the geom primitive with respect to the link's coordinate system - Vector3 vGeomData; ///< for boxes, first 3 values are extents - ///< for sphere it is radius - ///< for cylinder, first 2 values are radius and height - ///< for trimesh, none - Color diffuseColor, ambientColor; ///< hints for how to color the meshes - std::vector vertices; - std::vector indices; - - ///< discretization value is chosen. Should be transformed by _t before rendering - GeomType type; ///< the type of geometry primitive - - - // generate a sphere triangulation starting with an icosahedron - // all triangles are oriented counter clockwise - static void GenerateSphereTriangulation(std::vector realvertices, std::vector realindices, int levels) - { - const double GTS_M_ICOSAHEDRON_X = 0.850650808352039932181540497063011072240401406; - const double GTS_M_ICOSAHEDRON_Y = 0.525731112119133606025669084847876607285497935; - const double GTS_M_ICOSAHEDRON_Z = 0; - std::vector tempvertices[2]; - std::vector tempindices[2]; - - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y)); - tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y)); - tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); - tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X)); - tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); - tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y)); - - const int nindices=60; - int indices[nindices] = { - 0, 1, 2, - 1, 3, 4, - 3, 5, 6, - 2, 4, 7, - 5, 6, 8, - 2, 7, 9, - 0, 5, 8, - 7, 9, 10, - 0, 1, 5, - 7, 10, 11, - 1, 3, 5, - 6, 10, 11, - 3, 6, 11, - 9, 10, 8, - 3, 4, 11, - 6, 8, 10, - 4, 7, 11, - 1, 2, 4, - 0, 8, 9, - 0, 2, 9 - }; - - Vector3 v[3]; - // make sure oriented CCW - for(int i = 0; i < nindices; i += 3 ) { - v[0] = tempvertices[0][indices[i]]; - v[1] = tempvertices[0][indices[i+1]]; - v[2] = tempvertices[0][indices[i+2]]; - if( _dot3(v[0], _cross3(_sub3(v[1],v[0]),_sub3(v[2],v[0]))) < 0 ) { - std::swap(indices[i], indices[i+1]); - } - } - - tempindices[0].resize(nindices); - std::copy(&indices[0],&indices[nindices],tempindices[0].begin()); - std::vector* curvertices = &tempvertices[0], *newvertices = &tempvertices[1]; - std::vector *curindices = &tempindices[0], *newindices = &tempindices[1]; - while(levels-- > 0) { - - newvertices->resize(0); - newvertices->reserve(2*curvertices->size()); - newvertices->insert(newvertices->end(), curvertices->begin(), curvertices->end()); - newindices->resize(0); - newindices->reserve(4*curindices->size()); - - std::map< uint64_t, int > mapnewinds; - std::map< uint64_t, int >::iterator it; - - for(size_t i = 0; i < curindices->size(); i += 3) { - // for ever tri, create 3 new vertices and 4 new triangles. - v[0] = curvertices->at(curindices->at(i)); - v[1] = curvertices->at(curindices->at(i+1)); - v[2] = curvertices->at(curindices->at(i+2)); - - int inds[3]; - for(int j = 0; j < 3; ++j) { - uint64_t key = ((uint64_t)curindices->at(i+j)<<32)|(uint64_t)curindices->at(i + ((j+1)%3)); - it = mapnewinds.find(key); - - if( it == mapnewinds.end() ) { - inds[j] = mapnewinds[key] = mapnewinds[(key<<32)|(key>>32)] = (int)newvertices->size(); - newvertices->push_back(_normalize3(_add3(v[j],v[(j+1)%3 ]))); - } - else { - inds[j] = it->second; - } - } - - newindices->push_back(curindices->at(i)); newindices->push_back(inds[0]); newindices->push_back(inds[2]); - newindices->push_back(inds[0]); newindices->push_back(curindices->at(i+1)); newindices->push_back(inds[1]); - newindices->push_back(inds[2]); newindices->push_back(inds[0]); newindices->push_back(inds[1]); - newindices->push_back(inds[2]); newindices->push_back(inds[1]); newindices->push_back(curindices->at(i+2)); - } - - std::swap(newvertices,curvertices); - std::swap(newindices,curindices); - } - - realvertices = *curvertices; - realindices = *curindices; - } - - bool InitCollisionMesh(double fTessellation=1.0) - { - if( type == GeomTrimesh ) { - return true; - } - indices.clear(); - vertices.clear(); - - if( fTessellation < 0.01f ) { - fTessellation = 0.01f; - } - // start tesselating - switch(type) { - case GeomSphere: { - // log_2 (1+ tess) - GenerateSphereTriangulation(vertices,indices, 3 + (int)(logf(fTessellation) / logf(2.0f)) ); - double fRadius = vGeomData.x; - FOREACH(it, vertices) { - it->x *= fRadius; - it->y *= fRadius; - it->z *= fRadius; - } - break; - } - case GeomBox: { - // trivial - Vector3 ex = vGeomData; - Vector3 v[8] = { Vector3(ex.x, ex.y, ex.z), - Vector3(ex.x, ex.y, -ex.z), - Vector3(ex.x, -ex.y, ex.z), - Vector3(ex.x, -ex.y, -ex.z), - Vector3(-ex.x, ex.y, ex.z), - Vector3(-ex.x, ex.y, -ex.z), - Vector3(-ex.x, -ex.y, ex.z), - Vector3(-ex.x, -ex.y, -ex.z) }; - const int nindices = 36; - int startindices[] = { - 0, 1, 2, - 1, 2, 3, - 4, 5, 6, - 5, 6, 7, - 0, 1, 4, - 1, 4, 5, - 2, 3, 6, - 3, 6, 7, - 0, 2, 4, - 2, 4, 6, - 1, 3, 5, - 3, 5, 7 - }; - - for(int i = 0; i < nindices; i += 3 ) { - Vector3 v1 = v[startindices[i]]; - Vector3 v2 = v[startindices[i+1]]; - Vector3 v3 = v[startindices[i+2]]; - if( _dot3(v1, _sub3(v2,_cross3(v1, _sub3(v3,v1)))) < 0 ) { - std::swap(indices[i], indices[i+1]); - } - } - - vertices.resize(8); - std::copy(&v[0],&v[8],vertices.begin()); - indices.resize(nindices); - std::copy(&startindices[0],&startindices[nindices],indices.begin()); - break; - } - case GeomCylinder: { - // cylinder is on y axis - double rad = vGeomData.x, len = vGeomData.y*0.5f; - - int numverts = (int)(fTessellation*24.0f) + 3; - double dtheta = 2 * M_PI / (double)numverts; - vertices.push_back(Vector3(0,0,len)); - vertices.push_back(Vector3(0,0,-len)); - vertices.push_back(Vector3(rad,0,len)); - vertices.push_back(Vector3(rad,0,-len)); - - for(int i = 0; i < numverts+1; ++i) { - double s = rad * std::sin(dtheta * (double)i); - double c = rad * std::cos(dtheta * (double)i); - - int off = (int)vertices.size(); - vertices.push_back(Vector3(c, s, len)); - vertices.push_back(Vector3(c, s, -len)); - - indices.push_back(0); indices.push_back(off); indices.push_back(off-2); - indices.push_back(1); indices.push_back(off-1); indices.push_back(off+1); - indices.push_back(off-2); indices.push_back(off); indices.push_back(off-1); - indices.push_back(off); indices.push_back(off-1); indices.push_back(off+1); - } - break; - } - default: - BOOST_ASSERT(0); - } - return true; - } - }; - - public: - ColladaModelReader(Model& model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) { - daeErrorHandler::setErrorHandler(this); - _resourcedir = "."; - } - virtual ~ColladaModelReader() { - _vuserdata.clear(); - _collada.reset(); - DAE::cleanup(); - } - - bool InitFromFile(const std::string& filename) { - ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s, filename: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE%filename)); - _collada.reset(new DAE); - _dom = _collada->open(filename); - if (!_dom) { - return false; - } - _filename=filename; - - size_t maxchildren = _countChildren(_dom); - _vuserdata.resize(0); - _vuserdata.reserve(maxchildren); - - double dScale = 1.0; - _processUserData(_dom, dScale); - ROS_DEBUG_STREAM(str(boost::format("processed children: %d/%d\n")%_vuserdata.size()%maxchildren)); - return _Extract(); - } - - bool InitFromData(const std::string& pdata) { - ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE)); - _collada.reset(new DAE); - _dom = _collada->openFromMemory(".",pdata.c_str()); - if (!_dom) { - return false; - } - - size_t maxchildren = _countChildren(_dom); - _vuserdata.resize(0); - _vuserdata.reserve(maxchildren); - - double dScale = 1.0; - _processUserData(_dom, dScale); - ROS_DEBUG_STREAM(str(boost::format("processed children: %d/%d\n")%_vuserdata.size()%maxchildren)); - return _Extract(); - } - -protected: - - /// \extract the first possible robot in the scene - bool _Extract() - { - _model.clear(); - std::list< std::pair > > listPossibleBodies; - domCOLLADA::domSceneRef allscene = _dom->getScene(); - if( !allscene ) { - return false; - } - - // parse each instance kinematics scene, prioritize real robots - for (size_t iscene = 0; iscene < allscene->getInstance_kinematics_scene_array().getCount(); iscene++) { - domInstance_kinematics_sceneRef kiscene = allscene->getInstance_kinematics_scene_array()[iscene]; - domKinematics_sceneRef kscene = daeSafeCast (kiscene->getUrl().getElement().cast()); - if (!kscene) { - continue; - } - boost::shared_ptr bindings(new KinematicsSceneBindings()); - _ExtractKinematicsVisualBindings(allscene->getInstance_visual_scene(),kiscene,*bindings); - for(size_t ias = 0; ias < kscene->getInstance_articulated_system_array().getCount(); ++ias) { - if( _ExtractArticulatedSystem(kscene->getInstance_articulated_system_array()[ias], *bindings) ) { - _PostProcess(); - return true; - } - } - for(size_t ikmodel = 0; ikmodel < kscene->getInstance_kinematics_model_array().getCount(); ++ikmodel) { - listPossibleBodies.push_back(std::make_pair(kscene->getInstance_kinematics_model_array()[ikmodel], bindings)); - } - } - - FOREACH(it, listPossibleBodies) { - if( _ExtractKinematicsModel(it->first, *it->second) ) { - _PostProcess(); - return true; - } - } - - return false; - } - - void _PostProcess() - { - std::map parent_link_tree; - // building tree: name mapping - if (!_model.initTree(parent_link_tree)) { - ROS_ERROR("failed to build tree"); - } - - // find the root link - if (!_model.initRoot(parent_link_tree)) { - ROS_ERROR("failed to find root link"); - } - } - - /// \brief extracts an articulated system. Note that an articulated system can include other articulated systems - bool _ExtractArticulatedSystem(domInstance_articulated_systemRef ias, KinematicsSceneBindings& bindings) - { - if( !ias ) { - return false; - } - ROS_DEBUG_STREAM(str(boost::format("instance articulated system sid %s\n")%ias->getSid())); - domArticulated_systemRef articulated_system = daeSafeCast (ias->getUrl().getElement().cast()); - if( !articulated_system ) { - return false; - } - - boost::shared_ptr pinterface_type = _ExtractInterfaceType(ias->getExtra_array()); - if( !pinterface_type ) { - pinterface_type = _ExtractInterfaceType(articulated_system->getExtra_array()); - } - if( !!pinterface_type ) { - ROS_DEBUG_STREAM(str(boost::format("robot type: %s")%(*pinterface_type))); - } - - // set the name - if( _model.name_.size() == 0 && !!ias->getName() ) { - _model.name_ = ias->getName(); - } - if( _model.name_.size() == 0 && !!ias->getSid()) { - _model.name_ = ias->getSid(); - } - if( _model.name_.size() == 0 && !!articulated_system->getName() ) { - _model.name_ = articulated_system->getName(); - } - if( _model.name_.size() == 0 && !!articulated_system->getId()) { - _model.name_ = articulated_system->getId(); - } - - if( !!articulated_system->getMotion() ) { - domInstance_articulated_systemRef ias_new = articulated_system->getMotion()->getInstance_articulated_system(); - if( !!articulated_system->getMotion()->getTechnique_common() ) { - for(size_t i = 0; i < articulated_system->getMotion()->getTechnique_common()->getAxis_info_array().getCount(); ++i) { - domMotion_axis_infoRef motion_axis_info = articulated_system->getMotion()->getTechnique_common()->getAxis_info_array()[i]; - // this should point to a kinematics axis_info - domKinematics_axis_infoRef kinematics_axis_info = daeSafeCast(daeSidRef(motion_axis_info->getAxis(), ias_new->getUrl().getElement()).resolve().elt); - if( !!kinematics_axis_info ) { - // find the parent kinematics and go through all its instance kinematics models - daeElement* pparent = kinematics_axis_info->getParent(); - while(!!pparent && pparent->typeID() != domKinematics::ID()) { - pparent = pparent->getParent(); - } - BOOST_ASSERT(!!pparent); - bindings.AddAxisInfo(daeSafeCast(pparent)->getInstance_kinematics_model_array(), kinematics_axis_info, motion_axis_info); - } - else { - ROS_WARN_STREAM(str(boost::format("failed to find kinematics axis %s\n")%motion_axis_info->getAxis())); - } - } - } - if( !_ExtractArticulatedSystem(ias_new,bindings) ) { - return false; - } - } - else { - if( !articulated_system->getKinematics() ) { - ROS_WARN_STREAM(str(boost::format("collada tag empty? instance_articulated_system=%s\n")%ias->getID())); - return true; - } - - if( !!articulated_system->getKinematics()->getTechnique_common() ) { - for(size_t i = 0; i < articulated_system->getKinematics()->getTechnique_common()->getAxis_info_array().getCount(); ++i) { - bindings.AddAxisInfo(articulated_system->getKinematics()->getInstance_kinematics_model_array(), articulated_system->getKinematics()->getTechnique_common()->getAxis_info_array()[i], NULL); - } - } - - for(size_t ik = 0; ik < articulated_system->getKinematics()->getInstance_kinematics_model_array().getCount(); ++ik) { - _ExtractKinematicsModel(articulated_system->getKinematics()->getInstance_kinematics_model_array()[ik],bindings); - } - } - - _ExtractRobotManipulators(articulated_system); - _ExtractRobotAttachedSensors(articulated_system); - return true; - } - - bool _ExtractKinematicsModel(domInstance_kinematics_modelRef ikm, KinematicsSceneBindings& bindings) - { - if( !ikm ) { - return false; - } - ROS_DEBUG_STREAM(str(boost::format("instance kinematics model sid %s\n")%ikm->getSid())); - domKinematics_modelRef kmodel = daeSafeCast (ikm->getUrl().getElement().cast()); - if (!kmodel) { - ROS_WARN_STREAM(str(boost::format("%s does not reference valid kinematics\n")%ikm->getSid())); - return false; - } - domPhysics_modelRef pmodel; - boost::shared_ptr pinterface_type = _ExtractInterfaceType(ikm->getExtra_array()); - if( !pinterface_type ) { - pinterface_type = _ExtractInterfaceType(kmodel->getExtra_array()); - } - if( !!pinterface_type ) { - ROS_DEBUG_STREAM(str(boost::format("kinbody interface type: %s")%(*pinterface_type))); - } - - // find matching visual node - domNodeRef pvisualnode; - FOREACH(it, bindings.listKinematicsVisualBindings) { - if( it->second == ikm ) { - pvisualnode = it->first; - break; - } - } - if( !pvisualnode ) { - ROS_WARN_STREAM(str(boost::format("failed to find visual node for instance kinematics model %s\n")%ikm->getSid())); - return false; - } - - if( _model.name_.size() == 0 && !!ikm->getName() ) { - _model.name_ = ikm->getName(); - } - if( _model.name_.size() == 0 && !!ikm->getID() ) { - _model.name_ = ikm->getID(); - } - - if (!_ExtractKinematicsModel(kmodel, pvisualnode, pmodel, bindings.listAxisBindings)) { - ROS_WARN_STREAM(str(boost::format("failed to load kinbody from kinematics model %s\n")%kmodel->getID())); - return false; - } - return true; - } - - /// \brief append the kinematics model to the openrave kinbody - bool _ExtractKinematicsModel(domKinematics_modelRef kmodel, domNodeRef pnode, domPhysics_modelRef pmodel, const std::list& listAxisBindings) - { - std::vector vdomjoints; - ROS_DEBUG_STREAM(str(boost::format("kinematics model: %s\n")%_model.name_)); - if( !!pnode ) { - ROS_DEBUG_STREAM(str(boost::format("node name: %s\n")%pnode->getId())); - } - - // Process joint of the kinbody - domKinematics_model_techniqueRef ktec = kmodel->getTechnique_common(); - - // Store joints - for (size_t ijoint = 0; ijoint < ktec->getJoint_array().getCount(); ++ijoint) { - vdomjoints.push_back(ktec->getJoint_array()[ijoint]); - } - - // Store instances of joints - for (size_t ijoint = 0; ijoint < ktec->getInstance_joint_array().getCount(); ++ijoint) { - domJointRef pelt = daeSafeCast (ktec->getInstance_joint_array()[ijoint]->getUrl().getElement()); - if (!pelt) { - ROS_WARN_STREAM("failed to get joint from instance\n"); - } - else { - vdomjoints.push_back(pelt); - } - } - - ROS_DEBUG_STREAM(str(boost::format("Number of root links in the kmodel %d\n")%ktec->getLink_array().getCount())); - for (size_t ilink = 0; ilink < ktec->getLink_array().getCount(); ++ilink) { - _ExtractLink(ktec->getLink_array()[ilink], ilink == 0 ? pnode : domNodeRef(), Pose(), Pose(), vdomjoints, listAxisBindings); - } - - // TODO: implement mathml - for (size_t iform = 0; iform < ktec->getFormula_array().getCount(); ++iform) { - domFormulaRef pf = ktec->getFormula_array()[iform]; - if (!pf->getTarget()) { - ROS_WARN_STREAM("formula target not valid\n"); - continue; - } - - // find the target joint - boost::shared_ptr pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf); - if (!pjoint) { - continue; - } - - if (!!pf->getTechnique_common()) { - daeElementRef peltmath; - daeTArray children; - pf->getTechnique_common()->getChildren(children); - for (size_t ichild = 0; ichild < children.getCount(); ++ichild) { - daeElementRef pelt = children[ichild]; - if (_checkMathML(pelt,std::string("math")) ) { - peltmath = pelt; - } - else { - ROS_WARN_STREAM(str(boost::format("unsupported formula element: %s\n")%pelt->getElementName())); - } - } - if (!!peltmath) { - // full math xml spec not supported, only looking for ax+b pattern: - // a x b - double a = 1, b = 0; - daeElementRef psymboljoint; - BOOST_ASSERT(peltmath->getChildren().getCount()>0); - daeElementRef papplyelt = peltmath->getChildren()[0]; - BOOST_ASSERT(_checkMathML(papplyelt,"apply")); - BOOST_ASSERT(papplyelt->getChildren().getCount()>0); - if( _checkMathML(papplyelt->getChildren()[0],"plus") ) { - BOOST_ASSERT(papplyelt->getChildren().getCount()==3); - daeElementRef pa = papplyelt->getChildren()[1]; - daeElementRef pb = papplyelt->getChildren()[2]; - if( !_checkMathML(papplyelt->getChildren()[1],"apply") ) { - std::swap(pa,pb); - } - if( !_checkMathML(pa,"csymbol") ) { - BOOST_ASSERT(_checkMathML(pa,"apply")); - BOOST_ASSERT(_checkMathML(pa->getChildren()[0],"times")); - if( _checkMathML(pa->getChildren()[1],"csymbol") ) { - psymboljoint = pa->getChildren()[1]; - BOOST_ASSERT(_checkMathML(pa->getChildren()[2],"cn")); - std::stringstream ss(pa->getChildren()[2]->getCharData()); - ss >> a; - } - else { - psymboljoint = pa->getChildren()[2]; - BOOST_ASSERT(_checkMathML(pa->getChildren()[1],"cn")); - std::stringstream ss(pa->getChildren()[1]->getCharData()); - ss >> a; - } - } - else { - psymboljoint = pa; - } - BOOST_ASSERT(_checkMathML(pb,"cn")); - { - std::stringstream ss(pb->getCharData()); - ss >> b; - } - } - else if( _checkMathML(papplyelt->getChildren()[0],"minus") ) { - BOOST_ASSERT(_checkMathML(papplyelt->getChildren()[1],"csymbol")); - a = -1; - psymboljoint = papplyelt->getChildren()[1]; - } - else { - BOOST_ASSERT(_checkMathML(papplyelt->getChildren()[0],"csymbol")); - psymboljoint = papplyelt->getChildren()[0]; - } - BOOST_ASSERT(psymboljoint->hasAttribute("encoding")); - BOOST_ASSERT(psymboljoint->getAttribute("encoding")==std::string("COLLADA")); - boost::shared_ptr pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf); - if( !!pbasejoint ) { - // set the mimic properties - pjoint->mimic.reset(new JointMimic()); - pjoint->mimic->joint_name = pbasejoint->name; - pjoint->mimic->multiplier = a; - pjoint->mimic->offset = b; - ROS_DEBUG_STREAM(str(boost::format("assigning joint %s to mimic %s %f %f\n")%pjoint->name%pbasejoint->name%a%b)); - } - } - } - } - return true; - } - - /// \brief Extract Link info and add it to an existing body - boost::shared_ptr _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector& vdomjoints, const std::list& listAxisBindings) { - // Set link name with the name of the COLLADA's Link - std::string linkname = _ExtractLinkName(pdomlink); - if( linkname.size() == 0 ) { - ROS_WARN_STREAM(" has no name or id, falling back to !\n"); - if( !!pdomnode ) { - if (!!pdomnode->getName()) { - linkname = pdomnode->getName(); - } - if( linkname.size() == 0 && !!pdomnode->getID()) { - linkname = pdomnode->getID(); - } - } - } - - boost::shared_ptr plink; - _model.getLink(linkname,plink); - if( !plink ) { - plink.reset(new Link()); - plink->name = linkname; - plink->visual.reset(new Visual()); - _model.links_.insert(std::make_pair(linkname,plink)); - } - - _getUserData(pdomlink)->p = plink; - if( !!pdomnode ) { - ROS_DEBUG_STREAM(str(boost::format("Node Id %s and Name %s\n")%pdomnode->getId()%pdomnode->getName())); - } - - std::list listGeomProperties; - if (!pdomlink) { - ROS_WARN_STREAM("Extract object NOT kinematics !!!\n"); - _ExtractGeometry(pdomnode,listGeomProperties,listAxisBindings,Pose()); - } - else { - ROS_DEBUG_STREAM(str(boost::format("Attachment link elements: %d\n")%pdomlink->getAttachment_full_array().getCount())); - Pose tlink = _poseFromMatrix(_ExtractFullTransform(pdomlink)); - plink->visual->origin = _poseMult(tParentLink, tlink); // use the kinematics coordinate system for each link -// ROS_INFO("link %s rot: %f %f %f %f",linkname.c_str(),plink->visual->origin.rotation.w, plink->visual->origin.rotation.x,plink->visual->origin.rotation.y,plink->visual->origin.rotation.z); -// ROS_INFO("link %s trans: %f %f %f",linkname.c_str(),plink->visual->origin.position.x,plink->visual->origin.position.y,plink->visual->origin.position.z); - - // Get the geometry - _ExtractGeometry(pdomnode,listGeomProperties,listAxisBindings,_poseMult(_poseMult(tParentWorldLink,tlink),plink->visual->origin)); - - ROS_DEBUG_STREAM(str(boost::format("After ExtractGeometry Attachment link elements: %d\n")%pdomlink->getAttachment_full_array().getCount())); - - // Process all atached links - for (size_t iatt = 0; iatt < pdomlink->getAttachment_full_array().getCount(); ++iatt) { - domLink::domAttachment_fullRef pattfull = pdomlink->getAttachment_full_array()[iatt]; - - // get link kinematics transformation - Pose tatt = _poseFromMatrix(_ExtractFullTransform(pattfull)); - - // process attached links - daeElement* peltjoint = daeSidRef(pattfull->getJoint(), pattfull).resolve().elt; - domJointRef pdomjoint = daeSafeCast (peltjoint); - - if (!pdomjoint) { - domInstance_jointRef pdomijoint = daeSafeCast (peltjoint); - if (!!pdomijoint) { - pdomjoint = daeSafeCast (pdomijoint->getUrl().getElement().cast()); - } - } - - if (!pdomjoint || pdomjoint->typeID() != domJoint::ID()) { - ROS_WARN_STREAM(str(boost::format("could not find attached joint %s!\n")%pattfull->getJoint())); - return boost::shared_ptr(); - } - - // get direct child link - if (!pattfull->getLink()) { - ROS_WARN_STREAM(str(boost::format("joint %s needs to be attached to a valid link\n")%pdomjoint->getID())); - continue; - } - - // find the correct joint in the bindings - daeTArray vdomaxes = pdomjoint->getChildrenByType(); - domNodeRef pchildnode; - - // see if joint has a binding to a visual node - FOREACHC(itaxisbinding,listAxisBindings) { - for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { - // If the binding for the joint axis is found, retrieve the info - if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { - pchildnode = itaxisbinding->visualnode; - break; - } - } - if( !!pchildnode ) { - break; - } - } - if (!pchildnode) { - ROS_DEBUG_STREAM(str(boost::format("joint %s has no visual binding\n")%pdomjoint->getID())); - } - - // create the joints before creating the child links - std::vector > vjoints(vdomaxes.getCount()); - for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { - bool joint_active = true; // if not active, put into the passive list - FOREACHC(itaxisbinding,listAxisBindings) { - if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { - if( !!itaxisbinding->kinematics_axis_info ) { - if( !!itaxisbinding->kinematics_axis_info->getActive() ) { - joint_active = resolveBool(itaxisbinding->kinematics_axis_info->getActive(),itaxisbinding->kinematics_axis_info); - } - } - break; - } - } - - boost::shared_ptr pjoint(new Joint()); - pjoint->limits.reset(new JointLimits()); - pjoint->parent_link_name = plink->name; - - if( !!pdomjoint->getName() ) { - pjoint->name = pdomjoint->getName(); - } - else { - pjoint->name = str(boost::format("dummy%d")%_model.joints_.size()); - } - - if( !joint_active ) { - ROS_INFO_STREAM(str(boost::format("joint %s is passive, but adding to hierarchy\n")%pjoint->name)); - } - - domAxis_constraintRef pdomaxis = vdomaxes[ic]; - if( strcmp(pdomaxis->getElementName(), "revolute") == 0 ) { - pjoint->type = Joint::REVOLUTE; - } - else if( strcmp(pdomaxis->getElementName(), "prismatic") == 0 ) { - pjoint->type = Joint::PRISMATIC; - } - else { - ROS_WARN_STREAM(str(boost::format("unsupported joint type: %s\n")%pdomaxis->getElementName())); - } - - _getUserData(pdomjoint)->p = pjoint; - _getUserData(pdomaxis)->p = boost::shared_ptr(new int(_model.joints_.size())); - _model.joints_[pjoint->name] = pjoint; - vjoints[ic] = pjoint; - } - - boost::shared_ptr pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, listAxisBindings); - - if (!pchildlink) { - ROS_WARN_STREAM(str(boost::format("Link has no child: %s\n")%plink->name)); - continue; - } - - int numjoints = 0; - for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { - domKinematics_axis_infoRef kinematics_axis_info; - domMotion_axis_infoRef motion_axis_info; - FOREACHC(itaxisbinding,listAxisBindings) { - bool bfound = false; - if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { - kinematics_axis_info = itaxisbinding->kinematics_axis_info; - motion_axis_info = itaxisbinding->motion_axis_info; - bfound = true; - break; - } - } - domAxis_constraintRef pdomaxis = vdomaxes[ic]; - if (!pchildlink) { - // create dummy child link - // multiple axes can be easily done with "empty links" - ROS_WARN_STREAM(str(boost::format("creating dummy link %s, num joints %d\n")%plink->name%numjoints)); - - std::stringstream ss; - ss << plink->name; - ss <<"_dummy" << numjoints; - pchildlink.reset(new Link()); - pchildlink->name = ss.str(); - _model.links_.insert(std::make_pair(pchildlink->name,pchildlink)); - } - - ROS_DEBUG_STREAM(str(boost::format("Joint %s assigned %d \n")%vjoints[ic]->name%ic)); - boost::shared_ptr pjoint = vjoints[ic]; - pjoint->child_link_name = pchildlink->name; - - // Axes and Anchor assignment. - pjoint->axis.x = pdomaxis->getAxis()->getValue()[0]; - pjoint->axis.y = pdomaxis->getAxis()->getValue()[1]; - pjoint->axis.z = pdomaxis->getAxis()->getValue()[2]; - - if (!motion_axis_info) { - ROS_WARN_STREAM(str(boost::format("No motion axis info for joint %s\n")%pjoint->name)); - } - - // Sets the Speed and the Acceleration of the joint - if (!!motion_axis_info) { - if (!!motion_axis_info->getSpeed()) { - pjoint->limits->velocity = resolveFloat(motion_axis_info->getSpeed(),motion_axis_info); - ROS_DEBUG("... Joint Speed: %f...\n",pjoint->limits->velocity); - } - if (!!motion_axis_info->getAcceleration()) { - pjoint->limits->effort = resolveFloat(motion_axis_info->getAcceleration(),motion_axis_info); - ROS_DEBUG("... Joint effort: %f...\n",pjoint->limits->effort); - } - } - - bool joint_locked = false; // if locked, joint angle is static - bool kinematics_limits = false; - - if (!!kinematics_axis_info) { - if (!!kinematics_axis_info->getLocked()) { - joint_locked = resolveBool(kinematics_axis_info->getLocked(),kinematics_axis_info); - } - - if (joint_locked) { // If joint is locked set limits to the static value. - if( pjoint->type == Joint::REVOLUTE || pjoint->type ==Joint::PRISMATIC) { - ROS_WARN_STREAM("lock joint!!\n"); - pjoint->limits->lower = 0; - pjoint->limits->upper = 0; - } - } - else if (kinematics_axis_info->getLimits()) { // If there are articulated system kinematics limits - kinematics_limits = true; - double fscale = (pjoint->type == Joint::REVOLUTE)?(M_PI/180.0f):_GetUnitScale(kinematics_axis_info); - if( pjoint->type == Joint::REVOLUTE || pjoint->type ==Joint::PRISMATIC) { - pjoint->limits->lower = fscale*(double)(resolveFloat(kinematics_axis_info->getLimits()->getMin(),kinematics_axis_info)); - pjoint->limits->upper = fscale*(double)(resolveFloat(kinematics_axis_info->getLimits()->getMax(),kinematics_axis_info)); - } - } - } - - // Search limits in the joints section - if (!kinematics_axis_info || (!joint_locked && !kinematics_limits)) { - // If there are NO LIMITS - if( !pdomaxis->getLimits() ) { - ROS_DEBUG_STREAM(str(boost::format("There are NO LIMITS in joint %s:%d ...\n")%pjoint->name%kinematics_limits)); - if( pjoint->type == Joint::REVOLUTE ) { - pjoint->type = Joint::CONTINUOUS; // continuous means revolute? - pjoint->limits->lower = -M_PI; - pjoint->limits->upper = M_PI; - } - else { - pjoint->limits->lower = -100000; - pjoint->limits->upper = 100000; - } - } - else { - ROS_DEBUG_STREAM(str(boost::format("There are LIMITS in joint %s ...\n")%pjoint->name)); - double fscale = (pjoint->type == Joint::REVOLUTE)?(M_PI/180.0f):_GetUnitScale(pdomaxis); - pjoint->limits->lower = (double)pdomaxis->getLimits()->getMin()->getValue()*fscale; - pjoint->limits->upper = (double)pdomaxis->getLimits()->getMax()->getValue()*fscale; - } - } - - //ROS_INFO("joint %s axis: %f %f %f",pjoint->name.c_str(),pjoint->axis.x,pjoint->axis.y,pjoint->axis.z); - pjoint->parent_to_joint_origin_transform = tatt; - pjoint->limits->velocity = pjoint->type == Joint::PRISMATIC ? 0.01 : 0.5f; - pchildlink.reset(); - ++numjoints; - } - } - } - - //pdomlink->getAttachment_start_array(); - //pdomlink->getAttachment_end_array(); - - plink->visual->geometry = _CreateGeometry(plink->name, listGeomProperties); - return plink; - } - - boost::shared_ptr _CreateGeometry(const std::string& name, const std::list& listGeomProperties) - { - boost::shared_ptr geometry(new Mesh()); - geometry->type = Geometry::MESH; - geometry->scale.x = 1; - geometry->scale.y = 1; - geometry->scale.z = 1; - - std::vector vertices; - std::vector indices; - FOREACHC(it, listGeomProperties) { - int voffset = vertices.size(), ioffset = indices.size(); - vertices.resize(vertices.size()+it->vertices.size()); - for(size_t i = 0; i < it->vertices.size(); ++i) { - vertices[voffset+i] = _poseMult(it->_t, it->vertices[i]); - } - indices.resize(indices.size()+it->indices.size()); - for(size_t i = 0; i < it->indices.size(); ++i) { - indices[ioffset+i] = voffset+it->indices[i]; - } - } - - // have to save the geometry into individual collada 1.4 files since URDF does not allow triangle meshes to be specified - std::stringstream daedata; - daedata << str(boost::format("\n\ -\n\ - \n\ - \n\ - Rosen Diankov\n\ - \n\ - robot_model/urdf temporary collada geometry\n\ - \n\ - \n\ - \n\ - Z_UP\n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - 0.0 0.0 0.1 1\n\ - \n\ - \n\ - 0.8 0.8 0.8 1\n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - ")%(vertices.size()*3)); - // fill with vertices - FOREACH(it,vertices) { - daedata << it->x << " " << it->y << " " << it->z << " "; - } - daedata << str(boost::format("\n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ -

")%vertices.size()%(indices.size()/3)); - // fill with indices - FOREACH(it,indices) { - daedata << *it << " "; - } - daedata << str(boost::format("

\n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ - \n\ -")%name%name); - - //= str(boost::format("%s/models/%s.dae")%_resourcedir%name); - geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); - int fd = mkstemps(&geometry->filename[0],4); - //ROS_INFO("temp file: %s",geometry->filename.c_str()); - std::string daedatastr = daedata.str(); - if( (size_t)write(fd,daedatastr.c_str(),daedatastr.size()) != daedatastr.size() ) { - ROS_ERROR("failed to write to geometry dae file %s",geometry->filename.c_str()); - } - close(fd); - _listTempFilenames.push_back(boost::shared_ptr(new UnlinkFilename(geometry->filename))); - geometry->filename = std::string("file://") + geometry->filename; - return geometry; - } - - /// Extract Geometry and apply the transformations of the node - /// \param pdomnode Node to extract the goemetry - /// \param plink Link of the kinematics model - void _ExtractGeometry(const domNodeRef pdomnode,std::list& listGeomProperties, const std::list& listAxisBindings, const Pose& tlink) - { - if( !pdomnode ) { - return; - } - - ROS_DEBUG_STREAM(str(boost::format("ExtractGeometry(node,link) of %s\n")%pdomnode->getName())); - - // For all child nodes of pdomnode - for (size_t i = 0; i < pdomnode->getNode_array().getCount(); i++) { - // check if contains a joint - bool contains=false; - FOREACHC(it,listAxisBindings) { - // don't check ID's check if the reference is the same! - if ( (pdomnode->getNode_array()[i]) == (it->visualnode)){ - contains=true; - break; - } - } - if (contains) { - continue; - } - - _ExtractGeometry(pdomnode->getNode_array()[i],listGeomProperties, listAxisBindings,tlink); - // Plink stayes the same for all children - // replace pdomnode by child = pdomnode->getNode_array()[i] - // hope for the best! - // put everything in a subroutine in order to process pdomnode too! - } - - unsigned int nGeomBefore = listGeomProperties.size(); // #of Meshes already associated to this link - - // get the geometry - for (size_t igeom = 0; igeom < pdomnode->getInstance_geometry_array().getCount(); ++igeom) { - domInstance_geometryRef domigeom = pdomnode->getInstance_geometry_array()[igeom]; - domGeometryRef domgeom = daeSafeCast (domigeom->getUrl().getElement()); - if (!domgeom) { - continue; - } - - // Gets materials - std::map mapmaterials; - if (!!domigeom->getBind_material() && !!domigeom->getBind_material()->getTechnique_common()) { - const domInstance_material_Array& matarray = domigeom->getBind_material()->getTechnique_common()->getInstance_material_array(); - for (size_t imat = 0; imat < matarray.getCount(); ++imat) { - domMaterialRef pmat = daeSafeCast(matarray[imat]->getTarget().getElement()); - if (!!pmat) { - mapmaterials[matarray[imat]->getSymbol()] = pmat; - } - } - } - - // Gets the geometry - _ExtractGeometry(domgeom, mapmaterials, listGeomProperties); - } - - std::list::iterator itgeom= listGeomProperties.begin(); - for (unsigned int i=0; i< nGeomBefore; i++) { - itgeom++; // change only the transformations of the newly found geometries. - } - - boost::array tmnodegeom = _poseMult(_matrixFromPose(_poseInverse(tlink)), _poseMult(_getNodeParentTransform(pdomnode), _ExtractFullTransform(pdomnode))); - Pose tnodegeom; - Vector3 vscale(1,1,1); - _decompose(tmnodegeom, tnodegeom, vscale); - -// std::stringstream ss; ss << "geom: "; -// for(int i = 0; i < 4; ++i) { -// ss << tmnodegeom[4*0+i] << " " << tmnodegeom[4*1+i] << " " << tmnodegeom[4*2+i] << " "; -// } -// ROS_INFO(ss.str().c_str()); - - // Switch between different type of geometry PRIMITIVES - for (; itgeom != listGeomProperties.end(); itgeom++) { - itgeom->_t = tnodegeom; - switch (itgeom->type) { - case GeomBox: - itgeom->vGeomData.x *= vscale.x; - itgeom->vGeomData.y *= vscale.y; - itgeom->vGeomData.z *= vscale.z; - break; - case GeomSphere: { - itgeom->vGeomData.x *= std::max(vscale.z, std::max(vscale.x, vscale.y)); - break; - } - case GeomCylinder: - itgeom->vGeomData.x *= std::max(vscale.x, vscale.y); - itgeom->vGeomData.y *= vscale.z; - break; - case GeomTrimesh: - for(size_t i = 0; i < itgeom->vertices.size(); ++i ) { - itgeom->vertices[i] = _poseMult(tmnodegeom,itgeom->vertices[i]); - } - itgeom->_t = Pose(); // reset back to identity - break; - default: - ROS_WARN_STREAM(str(boost::format("unknown geometry type: %d\n")%itgeom->type)); - } - } - } - - /// Paint the Geometry with the color material - /// \param pmat Material info of the COLLADA's model - /// \param geom Geometry properties in OpenRAVE - void _FillGeometryColor(const domMaterialRef pmat, GEOMPROPERTIES& geom) - { - if( !!pmat && !!pmat->getInstance_effect() ) { - domEffectRef peffect = daeSafeCast(pmat->getInstance_effect()->getUrl().getElement().cast()); - if( !!peffect ) { - domProfile_common::domTechnique::domPhongRef pphong = daeSafeCast(peffect->getDescendant(daeElement::matchType(domProfile_common::domTechnique::domPhong::ID()))); - if( !!pphong ) { - if( !!pphong->getAmbient() && !!pphong->getAmbient()->getColor() ) { - domFx_color c = pphong->getAmbient()->getColor()->getValue(); - geom.ambientColor.r = c[0]; - geom.ambientColor.g = c[1]; - geom.ambientColor.b = c[2]; - geom.ambientColor.a = c[3]; - } - if( !!pphong->getDiffuse() && !!pphong->getDiffuse()->getColor() ) { - domFx_color c = pphong->getDiffuse()->getColor()->getValue(); - geom.diffuseColor.r = c[0]; - geom.diffuseColor.g = c[1]; - geom.diffuseColor.b = c[2]; - geom.diffuseColor.a = c[3]; - } - } - } - } - } - - /// Extract the Geometry in TRIANGLES and adds it to OpenRave - /// \param triRef Array of triangles of the COLLADA's model - /// \param vertsRef Array of vertices of the COLLADA's model - /// \param mapmaterials Materials applied to the geometry - /// \param plink Link of the kinematics model - bool _ExtractGeometry(const domTrianglesRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) - { - if( !triRef ) { - return false; - } - listGeomProperties.push_back(GEOMPROPERTIES()); - GEOMPROPERTIES& geom = listGeomProperties.back(); - geom.type = GeomTrimesh; - - // resolve the material and assign correct colors to the geometry - if( !!triRef->getMaterial() ) { - std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); - if( itmat != mapmaterials.end() ) { - _FillGeometryColor(itmat->second,geom); - } - } - - size_t triangleIndexStride = 0, vertexoffset = -1; - domInput_local_offsetRef indexOffsetRef; - - for (unsigned int w=0;wgetInput_array().getCount();w++) { - size_t offset = triRef->getInput_array()[w]->getOffset(); - daeString str = triRef->getInput_array()[w]->getSemantic(); - if (!strcmp(str,"VERTEX")) { - indexOffsetRef = triRef->getInput_array()[w]; - vertexoffset = offset; - } - if (offset> triangleIndexStride) { - triangleIndexStride = offset; - } - } - triangleIndexStride++; - - const domList_of_uints& indexArray =triRef->getP()->getValue(); - geom.indices.reserve(triRef->getCount()*3); - geom.vertices.reserve(triRef->getCount()*3); - for (size_t i=0;igetInput_array().getCount();++i) { - domInput_localRef localRef = vertsRef->getInput_array()[i]; - daeString str = localRef->getSemantic(); - if ( strcmp(str,"POSITION") == 0 ) { - const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - if( !node ) { - continue; - } - double fUnitScale = _GetUnitScale(node); - const domFloat_arrayRef flArray = node->getFloat_array(); - if (!!flArray) { - const domList_of_floats& listFloats = flArray->getValue(); - int k=vertexoffset; - int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' - for(size_t itri = 0; itri < triRef->getCount(); ++itri) { - if(k+2*triangleIndexStride < indexArray.getCount() ) { - for (int j=0;j<3;j++) { - int index0 = indexArray.get(k)*vertexStride; - domFloat fl0 = listFloats.get(index0); - domFloat fl1 = listFloats.get(index0+1); - domFloat fl2 = listFloats.get(index0+2); - k+=triangleIndexStride; - geom.indices.push_back(geom.vertices.size()); - geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); - } - } - } - } - else { - ROS_WARN_STREAM("float array not defined!\n"); - } - break; - } - } - if( geom.indices.size() != 3*triRef->getCount() ) { - ROS_WARN_STREAM("triangles declares wrong count!\n"); - } - geom.InitCollisionMesh(); - return true; - } - - /// Extract the Geometry in TRIGLE FANS and adds it to OpenRave - /// \param triRef Array of triangle fans of the COLLADA's model - /// \param vertsRef Array of vertices of the COLLADA's model - /// \param mapmaterials Materials applied to the geometry - bool _ExtractGeometry(const domTrifansRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) - { - if( !triRef ) { - return false; - } - listGeomProperties.push_back(GEOMPROPERTIES()); - GEOMPROPERTIES& geom = listGeomProperties.back(); - geom.type = GeomTrimesh; - - // resolve the material and assign correct colors to the geometry - if( !!triRef->getMaterial() ) { - std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); - if( itmat != mapmaterials.end() ) { - _FillGeometryColor(itmat->second,geom); - } - } - - size_t triangleIndexStride = 0, vertexoffset = -1; - domInput_local_offsetRef indexOffsetRef; - - for (unsigned int w=0;wgetInput_array().getCount();w++) { - size_t offset = triRef->getInput_array()[w]->getOffset(); - daeString str = triRef->getInput_array()[w]->getSemantic(); - if (!strcmp(str,"VERTEX")) { - indexOffsetRef = triRef->getInput_array()[w]; - vertexoffset = offset; - } - if (offset> triangleIndexStride) { - triangleIndexStride = offset; - } - } - triangleIndexStride++; - size_t primitivecount = triRef->getCount(); - if( primitivecount > triRef->getP_array().getCount() ) { - ROS_WARN_STREAM("trifans has incorrect count\n"); - primitivecount = triRef->getP_array().getCount(); - } - for(size_t ip = 0; ip < primitivecount; ++ip) { - domList_of_uints indexArray =triRef->getP_array()[ip]->getValue(); - for (size_t i=0;igetInput_array().getCount();++i) { - domInput_localRef localRef = vertsRef->getInput_array()[i]; - daeString str = localRef->getSemantic(); - if ( strcmp(str,"POSITION") == 0 ) { - const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - if( !node ) { - continue; - } - double fUnitScale = _GetUnitScale(node); - const domFloat_arrayRef flArray = node->getFloat_array(); - if (!!flArray) { - const domList_of_floats& listFloats = flArray->getValue(); - int k=vertexoffset; - int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' - size_t usedindices = 3*(indexArray.getCount()-2); - if( geom.indices.capacity() < geom.indices.size()+usedindices ) { - geom.indices.reserve(geom.indices.size()+usedindices); - } - if( geom.vertices.capacity() < geom.vertices.size()+indexArray.getCount() ) { - geom.vertices.reserve(geom.vertices.size()+indexArray.getCount()); - } - size_t startoffset = (int)geom.vertices.size(); - while(k < (int)indexArray.getCount() ) { - int index0 = indexArray.get(k)*vertexStride; - domFloat fl0 = listFloats.get(index0); - domFloat fl1 = listFloats.get(index0+1); - domFloat fl2 = listFloats.get(index0+2); - k+=triangleIndexStride; - geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); - } - for(size_t ivert = startoffset+2; ivert < geom.vertices.size(); ++ivert) { - geom.indices.push_back(startoffset); - geom.indices.push_back(ivert-1); - geom.indices.push_back(ivert); - } - } - else { - ROS_WARN_STREAM("float array not defined!\n"); - } - break; - } - } - } - - geom.InitCollisionMesh(); - return false; - } - - /// Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave - /// \param triRef Array of Triangle Strips of the COLLADA's model - /// \param vertsRef Array of vertices of the COLLADA's model - /// \param mapmaterials Materials applied to the geometry - bool _ExtractGeometry(const domTristripsRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) - { - if( !triRef ) { - return false; - } - listGeomProperties.push_back(GEOMPROPERTIES()); - GEOMPROPERTIES& geom = listGeomProperties.back(); - geom.type = GeomTrimesh; - - // resolve the material and assign correct colors to the geometry - if( !!triRef->getMaterial() ) { - std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); - if( itmat != mapmaterials.end() ) { - _FillGeometryColor(itmat->second,geom); - } - } - size_t triangleIndexStride = 0, vertexoffset = -1; - domInput_local_offsetRef indexOffsetRef; - - for (unsigned int w=0;wgetInput_array().getCount();w++) { - size_t offset = triRef->getInput_array()[w]->getOffset(); - daeString str = triRef->getInput_array()[w]->getSemantic(); - if (!strcmp(str,"VERTEX")) { - indexOffsetRef = triRef->getInput_array()[w]; - vertexoffset = offset; - } - if (offset> triangleIndexStride) { - triangleIndexStride = offset; - } - } - triangleIndexStride++; - size_t primitivecount = triRef->getCount(); - if( primitivecount > triRef->getP_array().getCount() ) { - ROS_WARN_STREAM("tristrips has incorrect count\n"); - primitivecount = triRef->getP_array().getCount(); - } - for(size_t ip = 0; ip < primitivecount; ++ip) { - domList_of_uints indexArray = triRef->getP_array()[ip]->getValue(); - for (size_t i=0;igetInput_array().getCount();++i) { - domInput_localRef localRef = vertsRef->getInput_array()[i]; - daeString str = localRef->getSemantic(); - if ( strcmp(str,"POSITION") == 0 ) { - const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - if( !node ) { - continue; - } - double fUnitScale = _GetUnitScale(node); - const domFloat_arrayRef flArray = node->getFloat_array(); - if (!!flArray) { - const domList_of_floats& listFloats = flArray->getValue(); - int k=vertexoffset; - int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' - size_t usedindices = indexArray.getCount()-2; - if( geom.indices.capacity() < geom.indices.size()+usedindices ) { - geom.indices.reserve(geom.indices.size()+usedindices); - } - if( geom.vertices.capacity() < geom.vertices.size()+indexArray.getCount() ) { - geom.vertices.reserve(geom.vertices.size()+indexArray.getCount()); - } - - size_t startoffset = (int)geom.vertices.size(); - while(k < (int)indexArray.getCount() ) { - int index0 = indexArray.get(k)*vertexStride; - domFloat fl0 = listFloats.get(index0); - domFloat fl1 = listFloats.get(index0+1); - domFloat fl2 = listFloats.get(index0+2); - k+=triangleIndexStride; - geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); - } - - bool bFlip = false; - for(size_t ivert = startoffset+2; ivert < geom.vertices.size(); ++ivert) { - geom.indices.push_back(ivert-2); - geom.indices.push_back(bFlip ? ivert : ivert-1); - geom.indices.push_back(bFlip ? ivert-1 : ivert); - bFlip = !bFlip; - } - } - else { - ROS_WARN_STREAM("float array not defined!\n"); - } - break; - } - } - } - - geom.InitCollisionMesh(); - return false; - } - - /// Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave - /// \param triRef Array of Triangle Strips of the COLLADA's model - /// \param vertsRef Array of vertices of the COLLADA's model - /// \param mapmaterials Materials applied to the geometry - bool _ExtractGeometry(const domPolylistRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) - { - if( !triRef ) { - return false; - } - listGeomProperties.push_back(GEOMPROPERTIES()); - GEOMPROPERTIES& geom = listGeomProperties.back(); - geom.type = GeomTrimesh; - - // resolve the material and assign correct colors to the geometry - if( !!triRef->getMaterial() ) { - std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); - if( itmat != mapmaterials.end() ) { - _FillGeometryColor(itmat->second,geom); - } - } - - size_t triangleIndexStride = 0,vertexoffset = -1; - domInput_local_offsetRef indexOffsetRef; - for (unsigned int w=0;wgetInput_array().getCount();w++) { - size_t offset = triRef->getInput_array()[w]->getOffset(); - daeString str = triRef->getInput_array()[w]->getSemantic(); - if (!strcmp(str,"VERTEX")) { - indexOffsetRef = triRef->getInput_array()[w]; - vertexoffset = offset; - } - if (offset> triangleIndexStride) { - triangleIndexStride = offset; - } - } - triangleIndexStride++; - const domList_of_uints& indexArray =triRef->getP()->getValue(); - for (size_t i=0;igetInput_array().getCount();++i) { - domInput_localRef localRef = vertsRef->getInput_array()[i]; - daeString str = localRef->getSemantic(); - if ( strcmp(str,"POSITION") == 0 ) { - const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - if( !node ) { - continue; - } - double fUnitScale = _GetUnitScale(node); - const domFloat_arrayRef flArray = node->getFloat_array(); - if (!!flArray) { - const domList_of_floats& listFloats = flArray->getValue(); - size_t k=vertexoffset; - int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' - for(size_t ipoly = 0; ipoly < triRef->getVcount()->getValue().getCount(); ++ipoly) { - size_t numverts = triRef->getVcount()->getValue()[ipoly]; - if(numverts > 0 && k+(numverts-1)*triangleIndexStride < indexArray.getCount() ) { - size_t startoffset = geom.vertices.size(); - for (size_t j=0;j& mapmaterials, std::list& listGeomProperties) - { - if( !geom ) { - return false; - } - std::vector vconvexhull; - if (geom->getMesh()) { - const domMeshRef meshRef = geom->getMesh(); - for (size_t tg = 0;tggetTriangles_array().getCount();tg++) { - _ExtractGeometry(meshRef->getTriangles_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); - } - for (size_t tg = 0;tggetTrifans_array().getCount();tg++) { - _ExtractGeometry(meshRef->getTrifans_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); - } - for (size_t tg = 0;tggetTristrips_array().getCount();tg++) { - _ExtractGeometry(meshRef->getTristrips_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); - } - for (size_t tg = 0;tggetPolylist_array().getCount();tg++) { - _ExtractGeometry(meshRef->getPolylist_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); - } - if( meshRef->getPolygons_array().getCount()> 0 ) { - ROS_WARN_STREAM("openrave does not support collada polygons\n"); - } - - // if( alltrimesh.vertices.size() == 0 ) { - // const domVerticesRef vertsRef = meshRef->getVertices(); - // for (size_t i=0;igetInput_array().getCount();i++) { - // domInput_localRef localRef = vertsRef->getInput_array()[i]; - // daeString str = localRef->getSemantic(); - // if ( strcmp(str,"POSITION") == 0 ) { - // const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - // if( !node ) - // continue; - // double fUnitScale = _GetUnitScale(node); - // const domFloat_arrayRef flArray = node->getFloat_array(); - // if (!!flArray) { - // const domList_of_floats& listFloats = flArray->getValue(); - // int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' - // vconvexhull.reserve(vconvexhull.size()+listFloats.getCount()); - // for (size_t vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride) { - // //btVector3 verts[3]; - // domFloat fl0 = listFloats.get(vertIndex); - // domFloat fl1 = listFloats.get(vertIndex+1); - // domFloat fl2 = listFloats.get(vertIndex+2); - // vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); - // } - // } - // } - // } - // - // _computeConvexHull(vconvexhull,alltrimesh); - // } - - return true; - } - else if (geom->getConvex_mesh()) { - { - const domConvex_meshRef convexRef = geom->getConvex_mesh(); - daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); - if ( !!otherElemRef ) { - domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef; - ROS_WARN_STREAM( "otherLinked\n"); - } - else { - ROS_WARN("convexMesh polyCount = %d\n",(int)convexRef->getPolygons_array().getCount()); - ROS_WARN("convexMesh triCount = %d\n",(int)convexRef->getTriangles_array().getCount()); - } - } - - const domConvex_meshRef convexRef = geom->getConvex_mesh(); - //daeString urlref = convexRef->getConvex_hull_of().getURI(); - daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI(); - if (urlref2) { - daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); - - // Load all the geometry libraries - for ( size_t i = 0; i < _dom->getLibrary_geometries_array().getCount(); i++) { - domLibrary_geometriesRef libgeom = _dom->getLibrary_geometries_array()[i]; - for (size_t i = 0; i < libgeom->getGeometry_array().getCount(); i++) { - domGeometryRef lib = libgeom->getGeometry_array()[i]; - if (!strcmp(lib->getId(),urlref2+1)) { // skip the # at the front of urlref2 - //found convex_hull geometry - domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh(); - if (meshElement) { - const domVerticesRef vertsRef = meshElement->getVertices(); - for (size_t i=0;igetInput_array().getCount();i++) { - domInput_localRef localRef = vertsRef->getInput_array()[i]; - daeString str = localRef->getSemantic(); - if ( strcmp(str,"POSITION") == 0) { - const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - if( !node ) { - continue; - } - double fUnitScale = _GetUnitScale(node); - const domFloat_arrayRef flArray = node->getFloat_array(); - if (!!flArray) { - vconvexhull.reserve(vconvexhull.size()+flArray->getCount()); - const domList_of_floats& listFloats = flArray->getValue(); - for (size_t k=0;k+2getCount();k+=3) { - domFloat fl0 = listFloats.get(k); - domFloat fl1 = listFloats.get(k+1); - domFloat fl2 = listFloats.get(k+2); - vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); - } - } - } - } - } - } - } - } - } - else { - //no getConvex_hull_of but direct vertices - const domVerticesRef vertsRef = convexRef->getVertices(); - for (size_t i=0;igetInput_array().getCount();i++) { - domInput_localRef localRef = vertsRef->getInput_array()[i]; - daeString str = localRef->getSemantic(); - if ( strcmp(str,"POSITION") == 0 ) { - const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); - if( !node ) { - continue; - } - double fUnitScale = _GetUnitScale(node); - const domFloat_arrayRef flArray = node->getFloat_array(); - if (!!flArray) { - const domList_of_floats& listFloats = flArray->getValue(); - vconvexhull.reserve(vconvexhull.size()+flArray->getCount()); - for (size_t k=0;k+2getCount();k+=3) { - domFloat fl0 = listFloats.get(k); - domFloat fl1 = listFloats.get(k+1); - domFloat fl2 = listFloats.get(k+2); - vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); - } - } - } - } - } - - if( vconvexhull.size()> 0 ) { - listGeomProperties.push_back(GEOMPROPERTIES()); - GEOMPROPERTIES& geom = listGeomProperties.back(); - geom.type = GeomTrimesh; - - //_computeConvexHull(vconvexhull,trimesh); - geom.InitCollisionMesh(); - } - return true; - } - - return false; - } - - /// \brief extract the robot manipulators - void _ExtractRobotManipulators(const domArticulated_systemRef as) - { - for(size_t ie = 0; ie < as->getExtra_array().getCount(); ++ie) { - domExtraRef pextra = as->getExtra_array()[ie]; - if( strcmp(pextra->getType(), "manipulator") == 0 ) { - std::string name = pextra->getAttribute("name"); - if( name.size() == 0 ) { - name = str(boost::format("manipulator%d")%_nGlobalManipulatorId++); - } - domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); - if( !!tec ) { -// RobotBase::ManipulatorPtr pmanip(new RobotBase::Manipulator(probot)); -// pmanip->_name = name; -// daeElement* pframe_origin = tec->getChild("frame_origin"); -// daeElement* pframe_tip = tec->getChild("frame_tip"); -// if( !!pframe_origin ) { -// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); -// if( !!plink ) { -// pmanip->_pBase = boost::static_pointer_cast(_getUserData(plink)->p); -// } -// if( !pmanip->_pBase ) { -// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); -// continue; -// } -// } -// if( !!pframe_tip ) { -// daeElementRef plink = daeSafeCast(daeSidRef(pframe_tip->getAttribute("link"), as).resolve().elt); -// if( !!plink ) { -// pmanip->_pEndEffector = boost::static_pointer_cast(_getUserData(plink)->p); -// } -// if( !pmanip->_pEndEffector ) { -// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame tip %s\n")%name%pframe_tip->getAttribute("link"))); -// continue; -// } -// pmanip->_tGrasp = _ExtractFullTransformFromChildren(pframe_tip); -// } -// -// for(size_t ic = 0; ic < tec->getContents().getCount(); ++ic) { -// daeElementRef pgripper_axis = tec->getContents()[ic]; -// if( pgripper_axis->getElementName() == std::string("gripper_axis") ) { -// domAxis_constraintRef paxis = daeSafeCast(daeSidRef(pgripper_axis->getAttribute("axis"), as).resolve().elt); -// if( !!paxis ) { -// boost::shared_ptr pdofindex = boost::static_pointer_cast(_getUserData(paxis)->p); -// if( !!pdofindex ) { -// if( *pdofindex < 0 ) { -// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s references passive joint\n")%name%pgripper_axis->getAttribute("axis"))); -// } -// else { -// float closingdirection = 0; -// daeElementRef pclosingdirection = daeElementRef(pgripper_axis->getChild("closingdirection")); -// if( !pclosingdirection || !resolveCommon_float_or_param(pclosingdirection,as,closingdirection) ) { -// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s failed to process closing direction\n")%name%pgripper_axis->getAttribute("axis"))); -// } -// pmanip->_vgripperdofindices.push_back(*pdofindex); -// pmanip->_vClosingDirection.push_back((double)closingdirection); -// } -// continue; -// } -// } -// ROS_WARN_STREAM(str(boost::format("could not find manipulator gripper axis %s\n")%pgripper_axis->getAttribute("axis"))); -// } -// } -// probot->GetManipulators().push_back(pmanip); - } - else { - ROS_WARN_STREAM(str(boost::format("cannot create robot %s manipulator %s\n")%_model.name_%name)); - } - } - } - } - - /// \brief Extract Sensors attached to a Robot - void _ExtractRobotAttachedSensors(const domArticulated_systemRef as) - { - for (size_t ie = 0; ie < as->getExtra_array().getCount(); ie++) { - domExtraRef pextra = as->getExtra_array()[ie]; - if( strcmp(pextra->getType(), "sensor") == 0 ) { - std::string name = pextra->getAttribute("name"); - if( name.size() == 0 ) { - name = str(boost::format("sensor%d")%_nGlobalSensorId++); - } - domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); - if( !!tec ) { -// RobotBase::AttachedSensorPtr pattachedsensor(new RobotBase::AttachedSensor(probot)); -// pattachedsensor->_name = name; -// daeElement* pframe_origin = tec->getChild("frame_origin"); -// if( !!pframe_origin ) { -// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); -// if( !!plink ) { -// pattachedsensor->pattachedlink = boost::static_pointer_cast(_getUserData(plink)->p); -// } -// if( !pattachedsensor->pattachedlink.lock() ) { -// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); -// continue; -// } -// pattachedsensor->trelative = _ExtractFullTransformFromChildren(pframe_origin); -// } -// if( !_ExtractSensor(pattachedsensor->psensor,tec->getChild("instance_sensor")) ) { -// ROS_WARN_STREAM(str(boost::format("cannot find instance_sensor for attached sensor %s:%s\n")%_model.name_%name)); -// } -// else { -// pattachedsensor->pdata = pattachedsensor->GetSensor()->CreateSensorData(); -// } -// probot->GetAttachedSensors().push_back(pattachedsensor); - } - else { - ROS_WARN_STREAM(str(boost::format("cannot create robot %s attached sensor %s\n")%_model.name_%name)); - } - } - } - } - - /// \brief Extract an instance of a sensor -// bool _ExtractSensor(SensorBasePtr& psensor, daeElementRef instance_sensor) -// { -// if( !instance_sensor ) { -// return false; -// } -// if( instance_sensor->hasAttribute("url") ) { -// ROS_WARN_STREAM("instance_sensor has no url\n"); -// return false; -// } -// -// std::string instance_id = instance_sensor->getAttribute("id"); -// std::string instance_url = instance_sensor->getAttribute("url"); -// daeElementRef domsensor = _getElementFromUrl(daeURI(*instance_sensor,instance_url)); -// if( !domsensor ) { -// ROS_WARN_STREAM(str(boost::format("failed to find senor id %s url=%s\n")%instance_id%instance_url)); -// return false; -// } -// if( !domsensor->hasAttribute("type") ) { -// ROS_WARN_STREAM("collada needs type attribute\n"); -// return false; -// } -// psensor = RaveCreateSensor(_penv, domsensor->getAttribute("type")); -// if( !psensor ) { -// return false; -// } -// -// // Create the custom XML reader to read in the data (determined by users) -// BaseXMLReaderPtr pcurreader = RaveCallXMLReader(PT_Sensor,psensor->GetXMLId(),psensor, std::list >()); -// if( !pcurreader ) { -// pcurreader.reset(); -// return false; -// } -// _ProcessXMLReader(pcurreader,domsensor); -// psensor->__mapReadableInterfaces[psensor->GetXMLId()] = pcurreader->GetReadable(); -// if( !psensor->Init(instance_sensor->getAttribute("args")) ) { -// ROS_WARN_STREAM(str(boost::format("failed to initialize sensor %s\n"))); -// psensor.reset(); -// } -// return true; -// } - - /// \brief feed the collada data into the base readers xml class -// static void _ProcessXMLReader(BaseXMLReaderPtr preader, daeElementRef elt) -// { -// daeTArray children; -// elt->getChildren(children); -// std::list > atts; -// for (size_t i = 0; i < children.getCount(); i++) { -// std::string xmltag = tolowerstring(children[i]->getElementName()); -// daeTArray domatts; -// children[i]->getAttributes(domatts); -// atts.clear(); -// for(size_t j = 0; j < domatts.getCount(); ++j) { -// atts.push_back(std::make_pair(domatts[j].name,domatts[j].value)); -// } -// preader->startElement(xmltag,atts); -// _ProcessXMLReader(preader,children[i]); -// preader->characters(children[i]->getCharData()); -// preader->endElement(xmltag); -// } -// } - - inline daeElementRef _getElementFromUrl(const daeURI &uri) - { - return daeStandardURIResolver(*_collada).resolveElement(uri); - } - - static daeElement* searchBinding(domCommon_sidref_or_paramRef paddr, daeElementRef parent) - { - if( !!paddr->getSIDREF() ) { - return daeSidRef(paddr->getSIDREF()->getValue(),parent).resolve().elt; - } - if (!!paddr->getParam()) { - return searchBinding(paddr->getParam()->getValue(),parent); - } - return NULL; - } - - /// Search a given parameter reference and stores the new reference to search. - /// \param ref the reference name to search - /// \param parent The array of parameter where the method searchs. - static daeElement* searchBinding(daeString ref, daeElementRef parent) - { - if( !parent ) { - return NULL; - } - daeElement* pelt = NULL; - domKinematics_sceneRef kscene = daeSafeCast(parent.cast()); - if( !!kscene ) { - pelt = searchBindingArray(ref,kscene->getInstance_articulated_system_array()); - if( !!pelt ) { - return pelt; - } - return searchBindingArray(ref,kscene->getInstance_kinematics_model_array()); - } - domArticulated_systemRef articulated_system = daeSafeCast(parent.cast()); - if( !!articulated_system ) { - if( !!articulated_system->getKinematics() ) { - pelt = searchBindingArray(ref,articulated_system->getKinematics()->getInstance_kinematics_model_array()); - if( !!pelt ) { - return pelt; - } - } - if( !!articulated_system->getMotion() ) { - return searchBinding(ref,articulated_system->getMotion()->getInstance_articulated_system()); - } - return NULL; - } - // try to get a bind array - daeElementRef pbindelt; - const domKinematics_bind_Array* pbindarray = NULL; - const domKinematics_newparam_Array* pnewparamarray = NULL; - domInstance_articulated_systemRef ias = daeSafeCast(parent.cast()); - if( !!ias ) { - pbindarray = &ias->getBind_array(); - pbindelt = ias->getUrl().getElement(); - pnewparamarray = &ias->getNewparam_array(); - } - if( !pbindarray || !pbindelt ) { - domInstance_kinematics_modelRef ikm = daeSafeCast(parent.cast()); - if( !!ikm ) { - pbindarray = &ikm->getBind_array(); - pbindelt = ikm->getUrl().getElement(); - pnewparamarray = &ikm->getNewparam_array(); - } - } - if( !!pbindarray && !!pbindelt ) { - for (size_t ibind = 0; ibind < pbindarray->getCount(); ++ibind) { - domKinematics_bindRef pbind = (*pbindarray)[ibind]; - if( !!pbind->getSymbol() && strcmp(pbind->getSymbol(), ref) == 0 ) { - // found a match - if( !!pbind->getParam() ) { - return searchBinding(pbind->getParam()->getRef(), pbindelt); - } - else if( !!pbind->getSIDREF() ) { - return daeSidRef(pbind->getSIDREF()->getValue(), pbindelt).resolve().elt; - } - } - } - for(size_t inewparam = 0; inewparam < pnewparamarray->getCount(); ++inewparam) { - domKinematics_newparamRef newparam = (*pnewparamarray)[inewparam]; - if( !!newparam->getSid() && strcmp(newparam->getSid(), ref) == 0 ) { - if( !!newparam->getSIDREF() ) { // can only bind with SIDREF - return daeSidRef(newparam->getSIDREF()->getValue(),pbindelt).resolve().elt; - } - ROS_WARN_STREAM(str(boost::format("newparam sid=%s does not have SIDREF\n")%newparam->getSid())); - } - } - } - ROS_WARN_STREAM(str(boost::format("failed to get binding '%s' for element: %s\n")%ref%parent->getElementName())); - return NULL; - } - - static daeElement* searchBindingArray(daeString ref, const domInstance_articulated_system_Array& paramArray) - { - for(size_t iikm = 0; iikm < paramArray.getCount(); ++iikm) { - daeElement* pelt = searchBinding(ref,paramArray[iikm].cast()); - if( !!pelt ) { - return pelt; - } - } - return NULL; - } - - static daeElement* searchBindingArray(daeString ref, const domInstance_kinematics_model_Array& paramArray) - { - for(size_t iikm = 0; iikm < paramArray.getCount(); ++iikm) { - daeElement* pelt = searchBinding(ref,paramArray[iikm].cast()); - if( !!pelt ) { - return pelt; - } - } - return NULL; - } - - template static xsBoolean resolveBool(domCommon_bool_or_paramRef paddr, const U& parent) { - if( !!paddr->getBool() ) { - return paddr->getBool()->getValue(); - } - if( !paddr->getParam() ) { - ROS_WARN_STREAM("param not specified, setting to 0\n"); - return false; - } - for(size_t iparam = 0; iparam < parent->getNewparam_array().getCount(); ++iparam) { - domKinematics_newparamRef pnewparam = parent->getNewparam_array()[iparam]; - if( !!pnewparam->getSid() && strcmp(pnewparam->getSid(), paddr->getParam()->getValue()) == 0 ) { - if( !!pnewparam->getBool() ) { - return pnewparam->getBool()->getValue(); - } - else if( !!pnewparam->getSIDREF() ) { - domKinematics_newparam::domBoolRef ptarget = daeSafeCast(daeSidRef(pnewparam->getSIDREF()->getValue(), pnewparam).resolve().elt); - if( !ptarget ) { - ROS_WARN("failed to resolve %s from %s\n", pnewparam->getSIDREF()->getValue(), paddr->getID()); - continue; - } - return ptarget->getValue(); - } - } - } - ROS_WARN_STREAM(str(boost::format("failed to resolve %s\n")%paddr->getParam()->getValue())); - return false; - } - template static domFloat resolveFloat(domCommon_float_or_paramRef paddr, const U& parent) { - if( !!paddr->getFloat() ) { - return paddr->getFloat()->getValue(); - } - if( !paddr->getParam() ) { - ROS_WARN_STREAM("param not specified, setting to 0\n"); - return 0; - } - for(size_t iparam = 0; iparam < parent->getNewparam_array().getCount(); ++iparam) { - domKinematics_newparamRef pnewparam = parent->getNewparam_array()[iparam]; - if( !!pnewparam->getSid() && strcmp(pnewparam->getSid(), paddr->getParam()->getValue()) == 0 ) { - if( !!pnewparam->getFloat() ) { - return pnewparam->getFloat()->getValue(); - } - else if( !!pnewparam->getSIDREF() ) { - domKinematics_newparam::domFloatRef ptarget = daeSafeCast(daeSidRef(pnewparam->getSIDREF()->getValue(), pnewparam).resolve().elt); - if( !ptarget ) { - ROS_WARN("failed to resolve %s from %s\n", pnewparam->getSIDREF()->getValue(), paddr->getID()); - continue; - } - return ptarget->getValue(); - } - } - } - ROS_WARN_STREAM(str(boost::format("failed to resolve %s\n")%paddr->getParam()->getValue())); - return 0; - } - - static bool resolveCommon_float_or_param(daeElementRef pcommon, daeElementRef parent, float& f) - { - daeElement* pfloat = pcommon->getChild("float"); - if( !!pfloat ) { - std::stringstream sfloat(pfloat->getCharData()); - sfloat >> f; - return !!sfloat; - } - daeElement* pparam = pcommon->getChild("param"); - if( !!pparam ) { - if( pparam->hasAttribute("ref") ) { - ROS_WARN_STREAM("cannot process param ref\n"); - } - else { - daeElement* pelt = daeSidRef(pparam->getCharData(),parent).resolve().elt; - if( !!pelt ) { - ROS_WARN_STREAM(str(boost::format("found param ref: %s from %s\n")%pelt->getCharData()%pparam->getCharData())); - } - } - } - return false; - } - - static boost::array _matrixIdentity() - { - boost::array m = {{1,0,0,0,0,1,0,0,0,0,1,0}}; - return m; - }; - - /// Gets all transformations applied to the node - static boost::array _getTransform(daeElementRef pelt) - { - boost::array m = _matrixIdentity(); - domRotateRef protate = daeSafeCast(pelt); - if( !!protate ) { - m = _matrixFromAxisAngle(Vector3(protate->getValue()[0],protate->getValue()[1],protate->getValue()[2]), (double)(protate->getValue()[3]*(M_PI/180.0))); - return m; - } - - domTranslateRef ptrans = daeSafeCast(pelt); - if( !!ptrans ) { - double scale = _GetUnitScale(pelt); - m[3] = ptrans->getValue()[0]*scale; - m[7] = ptrans->getValue()[1]*scale; - m[11] = ptrans->getValue()[2]*scale; - return m; - } - - domMatrixRef pmat = daeSafeCast(pelt); - if( !!pmat ) { - double scale = _GetUnitScale(pelt); - for(int i = 0; i < 3; ++i) { - m[4*i+0] = pmat->getValue()[4*i+0]; - m[4*i+1] = pmat->getValue()[4*i+1]; - m[4*i+2] = pmat->getValue()[4*i+2]; - m[4*i+3] = pmat->getValue()[4*i+3]*scale; - } - return m; - } - - domScaleRef pscale = daeSafeCast(pelt); - if( !!pscale ) { - m[0] = pscale->getValue()[0]; - m[4*1+1] = pscale->getValue()[1]; - m[4*2+2] = pscale->getValue()[2]; - return m; - } - - domLookatRef pcamera = daeSafeCast(pelt); - if( pelt->typeID() == domLookat::ID() ) { - ROS_ERROR_STREAM("look at transform not implemented\n"); - return m; - } - - domSkewRef pskew = daeSafeCast(pelt); - if( !!pskew ) { - ROS_ERROR_STREAM("skew transform not implemented\n"); - } - - return m; - } - - /// Travels recursively the node parents of the given one - /// to extract the Transform arrays that affects the node given - template static boost::array _getNodeParentTransform(const T pelt) { - domNodeRef pnode = daeSafeCast(pelt->getParent()); - if( !pnode ) { - return _matrixIdentity(); - } - return _poseMult(_getNodeParentTransform(pnode), _ExtractFullTransform(pnode)); - } - - /// \brief Travel by the transformation array and calls the _getTransform method - template static boost::array _ExtractFullTransform(const T pelt) { - boost::array t = _matrixIdentity(); - for(size_t i = 0; i < pelt->getContents().getCount(); ++i) { - t = _poseMult(t, _getTransform(pelt->getContents()[i])); - } - return t; - } - - /// \brief Travel by the transformation array and calls the _getTransform method - template static boost::array _ExtractFullTransformFromChildren(const T pelt) { - boost::array t = _matrixIdentity(); - daeTArray children; pelt->getChildren(children); - for(size_t i = 0; i < children.getCount(); ++i) { - t = _poseMult(t, _getTransform(children[i])); - } - return t; - } - - // decompose a matrix into a scale and rigid transform (necessary for model scales) - void _decompose(const boost::array& tm, Pose& tout, Vector3& vscale) - { - vscale.x = 1; vscale.y = 1; vscale.z = 1; - tout = _poseFromMatrix(tm); - } - - virtual void handleError( daeString msg ) - { - ROS_ERROR("COLLADA error: %s\n", msg); - } - - virtual void handleWarning( daeString msg ) - { - ROS_WARN("COLLADA warning: %s\n", msg); - } - - inline static double _GetUnitScale(daeElement* pelt) - { - return ((USERDATA*)pelt->getUserData())->scale; - } - - domTechniqueRef _ExtractOpenRAVEProfile(const domTechnique_Array& arr) - { - for(size_t i = 0; i < arr.getCount(); ++i) { - if( strcmp(arr[i]->getProfile(), "OpenRAVE") == 0 ) { - return arr[i]; - } - } - return domTechniqueRef(); - } - - /// \brief returns an openrave interface type from the extra array - boost::shared_ptr _ExtractInterfaceType(const domExtra_Array& arr) { - for(size_t i = 0; i < arr.getCount(); ++i) { - if( strcmp(arr[i]->getType(),"interface_type") == 0 ) { - domTechniqueRef tec = _ExtractOpenRAVEProfile(arr[i]->getTechnique_array()); - if( !!tec ) { - daeElement* ptype = tec->getChild("interface"); - if( !!ptype ) { - return boost::shared_ptr(new std::string(ptype->getCharData())); - } - } - } - } - return boost::shared_ptr(); - } - - std::string _ExtractLinkName(domLinkRef pdomlink) { - std::string linkname; - if( !!pdomlink ) { - if( !!pdomlink->getName() ) { - linkname = pdomlink->getName(); - } - if( linkname.size() == 0 && !!pdomlink->getID() ) { - linkname = pdomlink->getID(); - } - } - return linkname; - } - - bool _checkMathML(daeElementRef pelt,const std::string& type) - { - if( pelt->getElementName()==type ) { - return true; - } - // check the substring after ':' - std::string name = pelt->getElementName(); - std::size_t pos = name.find_last_of(':'); - if( pos == std::string::npos ) { - return false; - } - return name.substr(pos+1)==type; - } - - boost::shared_ptr _getJointFromRef(xsToken targetref, daeElementRef peltref) { - daeElement* peltjoint = daeSidRef(targetref, peltref).resolve().elt; - domJointRef pdomjoint = daeSafeCast (peltjoint); - - if (!pdomjoint) { - domInstance_jointRef pdomijoint = daeSafeCast (peltjoint); - if (!!pdomijoint) { - pdomjoint = daeSafeCast (pdomijoint->getUrl().getElement().cast()); - } - } - - if (!pdomjoint || pdomjoint->typeID() != domJoint::ID() || !pdomjoint->getName()) { - ROS_WARN_STREAM(str(boost::format("could not find collada joint %s!\n")%targetref)); - return boost::shared_ptr(); - } - - boost::shared_ptr pjoint = _model.joints_[std::string(pdomjoint->getName())]; - if(!pjoint) { - ROS_WARN_STREAM(str(boost::format("could not find openrave joint %s!\n")%pdomjoint->getName())); - } - return pjoint; - } - - /// \brief go through all kinematics binds to get a kinematics/visual pair - /// \param kiscene instance of one kinematics scene, binds the kinematic and visual models - /// \param bindings the extracted bindings - static void _ExtractKinematicsVisualBindings(domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings& bindings) - { - domKinematics_sceneRef kscene = daeSafeCast (kiscene->getUrl().getElement().cast()); - if (!kscene) { - return; - } - for (size_t imodel = 0; imodel < kiscene->getBind_kinematics_model_array().getCount(); imodel++) { - domArticulated_systemRef articulated_system; // if filled, contains robot-specific information, so create a robot - domBind_kinematics_modelRef kbindmodel = kiscene->getBind_kinematics_model_array()[imodel]; - if (!kbindmodel->getNode()) { - ROS_WARN_STREAM("do not support kinematics models without references to nodes\n"); - continue; - } - - // visual information - domNodeRef node = daeSafeCast(daeSidRef(kbindmodel->getNode(), viscene->getUrl().getElement()).resolve().elt); - if (!node) { - ROS_WARN_STREAM(str(boost::format("bind_kinematics_model does not reference valid node %s\n")%kbindmodel->getNode())); - continue; - } - - // kinematics information - daeElement* pelt = searchBinding(kbindmodel,kscene); - domInstance_kinematics_modelRef kimodel = daeSafeCast(pelt); - if (!kimodel) { - if( !pelt ) { - ROS_WARN_STREAM("bind_kinematics_model does not reference element\n"); - } - else { - ROS_WARN_STREAM(str(boost::format("bind_kinematics_model cannot find reference to %s%s:\n")%pelt->getElementName())); - } - continue; - } - bindings.listKinematicsVisualBindings.push_back(std::make_pair(node,kimodel)); - } - // axis info - for (size_t ijoint = 0; ijoint < kiscene->getBind_joint_axis_array().getCount(); ++ijoint) { - domBind_joint_axisRef bindjoint = kiscene->getBind_joint_axis_array()[ijoint]; - daeElementRef pjtarget = daeSidRef(bindjoint->getTarget(), viscene->getUrl().getElement()).resolve().elt; - if (!pjtarget) { - ROS_ERROR_STREAM(str(boost::format("Target Node %s NOT found!!!\n")%bindjoint->getTarget())); - continue; - } - daeElement* pelt = searchBinding(bindjoint->getAxis(),kscene); - domAxis_constraintRef pjointaxis = daeSafeCast(pelt); - if (!pjointaxis) { - continue; - } - bindings.listAxisBindings.push_back(JointAxisBinding(pjtarget, pjointaxis, bindjoint->getValue(), NULL, NULL)); - } - } - - size_t _countChildren(daeElement* pelt) { - size_t c = 1; - daeTArray children; - pelt->getChildren(children); - for (size_t i = 0; i < children.getCount(); ++i) { - c += _countChildren(children[i]); - } - return c; - } - - void _processUserData(daeElement* pelt, double scale) - { - // getChild could be optimized since asset tag is supposed to appear as the first element - domAssetRef passet = daeSafeCast (pelt->getChild("asset")); - if (!!passet && !!passet->getUnit()) { - scale = passet->getUnit()->getMeter(); - } - - _vuserdata.push_back(USERDATA(scale)); - pelt->setUserData(&_vuserdata.back()); - daeTArray children; - pelt->getChildren(children); - for (size_t i = 0; i < children.getCount(); ++i) { - if (children[i] != passet) { - _processUserData(children[i], scale); - } - } - } - - USERDATA* _getUserData(daeElement* pelt) - { - BOOST_ASSERT(!!pelt); - void* p = pelt->getUserData(); - BOOST_ASSERT(!!p); - return (USERDATA*)p; - } - - // - // openrave math functions (from geometry.h) - // - - static Vector3 _poseMult(const Pose& p, const Vector3& v) - { - double ww = 2 * p.rotation.x * p.rotation.x; - double wx = 2 * p.rotation.x * p.rotation.y; - double wy = 2 * p.rotation.x * p.rotation.z; - double wz = 2 * p.rotation.x * p.rotation.w; - double xx = 2 * p.rotation.y * p.rotation.y; - double xy = 2 * p.rotation.y * p.rotation.z; - double xz = 2 * p.rotation.y * p.rotation.w; - double yy = 2 * p.rotation.z * p.rotation.z; - double yz = 2 * p.rotation.z * p.rotation.w; - Vector3 vnew; - vnew.x = (1-xx-yy) * v.x + (wx-yz) * v.y + (wy+xz)*v.z + p.position.x; - vnew.y = (wx+yz) * v.x + (1-ww-yy) * v.y + (xy-wz)*v.z + p.position.y; - vnew.z = (wy-xz) * v.x + (xy+wz) * v.y + (1-ww-xx)*v.z + p.position.z; - return vnew; - } - - static Vector3 _poseMult(const boost::array& m, const Vector3& v) - { - Vector3 vnew; - vnew.x = m[4*0+0] * v.x + m[4*0+1] * v.y + m[4*0+2] * v.z + m[4*0+3]; - vnew.y = m[4*1+0] * v.x + m[4*1+1] * v.y + m[4*1+2] * v.z + m[4*1+3]; - vnew.z = m[4*2+0] * v.x + m[4*2+1] * v.y + m[4*2+2] * v.z + m[4*2+3]; - return vnew; - } - - static boost::array _poseMult(const boost::array& m0, const boost::array& m1) - { - boost::array mres; - mres[0*4+0] = m0[0*4+0]*m1[0*4+0]+m0[0*4+1]*m1[1*4+0]+m0[0*4+2]*m1[2*4+0]; - mres[0*4+1] = m0[0*4+0]*m1[0*4+1]+m0[0*4+1]*m1[1*4+1]+m0[0*4+2]*m1[2*4+1]; - mres[0*4+2] = m0[0*4+0]*m1[0*4+2]+m0[0*4+1]*m1[1*4+2]+m0[0*4+2]*m1[2*4+2]; - mres[1*4+0] = m0[1*4+0]*m1[0*4+0]+m0[1*4+1]*m1[1*4+0]+m0[1*4+2]*m1[2*4+0]; - mres[1*4+1] = m0[1*4+0]*m1[0*4+1]+m0[1*4+1]*m1[1*4+1]+m0[1*4+2]*m1[2*4+1]; - mres[1*4+2] = m0[1*4+0]*m1[0*4+2]+m0[1*4+1]*m1[1*4+2]+m0[1*4+2]*m1[2*4+2]; - mres[2*4+0] = m0[2*4+0]*m1[0*4+0]+m0[2*4+1]*m1[1*4+0]+m0[2*4+2]*m1[2*4+0]; - mres[2*4+1] = m0[2*4+0]*m1[0*4+1]+m0[2*4+1]*m1[1*4+1]+m0[2*4+2]*m1[2*4+1]; - mres[2*4+2] = m0[2*4+0]*m1[0*4+2]+m0[2*4+1]*m1[1*4+2]+m0[2*4+2]*m1[2*4+2]; - mres[3] = m1[3] * m0[0] + m1[7] * m0[1] + m1[11] * m0[2] + m0[3]; - mres[7] = m1[3] * m0[4] + m1[7] * m0[5] + m1[11] * m0[6] + m0[7]; - mres[11] = m1[3] * m0[8] + m1[7] * m0[9] + m1[11] * m0[10] + m0[11]; - return mres; - } - - static Pose _poseMult(const Pose& p0, const Pose& p1) - { - Pose p; - p.position = _poseMult(p0,p1.position); - p.rotation = _quatMult(p0.rotation,p1.rotation); - return p; - } - - static Pose _poseInverse(const Pose& p) - { - Pose pinv; - pinv.rotation.x = -p.rotation.x; - pinv.rotation.y = -p.rotation.y; - pinv.rotation.z = -p.rotation.z; - pinv.rotation.w = p.rotation.w; - Vector3 t = _poseMult(pinv,p.position); - pinv.position.x = -t.x; - pinv.position.y = -t.y; - pinv.position.z = -t.z; - return pinv; - } - - static Rotation _quatMult(const Rotation& quat0, const Rotation& quat1) - { - Rotation q; - q.x = quat0.w*quat1.x + quat0.x*quat1.w + quat0.y*quat1.z - quat0.z*quat1.y; - q.y = quat0.w*quat1.y + quat0.y*quat1.w + quat0.z*quat1.x - quat0.x*quat1.z; - q.z = quat0.w*quat1.z + quat0.z*quat1.w + quat0.x*quat1.y - quat0.y*quat1.x; - q.w = quat0.w*quat1.w - quat0.x*quat1.x - quat0.y*quat1.y - quat0.z*quat1.z; - double fnorm = std::sqrt(q.x*q.x+q.y*q.y+q.z*q.z+q.w*q.w); - // don't touch the divides - q.x /= fnorm; - q.y /= fnorm; - q.z /= fnorm; - q.w /= fnorm; - return q; - } - - static boost::array _matrixFromAxisAngle(const Vector3& axis, double angle) - { - return _matrixFromQuat(_quatFromAxisAngle(axis.x,axis.y,axis.z,angle)); - } - - static boost::array _matrixFromQuat(const Rotation& quat) - { - boost::array m; - double qq1 = 2*quat.x*quat.x; - double qq2 = 2*quat.y*quat.y; - double qq3 = 2*quat.z*quat.z; - m[4*0+0] = 1 - qq2 - qq3; - m[4*0+1] = 2*(quat.x*quat.y - quat.w*quat.z); - m[4*0+2] = 2*(quat.x*quat.z + quat.w*quat.y); - m[4*0+3] = 0; - m[4*1+0] = 2*(quat.x*quat.y + quat.w*quat.z); - m[4*1+1] = 1 - qq1 - qq3; - m[4*1+2] = 2*(quat.y*quat.z - quat.w*quat.x); - m[4*1+3] = 0; - m[4*2+0] = 2*(quat.x*quat.z - quat.w*quat.y); - m[4*2+1] = 2*(quat.y*quat.z + quat.w*quat.x); - m[4*2+2] = 1 - qq1 - qq2; - m[4*2+3] = 0; - return m; - } - - static Pose _poseFromMatrix(const boost::array& m) - { - Pose t; - t.rotation = _quatFromMatrix(m); - t.position.x = m[3]; - t.position.y = m[7]; - t.position.z = m[11]; - return t; - } - - static boost::array _matrixFromPose(const Pose& t) - { - boost::array m = _matrixFromQuat(t.rotation); - m[3] = t.position.x; - m[7] = t.position.y; - m[11] = t.position.z; - return m; - } - - static Rotation _quatFromAxisAngle(double x, double y, double z, double angle) - { - Rotation q; - double axislen = std::sqrt(x*x+y*y+z*z); - if( axislen == 0 ) { - return q; - } - angle *= 0.5; - double sang = std::sin(angle)/axislen; - q.w = std::cos(angle); - q.x = x*sang; - q.y = y*sang; - q.z = z*sang; - return q; - } - - static Rotation _quatFromMatrix(const boost::array& mat) - { - Rotation rot; - double tr = mat[4*0+0] + mat[4*1+1] + mat[4*2+2]; - if (tr >= 0) { - rot.w = tr + 1; - rot.x = (mat[4*2+1] - mat[4*1+2]); - rot.y = (mat[4*0+2] - mat[4*2+0]); - rot.z = (mat[4*1+0] - mat[4*0+1]); - } - else { - // find the largest diagonal element and jump to the appropriate case - if (mat[4*1+1] > mat[4*0+0]) { - if (mat[4*2+2] > mat[4*1+1]) { - rot.z = (mat[4*2+2] - (mat[4*0+0] + mat[4*1+1])) + 1; - rot.x = (mat[4*2+0] + mat[4*0+2]); - rot.y = (mat[4*1+2] + mat[4*2+1]); - rot.w = (mat[4*1+0] - mat[4*0+1]); - } - else { - rot.y = (mat[4*1+1] - (mat[4*2+2] + mat[4*0+0])) + 1; - rot.z = (mat[4*1+2] + mat[4*2+1]); - rot.x = (mat[4*0+1] + mat[4*1+0]); - rot.w = (mat[4*0+2] - mat[4*2+0]); - } - } - else if (mat[4*2+2] > mat[4*0+0]) { - rot.z = (mat[4*2+2] - (mat[4*0+0] + mat[4*1+1])) + 1; - rot.x = (mat[4*2+0] + mat[4*0+2]); - rot.y = (mat[4*1+2] + mat[4*2+1]); - rot.w = (mat[4*1+0] - mat[4*0+1]); - } - else { - rot.x = (mat[4*0+0] - (mat[4*1+1] + mat[4*2+2])) + 1; - rot.y = (mat[4*0+1] + mat[4*1+0]); - rot.z = (mat[4*2+0] + mat[4*0+2]); - rot.w = (mat[4*2+1] - mat[4*1+2]); - } - } - double fnorm = std::sqrt(rot.x*rot.x+rot.y*rot.y+rot.z*rot.z+rot.w*rot.w); - // don't touch the divides - rot.x /= fnorm; - rot.y /= fnorm; - rot.z /= fnorm; - rot.w /= fnorm; - return rot; - } - - static double _dot3(const Vector3& v0, const Vector3& v1) - { - return v0.x*v1.x + v0.y*v1.y + v0.z*v1.z; - } - static Vector3 _cross3(const Vector3& v0, const Vector3& v1) - { - Vector3 v; - v.x = v0.y * v1.z - v0.z * v1.y; - v.y = v0.z * v1.x - v0.x * v1.z; - v.z = v0.x * v1.y - v0.y * v1.x; - return v; - } - static Vector3 _sub3(const Vector3& v0, const Vector3& v1) - { - Vector3 v; - v.x = v0.x-v1.x; - v.y = v0.y-v1.y; - v.z = v0.z-v1.z; - return v; - } - static Vector3 _add3(const Vector3& v0, const Vector3& v1) - { - Vector3 v; - v.x = v0.x+v1.x; - v.y = v0.y+v1.y; - v.z = v0.z+v1.z; - return v; - } - static Vector3 _normalize3(const Vector3& v0) - { - Vector3 v; - double norm = std::sqrt(v0.x*v0.x+v0.y*v0.y+v0.z*v0.z); - v.x = v0.x/norm; - v.y = v0.y/norm; - v.z = v0.z/norm; - return v; - } - - boost::shared_ptr _collada; - domCOLLADA* _dom; - std::vector _vuserdata; // all userdata - int _nGlobalSensorId, _nGlobalManipulatorId; - std::string _filename; - std::string _resourcedir; - Model& _model; -}; - -bool urdfFromColladaFile(std::string const& daefilename, Model& model) -{ - ColladaModelReader reader(model); - return reader.InitFromFile(daefilename); -} - -bool urdfFromColladaData(std::string const& data, Model& model) -{ - ColladaModelReader reader(model); - return reader.InitFromData(data); -} - -bool urdfFromTiXML(TiXmlElement *robot_xml, Model& model) -{ - ColladaModelReader reader(model); - // have to convert all xml back to string (sigh..) - std::stringstream ss; - ss << *robot_xml; - return reader.InitFromData(ss.str()); -} - -bool IsColladaFile(const std::string& filename) -{ - size_t len = filename.size(); - if( len < 4 ) - return false; - return filename[len-4] == '.' && ::tolower(filename[len-3]) == 'd' && ::tolower(filename[len-2]) == 'a' && ::tolower(filename[len-1]) == 'e'; -} - -bool IsColladaData(const std::string& data) -{ - return data.find("RootElement() ) { - if( std::string("COLLADA") == xml_doc->RootElement()->ValueStr() ) { - return urdfFromTiXML(xml_doc->RootElement(),*this); - } - } - TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot"); if (!robot_xml) { @@ -141,11 +120,6 @@ bool Model::initXml(TiXmlElement *robot_xml) ROS_DEBUG("Parsing robot xml"); if (!robot_xml) return false; - // necessary for COLLADA compatibility - if( std::string("COLLADA") == robot_xml->ValueStr() ) { - return urdfFromTiXML(robot_xml,*this); - } - // Get robot name const char *name = robot_xml->Attribute("name"); if (!name) @@ -324,7 +298,7 @@ bool Model::initTree(std::map &parent_link_tree) ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() ); return false; } - + //set parent link for child link child_link->setParent(parent_link); From fa86ca0801bdd9569c7fe287654d8382c7f9f2c1 Mon Sep 17 00:00:00 2001 From: hsu Date: Wed, 1 Dec 2010 21:20:01 +0000 Subject: [PATCH 222/245] initial draft of collada to urdf parser (taken from OpenRave implementation) per ticket #4330 --- colladadom/collada-dom.patch | 22 + urdf/CMakeLists.txt | 2 +- urdf/include/urdf/model.h | 8 +- urdf/manifest.xml | 2 +- urdf/src/collada_model_reader.cpp | 2685 +++++++++++++++++++++++++++++ urdf/src/model.cpp | 28 +- 6 files changed, 2740 insertions(+), 7 deletions(-) create mode 100644 urdf/src/collada_model_reader.cpp diff --git a/colladadom/collada-dom.patch b/colladadom/collada-dom.patch index eb05cec..e28599d 100644 --- a/colladadom/collada-dom.patch +++ b/colladadom/collada-dom.patch @@ -52,3 +52,25 @@ Index: dom/make/domTest.mk ifeq ($(os),ps3) # PS3 doesn't support C++ locales, so tell boost not to use them ccFlags += -DBOOST_NO_STD_LOCALE + +--- dom/src/dae/daeSIDResolver.cpp ++++ dom/src/dae/daeSIDResolver.cpp +@@ -152,6 +152,18 @@ + list& remainingPart) { + remainingPart.clear(); + ++ // custom change for following instance urls (Rosen Diankov) ++ if ( strncmp( container->getElementName(), "instance_", 9 ) == 0 ) { ++ daeURI *uri = (daeURI*)container->getAttributeValue("url"); ++ if ( uri != NULL && uri->getElement() != NULL ) { ++ daeElement *e = findWithDots( uri->getElement(), s, profile, finder, remainingPart ); ++ if ( e != NULL ) { ++ //found it ++ return e; ++ } ++ } ++ } ++ + // First see if the whole thing resolves correctly + if (daeElement* result = finder(container, s, profile)) + return result; diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 4dceb93..64d4b42 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -22,7 +22,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_gensrv() #common commands for building c++ executables and libraries -rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp) +rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp) #target_link_libraries(${PROJECT_NAME} another_library) rosbuild_add_boost_directories() #rosbuild_link_boost(${PROJECT_NAME} thread) diff --git a/urdf/include/urdf/model.h b/urdf/include/urdf/model.h index 264520f..0d52895 100644 --- a/urdf/include/urdf/model.h +++ b/urdf/include/urdf/model.h @@ -46,7 +46,6 @@ namespace urdf{ - class Model { public: @@ -86,7 +85,7 @@ public: /// \brief complete list of Materials std::map > materials_; -private: +protected: void clear(); std::string name_; @@ -105,13 +104,14 @@ private: /// it's time to find the root Link bool initRoot(std::map &parent_link_tree); - +private: /// Model is restricted to a tree for now, which means there exists one root link /// typically, root link is the world(inertial). Where world is a special link /// or is the root_link_ the link attached to the world by PLANAR/FLOATING joint? /// hmm... boost::shared_ptr root_link_; - + + friend class ColladaModelReader; }; } diff --git a/urdf/manifest.xml b/urdf/manifest.xml index f0ad062..d03ca3f 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -12,7 +12,7 @@ - + diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp new file mode 100644 index 0000000..6f03f61 --- /dev/null +++ b/urdf/src/collada_model_reader.cpp @@ -0,0 +1,2685 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Rosen Diankov, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Rosen Diankov, used OpenRAVE files for reference */ +#include "urdf/model.h" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++) +#define FOREACHC FOREACH + +namespace urdf{ + +class UnlinkFilename +{ +public: + UnlinkFilename(const std::string& filename) : _filename(filename) {} + virtual ~UnlinkFilename() { unlink(_filename.c_str()); } + std::string _filename; +}; +static std::list > _listTempFilenames; + +class ColladaModelReader : public daeErrorHandler +{ + + class JointAxisBinding + { + public: + JointAxisBinding(daeElementRef pvisualtrans, domAxis_constraintRef pkinematicaxis, domCommon_float_or_paramRef jointvalue, domKinematics_axis_infoRef kinematics_axis_info, domMotion_axis_infoRef motion_axis_info) : pvisualtrans(pvisualtrans), pkinematicaxis(pkinematicaxis), jointvalue(jointvalue), kinematics_axis_info(kinematics_axis_info), motion_axis_info(motion_axis_info) { + BOOST_ASSERT( !!pkinematicaxis ); + daeElement* pae = pvisualtrans->getParentElement(); + while (!!pae) { + visualnode = daeSafeCast (pae); + if (!!visualnode) { + break; + } + pae = pae->getParentElement(); + } + + if (!visualnode) { + ROS_WARN_STREAM(str(boost::format("couldn't find parent node of element id %s, sid %s\n")%pkinematicaxis->getID()%pkinematicaxis->getSid())); + } + } + + daeElementRef pvisualtrans; + domAxis_constraintRef pkinematicaxis; + domCommon_float_or_paramRef jointvalue; + domNodeRef visualnode; + domKinematics_axis_infoRef kinematics_axis_info; + domMotion_axis_infoRef motion_axis_info; + }; + + /// \brief inter-collada bindings for a kinematics scene + class KinematicsSceneBindings + { + public: + std::list< std::pair > listKinematicsVisualBindings; + std::list listAxisBindings; + + bool AddAxisInfo(const domInstance_kinematics_model_Array& arr, domKinematics_axis_infoRef kinematics_axis_info, domMotion_axis_infoRef motion_axis_info) + { + if( !kinematics_axis_info ) { + return false; + } + for(size_t ik = 0; ik < arr.getCount(); ++ik) { + daeElement* pelt = daeSidRef(kinematics_axis_info->getAxis(), arr[ik]->getUrl().getElement()).resolve().elt; + if( !!pelt ) { + // look for the correct placement + bool bfound = false; + FOREACH(itbinding,listAxisBindings) { + if( itbinding->pkinematicaxis.cast() == pelt ) { + itbinding->kinematics_axis_info = kinematics_axis_info; + if( !!motion_axis_info ) { + itbinding->motion_axis_info = motion_axis_info; + } + bfound = true; + break; + } + } + if( !bfound ) { + ROS_WARN_STREAM(str(boost::format("could not find binding for axis: %s, %s\n")%kinematics_axis_info->getAxis()%pelt->getAttribute("sid"))); + return false; + } + return true; + } + } + ROS_WARN_STREAM(str(boost::format("could not find kinematics axis target: %s\n")%kinematics_axis_info->getAxis())); + return false; + } + }; + + struct USERDATA + { + USERDATA() {} + USERDATA(double scale) : scale(scale) {} + double scale; + boost::shared_ptr p; ///< custom managed data + }; + + enum GeomType { + GeomNone = 0, + GeomBox = 1, + GeomSphere = 2, + GeomCylinder = 3, + GeomTrimesh = 4, + }; + + struct GEOMPROPERTIES + { + Pose _t; ///< local transformation of the geom primitive with respect to the link's coordinate system + Vector3 vGeomData; ///< for boxes, first 3 values are extents + ///< for sphere it is radius + ///< for cylinder, first 2 values are radius and height + ///< for trimesh, none + Color diffuseColor, ambientColor; ///< hints for how to color the meshes + std::vector vertices; + std::vector indices; + + ///< discretization value is chosen. Should be transformed by _t before rendering + GeomType type; ///< the type of geometry primitive + + + // generate a sphere triangulation starting with an icosahedron + // all triangles are oriented counter clockwise + static void GenerateSphereTriangulation(std::vector realvertices, std::vector realindices, int levels) + { + const double GTS_M_ICOSAHEDRON_X = 0.850650808352039932181540497063011072240401406; + const double GTS_M_ICOSAHEDRON_Y = 0.525731112119133606025669084847876607285497935; + const double GTS_M_ICOSAHEDRON_Z = 0; + std::vector tempvertices[2]; + std::vector tempindices[2]; + + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, +GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X)); + tempvertices[0].push_back(Vector3(-GTS_M_ICOSAHEDRON_X, -GTS_M_ICOSAHEDRON_Y, +GTS_M_ICOSAHEDRON_Z)); + tempvertices[0].push_back(Vector3(+GTS_M_ICOSAHEDRON_Z, -GTS_M_ICOSAHEDRON_X, +GTS_M_ICOSAHEDRON_Y)); + + const int nindices=60; + int indices[nindices] = { + 0, 1, 2, + 1, 3, 4, + 3, 5, 6, + 2, 4, 7, + 5, 6, 8, + 2, 7, 9, + 0, 5, 8, + 7, 9, 10, + 0, 1, 5, + 7, 10, 11, + 1, 3, 5, + 6, 10, 11, + 3, 6, 11, + 9, 10, 8, + 3, 4, 11, + 6, 8, 10, + 4, 7, 11, + 1, 2, 4, + 0, 8, 9, + 0, 2, 9 + }; + + Vector3 v[3]; + // make sure oriented CCW + for(int i = 0; i < nindices; i += 3 ) { + v[0] = tempvertices[0][indices[i]]; + v[1] = tempvertices[0][indices[i+1]]; + v[2] = tempvertices[0][indices[i+2]]; + if( _dot3(v[0], _cross3(_sub3(v[1],v[0]),_sub3(v[2],v[0]))) < 0 ) { + std::swap(indices[i], indices[i+1]); + } + } + + tempindices[0].resize(nindices); + std::copy(&indices[0],&indices[nindices],tempindices[0].begin()); + std::vector* curvertices = &tempvertices[0], *newvertices = &tempvertices[1]; + std::vector *curindices = &tempindices[0], *newindices = &tempindices[1]; + while(levels-- > 0) { + + newvertices->resize(0); + newvertices->reserve(2*curvertices->size()); + newvertices->insert(newvertices->end(), curvertices->begin(), curvertices->end()); + newindices->resize(0); + newindices->reserve(4*curindices->size()); + + std::map< uint64_t, int > mapnewinds; + std::map< uint64_t, int >::iterator it; + + for(size_t i = 0; i < curindices->size(); i += 3) { + // for ever tri, create 3 new vertices and 4 new triangles. + v[0] = curvertices->at(curindices->at(i)); + v[1] = curvertices->at(curindices->at(i+1)); + v[2] = curvertices->at(curindices->at(i+2)); + + int inds[3]; + for(int j = 0; j < 3; ++j) { + uint64_t key = ((uint64_t)curindices->at(i+j)<<32)|(uint64_t)curindices->at(i + ((j+1)%3)); + it = mapnewinds.find(key); + + if( it == mapnewinds.end() ) { + inds[j] = mapnewinds[key] = mapnewinds[(key<<32)|(key>>32)] = (int)newvertices->size(); + newvertices->push_back(_normalize3(_add3(v[j],v[(j+1)%3 ]))); + } + else { + inds[j] = it->second; + } + } + + newindices->push_back(curindices->at(i)); newindices->push_back(inds[0]); newindices->push_back(inds[2]); + newindices->push_back(inds[0]); newindices->push_back(curindices->at(i+1)); newindices->push_back(inds[1]); + newindices->push_back(inds[2]); newindices->push_back(inds[0]); newindices->push_back(inds[1]); + newindices->push_back(inds[2]); newindices->push_back(inds[1]); newindices->push_back(curindices->at(i+2)); + } + + std::swap(newvertices,curvertices); + std::swap(newindices,curindices); + } + + realvertices = *curvertices; + realindices = *curindices; + } + + bool InitCollisionMesh(double fTessellation=1.0) + { + if( type == GeomTrimesh ) { + return true; + } + indices.clear(); + vertices.clear(); + + if( fTessellation < 0.01f ) { + fTessellation = 0.01f; + } + // start tesselating + switch(type) { + case GeomSphere: { + // log_2 (1+ tess) + GenerateSphereTriangulation(vertices,indices, 3 + (int)(logf(fTessellation) / logf(2.0f)) ); + double fRadius = vGeomData.x; + FOREACH(it, vertices) { + it->x *= fRadius; + it->y *= fRadius; + it->z *= fRadius; + } + break; + } + case GeomBox: { + // trivial + Vector3 ex = vGeomData; + Vector3 v[8] = { Vector3(ex.x, ex.y, ex.z), + Vector3(ex.x, ex.y, -ex.z), + Vector3(ex.x, -ex.y, ex.z), + Vector3(ex.x, -ex.y, -ex.z), + Vector3(-ex.x, ex.y, ex.z), + Vector3(-ex.x, ex.y, -ex.z), + Vector3(-ex.x, -ex.y, ex.z), + Vector3(-ex.x, -ex.y, -ex.z) }; + const int nindices = 36; + int startindices[] = { + 0, 1, 2, + 1, 2, 3, + 4, 5, 6, + 5, 6, 7, + 0, 1, 4, + 1, 4, 5, + 2, 3, 6, + 3, 6, 7, + 0, 2, 4, + 2, 4, 6, + 1, 3, 5, + 3, 5, 7 + }; + + for(int i = 0; i < nindices; i += 3 ) { + Vector3 v1 = v[startindices[i]]; + Vector3 v2 = v[startindices[i+1]]; + Vector3 v3 = v[startindices[i+2]]; + if( _dot3(v1, _sub3(v2,_cross3(v1, _sub3(v3,v1)))) < 0 ) { + std::swap(indices[i], indices[i+1]); + } + } + + vertices.resize(8); + std::copy(&v[0],&v[8],vertices.begin()); + indices.resize(nindices); + std::copy(&startindices[0],&startindices[nindices],indices.begin()); + break; + } + case GeomCylinder: { + // cylinder is on y axis + double rad = vGeomData.x, len = vGeomData.y*0.5f; + + int numverts = (int)(fTessellation*24.0f) + 3; + double dtheta = 2 * M_PI / (double)numverts; + vertices.push_back(Vector3(0,0,len)); + vertices.push_back(Vector3(0,0,-len)); + vertices.push_back(Vector3(rad,0,len)); + vertices.push_back(Vector3(rad,0,-len)); + + for(int i = 0; i < numverts+1; ++i) { + double s = rad * std::sin(dtheta * (double)i); + double c = rad * std::cos(dtheta * (double)i); + + int off = (int)vertices.size(); + vertices.push_back(Vector3(c, s, len)); + vertices.push_back(Vector3(c, s, -len)); + + indices.push_back(0); indices.push_back(off); indices.push_back(off-2); + indices.push_back(1); indices.push_back(off-1); indices.push_back(off+1); + indices.push_back(off-2); indices.push_back(off); indices.push_back(off-1); + indices.push_back(off); indices.push_back(off-1); indices.push_back(off+1); + } + break; + } + default: + BOOST_ASSERT(0); + } + return true; + } + }; + + public: + ColladaModelReader(Model& model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) { + daeErrorHandler::setErrorHandler(this); + _resourcedir = "."; + } + virtual ~ColladaModelReader() { + _vuserdata.clear(); + _collada.reset(); + DAE::cleanup(); + } + + bool InitFromFile(const std::string& filename) { + ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s, filename: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE%filename)); + _collada.reset(new DAE); + _dom = _collada->open(filename); + if (!_dom) { + return false; + } + _filename=filename; + + size_t maxchildren = _countChildren(_dom); + _vuserdata.resize(0); + _vuserdata.reserve(maxchildren); + + double dScale = 1.0; + _processUserData(_dom, dScale); + ROS_DEBUG_STREAM(str(boost::format("processed children: %d/%d\n")%_vuserdata.size()%maxchildren)); + return _Extract(); + } + + bool InitFromData(const std::string& pdata) { + ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE)); + _collada.reset(new DAE); + _dom = _collada->openFromMemory(".",pdata.c_str()); + if (!_dom) { + return false; + } + + size_t maxchildren = _countChildren(_dom); + _vuserdata.resize(0); + _vuserdata.reserve(maxchildren); + + double dScale = 1.0; + _processUserData(_dom, dScale); + ROS_DEBUG_STREAM(str(boost::format("processed children: %d/%d\n")%_vuserdata.size()%maxchildren)); + return _Extract(); + } + +protected: + + /// \extract the first possible robot in the scene + bool _Extract() + { + _model.clear(); + std::list< std::pair > > listPossibleBodies; + domCOLLADA::domSceneRef allscene = _dom->getScene(); + if( !allscene ) { + return false; + } + + // parse each instance kinematics scene, prioritize real robots + for (size_t iscene = 0; iscene < allscene->getInstance_kinematics_scene_array().getCount(); iscene++) { + domInstance_kinematics_sceneRef kiscene = allscene->getInstance_kinematics_scene_array()[iscene]; + domKinematics_sceneRef kscene = daeSafeCast (kiscene->getUrl().getElement().cast()); + if (!kscene) { + continue; + } + boost::shared_ptr bindings(new KinematicsSceneBindings()); + _ExtractKinematicsVisualBindings(allscene->getInstance_visual_scene(),kiscene,*bindings); + for(size_t ias = 0; ias < kscene->getInstance_articulated_system_array().getCount(); ++ias) { + if( _ExtractArticulatedSystem(kscene->getInstance_articulated_system_array()[ias], *bindings) ) { + _PostProcess(); + return true; + } + } + for(size_t ikmodel = 0; ikmodel < kscene->getInstance_kinematics_model_array().getCount(); ++ikmodel) { + listPossibleBodies.push_back(std::make_pair(kscene->getInstance_kinematics_model_array()[ikmodel], bindings)); + } + } + + FOREACH(it, listPossibleBodies) { + if( _ExtractKinematicsModel(it->first, *it->second) ) { + _PostProcess(); + return true; + } + } + + return false; + } + + void _PostProcess() + { + std::map parent_link_tree; + // building tree: name mapping + if (!_model.initTree(parent_link_tree)) { + ROS_ERROR("failed to build tree"); + } + + // find the root link + if (!_model.initRoot(parent_link_tree)) { + ROS_ERROR("failed to find root link"); + } + } + + /// \brief extracts an articulated system. Note that an articulated system can include other articulated systems + bool _ExtractArticulatedSystem(domInstance_articulated_systemRef ias, KinematicsSceneBindings& bindings) + { + if( !ias ) { + return false; + } + ROS_DEBUG_STREAM(str(boost::format("instance articulated system sid %s\n")%ias->getSid())); + domArticulated_systemRef articulated_system = daeSafeCast (ias->getUrl().getElement().cast()); + if( !articulated_system ) { + return false; + } + + boost::shared_ptr pinterface_type = _ExtractInterfaceType(ias->getExtra_array()); + if( !pinterface_type ) { + pinterface_type = _ExtractInterfaceType(articulated_system->getExtra_array()); + } + if( !!pinterface_type ) { + ROS_DEBUG_STREAM(str(boost::format("robot type: %s")%(*pinterface_type))); + } + + // set the name + if( _model.name_.size() == 0 && !!ias->getName() ) { + _model.name_ = ias->getName(); + } + if( _model.name_.size() == 0 && !!ias->getSid()) { + _model.name_ = ias->getSid(); + } + if( _model.name_.size() == 0 && !!articulated_system->getName() ) { + _model.name_ = articulated_system->getName(); + } + if( _model.name_.size() == 0 && !!articulated_system->getId()) { + _model.name_ = articulated_system->getId(); + } + + if( !!articulated_system->getMotion() ) { + domInstance_articulated_systemRef ias_new = articulated_system->getMotion()->getInstance_articulated_system(); + if( !!articulated_system->getMotion()->getTechnique_common() ) { + for(size_t i = 0; i < articulated_system->getMotion()->getTechnique_common()->getAxis_info_array().getCount(); ++i) { + domMotion_axis_infoRef motion_axis_info = articulated_system->getMotion()->getTechnique_common()->getAxis_info_array()[i]; + // this should point to a kinematics axis_info + domKinematics_axis_infoRef kinematics_axis_info = daeSafeCast(daeSidRef(motion_axis_info->getAxis(), ias_new->getUrl().getElement()).resolve().elt); + if( !!kinematics_axis_info ) { + // find the parent kinematics and go through all its instance kinematics models + daeElement* pparent = kinematics_axis_info->getParent(); + while(!!pparent && pparent->typeID() != domKinematics::ID()) { + pparent = pparent->getParent(); + } + BOOST_ASSERT(!!pparent); + bindings.AddAxisInfo(daeSafeCast(pparent)->getInstance_kinematics_model_array(), kinematics_axis_info, motion_axis_info); + } + else { + ROS_WARN_STREAM(str(boost::format("failed to find kinematics axis %s\n")%motion_axis_info->getAxis())); + } + } + } + if( !_ExtractArticulatedSystem(ias_new,bindings) ) { + return false; + } + } + else { + if( !articulated_system->getKinematics() ) { + ROS_WARN_STREAM(str(boost::format("collada tag empty? instance_articulated_system=%s\n")%ias->getID())); + return true; + } + + if( !!articulated_system->getKinematics()->getTechnique_common() ) { + for(size_t i = 0; i < articulated_system->getKinematics()->getTechnique_common()->getAxis_info_array().getCount(); ++i) { + bindings.AddAxisInfo(articulated_system->getKinematics()->getInstance_kinematics_model_array(), articulated_system->getKinematics()->getTechnique_common()->getAxis_info_array()[i], NULL); + } + } + + for(size_t ik = 0; ik < articulated_system->getKinematics()->getInstance_kinematics_model_array().getCount(); ++ik) { + _ExtractKinematicsModel(articulated_system->getKinematics()->getInstance_kinematics_model_array()[ik],bindings); + } + } + + _ExtractRobotManipulators(articulated_system); + _ExtractRobotAttachedSensors(articulated_system); + return true; + } + + bool _ExtractKinematicsModel(domInstance_kinematics_modelRef ikm, KinematicsSceneBindings& bindings) + { + if( !ikm ) { + return false; + } + ROS_DEBUG_STREAM(str(boost::format("instance kinematics model sid %s\n")%ikm->getSid())); + domKinematics_modelRef kmodel = daeSafeCast (ikm->getUrl().getElement().cast()); + if (!kmodel) { + ROS_WARN_STREAM(str(boost::format("%s does not reference valid kinematics\n")%ikm->getSid())); + return false; + } + domPhysics_modelRef pmodel; + boost::shared_ptr pinterface_type = _ExtractInterfaceType(ikm->getExtra_array()); + if( !pinterface_type ) { + pinterface_type = _ExtractInterfaceType(kmodel->getExtra_array()); + } + if( !!pinterface_type ) { + ROS_DEBUG_STREAM(str(boost::format("kinbody interface type: %s")%(*pinterface_type))); + } + + // find matching visual node + domNodeRef pvisualnode; + FOREACH(it, bindings.listKinematicsVisualBindings) { + if( it->second == ikm ) { + pvisualnode = it->first; + break; + } + } + if( !pvisualnode ) { + ROS_WARN_STREAM(str(boost::format("failed to find visual node for instance kinematics model %s\n")%ikm->getSid())); + return false; + } + + if( _model.name_.size() == 0 && !!ikm->getName() ) { + _model.name_ = ikm->getName(); + } + if( _model.name_.size() == 0 && !!ikm->getID() ) { + _model.name_ = ikm->getID(); + } + + if (!_ExtractKinematicsModel(kmodel, pvisualnode, pmodel, bindings.listAxisBindings)) { + ROS_WARN_STREAM(str(boost::format("failed to load kinbody from kinematics model %s\n")%kmodel->getID())); + return false; + } + return true; + } + + /// \brief append the kinematics model to the openrave kinbody + bool _ExtractKinematicsModel(domKinematics_modelRef kmodel, domNodeRef pnode, domPhysics_modelRef pmodel, const std::list& listAxisBindings) + { + std::vector vdomjoints; + ROS_DEBUG_STREAM(str(boost::format("kinematics model: %s\n")%_model.name_)); + if( !!pnode ) { + ROS_DEBUG_STREAM(str(boost::format("node name: %s\n")%pnode->getId())); + } + + // Process joint of the kinbody + domKinematics_model_techniqueRef ktec = kmodel->getTechnique_common(); + + // Store joints + for (size_t ijoint = 0; ijoint < ktec->getJoint_array().getCount(); ++ijoint) { + vdomjoints.push_back(ktec->getJoint_array()[ijoint]); + } + + // Store instances of joints + for (size_t ijoint = 0; ijoint < ktec->getInstance_joint_array().getCount(); ++ijoint) { + domJointRef pelt = daeSafeCast (ktec->getInstance_joint_array()[ijoint]->getUrl().getElement()); + if (!pelt) { + ROS_WARN_STREAM("failed to get joint from instance\n"); + } + else { + vdomjoints.push_back(pelt); + } + } + + ROS_DEBUG_STREAM(str(boost::format("Number of root links in the kmodel %d\n")%ktec->getLink_array().getCount())); + for (size_t ilink = 0; ilink < ktec->getLink_array().getCount(); ++ilink) { + _ExtractLink(ktec->getLink_array()[ilink], ilink == 0 ? pnode : domNodeRef(), Pose(), Pose(), vdomjoints, listAxisBindings); + } + + // TODO: implement mathml + for (size_t iform = 0; iform < ktec->getFormula_array().getCount(); ++iform) { + domFormulaRef pf = ktec->getFormula_array()[iform]; + if (!pf->getTarget()) { + ROS_WARN_STREAM("formula target not valid\n"); + continue; + } + + // find the target joint + boost::shared_ptr pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf); + if (!pjoint) { + continue; + } + + if (!!pf->getTechnique_common()) { + daeElementRef peltmath; + daeTArray children; + pf->getTechnique_common()->getChildren(children); + for (size_t ichild = 0; ichild < children.getCount(); ++ichild) { + daeElementRef pelt = children[ichild]; + if (_checkMathML(pelt,std::string("math")) ) { + peltmath = pelt; + } + else { + ROS_WARN_STREAM(str(boost::format("unsupported formula element: %s\n")%pelt->getElementName())); + } + } + if (!!peltmath) { + // full math xml spec not supported, only looking for ax+b pattern: + // a x b + double a = 1, b = 0; + daeElementRef psymboljoint; + BOOST_ASSERT(peltmath->getChildren().getCount()>0); + daeElementRef papplyelt = peltmath->getChildren()[0]; + BOOST_ASSERT(_checkMathML(papplyelt,"apply")); + BOOST_ASSERT(papplyelt->getChildren().getCount()>0); + if( _checkMathML(papplyelt->getChildren()[0],"plus") ) { + BOOST_ASSERT(papplyelt->getChildren().getCount()==3); + daeElementRef pa = papplyelt->getChildren()[1]; + daeElementRef pb = papplyelt->getChildren()[2]; + if( !_checkMathML(papplyelt->getChildren()[1],"apply") ) { + std::swap(pa,pb); + } + if( !_checkMathML(pa,"csymbol") ) { + BOOST_ASSERT(_checkMathML(pa,"apply")); + BOOST_ASSERT(_checkMathML(pa->getChildren()[0],"times")); + if( _checkMathML(pa->getChildren()[1],"csymbol") ) { + psymboljoint = pa->getChildren()[1]; + BOOST_ASSERT(_checkMathML(pa->getChildren()[2],"cn")); + std::stringstream ss(pa->getChildren()[2]->getCharData()); + ss >> a; + } + else { + psymboljoint = pa->getChildren()[2]; + BOOST_ASSERT(_checkMathML(pa->getChildren()[1],"cn")); + std::stringstream ss(pa->getChildren()[1]->getCharData()); + ss >> a; + } + } + else { + psymboljoint = pa; + } + BOOST_ASSERT(_checkMathML(pb,"cn")); + { + std::stringstream ss(pb->getCharData()); + ss >> b; + } + } + else if( _checkMathML(papplyelt->getChildren()[0],"minus") ) { + BOOST_ASSERT(_checkMathML(papplyelt->getChildren()[1],"csymbol")); + a = -1; + psymboljoint = papplyelt->getChildren()[1]; + } + else { + BOOST_ASSERT(_checkMathML(papplyelt->getChildren()[0],"csymbol")); + psymboljoint = papplyelt->getChildren()[0]; + } + BOOST_ASSERT(psymboljoint->hasAttribute("encoding")); + BOOST_ASSERT(psymboljoint->getAttribute("encoding")==std::string("COLLADA")); + boost::shared_ptr pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf); + if( !!pbasejoint ) { + // set the mimic properties + pjoint->mimic.reset(new JointMimic()); + pjoint->mimic->joint_name = pbasejoint->name; + pjoint->mimic->multiplier = a; + pjoint->mimic->offset = b; + ROS_DEBUG_STREAM(str(boost::format("assigning joint %s to mimic %s %f %f\n")%pjoint->name%pbasejoint->name%a%b)); + } + } + } + } + return true; + } + + /// \brief Extract Link info and add it to an existing body + boost::shared_ptr _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector& vdomjoints, const std::list& listAxisBindings) { + // Set link name with the name of the COLLADA's Link + std::string linkname = _ExtractLinkName(pdomlink); + if( linkname.size() == 0 ) { + ROS_WARN_STREAM(" has no name or id, falling back to !\n"); + if( !!pdomnode ) { + if (!!pdomnode->getName()) { + linkname = pdomnode->getName(); + } + if( linkname.size() == 0 && !!pdomnode->getID()) { + linkname = pdomnode->getID(); + } + } + } + + boost::shared_ptr plink; + _model.getLink(linkname,plink); + if( !plink ) { + plink.reset(new Link()); + plink->name = linkname; + plink->visual.reset(new Visual()); + _model.links_.insert(std::make_pair(linkname,plink)); + } + + _getUserData(pdomlink)->p = plink; + if( !!pdomnode ) { + ROS_DEBUG_STREAM(str(boost::format("Node Id %s and Name %s\n")%pdomnode->getId()%pdomnode->getName())); + } + + std::list listGeomProperties; + if (!pdomlink) { + ROS_WARN_STREAM("Extract object NOT kinematics !!!\n"); + _ExtractGeometry(pdomnode,listGeomProperties,listAxisBindings,Pose()); + } + else { + ROS_DEBUG_STREAM(str(boost::format("Attachment link elements: %d\n")%pdomlink->getAttachment_full_array().getCount())); + Pose tlink = _poseFromMatrix(_ExtractFullTransform(pdomlink)); + plink->visual->origin = _poseMult(tParentLink, tlink); // use the kinematics coordinate system for each link +// ROS_INFO("link %s rot: %f %f %f %f",linkname.c_str(),plink->visual->origin.rotation.w, plink->visual->origin.rotation.x,plink->visual->origin.rotation.y,plink->visual->origin.rotation.z); +// ROS_INFO("link %s trans: %f %f %f",linkname.c_str(),plink->visual->origin.position.x,plink->visual->origin.position.y,plink->visual->origin.position.z); + + // Get the geometry + _ExtractGeometry(pdomnode,listGeomProperties,listAxisBindings,_poseMult(_poseMult(tParentWorldLink,tlink),plink->visual->origin)); + + ROS_DEBUG_STREAM(str(boost::format("After ExtractGeometry Attachment link elements: %d\n")%pdomlink->getAttachment_full_array().getCount())); + + // Process all atached links + for (size_t iatt = 0; iatt < pdomlink->getAttachment_full_array().getCount(); ++iatt) { + domLink::domAttachment_fullRef pattfull = pdomlink->getAttachment_full_array()[iatt]; + + // get link kinematics transformation + Pose tatt = _poseFromMatrix(_ExtractFullTransform(pattfull)); + + // process attached links + daeElement* peltjoint = daeSidRef(pattfull->getJoint(), pattfull).resolve().elt; + domJointRef pdomjoint = daeSafeCast (peltjoint); + + if (!pdomjoint) { + domInstance_jointRef pdomijoint = daeSafeCast (peltjoint); + if (!!pdomijoint) { + pdomjoint = daeSafeCast (pdomijoint->getUrl().getElement().cast()); + } + } + + if (!pdomjoint || pdomjoint->typeID() != domJoint::ID()) { + ROS_WARN_STREAM(str(boost::format("could not find attached joint %s!\n")%pattfull->getJoint())); + return boost::shared_ptr(); + } + + // get direct child link + if (!pattfull->getLink()) { + ROS_WARN_STREAM(str(boost::format("joint %s needs to be attached to a valid link\n")%pdomjoint->getID())); + continue; + } + + // find the correct joint in the bindings + daeTArray vdomaxes = pdomjoint->getChildrenByType(); + domNodeRef pchildnode; + + // see if joint has a binding to a visual node + FOREACHC(itaxisbinding,listAxisBindings) { + for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { + // If the binding for the joint axis is found, retrieve the info + if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { + pchildnode = itaxisbinding->visualnode; + break; + } + } + if( !!pchildnode ) { + break; + } + } + if (!pchildnode) { + ROS_DEBUG_STREAM(str(boost::format("joint %s has no visual binding\n")%pdomjoint->getID())); + } + + // create the joints before creating the child links + std::vector > vjoints(vdomaxes.getCount()); + for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { + bool joint_active = true; // if not active, put into the passive list + FOREACHC(itaxisbinding,listAxisBindings) { + if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { + if( !!itaxisbinding->kinematics_axis_info ) { + if( !!itaxisbinding->kinematics_axis_info->getActive() ) { + joint_active = resolveBool(itaxisbinding->kinematics_axis_info->getActive(),itaxisbinding->kinematics_axis_info); + } + } + break; + } + } + + boost::shared_ptr pjoint(new Joint()); + pjoint->limits.reset(new JointLimits()); + pjoint->parent_link_name = plink->name; + + if( !!pdomjoint->getName() ) { + pjoint->name = pdomjoint->getName(); + } + else { + pjoint->name = str(boost::format("dummy%d")%_model.joints_.size()); + } + + if( !joint_active ) { + ROS_INFO_STREAM(str(boost::format("joint %s is passive, but adding to hierarchy\n")%pjoint->name)); + } + + domAxis_constraintRef pdomaxis = vdomaxes[ic]; + if( strcmp(pdomaxis->getElementName(), "revolute") == 0 ) { + pjoint->type = Joint::REVOLUTE; + } + else if( strcmp(pdomaxis->getElementName(), "prismatic") == 0 ) { + pjoint->type = Joint::PRISMATIC; + } + else { + ROS_WARN_STREAM(str(boost::format("unsupported joint type: %s\n")%pdomaxis->getElementName())); + } + + _getUserData(pdomjoint)->p = pjoint; + _getUserData(pdomaxis)->p = boost::shared_ptr(new int(_model.joints_.size())); + _model.joints_[pjoint->name] = pjoint; + vjoints[ic] = pjoint; + } + + boost::shared_ptr pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, listAxisBindings); + + if (!pchildlink) { + ROS_WARN_STREAM(str(boost::format("Link has no child: %s\n")%plink->name)); + continue; + } + + int numjoints = 0; + for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) { + domKinematics_axis_infoRef kinematics_axis_info; + domMotion_axis_infoRef motion_axis_info; + FOREACHC(itaxisbinding,listAxisBindings) { + bool bfound = false; + if (vdomaxes[ic] == itaxisbinding->pkinematicaxis) { + kinematics_axis_info = itaxisbinding->kinematics_axis_info; + motion_axis_info = itaxisbinding->motion_axis_info; + bfound = true; + break; + } + } + domAxis_constraintRef pdomaxis = vdomaxes[ic]; + if (!pchildlink) { + // create dummy child link + // multiple axes can be easily done with "empty links" + ROS_WARN_STREAM(str(boost::format("creating dummy link %s, num joints %d\n")%plink->name%numjoints)); + + std::stringstream ss; + ss << plink->name; + ss <<"_dummy" << numjoints; + pchildlink.reset(new Link()); + pchildlink->name = ss.str(); + _model.links_.insert(std::make_pair(pchildlink->name,pchildlink)); + } + + ROS_DEBUG_STREAM(str(boost::format("Joint %s assigned %d \n")%vjoints[ic]->name%ic)); + boost::shared_ptr pjoint = vjoints[ic]; + pjoint->child_link_name = pchildlink->name; + + // Axes and Anchor assignment. + pjoint->axis.x = pdomaxis->getAxis()->getValue()[0]; + pjoint->axis.y = pdomaxis->getAxis()->getValue()[1]; + pjoint->axis.z = pdomaxis->getAxis()->getValue()[2]; + + if (!motion_axis_info) { + ROS_WARN_STREAM(str(boost::format("No motion axis info for joint %s\n")%pjoint->name)); + } + + // Sets the Speed and the Acceleration of the joint + if (!!motion_axis_info) { + if (!!motion_axis_info->getSpeed()) { + pjoint->limits->velocity = resolveFloat(motion_axis_info->getSpeed(),motion_axis_info); + ROS_DEBUG("... Joint Speed: %f...\n",pjoint->limits->velocity); + } + if (!!motion_axis_info->getAcceleration()) { + pjoint->limits->effort = resolveFloat(motion_axis_info->getAcceleration(),motion_axis_info); + ROS_DEBUG("... Joint effort: %f...\n",pjoint->limits->effort); + } + } + + bool joint_locked = false; // if locked, joint angle is static + bool kinematics_limits = false; + + if (!!kinematics_axis_info) { + if (!!kinematics_axis_info->getLocked()) { + joint_locked = resolveBool(kinematics_axis_info->getLocked(),kinematics_axis_info); + } + + if (joint_locked) { // If joint is locked set limits to the static value. + if( pjoint->type == Joint::REVOLUTE || pjoint->type ==Joint::PRISMATIC) { + ROS_WARN_STREAM("lock joint!!\n"); + pjoint->limits->lower = 0; + pjoint->limits->upper = 0; + } + } + else if (kinematics_axis_info->getLimits()) { // If there are articulated system kinematics limits + kinematics_limits = true; + double fscale = (pjoint->type == Joint::REVOLUTE)?(M_PI/180.0f):_GetUnitScale(kinematics_axis_info); + if( pjoint->type == Joint::REVOLUTE || pjoint->type ==Joint::PRISMATIC) { + pjoint->limits->lower = fscale*(double)(resolveFloat(kinematics_axis_info->getLimits()->getMin(),kinematics_axis_info)); + pjoint->limits->upper = fscale*(double)(resolveFloat(kinematics_axis_info->getLimits()->getMax(),kinematics_axis_info)); + } + } + } + + // Search limits in the joints section + if (!kinematics_axis_info || (!joint_locked && !kinematics_limits)) { + // If there are NO LIMITS + if( !pdomaxis->getLimits() ) { + ROS_DEBUG_STREAM(str(boost::format("There are NO LIMITS in joint %s:%d ...\n")%pjoint->name%kinematics_limits)); + if( pjoint->type == Joint::REVOLUTE ) { + pjoint->type = Joint::CONTINUOUS; // continuous means revolute? + pjoint->limits->lower = -M_PI; + pjoint->limits->upper = M_PI; + } + else { + pjoint->limits->lower = -100000; + pjoint->limits->upper = 100000; + } + } + else { + ROS_DEBUG_STREAM(str(boost::format("There are LIMITS in joint %s ...\n")%pjoint->name)); + double fscale = (pjoint->type == Joint::REVOLUTE)?(M_PI/180.0f):_GetUnitScale(pdomaxis); + pjoint->limits->lower = (double)pdomaxis->getLimits()->getMin()->getValue()*fscale; + pjoint->limits->upper = (double)pdomaxis->getLimits()->getMax()->getValue()*fscale; + } + } + + //ROS_INFO("joint %s axis: %f %f %f",pjoint->name.c_str(),pjoint->axis.x,pjoint->axis.y,pjoint->axis.z); + pjoint->parent_to_joint_origin_transform = tatt; + pjoint->limits->velocity = pjoint->type == Joint::PRISMATIC ? 0.01 : 0.5f; + pchildlink.reset(); + ++numjoints; + } + } + } + + //pdomlink->getAttachment_start_array(); + //pdomlink->getAttachment_end_array(); + + plink->visual->geometry = _CreateGeometry(plink->name, listGeomProperties); + return plink; + } + + boost::shared_ptr _CreateGeometry(const std::string& name, const std::list& listGeomProperties) + { + boost::shared_ptr geometry(new Mesh()); + geometry->type = Geometry::MESH; + geometry->scale.x = 1; + geometry->scale.y = 1; + geometry->scale.z = 1; + + std::vector vertices; + std::vector indices; + FOREACHC(it, listGeomProperties) { + int voffset = vertices.size(), ioffset = indices.size(); + vertices.resize(vertices.size()+it->vertices.size()); + for(size_t i = 0; i < it->vertices.size(); ++i) { + vertices[voffset+i] = _poseMult(it->_t, it->vertices[i]); + } + indices.resize(indices.size()+it->indices.size()); + for(size_t i = 0; i < it->indices.size(); ++i) { + indices[ioffset+i] = voffset+it->indices[i]; + } + } + + // have to save the geometry into individual collada 1.4 files since URDF does not allow triangle meshes to be specified + std::stringstream daedata; + daedata << str(boost::format("\n\ +\n\ + \n\ + \n\ + Rosen Diankov\n\ + \n\ + robot_model/urdf temporary collada geometry\n\ + \n\ + \n\ + \n\ + Z_UP\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + 0.0 0.0 0.1 1\n\ + \n\ + \n\ + 0.8 0.8 0.8 1\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + ")%(vertices.size()*3)); + // fill with vertices + FOREACH(it,vertices) { + daedata << it->x << " " << it->y << " " << it->z << " "; + } + daedata << str(boost::format("\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ +

")%vertices.size()%(indices.size()/3)); + // fill with indices + FOREACH(it,indices) { + daedata << *it << " "; + } + daedata << str(boost::format("

\n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ + \n\ +")%name%name); + + //= str(boost::format("%s/models/%s.dae")%_resourcedir%name); + geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); + int fd = mkstemps(&geometry->filename[0],4); + //ROS_INFO("temp file: %s",geometry->filename.c_str()); + std::string daedatastr = daedata.str(); + if( (size_t)write(fd,daedatastr.c_str(),daedatastr.size()) != daedatastr.size() ) { + ROS_ERROR("failed to write to geometry dae file %s",geometry->filename.c_str()); + } + close(fd); + _listTempFilenames.push_back(boost::shared_ptr(new UnlinkFilename(geometry->filename))); + geometry->filename = std::string("file://") + geometry->filename; + return geometry; + } + + /// Extract Geometry and apply the transformations of the node + /// \param pdomnode Node to extract the goemetry + /// \param plink Link of the kinematics model + void _ExtractGeometry(const domNodeRef pdomnode,std::list& listGeomProperties, const std::list& listAxisBindings, const Pose& tlink) + { + if( !pdomnode ) { + return; + } + + ROS_DEBUG_STREAM(str(boost::format("ExtractGeometry(node,link) of %s\n")%pdomnode->getName())); + + // For all child nodes of pdomnode + for (size_t i = 0; i < pdomnode->getNode_array().getCount(); i++) { + // check if contains a joint + bool contains=false; + FOREACHC(it,listAxisBindings) { + // don't check ID's check if the reference is the same! + if ( (pdomnode->getNode_array()[i]) == (it->visualnode)){ + contains=true; + break; + } + } + if (contains) { + continue; + } + + _ExtractGeometry(pdomnode->getNode_array()[i],listGeomProperties, listAxisBindings,tlink); + // Plink stayes the same for all children + // replace pdomnode by child = pdomnode->getNode_array()[i] + // hope for the best! + // put everything in a subroutine in order to process pdomnode too! + } + + unsigned int nGeomBefore = listGeomProperties.size(); // #of Meshes already associated to this link + + // get the geometry + for (size_t igeom = 0; igeom < pdomnode->getInstance_geometry_array().getCount(); ++igeom) { + domInstance_geometryRef domigeom = pdomnode->getInstance_geometry_array()[igeom]; + domGeometryRef domgeom = daeSafeCast (domigeom->getUrl().getElement()); + if (!domgeom) { + continue; + } + + // Gets materials + std::map mapmaterials; + if (!!domigeom->getBind_material() && !!domigeom->getBind_material()->getTechnique_common()) { + const domInstance_material_Array& matarray = domigeom->getBind_material()->getTechnique_common()->getInstance_material_array(); + for (size_t imat = 0; imat < matarray.getCount(); ++imat) { + domMaterialRef pmat = daeSafeCast(matarray[imat]->getTarget().getElement()); + if (!!pmat) { + mapmaterials[matarray[imat]->getSymbol()] = pmat; + } + } + } + + // Gets the geometry + _ExtractGeometry(domgeom, mapmaterials, listGeomProperties); + } + + std::list::iterator itgeom= listGeomProperties.begin(); + for (unsigned int i=0; i< nGeomBefore; i++) { + itgeom++; // change only the transformations of the newly found geometries. + } + + boost::array tmnodegeom = _poseMult(_matrixFromPose(_poseInverse(tlink)), _poseMult(_getNodeParentTransform(pdomnode), _ExtractFullTransform(pdomnode))); + Pose tnodegeom; + Vector3 vscale(1,1,1); + _decompose(tmnodegeom, tnodegeom, vscale); + +// std::stringstream ss; ss << "geom: "; +// for(int i = 0; i < 4; ++i) { +// ss << tmnodegeom[4*0+i] << " " << tmnodegeom[4*1+i] << " " << tmnodegeom[4*2+i] << " "; +// } +// ROS_INFO(ss.str().c_str()); + + // Switch between different type of geometry PRIMITIVES + for (; itgeom != listGeomProperties.end(); itgeom++) { + itgeom->_t = tnodegeom; + switch (itgeom->type) { + case GeomBox: + itgeom->vGeomData.x *= vscale.x; + itgeom->vGeomData.y *= vscale.y; + itgeom->vGeomData.z *= vscale.z; + break; + case GeomSphere: { + itgeom->vGeomData.x *= std::max(vscale.z, std::max(vscale.x, vscale.y)); + break; + } + case GeomCylinder: + itgeom->vGeomData.x *= std::max(vscale.x, vscale.y); + itgeom->vGeomData.y *= vscale.z; + break; + case GeomTrimesh: + for(size_t i = 0; i < itgeom->vertices.size(); ++i ) { + itgeom->vertices[i] = _poseMult(tmnodegeom,itgeom->vertices[i]); + } + itgeom->_t = Pose(); // reset back to identity + break; + default: + ROS_WARN_STREAM(str(boost::format("unknown geometry type: %d\n")%itgeom->type)); + } + } + } + + /// Paint the Geometry with the color material + /// \param pmat Material info of the COLLADA's model + /// \param geom Geometry properties in OpenRAVE + void _FillGeometryColor(const domMaterialRef pmat, GEOMPROPERTIES& geom) + { + if( !!pmat && !!pmat->getInstance_effect() ) { + domEffectRef peffect = daeSafeCast(pmat->getInstance_effect()->getUrl().getElement().cast()); + if( !!peffect ) { + domProfile_common::domTechnique::domPhongRef pphong = daeSafeCast(peffect->getDescendant(daeElement::matchType(domProfile_common::domTechnique::domPhong::ID()))); + if( !!pphong ) { + if( !!pphong->getAmbient() && !!pphong->getAmbient()->getColor() ) { + domFx_color c = pphong->getAmbient()->getColor()->getValue(); + geom.ambientColor.r = c[0]; + geom.ambientColor.g = c[1]; + geom.ambientColor.b = c[2]; + geom.ambientColor.a = c[3]; + } + if( !!pphong->getDiffuse() && !!pphong->getDiffuse()->getColor() ) { + domFx_color c = pphong->getDiffuse()->getColor()->getValue(); + geom.diffuseColor.r = c[0]; + geom.diffuseColor.g = c[1]; + geom.diffuseColor.b = c[2]; + geom.diffuseColor.a = c[3]; + } + } + } + } + } + + /// Extract the Geometry in TRIANGLES and adds it to OpenRave + /// \param triRef Array of triangles of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + /// \param plink Link of the kinematics model + bool _ExtractGeometry(const domTrianglesRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + + size_t triangleIndexStride = 0, vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + + const domList_of_uints& indexArray =triRef->getP()->getValue(); + geom.indices.reserve(triRef->getCount()*3); + geom.vertices.reserve(triRef->getCount()*3); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + int k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + for(size_t itri = 0; itri < triRef->getCount(); ++itri) { + if(k+2*triangleIndexStride < indexArray.getCount() ) { + for (int j=0;j<3;j++) { + int index0 = indexArray.get(k)*vertexStride; + domFloat fl0 = listFloats.get(index0); + domFloat fl1 = listFloats.get(index0+1); + domFloat fl2 = listFloats.get(index0+2); + k+=triangleIndexStride; + geom.indices.push_back(geom.vertices.size()); + geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + } + } + } + else { + ROS_WARN_STREAM("float array not defined!\n"); + } + break; + } + } + if( geom.indices.size() != 3*triRef->getCount() ) { + ROS_WARN_STREAM("triangles declares wrong count!\n"); + } + geom.InitCollisionMesh(); + return true; + } + + /// Extract the Geometry in TRIGLE FANS and adds it to OpenRave + /// \param triRef Array of triangle fans of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + bool _ExtractGeometry(const domTrifansRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + + size_t triangleIndexStride = 0, vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + size_t primitivecount = triRef->getCount(); + if( primitivecount > triRef->getP_array().getCount() ) { + ROS_WARN_STREAM("trifans has incorrect count\n"); + primitivecount = triRef->getP_array().getCount(); + } + for(size_t ip = 0; ip < primitivecount; ++ip) { + domList_of_uints indexArray =triRef->getP_array()[ip]->getValue(); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + int k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + size_t usedindices = 3*(indexArray.getCount()-2); + if( geom.indices.capacity() < geom.indices.size()+usedindices ) { + geom.indices.reserve(geom.indices.size()+usedindices); + } + if( geom.vertices.capacity() < geom.vertices.size()+indexArray.getCount() ) { + geom.vertices.reserve(geom.vertices.size()+indexArray.getCount()); + } + size_t startoffset = (int)geom.vertices.size(); + while(k < (int)indexArray.getCount() ) { + int index0 = indexArray.get(k)*vertexStride; + domFloat fl0 = listFloats.get(index0); + domFloat fl1 = listFloats.get(index0+1); + domFloat fl2 = listFloats.get(index0+2); + k+=triangleIndexStride; + geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + for(size_t ivert = startoffset+2; ivert < geom.vertices.size(); ++ivert) { + geom.indices.push_back(startoffset); + geom.indices.push_back(ivert-1); + geom.indices.push_back(ivert); + } + } + else { + ROS_WARN_STREAM("float array not defined!\n"); + } + break; + } + } + } + + geom.InitCollisionMesh(); + return false; + } + + /// Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave + /// \param triRef Array of Triangle Strips of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + bool _ExtractGeometry(const domTristripsRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + size_t triangleIndexStride = 0, vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + size_t primitivecount = triRef->getCount(); + if( primitivecount > triRef->getP_array().getCount() ) { + ROS_WARN_STREAM("tristrips has incorrect count\n"); + primitivecount = triRef->getP_array().getCount(); + } + for(size_t ip = 0; ip < primitivecount; ++ip) { + domList_of_uints indexArray = triRef->getP_array()[ip]->getValue(); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + int k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + size_t usedindices = indexArray.getCount()-2; + if( geom.indices.capacity() < geom.indices.size()+usedindices ) { + geom.indices.reserve(geom.indices.size()+usedindices); + } + if( geom.vertices.capacity() < geom.vertices.size()+indexArray.getCount() ) { + geom.vertices.reserve(geom.vertices.size()+indexArray.getCount()); + } + + size_t startoffset = (int)geom.vertices.size(); + while(k < (int)indexArray.getCount() ) { + int index0 = indexArray.get(k)*vertexStride; + domFloat fl0 = listFloats.get(index0); + domFloat fl1 = listFloats.get(index0+1); + domFloat fl2 = listFloats.get(index0+2); + k+=triangleIndexStride; + geom.vertices.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + + bool bFlip = false; + for(size_t ivert = startoffset+2; ivert < geom.vertices.size(); ++ivert) { + geom.indices.push_back(ivert-2); + geom.indices.push_back(bFlip ? ivert : ivert-1); + geom.indices.push_back(bFlip ? ivert-1 : ivert); + bFlip = !bFlip; + } + } + else { + ROS_WARN_STREAM("float array not defined!\n"); + } + break; + } + } + } + + geom.InitCollisionMesh(); + return false; + } + + /// Extract the Geometry in TRIANGLE STRIPS and adds it to OpenRave + /// \param triRef Array of Triangle Strips of the COLLADA's model + /// \param vertsRef Array of vertices of the COLLADA's model + /// \param mapmaterials Materials applied to the geometry + bool _ExtractGeometry(const domPolylistRef triRef, const domVerticesRef vertsRef, const std::map& mapmaterials, std::list& listGeomProperties) + { + if( !triRef ) { + return false; + } + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + // resolve the material and assign correct colors to the geometry + if( !!triRef->getMaterial() ) { + std::map::const_iterator itmat = mapmaterials.find(triRef->getMaterial()); + if( itmat != mapmaterials.end() ) { + _FillGeometryColor(itmat->second,geom); + } + } + + size_t triangleIndexStride = 0,vertexoffset = -1; + domInput_local_offsetRef indexOffsetRef; + for (unsigned int w=0;wgetInput_array().getCount();w++) { + size_t offset = triRef->getInput_array()[w]->getOffset(); + daeString str = triRef->getInput_array()[w]->getSemantic(); + if (!strcmp(str,"VERTEX")) { + indexOffsetRef = triRef->getInput_array()[w]; + vertexoffset = offset; + } + if (offset> triangleIndexStride) { + triangleIndexStride = offset; + } + } + triangleIndexStride++; + const domList_of_uints& indexArray =triRef->getP()->getValue(); + for (size_t i=0;igetInput_array().getCount();++i) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + size_t k=vertexoffset; + int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + for(size_t ipoly = 0; ipoly < triRef->getVcount()->getValue().getCount(); ++ipoly) { + size_t numverts = triRef->getVcount()->getValue()[ipoly]; + if(numverts > 0 && k+(numverts-1)*triangleIndexStride < indexArray.getCount() ) { + size_t startoffset = geom.vertices.size(); + for (size_t j=0;j& mapmaterials, std::list& listGeomProperties) + { + if( !geom ) { + return false; + } + std::vector vconvexhull; + if (geom->getMesh()) { + const domMeshRef meshRef = geom->getMesh(); + for (size_t tg = 0;tggetTriangles_array().getCount();tg++) { + _ExtractGeometry(meshRef->getTriangles_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + for (size_t tg = 0;tggetTrifans_array().getCount();tg++) { + _ExtractGeometry(meshRef->getTrifans_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + for (size_t tg = 0;tggetTristrips_array().getCount();tg++) { + _ExtractGeometry(meshRef->getTristrips_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + for (size_t tg = 0;tggetPolylist_array().getCount();tg++) { + _ExtractGeometry(meshRef->getPolylist_array()[tg], meshRef->getVertices(), mapmaterials, listGeomProperties); + } + if( meshRef->getPolygons_array().getCount()> 0 ) { + ROS_WARN_STREAM("openrave does not support collada polygons\n"); + } + + // if( alltrimesh.vertices.size() == 0 ) { + // const domVerticesRef vertsRef = meshRef->getVertices(); + // for (size_t i=0;igetInput_array().getCount();i++) { + // domInput_localRef localRef = vertsRef->getInput_array()[i]; + // daeString str = localRef->getSemantic(); + // if ( strcmp(str,"POSITION") == 0 ) { + // const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + // if( !node ) + // continue; + // double fUnitScale = _GetUnitScale(node); + // const domFloat_arrayRef flArray = node->getFloat_array(); + // if (!!flArray) { + // const domList_of_floats& listFloats = flArray->getValue(); + // int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor' + // vconvexhull.reserve(vconvexhull.size()+listFloats.getCount()); + // for (size_t vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride) { + // //btVector3 verts[3]; + // domFloat fl0 = listFloats.get(vertIndex); + // domFloat fl1 = listFloats.get(vertIndex+1); + // domFloat fl2 = listFloats.get(vertIndex+2); + // vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + // } + // } + // } + // } + // + // _computeConvexHull(vconvexhull,alltrimesh); + // } + + return true; + } + else if (geom->getConvex_mesh()) { + { + const domConvex_meshRef convexRef = geom->getConvex_mesh(); + daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); + if ( !!otherElemRef ) { + domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef; + ROS_WARN_STREAM( "otherLinked\n"); + } + else { + ROS_WARN("convexMesh polyCount = %d\n",(int)convexRef->getPolygons_array().getCount()); + ROS_WARN("convexMesh triCount = %d\n",(int)convexRef->getTriangles_array().getCount()); + } + } + + const domConvex_meshRef convexRef = geom->getConvex_mesh(); + //daeString urlref = convexRef->getConvex_hull_of().getURI(); + daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI(); + if (urlref2) { + daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); + + // Load all the geometry libraries + for ( size_t i = 0; i < _dom->getLibrary_geometries_array().getCount(); i++) { + domLibrary_geometriesRef libgeom = _dom->getLibrary_geometries_array()[i]; + for (size_t i = 0; i < libgeom->getGeometry_array().getCount(); i++) { + domGeometryRef lib = libgeom->getGeometry_array()[i]; + if (!strcmp(lib->getId(),urlref2+1)) { // skip the # at the front of urlref2 + //found convex_hull geometry + domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh(); + if (meshElement) { + const domVerticesRef vertsRef = meshElement->getVertices(); + for (size_t i=0;igetInput_array().getCount();i++) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + vconvexhull.reserve(vconvexhull.size()+flArray->getCount()); + const domList_of_floats& listFloats = flArray->getValue(); + for (size_t k=0;k+2getCount();k+=3) { + domFloat fl0 = listFloats.get(k); + domFloat fl1 = listFloats.get(k+1); + domFloat fl2 = listFloats.get(k+2); + vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + } + } + } + } + } + } + } + } + else { + //no getConvex_hull_of but direct vertices + const domVerticesRef vertsRef = convexRef->getVertices(); + for (size_t i=0;igetInput_array().getCount();i++) { + domInput_localRef localRef = vertsRef->getInput_array()[i]; + daeString str = localRef->getSemantic(); + if ( strcmp(str,"POSITION") == 0 ) { + const domSourceRef node = daeSafeCast(localRef->getSource().getElement()); + if( !node ) { + continue; + } + double fUnitScale = _GetUnitScale(node); + const domFloat_arrayRef flArray = node->getFloat_array(); + if (!!flArray) { + const domList_of_floats& listFloats = flArray->getValue(); + vconvexhull.reserve(vconvexhull.size()+flArray->getCount()); + for (size_t k=0;k+2getCount();k+=3) { + domFloat fl0 = listFloats.get(k); + domFloat fl1 = listFloats.get(k+1); + domFloat fl2 = listFloats.get(k+2); + vconvexhull.push_back(Vector3(fl0*fUnitScale,fl1*fUnitScale,fl2*fUnitScale)); + } + } + } + } + } + + if( vconvexhull.size()> 0 ) { + listGeomProperties.push_back(GEOMPROPERTIES()); + GEOMPROPERTIES& geom = listGeomProperties.back(); + geom.type = GeomTrimesh; + + //_computeConvexHull(vconvexhull,trimesh); + geom.InitCollisionMesh(); + } + return true; + } + + return false; + } + + /// \brief extract the robot manipulators + void _ExtractRobotManipulators(const domArticulated_systemRef as) + { + for(size_t ie = 0; ie < as->getExtra_array().getCount(); ++ie) { + domExtraRef pextra = as->getExtra_array()[ie]; + if( strcmp(pextra->getType(), "manipulator") == 0 ) { + std::string name = pextra->getAttribute("name"); + if( name.size() == 0 ) { + name = str(boost::format("manipulator%d")%_nGlobalManipulatorId++); + } + domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); + if( !!tec ) { +// RobotBase::ManipulatorPtr pmanip(new RobotBase::Manipulator(probot)); +// pmanip->_name = name; +// daeElement* pframe_origin = tec->getChild("frame_origin"); +// daeElement* pframe_tip = tec->getChild("frame_tip"); +// if( !!pframe_origin ) { +// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); +// if( !!plink ) { +// pmanip->_pBase = boost::static_pointer_cast(_getUserData(plink)->p); +// } +// if( !pmanip->_pBase ) { +// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); +// continue; +// } +// } +// if( !!pframe_tip ) { +// daeElementRef plink = daeSafeCast(daeSidRef(pframe_tip->getAttribute("link"), as).resolve().elt); +// if( !!plink ) { +// pmanip->_pEndEffector = boost::static_pointer_cast(_getUserData(plink)->p); +// } +// if( !pmanip->_pEndEffector ) { +// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame tip %s\n")%name%pframe_tip->getAttribute("link"))); +// continue; +// } +// pmanip->_tGrasp = _ExtractFullTransformFromChildren(pframe_tip); +// } +// +// for(size_t ic = 0; ic < tec->getContents().getCount(); ++ic) { +// daeElementRef pgripper_axis = tec->getContents()[ic]; +// if( pgripper_axis->getElementName() == std::string("gripper_axis") ) { +// domAxis_constraintRef paxis = daeSafeCast(daeSidRef(pgripper_axis->getAttribute("axis"), as).resolve().elt); +// if( !!paxis ) { +// boost::shared_ptr pdofindex = boost::static_pointer_cast(_getUserData(paxis)->p); +// if( !!pdofindex ) { +// if( *pdofindex < 0 ) { +// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s references passive joint\n")%name%pgripper_axis->getAttribute("axis"))); +// } +// else { +// float closingdirection = 0; +// daeElementRef pclosingdirection = daeElementRef(pgripper_axis->getChild("closingdirection")); +// if( !pclosingdirection || !resolveCommon_float_or_param(pclosingdirection,as,closingdirection) ) { +// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s failed to process closing direction\n")%name%pgripper_axis->getAttribute("axis"))); +// } +// pmanip->_vgripperdofindices.push_back(*pdofindex); +// pmanip->_vClosingDirection.push_back((double)closingdirection); +// } +// continue; +// } +// } +// ROS_WARN_STREAM(str(boost::format("could not find manipulator gripper axis %s\n")%pgripper_axis->getAttribute("axis"))); +// } +// } +// probot->GetManipulators().push_back(pmanip); + } + else { + ROS_WARN_STREAM(str(boost::format("cannot create robot %s manipulator %s\n")%_model.name_%name)); + } + } + } + } + + /// \brief Extract Sensors attached to a Robot + void _ExtractRobotAttachedSensors(const domArticulated_systemRef as) + { + for (size_t ie = 0; ie < as->getExtra_array().getCount(); ie++) { + domExtraRef pextra = as->getExtra_array()[ie]; + if( strcmp(pextra->getType(), "sensor") == 0 ) { + std::string name = pextra->getAttribute("name"); + if( name.size() == 0 ) { + name = str(boost::format("sensor%d")%_nGlobalSensorId++); + } + domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); + if( !!tec ) { +// RobotBase::AttachedSensorPtr pattachedsensor(new RobotBase::AttachedSensor(probot)); +// pattachedsensor->_name = name; +// daeElement* pframe_origin = tec->getChild("frame_origin"); +// if( !!pframe_origin ) { +// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); +// if( !!plink ) { +// pattachedsensor->pattachedlink = boost::static_pointer_cast(_getUserData(plink)->p); +// } +// if( !pattachedsensor->pattachedlink.lock() ) { +// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); +// continue; +// } +// pattachedsensor->trelative = _ExtractFullTransformFromChildren(pframe_origin); +// } +// if( !_ExtractSensor(pattachedsensor->psensor,tec->getChild("instance_sensor")) ) { +// ROS_WARN_STREAM(str(boost::format("cannot find instance_sensor for attached sensor %s:%s\n")%_model.name_%name)); +// } +// else { +// pattachedsensor->pdata = pattachedsensor->GetSensor()->CreateSensorData(); +// } +// probot->GetAttachedSensors().push_back(pattachedsensor); + } + else { + ROS_WARN_STREAM(str(boost::format("cannot create robot %s attached sensor %s\n")%_model.name_%name)); + } + } + } + } + + /// \brief Extract an instance of a sensor +// bool _ExtractSensor(SensorBasePtr& psensor, daeElementRef instance_sensor) +// { +// if( !instance_sensor ) { +// return false; +// } +// if( instance_sensor->hasAttribute("url") ) { +// ROS_WARN_STREAM("instance_sensor has no url\n"); +// return false; +// } +// +// std::string instance_id = instance_sensor->getAttribute("id"); +// std::string instance_url = instance_sensor->getAttribute("url"); +// daeElementRef domsensor = _getElementFromUrl(daeURI(*instance_sensor,instance_url)); +// if( !domsensor ) { +// ROS_WARN_STREAM(str(boost::format("failed to find senor id %s url=%s\n")%instance_id%instance_url)); +// return false; +// } +// if( !domsensor->hasAttribute("type") ) { +// ROS_WARN_STREAM("collada needs type attribute\n"); +// return false; +// } +// psensor = RaveCreateSensor(_penv, domsensor->getAttribute("type")); +// if( !psensor ) { +// return false; +// } +// +// // Create the custom XML reader to read in the data (determined by users) +// BaseXMLReaderPtr pcurreader = RaveCallXMLReader(PT_Sensor,psensor->GetXMLId(),psensor, std::list >()); +// if( !pcurreader ) { +// pcurreader.reset(); +// return false; +// } +// _ProcessXMLReader(pcurreader,domsensor); +// psensor->__mapReadableInterfaces[psensor->GetXMLId()] = pcurreader->GetReadable(); +// if( !psensor->Init(instance_sensor->getAttribute("args")) ) { +// ROS_WARN_STREAM(str(boost::format("failed to initialize sensor %s\n"))); +// psensor.reset(); +// } +// return true; +// } + + /// \brief feed the collada data into the base readers xml class +// static void _ProcessXMLReader(BaseXMLReaderPtr preader, daeElementRef elt) +// { +// daeTArray children; +// elt->getChildren(children); +// std::list > atts; +// for (size_t i = 0; i < children.getCount(); i++) { +// std::string xmltag = tolowerstring(children[i]->getElementName()); +// daeTArray domatts; +// children[i]->getAttributes(domatts); +// atts.clear(); +// for(size_t j = 0; j < domatts.getCount(); ++j) { +// atts.push_back(std::make_pair(domatts[j].name,domatts[j].value)); +// } +// preader->startElement(xmltag,atts); +// _ProcessXMLReader(preader,children[i]); +// preader->characters(children[i]->getCharData()); +// preader->endElement(xmltag); +// } +// } + + inline daeElementRef _getElementFromUrl(const daeURI &uri) + { + return daeStandardURIResolver(*_collada).resolveElement(uri); + } + + static daeElement* searchBinding(domCommon_sidref_or_paramRef paddr, daeElementRef parent) + { + if( !!paddr->getSIDREF() ) { + return daeSidRef(paddr->getSIDREF()->getValue(),parent).resolve().elt; + } + if (!!paddr->getParam()) { + return searchBinding(paddr->getParam()->getValue(),parent); + } + return NULL; + } + + /// Search a given parameter reference and stores the new reference to search. + /// \param ref the reference name to search + /// \param parent The array of parameter where the method searchs. + static daeElement* searchBinding(daeString ref, daeElementRef parent) + { + if( !parent ) { + return NULL; + } + daeElement* pelt = NULL; + domKinematics_sceneRef kscene = daeSafeCast(parent.cast()); + if( !!kscene ) { + pelt = searchBindingArray(ref,kscene->getInstance_articulated_system_array()); + if( !!pelt ) { + return pelt; + } + return searchBindingArray(ref,kscene->getInstance_kinematics_model_array()); + } + domArticulated_systemRef articulated_system = daeSafeCast(parent.cast()); + if( !!articulated_system ) { + if( !!articulated_system->getKinematics() ) { + pelt = searchBindingArray(ref,articulated_system->getKinematics()->getInstance_kinematics_model_array()); + if( !!pelt ) { + return pelt; + } + } + if( !!articulated_system->getMotion() ) { + return searchBinding(ref,articulated_system->getMotion()->getInstance_articulated_system()); + } + return NULL; + } + // try to get a bind array + daeElementRef pbindelt; + const domKinematics_bind_Array* pbindarray = NULL; + const domKinematics_newparam_Array* pnewparamarray = NULL; + domInstance_articulated_systemRef ias = daeSafeCast(parent.cast()); + if( !!ias ) { + pbindarray = &ias->getBind_array(); + pbindelt = ias->getUrl().getElement(); + pnewparamarray = &ias->getNewparam_array(); + } + if( !pbindarray || !pbindelt ) { + domInstance_kinematics_modelRef ikm = daeSafeCast(parent.cast()); + if( !!ikm ) { + pbindarray = &ikm->getBind_array(); + pbindelt = ikm->getUrl().getElement(); + pnewparamarray = &ikm->getNewparam_array(); + } + } + if( !!pbindarray && !!pbindelt ) { + for (size_t ibind = 0; ibind < pbindarray->getCount(); ++ibind) { + domKinematics_bindRef pbind = (*pbindarray)[ibind]; + if( !!pbind->getSymbol() && strcmp(pbind->getSymbol(), ref) == 0 ) { + // found a match + if( !!pbind->getParam() ) { + return searchBinding(pbind->getParam()->getRef(), pbindelt); + } + else if( !!pbind->getSIDREF() ) { + return daeSidRef(pbind->getSIDREF()->getValue(), pbindelt).resolve().elt; + } + } + } + for(size_t inewparam = 0; inewparam < pnewparamarray->getCount(); ++inewparam) { + domKinematics_newparamRef newparam = (*pnewparamarray)[inewparam]; + if( !!newparam->getSid() && strcmp(newparam->getSid(), ref) == 0 ) { + if( !!newparam->getSIDREF() ) { // can only bind with SIDREF + return daeSidRef(newparam->getSIDREF()->getValue(),pbindelt).resolve().elt; + } + ROS_WARN_STREAM(str(boost::format("newparam sid=%s does not have SIDREF\n")%newparam->getSid())); + } + } + } + ROS_WARN_STREAM(str(boost::format("failed to get binding '%s' for element: %s\n")%ref%parent->getElementName())); + return NULL; + } + + static daeElement* searchBindingArray(daeString ref, const domInstance_articulated_system_Array& paramArray) + { + for(size_t iikm = 0; iikm < paramArray.getCount(); ++iikm) { + daeElement* pelt = searchBinding(ref,paramArray[iikm].cast()); + if( !!pelt ) { + return pelt; + } + } + return NULL; + } + + static daeElement* searchBindingArray(daeString ref, const domInstance_kinematics_model_Array& paramArray) + { + for(size_t iikm = 0; iikm < paramArray.getCount(); ++iikm) { + daeElement* pelt = searchBinding(ref,paramArray[iikm].cast()); + if( !!pelt ) { + return pelt; + } + } + return NULL; + } + + template static xsBoolean resolveBool(domCommon_bool_or_paramRef paddr, const U& parent) { + if( !!paddr->getBool() ) { + return paddr->getBool()->getValue(); + } + if( !paddr->getParam() ) { + ROS_WARN_STREAM("param not specified, setting to 0\n"); + return false; + } + for(size_t iparam = 0; iparam < parent->getNewparam_array().getCount(); ++iparam) { + domKinematics_newparamRef pnewparam = parent->getNewparam_array()[iparam]; + if( !!pnewparam->getSid() && strcmp(pnewparam->getSid(), paddr->getParam()->getValue()) == 0 ) { + if( !!pnewparam->getBool() ) { + return pnewparam->getBool()->getValue(); + } + else if( !!pnewparam->getSIDREF() ) { + domKinematics_newparam::domBoolRef ptarget = daeSafeCast(daeSidRef(pnewparam->getSIDREF()->getValue(), pnewparam).resolve().elt); + if( !ptarget ) { + ROS_WARN("failed to resolve %s from %s\n", pnewparam->getSIDREF()->getValue(), paddr->getID()); + continue; + } + return ptarget->getValue(); + } + } + } + ROS_WARN_STREAM(str(boost::format("failed to resolve %s\n")%paddr->getParam()->getValue())); + return false; + } + template static domFloat resolveFloat(domCommon_float_or_paramRef paddr, const U& parent) { + if( !!paddr->getFloat() ) { + return paddr->getFloat()->getValue(); + } + if( !paddr->getParam() ) { + ROS_WARN_STREAM("param not specified, setting to 0\n"); + return 0; + } + for(size_t iparam = 0; iparam < parent->getNewparam_array().getCount(); ++iparam) { + domKinematics_newparamRef pnewparam = parent->getNewparam_array()[iparam]; + if( !!pnewparam->getSid() && strcmp(pnewparam->getSid(), paddr->getParam()->getValue()) == 0 ) { + if( !!pnewparam->getFloat() ) { + return pnewparam->getFloat()->getValue(); + } + else if( !!pnewparam->getSIDREF() ) { + domKinematics_newparam::domFloatRef ptarget = daeSafeCast(daeSidRef(pnewparam->getSIDREF()->getValue(), pnewparam).resolve().elt); + if( !ptarget ) { + ROS_WARN("failed to resolve %s from %s\n", pnewparam->getSIDREF()->getValue(), paddr->getID()); + continue; + } + return ptarget->getValue(); + } + } + } + ROS_WARN_STREAM(str(boost::format("failed to resolve %s\n")%paddr->getParam()->getValue())); + return 0; + } + + static bool resolveCommon_float_or_param(daeElementRef pcommon, daeElementRef parent, float& f) + { + daeElement* pfloat = pcommon->getChild("float"); + if( !!pfloat ) { + std::stringstream sfloat(pfloat->getCharData()); + sfloat >> f; + return !!sfloat; + } + daeElement* pparam = pcommon->getChild("param"); + if( !!pparam ) { + if( pparam->hasAttribute("ref") ) { + ROS_WARN_STREAM("cannot process param ref\n"); + } + else { + daeElement* pelt = daeSidRef(pparam->getCharData(),parent).resolve().elt; + if( !!pelt ) { + ROS_WARN_STREAM(str(boost::format("found param ref: %s from %s\n")%pelt->getCharData()%pparam->getCharData())); + } + } + } + return false; + } + + static boost::array _matrixIdentity() + { + boost::array m = {{1,0,0,0,0,1,0,0,0,0,1,0}}; + return m; + }; + + /// Gets all transformations applied to the node + static boost::array _getTransform(daeElementRef pelt) + { + boost::array m = _matrixIdentity(); + domRotateRef protate = daeSafeCast(pelt); + if( !!protate ) { + m = _matrixFromAxisAngle(Vector3(protate->getValue()[0],protate->getValue()[1],protate->getValue()[2]), (double)(protate->getValue()[3]*(M_PI/180.0))); + return m; + } + + domTranslateRef ptrans = daeSafeCast(pelt); + if( !!ptrans ) { + double scale = _GetUnitScale(pelt); + m[3] = ptrans->getValue()[0]*scale; + m[7] = ptrans->getValue()[1]*scale; + m[11] = ptrans->getValue()[2]*scale; + return m; + } + + domMatrixRef pmat = daeSafeCast(pelt); + if( !!pmat ) { + double scale = _GetUnitScale(pelt); + for(int i = 0; i < 3; ++i) { + m[4*i+0] = pmat->getValue()[4*i+0]; + m[4*i+1] = pmat->getValue()[4*i+1]; + m[4*i+2] = pmat->getValue()[4*i+2]; + m[4*i+3] = pmat->getValue()[4*i+3]*scale; + } + return m; + } + + domScaleRef pscale = daeSafeCast(pelt); + if( !!pscale ) { + m[0] = pscale->getValue()[0]; + m[4*1+1] = pscale->getValue()[1]; + m[4*2+2] = pscale->getValue()[2]; + return m; + } + + domLookatRef pcamera = daeSafeCast(pelt); + if( pelt->typeID() == domLookat::ID() ) { + ROS_ERROR_STREAM("look at transform not implemented\n"); + return m; + } + + domSkewRef pskew = daeSafeCast(pelt); + if( !!pskew ) { + ROS_ERROR_STREAM("skew transform not implemented\n"); + } + + return m; + } + + /// Travels recursively the node parents of the given one + /// to extract the Transform arrays that affects the node given + template static boost::array _getNodeParentTransform(const T pelt) { + domNodeRef pnode = daeSafeCast(pelt->getParent()); + if( !pnode ) { + return _matrixIdentity(); + } + return _poseMult(_getNodeParentTransform(pnode), _ExtractFullTransform(pnode)); + } + + /// \brief Travel by the transformation array and calls the _getTransform method + template static boost::array _ExtractFullTransform(const T pelt) { + boost::array t = _matrixIdentity(); + for(size_t i = 0; i < pelt->getContents().getCount(); ++i) { + t = _poseMult(t, _getTransform(pelt->getContents()[i])); + } + return t; + } + + /// \brief Travel by the transformation array and calls the _getTransform method + template static boost::array _ExtractFullTransformFromChildren(const T pelt) { + boost::array t = _matrixIdentity(); + daeTArray children; pelt->getChildren(children); + for(size_t i = 0; i < children.getCount(); ++i) { + t = _poseMult(t, _getTransform(children[i])); + } + return t; + } + + // decompose a matrix into a scale and rigid transform (necessary for model scales) + void _decompose(const boost::array& tm, Pose& tout, Vector3& vscale) + { + vscale.x = 1; vscale.y = 1; vscale.z = 1; + tout = _poseFromMatrix(tm); + } + + virtual void handleError( daeString msg ) + { + ROS_ERROR("COLLADA error: %s\n", msg); + } + + virtual void handleWarning( daeString msg ) + { + ROS_WARN("COLLADA warning: %s\n", msg); + } + + inline static double _GetUnitScale(daeElement* pelt) + { + return ((USERDATA*)pelt->getUserData())->scale; + } + + domTechniqueRef _ExtractOpenRAVEProfile(const domTechnique_Array& arr) + { + for(size_t i = 0; i < arr.getCount(); ++i) { + if( strcmp(arr[i]->getProfile(), "OpenRAVE") == 0 ) { + return arr[i]; + } + } + return domTechniqueRef(); + } + + /// \brief returns an openrave interface type from the extra array + boost::shared_ptr _ExtractInterfaceType(const domExtra_Array& arr) { + for(size_t i = 0; i < arr.getCount(); ++i) { + if( strcmp(arr[i]->getType(),"interface_type") == 0 ) { + domTechniqueRef tec = _ExtractOpenRAVEProfile(arr[i]->getTechnique_array()); + if( !!tec ) { + daeElement* ptype = tec->getChild("interface"); + if( !!ptype ) { + return boost::shared_ptr(new std::string(ptype->getCharData())); + } + } + } + } + return boost::shared_ptr(); + } + + std::string _ExtractLinkName(domLinkRef pdomlink) { + std::string linkname; + if( !!pdomlink ) { + if( !!pdomlink->getName() ) { + linkname = pdomlink->getName(); + } + if( linkname.size() == 0 && !!pdomlink->getID() ) { + linkname = pdomlink->getID(); + } + } + return linkname; + } + + bool _checkMathML(daeElementRef pelt,const std::string& type) + { + if( pelt->getElementName()==type ) { + return true; + } + // check the substring after ':' + std::string name = pelt->getElementName(); + std::size_t pos = name.find_last_of(':'); + if( pos == std::string::npos ) { + return false; + } + return name.substr(pos+1)==type; + } + + boost::shared_ptr _getJointFromRef(xsToken targetref, daeElementRef peltref) { + daeElement* peltjoint = daeSidRef(targetref, peltref).resolve().elt; + domJointRef pdomjoint = daeSafeCast (peltjoint); + + if (!pdomjoint) { + domInstance_jointRef pdomijoint = daeSafeCast (peltjoint); + if (!!pdomijoint) { + pdomjoint = daeSafeCast (pdomijoint->getUrl().getElement().cast()); + } + } + + if (!pdomjoint || pdomjoint->typeID() != domJoint::ID() || !pdomjoint->getName()) { + ROS_WARN_STREAM(str(boost::format("could not find collada joint %s!\n")%targetref)); + return boost::shared_ptr(); + } + + boost::shared_ptr pjoint = _model.joints_[std::string(pdomjoint->getName())]; + if(!pjoint) { + ROS_WARN_STREAM(str(boost::format("could not find openrave joint %s!\n")%pdomjoint->getName())); + } + return pjoint; + } + + /// \brief go through all kinematics binds to get a kinematics/visual pair + /// \param kiscene instance of one kinematics scene, binds the kinematic and visual models + /// \param bindings the extracted bindings + static void _ExtractKinematicsVisualBindings(domInstance_with_extraRef viscene, domInstance_kinematics_sceneRef kiscene, KinematicsSceneBindings& bindings) + { + domKinematics_sceneRef kscene = daeSafeCast (kiscene->getUrl().getElement().cast()); + if (!kscene) { + return; + } + for (size_t imodel = 0; imodel < kiscene->getBind_kinematics_model_array().getCount(); imodel++) { + domArticulated_systemRef articulated_system; // if filled, contains robot-specific information, so create a robot + domBind_kinematics_modelRef kbindmodel = kiscene->getBind_kinematics_model_array()[imodel]; + if (!kbindmodel->getNode()) { + ROS_WARN_STREAM("do not support kinematics models without references to nodes\n"); + continue; + } + + // visual information + domNodeRef node = daeSafeCast(daeSidRef(kbindmodel->getNode(), viscene->getUrl().getElement()).resolve().elt); + if (!node) { + ROS_WARN_STREAM(str(boost::format("bind_kinematics_model does not reference valid node %s\n")%kbindmodel->getNode())); + continue; + } + + // kinematics information + daeElement* pelt = searchBinding(kbindmodel,kscene); + domInstance_kinematics_modelRef kimodel = daeSafeCast(pelt); + if (!kimodel) { + if( !pelt ) { + ROS_WARN_STREAM("bind_kinematics_model does not reference element\n"); + } + else { + ROS_WARN_STREAM(str(boost::format("bind_kinematics_model cannot find reference to %s%s:\n")%pelt->getElementName())); + } + continue; + } + bindings.listKinematicsVisualBindings.push_back(std::make_pair(node,kimodel)); + } + // axis info + for (size_t ijoint = 0; ijoint < kiscene->getBind_joint_axis_array().getCount(); ++ijoint) { + domBind_joint_axisRef bindjoint = kiscene->getBind_joint_axis_array()[ijoint]; + daeElementRef pjtarget = daeSidRef(bindjoint->getTarget(), viscene->getUrl().getElement()).resolve().elt; + if (!pjtarget) { + ROS_ERROR_STREAM(str(boost::format("Target Node %s NOT found!!!\n")%bindjoint->getTarget())); + continue; + } + daeElement* pelt = searchBinding(bindjoint->getAxis(),kscene); + domAxis_constraintRef pjointaxis = daeSafeCast(pelt); + if (!pjointaxis) { + continue; + } + bindings.listAxisBindings.push_back(JointAxisBinding(pjtarget, pjointaxis, bindjoint->getValue(), NULL, NULL)); + } + } + + size_t _countChildren(daeElement* pelt) { + size_t c = 1; + daeTArray children; + pelt->getChildren(children); + for (size_t i = 0; i < children.getCount(); ++i) { + c += _countChildren(children[i]); + } + return c; + } + + void _processUserData(daeElement* pelt, double scale) + { + // getChild could be optimized since asset tag is supposed to appear as the first element + domAssetRef passet = daeSafeCast (pelt->getChild("asset")); + if (!!passet && !!passet->getUnit()) { + scale = passet->getUnit()->getMeter(); + } + + _vuserdata.push_back(USERDATA(scale)); + pelt->setUserData(&_vuserdata.back()); + daeTArray children; + pelt->getChildren(children); + for (size_t i = 0; i < children.getCount(); ++i) { + if (children[i] != passet) { + _processUserData(children[i], scale); + } + } + } + + USERDATA* _getUserData(daeElement* pelt) + { + BOOST_ASSERT(!!pelt); + void* p = pelt->getUserData(); + BOOST_ASSERT(!!p); + return (USERDATA*)p; + } + + // + // openrave math functions (from geometry.h) + // + + static Vector3 _poseMult(const Pose& p, const Vector3& v) + { + double ww = 2 * p.rotation.x * p.rotation.x; + double wx = 2 * p.rotation.x * p.rotation.y; + double wy = 2 * p.rotation.x * p.rotation.z; + double wz = 2 * p.rotation.x * p.rotation.w; + double xx = 2 * p.rotation.y * p.rotation.y; + double xy = 2 * p.rotation.y * p.rotation.z; + double xz = 2 * p.rotation.y * p.rotation.w; + double yy = 2 * p.rotation.z * p.rotation.z; + double yz = 2 * p.rotation.z * p.rotation.w; + Vector3 vnew; + vnew.x = (1-xx-yy) * v.x + (wx-yz) * v.y + (wy+xz)*v.z + p.position.x; + vnew.y = (wx+yz) * v.x + (1-ww-yy) * v.y + (xy-wz)*v.z + p.position.y; + vnew.z = (wy-xz) * v.x + (xy+wz) * v.y + (1-ww-xx)*v.z + p.position.z; + return vnew; + } + + static Vector3 _poseMult(const boost::array& m, const Vector3& v) + { + Vector3 vnew; + vnew.x = m[4*0+0] * v.x + m[4*0+1] * v.y + m[4*0+2] * v.z + m[4*0+3]; + vnew.y = m[4*1+0] * v.x + m[4*1+1] * v.y + m[4*1+2] * v.z + m[4*1+3]; + vnew.z = m[4*2+0] * v.x + m[4*2+1] * v.y + m[4*2+2] * v.z + m[4*2+3]; + return vnew; + } + + static boost::array _poseMult(const boost::array& m0, const boost::array& m1) + { + boost::array mres; + mres[0*4+0] = m0[0*4+0]*m1[0*4+0]+m0[0*4+1]*m1[1*4+0]+m0[0*4+2]*m1[2*4+0]; + mres[0*4+1] = m0[0*4+0]*m1[0*4+1]+m0[0*4+1]*m1[1*4+1]+m0[0*4+2]*m1[2*4+1]; + mres[0*4+2] = m0[0*4+0]*m1[0*4+2]+m0[0*4+1]*m1[1*4+2]+m0[0*4+2]*m1[2*4+2]; + mres[1*4+0] = m0[1*4+0]*m1[0*4+0]+m0[1*4+1]*m1[1*4+0]+m0[1*4+2]*m1[2*4+0]; + mres[1*4+1] = m0[1*4+0]*m1[0*4+1]+m0[1*4+1]*m1[1*4+1]+m0[1*4+2]*m1[2*4+1]; + mres[1*4+2] = m0[1*4+0]*m1[0*4+2]+m0[1*4+1]*m1[1*4+2]+m0[1*4+2]*m1[2*4+2]; + mres[2*4+0] = m0[2*4+0]*m1[0*4+0]+m0[2*4+1]*m1[1*4+0]+m0[2*4+2]*m1[2*4+0]; + mres[2*4+1] = m0[2*4+0]*m1[0*4+1]+m0[2*4+1]*m1[1*4+1]+m0[2*4+2]*m1[2*4+1]; + mres[2*4+2] = m0[2*4+0]*m1[0*4+2]+m0[2*4+1]*m1[1*4+2]+m0[2*4+2]*m1[2*4+2]; + mres[3] = m1[3] * m0[0] + m1[7] * m0[1] + m1[11] * m0[2] + m0[3]; + mres[7] = m1[3] * m0[4] + m1[7] * m0[5] + m1[11] * m0[6] + m0[7]; + mres[11] = m1[3] * m0[8] + m1[7] * m0[9] + m1[11] * m0[10] + m0[11]; + return mres; + } + + static Pose _poseMult(const Pose& p0, const Pose& p1) + { + Pose p; + p.position = _poseMult(p0,p1.position); + p.rotation = _quatMult(p0.rotation,p1.rotation); + return p; + } + + static Pose _poseInverse(const Pose& p) + { + Pose pinv; + pinv.rotation.x = -p.rotation.x; + pinv.rotation.y = -p.rotation.y; + pinv.rotation.z = -p.rotation.z; + pinv.rotation.w = p.rotation.w; + Vector3 t = _poseMult(pinv,p.position); + pinv.position.x = -t.x; + pinv.position.y = -t.y; + pinv.position.z = -t.z; + return pinv; + } + + static Rotation _quatMult(const Rotation& quat0, const Rotation& quat1) + { + Rotation q; + q.x = quat0.w*quat1.x + quat0.x*quat1.w + quat0.y*quat1.z - quat0.z*quat1.y; + q.y = quat0.w*quat1.y + quat0.y*quat1.w + quat0.z*quat1.x - quat0.x*quat1.z; + q.z = quat0.w*quat1.z + quat0.z*quat1.w + quat0.x*quat1.y - quat0.y*quat1.x; + q.w = quat0.w*quat1.w - quat0.x*quat1.x - quat0.y*quat1.y - quat0.z*quat1.z; + double fnorm = std::sqrt(q.x*q.x+q.y*q.y+q.z*q.z+q.w*q.w); + // don't touch the divides + q.x /= fnorm; + q.y /= fnorm; + q.z /= fnorm; + q.w /= fnorm; + return q; + } + + static boost::array _matrixFromAxisAngle(const Vector3& axis, double angle) + { + return _matrixFromQuat(_quatFromAxisAngle(axis.x,axis.y,axis.z,angle)); + } + + static boost::array _matrixFromQuat(const Rotation& quat) + { + boost::array m; + double qq1 = 2*quat.x*quat.x; + double qq2 = 2*quat.y*quat.y; + double qq3 = 2*quat.z*quat.z; + m[4*0+0] = 1 - qq2 - qq3; + m[4*0+1] = 2*(quat.x*quat.y - quat.w*quat.z); + m[4*0+2] = 2*(quat.x*quat.z + quat.w*quat.y); + m[4*0+3] = 0; + m[4*1+0] = 2*(quat.x*quat.y + quat.w*quat.z); + m[4*1+1] = 1 - qq1 - qq3; + m[4*1+2] = 2*(quat.y*quat.z - quat.w*quat.x); + m[4*1+3] = 0; + m[4*2+0] = 2*(quat.x*quat.z - quat.w*quat.y); + m[4*2+1] = 2*(quat.y*quat.z + quat.w*quat.x); + m[4*2+2] = 1 - qq1 - qq2; + m[4*2+3] = 0; + return m; + } + + static Pose _poseFromMatrix(const boost::array& m) + { + Pose t; + t.rotation = _quatFromMatrix(m); + t.position.x = m[3]; + t.position.y = m[7]; + t.position.z = m[11]; + return t; + } + + static boost::array _matrixFromPose(const Pose& t) + { + boost::array m = _matrixFromQuat(t.rotation); + m[3] = t.position.x; + m[7] = t.position.y; + m[11] = t.position.z; + return m; + } + + static Rotation _quatFromAxisAngle(double x, double y, double z, double angle) + { + Rotation q; + double axislen = std::sqrt(x*x+y*y+z*z); + if( axislen == 0 ) { + return q; + } + angle *= 0.5; + double sang = std::sin(angle)/axislen; + q.w = std::cos(angle); + q.x = x*sang; + q.y = y*sang; + q.z = z*sang; + return q; + } + + static Rotation _quatFromMatrix(const boost::array& mat) + { + Rotation rot; + double tr = mat[4*0+0] + mat[4*1+1] + mat[4*2+2]; + if (tr >= 0) { + rot.w = tr + 1; + rot.x = (mat[4*2+1] - mat[4*1+2]); + rot.y = (mat[4*0+2] - mat[4*2+0]); + rot.z = (mat[4*1+0] - mat[4*0+1]); + } + else { + // find the largest diagonal element and jump to the appropriate case + if (mat[4*1+1] > mat[4*0+0]) { + if (mat[4*2+2] > mat[4*1+1]) { + rot.z = (mat[4*2+2] - (mat[4*0+0] + mat[4*1+1])) + 1; + rot.x = (mat[4*2+0] + mat[4*0+2]); + rot.y = (mat[4*1+2] + mat[4*2+1]); + rot.w = (mat[4*1+0] - mat[4*0+1]); + } + else { + rot.y = (mat[4*1+1] - (mat[4*2+2] + mat[4*0+0])) + 1; + rot.z = (mat[4*1+2] + mat[4*2+1]); + rot.x = (mat[4*0+1] + mat[4*1+0]); + rot.w = (mat[4*0+2] - mat[4*2+0]); + } + } + else if (mat[4*2+2] > mat[4*0+0]) { + rot.z = (mat[4*2+2] - (mat[4*0+0] + mat[4*1+1])) + 1; + rot.x = (mat[4*2+0] + mat[4*0+2]); + rot.y = (mat[4*1+2] + mat[4*2+1]); + rot.w = (mat[4*1+0] - mat[4*0+1]); + } + else { + rot.x = (mat[4*0+0] - (mat[4*1+1] + mat[4*2+2])) + 1; + rot.y = (mat[4*0+1] + mat[4*1+0]); + rot.z = (mat[4*2+0] + mat[4*0+2]); + rot.w = (mat[4*2+1] - mat[4*1+2]); + } + } + double fnorm = std::sqrt(rot.x*rot.x+rot.y*rot.y+rot.z*rot.z+rot.w*rot.w); + // don't touch the divides + rot.x /= fnorm; + rot.y /= fnorm; + rot.z /= fnorm; + rot.w /= fnorm; + return rot; + } + + static double _dot3(const Vector3& v0, const Vector3& v1) + { + return v0.x*v1.x + v0.y*v1.y + v0.z*v1.z; + } + static Vector3 _cross3(const Vector3& v0, const Vector3& v1) + { + Vector3 v; + v.x = v0.y * v1.z - v0.z * v1.y; + v.y = v0.z * v1.x - v0.x * v1.z; + v.z = v0.x * v1.y - v0.y * v1.x; + return v; + } + static Vector3 _sub3(const Vector3& v0, const Vector3& v1) + { + Vector3 v; + v.x = v0.x-v1.x; + v.y = v0.y-v1.y; + v.z = v0.z-v1.z; + return v; + } + static Vector3 _add3(const Vector3& v0, const Vector3& v1) + { + Vector3 v; + v.x = v0.x+v1.x; + v.y = v0.y+v1.y; + v.z = v0.z+v1.z; + return v; + } + static Vector3 _normalize3(const Vector3& v0) + { + Vector3 v; + double norm = std::sqrt(v0.x*v0.x+v0.y*v0.y+v0.z*v0.z); + v.x = v0.x/norm; + v.y = v0.y/norm; + v.z = v0.z/norm; + return v; + } + + boost::shared_ptr _collada; + domCOLLADA* _dom; + std::vector _vuserdata; // all userdata + int _nGlobalSensorId, _nGlobalManipulatorId; + std::string _filename; + std::string _resourcedir; + Model& _model; +}; + +bool urdfFromColladaFile(std::string const& daefilename, Model& model) +{ + ColladaModelReader reader(model); + return reader.InitFromFile(daefilename); +} + +bool urdfFromColladaData(std::string const& data, Model& model) +{ + ColladaModelReader reader(model); + return reader.InitFromData(data); +} + +bool urdfFromTiXML(TiXmlElement *robot_xml, Model& model) +{ + ColladaModelReader reader(model); + // have to convert all xml back to string (sigh..) + std::stringstream ss; + ss << *robot_xml; + return reader.InitFromData(ss.str()); +} + +bool IsColladaFile(const std::string& filename) +{ + size_t len = filename.size(); + if( len < 4 ) + return false; + return filename[len-4] == '.' && ::tolower(filename[len-3]) == 'd' && ::tolower(filename[len-2]) == 'a' && ::tolower(filename[len-1]) == 'e'; +} + +bool IsColladaData(const std::string& data) +{ + return data.find("RootElement() ) { + if( std::string("COLLADA") == xml_doc->RootElement()->ValueStr() ) { + return urdfFromTiXML(xml_doc->RootElement(),*this); + } + } + TiXmlElement *robot_xml = xml_doc->FirstChildElement("robot"); if (!robot_xml) { @@ -120,6 +141,11 @@ bool Model::initXml(TiXmlElement *robot_xml) ROS_DEBUG("Parsing robot xml"); if (!robot_xml) return false; + // necessary for COLLADA compatibility + if( std::string("COLLADA") == robot_xml->ValueStr() ) { + return urdfFromTiXML(robot_xml,*this); + } + // Get robot name const char *name = robot_xml->Attribute("name"); if (!name) @@ -298,7 +324,7 @@ bool Model::initTree(std::map &parent_link_tree) ROS_ERROR(" parent link '%s' of joint '%s' not found. The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() ); return false; } - + //set parent link for child link child_link->setParent(parent_link); From f53e2c0e6bd559bbb196e10775f26d4bb3d8a01f Mon Sep 17 00:00:00 2001 From: rdiankov Date: Wed, 1 Dec 2010 21:31:35 +0000 Subject: [PATCH 223/245] fixed typo for detecting collada file, removed commented out manipulator and sensor collada parsing funtions until urdf api can support them --- collada_urdf/manifest.xml | 2 + urdf/manifest.xml | 2 +- urdf/src/collada_model_reader.cpp | 170 +----------------------------- urdf/src/model.cpp | 2 +- 4 files changed, 7 insertions(+), 169 deletions(-) diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index 1507da3..7addbdb 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -3,6 +3,8 @@ This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents. + Implements robot-specific COLLADA extensions as defined by + http://openrave.programmingvision.com/index.php/Started:COLLADA Tim Field BSD diff --git a/urdf/manifest.xml b/urdf/manifest.xml index d03ca3f..f857168 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -5,7 +5,7 @@ The code API of the parser has been through our review process and will remain backwards compatible in future releases. - Wim Meeussen, John Hsu + Wim Meeussen, John Hsu, Rosen Diankov BSD http://ros.org/wiki/urdf diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp index 6f03f61..c5cc462 100644 --- a/urdf/src/collada_model_reader.cpp +++ b/urdf/src/collada_model_reader.cpp @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2010, Rosen Diankov, Willow Garage, Inc. +* Copyright (c) 2010, University of Tokyo * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -1763,179 +1763,15 @@ protected: /// \brief extract the robot manipulators void _ExtractRobotManipulators(const domArticulated_systemRef as) { - for(size_t ie = 0; ie < as->getExtra_array().getCount(); ++ie) { - domExtraRef pextra = as->getExtra_array()[ie]; - if( strcmp(pextra->getType(), "manipulator") == 0 ) { - std::string name = pextra->getAttribute("name"); - if( name.size() == 0 ) { - name = str(boost::format("manipulator%d")%_nGlobalManipulatorId++); - } - domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); - if( !!tec ) { -// RobotBase::ManipulatorPtr pmanip(new RobotBase::Manipulator(probot)); -// pmanip->_name = name; -// daeElement* pframe_origin = tec->getChild("frame_origin"); -// daeElement* pframe_tip = tec->getChild("frame_tip"); -// if( !!pframe_origin ) { -// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); -// if( !!plink ) { -// pmanip->_pBase = boost::static_pointer_cast(_getUserData(plink)->p); -// } -// if( !pmanip->_pBase ) { -// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); -// continue; -// } -// } -// if( !!pframe_tip ) { -// daeElementRef plink = daeSafeCast(daeSidRef(pframe_tip->getAttribute("link"), as).resolve().elt); -// if( !!plink ) { -// pmanip->_pEndEffector = boost::static_pointer_cast(_getUserData(plink)->p); -// } -// if( !pmanip->_pEndEffector ) { -// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame tip %s\n")%name%pframe_tip->getAttribute("link"))); -// continue; -// } -// pmanip->_tGrasp = _ExtractFullTransformFromChildren(pframe_tip); -// } -// -// for(size_t ic = 0; ic < tec->getContents().getCount(); ++ic) { -// daeElementRef pgripper_axis = tec->getContents()[ic]; -// if( pgripper_axis->getElementName() == std::string("gripper_axis") ) { -// domAxis_constraintRef paxis = daeSafeCast(daeSidRef(pgripper_axis->getAttribute("axis"), as).resolve().elt); -// if( !!paxis ) { -// boost::shared_ptr pdofindex = boost::static_pointer_cast(_getUserData(paxis)->p); -// if( !!pdofindex ) { -// if( *pdofindex < 0 ) { -// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s references passive joint\n")%name%pgripper_axis->getAttribute("axis"))); -// } -// else { -// float closingdirection = 0; -// daeElementRef pclosingdirection = daeElementRef(pgripper_axis->getChild("closingdirection")); -// if( !pclosingdirection || !resolveCommon_float_or_param(pclosingdirection,as,closingdirection) ) { -// ROS_WARN_STREAM(str(boost::format("manipulator %s gripper axis %s failed to process closing direction\n")%name%pgripper_axis->getAttribute("axis"))); -// } -// pmanip->_vgripperdofindices.push_back(*pdofindex); -// pmanip->_vClosingDirection.push_back((double)closingdirection); -// } -// continue; -// } -// } -// ROS_WARN_STREAM(str(boost::format("could not find manipulator gripper axis %s\n")%pgripper_axis->getAttribute("axis"))); -// } -// } -// probot->GetManipulators().push_back(pmanip); - } - else { - ROS_WARN_STREAM(str(boost::format("cannot create robot %s manipulator %s\n")%_model.name_%name)); - } - } - } + ROS_DEBUG("collada manipulators not supported yet"); } /// \brief Extract Sensors attached to a Robot void _ExtractRobotAttachedSensors(const domArticulated_systemRef as) { - for (size_t ie = 0; ie < as->getExtra_array().getCount(); ie++) { - domExtraRef pextra = as->getExtra_array()[ie]; - if( strcmp(pextra->getType(), "sensor") == 0 ) { - std::string name = pextra->getAttribute("name"); - if( name.size() == 0 ) { - name = str(boost::format("sensor%d")%_nGlobalSensorId++); - } - domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array()); - if( !!tec ) { -// RobotBase::AttachedSensorPtr pattachedsensor(new RobotBase::AttachedSensor(probot)); -// pattachedsensor->_name = name; -// daeElement* pframe_origin = tec->getChild("frame_origin"); -// if( !!pframe_origin ) { -// domLinkRef plink = daeSafeCast(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt); -// if( !!plink ) { -// pattachedsensor->pattachedlink = boost::static_pointer_cast(_getUserData(plink)->p); -// } -// if( !pattachedsensor->pattachedlink.lock() ) { -// ROS_WARN_STREAM(str(boost::format("failed to find manipulator %s frame origin %s\n")%name%pframe_origin->getAttribute("link"))); -// continue; -// } -// pattachedsensor->trelative = _ExtractFullTransformFromChildren(pframe_origin); -// } -// if( !_ExtractSensor(pattachedsensor->psensor,tec->getChild("instance_sensor")) ) { -// ROS_WARN_STREAM(str(boost::format("cannot find instance_sensor for attached sensor %s:%s\n")%_model.name_%name)); -// } -// else { -// pattachedsensor->pdata = pattachedsensor->GetSensor()->CreateSensorData(); -// } -// probot->GetAttachedSensors().push_back(pattachedsensor); - } - else { - ROS_WARN_STREAM(str(boost::format("cannot create robot %s attached sensor %s\n")%_model.name_%name)); - } - } - } + ROS_DEBUG("collada sensors not supported yet"); } - /// \brief Extract an instance of a sensor -// bool _ExtractSensor(SensorBasePtr& psensor, daeElementRef instance_sensor) -// { -// if( !instance_sensor ) { -// return false; -// } -// if( instance_sensor->hasAttribute("url") ) { -// ROS_WARN_STREAM("instance_sensor has no url\n"); -// return false; -// } -// -// std::string instance_id = instance_sensor->getAttribute("id"); -// std::string instance_url = instance_sensor->getAttribute("url"); -// daeElementRef domsensor = _getElementFromUrl(daeURI(*instance_sensor,instance_url)); -// if( !domsensor ) { -// ROS_WARN_STREAM(str(boost::format("failed to find senor id %s url=%s\n")%instance_id%instance_url)); -// return false; -// } -// if( !domsensor->hasAttribute("type") ) { -// ROS_WARN_STREAM("collada needs type attribute\n"); -// return false; -// } -// psensor = RaveCreateSensor(_penv, domsensor->getAttribute("type")); -// if( !psensor ) { -// return false; -// } -// -// // Create the custom XML reader to read in the data (determined by users) -// BaseXMLReaderPtr pcurreader = RaveCallXMLReader(PT_Sensor,psensor->GetXMLId(),psensor, std::list >()); -// if( !pcurreader ) { -// pcurreader.reset(); -// return false; -// } -// _ProcessXMLReader(pcurreader,domsensor); -// psensor->__mapReadableInterfaces[psensor->GetXMLId()] = pcurreader->GetReadable(); -// if( !psensor->Init(instance_sensor->getAttribute("args")) ) { -// ROS_WARN_STREAM(str(boost::format("failed to initialize sensor %s\n"))); -// psensor.reset(); -// } -// return true; -// } - - /// \brief feed the collada data into the base readers xml class -// static void _ProcessXMLReader(BaseXMLReaderPtr preader, daeElementRef elt) -// { -// daeTArray children; -// elt->getChildren(children); -// std::list > atts; -// for (size_t i = 0; i < children.getCount(); i++) { -// std::string xmltag = tolowerstring(children[i]->getElementName()); -// daeTArray domatts; -// children[i]->getAttributes(domatts); -// atts.clear(); -// for(size_t j = 0; j < domatts.getCount(); ++j) { -// atts.push_back(std::make_pair(domatts[j].name,domatts[j].value)); -// } -// preader->startElement(xmltag,atts); -// _ProcessXMLReader(preader,children[i]); -// preader->characters(children[i]->getCharData()); -// preader->endElement(xmltag); -// } -// } - inline daeElementRef _getElementFromUrl(const daeURI &uri) { return daeStandardURIResolver(*_collada).resolveElement(uri); diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index f898828..c4106d7 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -65,7 +65,7 @@ void Model::clear() bool Model::initFile(const std::string& filename) { // necessary for COLLADA compatibility - if( 0&&IsColladaFile(filename) ) { + if( IsColladaFile(filename) ) { return urdfFromColladaFile(filename,*this); } TiXmlDocument xml_doc; From 7d260dc855eee755568ce3b02f5ef8e0476c6c6a Mon Sep 17 00:00:00 2001 From: rdiankov Date: Fri, 3 Dec 2010 12:32:02 +0000 Subject: [PATCH 224/245] updated colladadom include directories in makefile --- colladadom/Makefile | 1 - colladadom/manifest.xml | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/colladadom/Makefile b/colladadom/Makefile index efb8121..44e95ec 100644 --- a/colladadom/Makefile +++ b/colladadom/Makefile @@ -29,7 +29,6 @@ installed: wiped $(SOURCE_DIR)/unpacked @echo "making it" cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS) cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/ - mv $(ROOT)/include/1.5/dom $(ROOT)/include/dom cp -rf $(SOURCE_DIR)/dom/build/$(OS)-1.5/*.* $(ROOT)/lib/ touch installed diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 194318d..c244c89 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -14,8 +14,8 @@ - - + + From 2758eff268a6dbf0b7f2a1fce5b79f237c23a807 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Mon, 6 Dec 2010 14:19:24 +0000 Subject: [PATCH 225/245] fixed urdf compilation for older linux distros that do not have msktemps --- urdf/CMakeLists.txt | 6 ++++++ urdf/src/collada_model_reader.cpp | 18 +++++++++++++++++- 2 files changed, 23 insertions(+), 1 deletion(-) diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt index 64d4b42..96355f2 100644 --- a/urdf/CMakeLists.txt +++ b/urdf/CMakeLists.txt @@ -21,6 +21,12 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) rosbuild_gensrv() +# necessary for collada reader to create the temporary dae files due to limitations in the URDF geometry +check_function_exists(mkstemps HAVE_MKSTEMPS) +if( HAVE_MKSTEMPS ) + add_definitions("-DHAVE_MKSTEMPS") +endif() + #common commands for building c++ executables and libraries rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp src/collada_model_reader.cpp) #target_link_libraries(${PROJECT_NAME} another_library) diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp index c5cc462..8778559 100644 --- a/urdf/src/collada_model_reader.cpp +++ b/urdf/src/collada_model_reader.cpp @@ -39,6 +39,7 @@ #include #include #include +#include #include #include #include @@ -55,6 +56,11 @@ #include #include +#ifndef HAVE_MKSTEMPS +#include +#include +#endif + #define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++) #define FOREACHC FOREACH @@ -1110,9 +1116,19 @@ protected: \n\ ")%name%name); - //= str(boost::format("%s/models/%s.dae")%_resourcedir%name); +#ifdef HAVE_MKSTEMPS geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); int fd = mkstemps(&geometry->filename[0],4); +#else + do { + geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_%d.dae")%name%rand()); + } while(!!std::ifstream(geometry->filename.c_str())); + int fd = open(geometry->filename.c_str(),O_WRONLY|O_CREAT|O_EXCL); + if( fd == -1 ) { + ROS_ERROR("failed to open geometry dae file %s",geometry->filename.c_str()); + return geometry; + } +#endif //ROS_INFO("temp file: %s",geometry->filename.c_str()); std::string daedatastr = daedata.str(); if( (size_t)write(fd,daedatastr.c_str(),daedatastr.size()) != daedatastr.size() ) { From 0c6cec8356d8d640b4b190228ace890490615139 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Tue, 7 Dec 2010 12:47:01 +0000 Subject: [PATCH 226/245] major update on collada exporter, now supports writing articulated systems along with parsing the dae meshes --- collada_urdf/CMakeLists.txt | 2 +- .../include/collada_urdf/collada_urdf.h | 44 +- .../include/collada_urdf/collada_writer.h | 144 -- .../include/collada_urdf/stl_loader.h | 95 -- collada_urdf/manifest.xml | 3 +- collada_urdf/src/collada_urdf.cpp | 1233 ++++++++++++++++- collada_urdf/src/collada_writer.cpp | 975 ------------- collada_urdf/src/stl_loader.cpp | 153 -- collada_urdf/src/urdf_to_collada.cpp | 7 +- urdf/manifest.xml | 1 + 10 files changed, 1217 insertions(+), 1440 deletions(-) delete mode 100644 collada_urdf/include/collada_urdf/collada_writer.h delete mode 100644 collada_urdf/include/collada_urdf/stl_loader.h delete mode 100644 collada_urdf/src/collada_writer.cpp delete mode 100644 collada_urdf/src/stl_loader.cpp diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt index ee272a6..c7daaff 100644 --- a/collada_urdf/CMakeLists.txt +++ b/collada_urdf/CMakeLists.txt @@ -4,7 +4,7 @@ set(ROS_BUILD_TYPE Debug) rosbuild_init() set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -rosbuild_add_library(collada_urdf src/collada_urdf.cpp src/collada_writer.cpp src/stl_loader.cpp) +rosbuild_add_library(collada_urdf src/collada_urdf.cpp) rosbuild_link_boost(collada_urdf system) rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp) diff --git a/collada_urdf/include/collada_urdf/collada_urdf.h b/collada_urdf/include/collada_urdf/collada_urdf.h index 44f5837..558e51f 100644 --- a/collada_urdf/include/collada_urdf/collada_urdf.h +++ b/collada_urdf/include/collada_urdf/collada_urdf.h @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2010, Willow Garage, Inc. +* Copyright (c) 2010, Willow Garage, Inc., University of Tokyo * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,17 +32,14 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -/* Author: Tim Field */ +/* Authors: Tim Field, Rosen Diankov */ #ifndef COLLADA_URDF_COLLADA_URDF_H #define COLLADA_URDF_COLLADA_URDF_H #include - #include - #include - #include "urdf/model.h" namespace collada_urdf { @@ -53,33 +50,20 @@ public: ColladaUrdfException(std::string const& what); }; -/** Construct a COLLADA DOM from an URDF file - * \param file The filename from where to read the URDF - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromUrdfFile(std::string const& file, boost::shared_ptr& dom); +enum WriteOptions +{ + WO_IgnoreCollisionGeometry = 1, ///< if set, will use only the visual geometry +}; -/** Construct a COLLADA DOM from a string containing URDF - * \param xml A string containing the XML description of the robot - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure +/** Construct a COLLADA DOM from an URDF model + + \param robot_model The initialized robot model + \param dom The resulting COLLADA DOM + \param writeoptions A combination of \ref WriteOptions + + \return true on success, false on failure */ -bool colladaFromUrdfString(std::string const& xml, boost::shared_ptr& dom); - -/** Construct a COLLADA DOM from a TiXmlDocument containing URDF - * \param xml_doc The TiXmlDocument containing URDF - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); - -/** Construct a COLLADA DOM from a URDF robot model - * \param robot_model The URDF robot model - * \param dom The resulting COLLADA DOM - * \return true on success, false on failure - */ -bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom); +bool colladaFromUrdfModel(const urdf::Model& robot_model, boost::shared_ptr& dom, int writeoptions=0); /** Write a COLLADA DOM to a file * \param dom COLLADA DOM to write diff --git a/collada_urdf/include/collada_urdf/collada_writer.h b/collada_urdf/include/collada_urdf/collada_writer.h deleted file mode 100644 index c9c8297..0000000 --- a/collada_urdf/include/collada_urdf/collada_writer.h +++ /dev/null @@ -1,144 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2010, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redstributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Tim Field */ - -#ifndef COLLADA_URDF_COLLADA_WRITER_H -#define COLLADA_URDF_COLLADA_WRITER_H - -#include "collada_urdf/collada_urdf.h" - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace collada_urdf { - -class Mesh; - -/** - * Implements writing urdf::Model objects to a COLLADA DOM. - * - * The API for this class is unstable. The public API for collada_urdf is declared in collada_urdf.h. - */ -class ColladaWriter : public daeErrorHandler -{ -private: - struct SCENE - { - domVisual_sceneRef vscene; - domKinematics_sceneRef kscene; - domPhysics_sceneRef pscene; - domInstance_with_extraRef viscene; - domInstance_kinematics_sceneRef kiscene; - domInstance_with_extraRef piscene; - }; - -public: - ColladaWriter(urdf::Model const& robot); - virtual ~ColladaWriter(); - - boost::shared_ptr convert(); - -protected: - virtual void handleError(daeString msg); - virtual void handleWarning(daeString msg); - -private: - void initDocument(std::string const& documentName); - SCENE createScene(); - - void setupPhysics(SCENE const& scene); - - void addGeometries(); - void loadMesh(std::string const& filename, domGeometryRef geometry, std::string const& geometry_id); - bool loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, std::string const& geometry_id); - void buildMeshFromSTLLoader(boost::shared_ptr stl_mesh, daeElementRef parent, std::string const& geometry_id); - - void addKinematics(SCENE const& scene); - void addJoints(daeElementRef parent); - void addKinematicLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); - - void addVisuals(SCENE const& scene); - void addVisualLink(boost::shared_ptr urdf_link, daeElementRef parent, int& link_num); - - void addMaterials(); - domEffectRef addEffect(std::string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse); - - void addBindings(SCENE const& scene); - - domTranslateRef addTranslate(daeElementRef parent, urdf::Vector3 const& position, daeElementRef before = NULL, bool ignore_zero_translations = false); - domRotateRef addRotate(daeElementRef parent, urdf::Rotation const& r, daeElementRef before = NULL, bool ignore_zero_rotations = false); - void addMimicJoint(domFormulaRef formula, const std::string& joint_sid,const std::string& joint_mimic_sid, double multiplier, double offset); - std::string getTimeStampString() const; - -private: - static int s_doc_count_; - - urdf::Model robot_; - boost::shared_ptr collada_; - domCOLLADA* dom_; - domCOLLADA::domSceneRef scene_; - - domLibrary_geometriesRef geometriesLib_; - domLibrary_visual_scenesRef visualScenesLib_; - domLibrary_kinematics_scenesRef kinematicsScenesLib_; - domLibrary_kinematics_modelsRef kinematicsModelsLib_; - domLibrary_jointsRef jointsLib_; - domLibrary_physics_scenesRef physicsScenesLib_; - domLibrary_materialsRef materialsLib_; - domLibrary_effectsRef effectsLib_; - - domKinematics_modelRef kmodel_; - - std::map geometry_ids_; //!< link.name -> geometry.id - std::map joint_sids_; //!< joint.name -> joint.sid - std::map node_ids_; //!< joint.name -> node.id -}; - -} - -#endif diff --git a/collada_urdf/include/collada_urdf/stl_loader.h b/collada_urdf/include/collada_urdf/stl_loader.h deleted file mode 100644 index 4241c54..0000000 --- a/collada_urdf/include/collada_urdf/stl_loader.h +++ /dev/null @@ -1,95 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2010, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redstributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Tim Field */ - -#ifndef COLLADA_URDF_STL_LOADER_H -#define COLLADA_URDF_STL_LOADER_H - -#include - -#include -#include - -#include - -namespace collada_urdf { - -class Vector3 -{ -public: - Vector3(float x, float y, float z); - - bool operator==(Vector3 const& v) const; - - float x; - float y; - float z; -}; - -class Mesh -{ -public: - Mesh(); - - int getVertexIndex(Vector3 const& v) const; - - void addVertex(Vector3 const& v); - void addNormal(Vector3 const& n); - void addIndex(unsigned int i); - -public: - std::vector vertices; - std::vector normals; - std::vector indices; -}; - -class STLLoader -{ -public: - boost::shared_ptr load(std::string const& filename); - -private: - FILE* file_; - boost::shared_ptr mesh_; - - void readBinary(); - uint32_t readLongInt(); - uint16_t readShortInt(); - float readFloat(); -}; - -} - -#endif diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml index 7addbdb..502f9d7 100644 --- a/collada_urdf/manifest.xml +++ b/collada_urdf/manifest.xml @@ -6,7 +6,7 @@ Implements robot-specific COLLADA extensions as defined by http://openrave.programmingvision.com/index.php/Started:COLLADA - Tim Field + Tim Field and Rosen Diankov BSD http://ros.org/wiki/collada_urdf @@ -15,6 +15,7 @@ + diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 63ea86e..394d648 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2010, Willow Garage, Inc. +* Copyright (c) 2010, Willow Garage, Inc., University of Tokyo * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,59 +32,1212 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -/* Author: Tim Field */ +/* Authors: Rosen Diankov, Tim Field */ #include "collada_urdf/collada_urdf.h" -#include "collada_urdf/collada_writer.h" +#include +#include +#include -using std::string; -using boost::shared_ptr; +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +#define FOREACH(it, v) for(typeof((v).begin()) it = (v).begin(); it != (v).end(); (it)++) +#define FOREACHC FOREACH + +using namespace std; namespace collada_urdf { +/// ResourceIOStream is copied from rviz (BSD, Willow Garage) +class ResourceIOStream : public Assimp::IOStream +{ +public: + ResourceIOStream(const resource_retriever::MemoryResource& res) + : res_(res) + , pos_(res.data.get()) + {} + + ~ResourceIOStream() + {} + + size_t Read(void* buffer, size_t size, size_t count) + { + size_t to_read = size * count; + if (pos_ + to_read > res_.data.get() + res_.size) + { + to_read = res_.size - (pos_ - res_.data.get()); + } + + memcpy(buffer, pos_, to_read); + pos_ += to_read; + + return to_read; + } + + size_t Write( const void* buffer, size_t size, size_t count) { ROS_BREAK(); return 0; } + + aiReturn Seek( size_t offset, aiOrigin origin) + { + uint8_t* new_pos = 0; + switch (origin) + { + case aiOrigin_SET: + new_pos = res_.data.get() + offset; + break; + case aiOrigin_CUR: + new_pos = pos_ + offset; // TODO is this right? can offset really not be negative + break; + case aiOrigin_END: + new_pos = res_.data.get() + res_.size - offset; // TODO is this right? + break; + default: + ROS_BREAK(); + } + + if (new_pos < res_.data.get() || new_pos > res_.data.get() + res_.size) + { + return aiReturn_FAILURE; + } + + pos_ = new_pos; + return aiReturn_SUCCESS; + } + + size_t Tell() const + { + return pos_ - res_.data.get(); + } + + size_t FileSize() const + { + return res_.size; + } + + void Flush() {} + +private: + resource_retriever::MemoryResource res_; + uint8_t* pos_; +}; + +/// ResourceIOSystem is copied from rviz (BSD, Willow Garage) +class ResourceIOSystem : public Assimp::IOSystem +{ +public: + ResourceIOSystem() + { + } + + ~ResourceIOSystem() + { + } + + // Check whether a specific file exists + bool Exists(const char* file) const + { + // Ugly -- two retrievals where there should be one (Exists + Open) + // resource_retriever needs a way of checking for existence + // TODO: cache this + resource_retriever::MemoryResource res; + try { + res = retriever_.get(file); + } + catch (resource_retriever::Exception& e) { + return false; + } + + return true; + } + + // Get the path delimiter character we'd like to see + char getOsSeparator() const + { + return '/'; + } + + // ... and finally a method to open a custom stream + Assimp::IOStream* Open(const char* file, const char* mode) + { + ROS_ASSERT(mode == std::string("r") || mode == std::string("rb")); + + // Ugly -- two retrievals where there should be one (Exists + Open) + // resource_retriever needs a way of checking for existence + resource_retriever::MemoryResource res; + try { + res = retriever_.get(file); + } + catch (resource_retriever::Exception& e) { + return 0; + } + + return new ResourceIOStream(res); + } + + void Close(Assimp::IOStream* stream) { delete stream; } + +private: + mutable resource_retriever::Retriever retriever_; +}; + +/** \brief Implements writing urdf::Model objects to a COLLADA DOM. +*/ +class ColladaWriter : public daeErrorHandler +{ +private: + struct SCENE + { + domVisual_sceneRef vscene; + domKinematics_sceneRef kscene; + domPhysics_sceneRef pscene; + domInstance_with_extraRef viscene; + domInstance_kinematics_sceneRef kiscene; + domInstance_with_extraRef piscene; + }; + + struct LINKOUTPUT + { + list > listusedlinks; + list > listprocesseddofs; + daeElementRef plink; + domNodeRef pnode; + }; + + struct kinematics_model_output + { + struct axis_output + { + //axis_output(const string& sid, KinBody::JointConstPtr pjoint, int iaxis) : sid(sid), pjoint(pjoint), iaxis(iaxis) {} + axis_output() : iaxis(0) {} + string sid, nodesid; + boost::shared_ptr pjoint; + int iaxis; + string jointnodesid; + }; + domKinematics_modelRef kmodel; + std::vector vaxissids; + std::vector vlinksids; + }; + + struct axis_sids + { + axis_sids(const string& axissid, const string& valuesid, const string& jointnodesid) : axissid(axissid), valuesid(valuesid), jointnodesid(jointnodesid) {} + string axissid, valuesid, jointnodesid; + }; + + struct instance_kinematics_model_output + { + domInstance_kinematics_modelRef ikm; + std::vector vaxissids; + boost::shared_ptr kmout; + std::vector > vkinematicsbindings; + }; + + struct instance_articulated_system_output + { + domInstance_articulated_systemRef ias; + std::vector vaxissids; + std::vector vlinksids; + std::vector > vkinematicsbindings; + }; + +public: + ColladaWriter(const urdf::Model& robot, int writeoptions) : _writeoptions(writeoptions), _robot(robot), _dom(NULL) { + daeErrorHandler::setErrorHandler(this); + _collada.reset(new DAE); + _collada->setIOPlugin(NULL); + _collada->setDatabase(NULL); + _importer.SetIOHandler(new ResourceIOSystem()); + } + virtual ~ColladaWriter() {} + + boost::shared_ptr convert() + { + try { + const char* documentName = "urdf_snapshot"; + daeDocument *doc = NULL; + daeInt error = _collada->getDatabase()->insertDocument(documentName, &doc ); // also creates a collada root + if (error != DAE_OK || doc == NULL) { + throw ColladaUrdfException("Failed to create document"); + } + _dom = daeSafeCast(doc->getDomRoot()); + _dom->setAttribute("xmlns:math","http://www.w3.org/1998/Math/MathML"); + + //create the required asset tag + domAssetRef asset = daeSafeCast( _dom->add( COLLADA_ELEMENT_ASSET ) ); + { + // facet becomes owned by locale, so no need to explicitly delete + boost::posix_time::time_facet* facet = new boost::posix_time::time_facet("%Y-%m-%dT%H:%M:%s"); + std::stringstream ss; + ss.imbue(std::locale(ss.getloc(), facet)); + ss << boost::posix_time::second_clock::local_time(); + + domAsset::domCreatedRef created = daeSafeCast( asset->add( COLLADA_ELEMENT_CREATED ) ); + created->setValue(ss.str().c_str()); + domAsset::domModifiedRef modified = daeSafeCast( asset->add( COLLADA_ELEMENT_MODIFIED ) ); + modified->setValue(ss.str().c_str()); + + domAsset::domContributorRef contrib = daeSafeCast( asset->add( COLLADA_TYPE_CONTRIBUTOR ) ); + domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast( contrib->add( COLLADA_ELEMENT_AUTHORING_TOOL ) ); + authoringtool->setValue("URDF Collada Writer"); + + domAsset::domUnitRef units = daeSafeCast( asset->add( COLLADA_ELEMENT_UNIT ) ); + units->setMeter(1); + units->setName("meter"); + + domAsset::domUp_axisRef zup = daeSafeCast( asset->add( COLLADA_ELEMENT_UP_AXIS ) ); + zup->setValue(UP_AXIS_Z_UP); + } + + _globalscene = _dom->getScene(); + if( !_globalscene ) { + _globalscene = daeSafeCast( _dom->add( COLLADA_ELEMENT_SCENE ) ); + } + + _visualScenesLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); + _visualScenesLib->setId("vscenes"); + _geometriesLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); + _geometriesLib->setId("geometries"); + _effectsLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_EFFECTS)); + _effectsLib->setId("effects"); + _materialsLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_MATERIALS)); + _materialsLib->setId("materials"); + _kinematicsModelsLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); + _kinematicsModelsLib->setId("kmodels"); + _articulatedSystemsLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); + _articulatedSystemsLib->setId("asystems"); + _kinematicsScenesLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); + _kinematicsScenesLib->setId("kscenes"); + _physicsScenesLib = daeSafeCast(_dom->add(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + _physicsScenesLib->setId("pscenes"); + domExtraRef pextra_library_sensors = daeSafeCast(_dom->add(COLLADA_ELEMENT_EXTRA)); + pextra_library_sensors->setId("sensors"); + pextra_library_sensors->setType("library_sensors"); + _sensorsLib = daeSafeCast(pextra_library_sensors->add(COLLADA_ELEMENT_TECHNIQUE)); + _sensorsLib->setProfile("OpenRAVE"); ///< documented profile on robot extensions + + _CreateScene(); + _WritePhysics(); + _WriteRobot(); + _WriteBindingsInstance_kinematics_scene(); + return _collada; + } + catch (ColladaUrdfException ex) { + ROS_ERROR("Error converting: %s", ex.what()); + return boost::shared_ptr(); + } + } + +protected: + virtual void handleError(daeString msg) { throw ColladaUrdfException(msg); } + virtual void handleWarning(daeString msg) { std::cerr << "COLLADA DOM warning: " << msg << std::endl; } + + void _CreateScene() + { + // Create visual scene + _scene.vscene = daeSafeCast(_visualScenesLib->add(COLLADA_ELEMENT_VISUAL_SCENE)); + _scene.vscene->setId("vscene"); + _scene.vscene->setName("URDF Visual Scene"); + + // Create kinematics scene + _scene.kscene = daeSafeCast(_kinematicsScenesLib->add(COLLADA_ELEMENT_KINEMATICS_SCENE)); + _scene.kscene->setId("kscene"); + _scene.kscene->setName("URDF Kinematics Scene"); + + // Create physic scene + _scene.pscene = daeSafeCast(_physicsScenesLib->add(COLLADA_ELEMENT_PHYSICS_SCENE)); + _scene.pscene->setId("pscene"); + _scene.pscene->setName("URDF Physics Scene"); + + // Create instance visual scene + _scene.viscene = daeSafeCast(_globalscene->add( COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE )); + _scene.viscene->setUrl( (string("#") + string(_scene.vscene->getID())).c_str() ); + + // Create instance kinematics scene + _scene.kiscene = daeSafeCast(_globalscene->add( COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE )); + _scene.kiscene->setUrl( (string("#") + string(_scene.kscene->getID())).c_str() ); + + // Create instance physics scene + _scene.piscene = daeSafeCast(_globalscene->add( COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE )); + _scene.piscene->setUrl( (string("#") + string(_scene.pscene->getID())).c_str() ); + } + + void _WritePhysics() { + domPhysics_scene::domTechnique_commonRef common = daeSafeCast(_scene.pscene->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + // Create gravity + domTargetable_float3Ref g = daeSafeCast(common->add(COLLADA_ELEMENT_GRAVITY)); + g->getValue().set3 (0,0,0); + } + + /// \brief Write kinematic body in a given scene + void _WriteRobot(int id = 0) + { + ROS_DEBUG_STREAM(str(boost::format("writing robot as instance_articulated_system (%d) %s\n")%id%_robot.getName())); + string asid = str(boost::format("robot%d")%id); + string askid = str(boost::format("%s_kinematics")%asid); + string asmid = str(boost::format("%s_motion")%asid); + string iassid = str(boost::format("%s_inst")%asmid); + + domInstance_articulated_systemRef ias = daeSafeCast(_scene.kscene->add(COLLADA_ELEMENT_INSTANCE_ARTICULATED_SYSTEM)); + ias->setSid(iassid.c_str()); + ias->setUrl((string("#")+asmid).c_str()); + ias->setName(_robot.getName().c_str()); + + _iasout.reset(new instance_articulated_system_output()); + _iasout->ias = ias; + + // motion info + domArticulated_systemRef articulated_system_motion = daeSafeCast(_articulatedSystemsLib->add(COLLADA_ELEMENT_ARTICULATED_SYSTEM)); + articulated_system_motion->setId(asmid.c_str()); + domMotionRef motion = daeSafeCast(articulated_system_motion->add(COLLADA_ELEMENT_MOTION)); + domMotion_techniqueRef mt = daeSafeCast(motion->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domInstance_articulated_systemRef ias_motion = daeSafeCast(motion->add(COLLADA_ELEMENT_INSTANCE_ARTICULATED_SYSTEM)); + ias_motion->setUrl(str(boost::format("#%s")%askid).c_str()); + + // kinematics info + domArticulated_systemRef articulated_system_kinematics = daeSafeCast(_articulatedSystemsLib->add(COLLADA_ELEMENT_ARTICULATED_SYSTEM)); + articulated_system_kinematics->setId(askid.c_str()); + domKinematicsRef kinematics = daeSafeCast(articulated_system_kinematics->add(COLLADA_ELEMENT_KINEMATICS)); + domKinematics_techniqueRef kt = daeSafeCast(kinematics->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + _WriteInstance_kinematics_model(kinematics,askid,id); + + for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { + string axis_infosid = str(boost::format("axis_info_inst%d")%idof); + boost::shared_ptr pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint; + BOOST_ASSERT(_mapjointindices[pjoint] == idof); + //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis; + + // Kinematics axis info + domKinematics_axis_infoRef kai = daeSafeCast(kt->add(COLLADA_ELEMENT_AXIS_INFO)); + kai->setAxis(str(boost::format("%s/%s")%_ikmout->kmout->kmodel->getID()%_ikmout->kmout->vaxissids.at(idof).sid).c_str()); + kai->setSid(axis_infosid.c_str()); + bool bactive = !pjoint->mimic; + double flower=0, fupper=0; + if( pjoint->type != urdf::Joint::CONTINUOUS ) { + if( !!pjoint->limits ) { + flower = pjoint->limits->lower; + fupper = pjoint->limits->upper; + } + if( flower == fupper ) { + bactive = false; + } + double fmult = 1.0; + if( pjoint->type != urdf::Joint::PRISMATIC ) { + fmult = 180.0/M_PI; + } + domKinematics_limitsRef plimits = daeSafeCast(kai->add(COLLADA_ELEMENT_LIMITS)); + daeSafeCast(plimits->add(COLLADA_ELEMENT_MIN)->add(COLLADA_ELEMENT_FLOAT))->setValue(flower*fmult); + daeSafeCast(plimits->add(COLLADA_ELEMENT_MAX)->add(COLLADA_ELEMENT_FLOAT))->setValue(fupper*fmult); + } + + domCommon_bool_or_paramRef active = daeSafeCast(kai->add(COLLADA_ELEMENT_ACTIVE)); + daeSafeCast(active->add(COLLADA_ELEMENT_BOOL))->setValue(bactive); + domCommon_bool_or_paramRef locked = daeSafeCast(kai->add(COLLADA_ELEMENT_LOCKED)); + daeSafeCast(locked->add(COLLADA_ELEMENT_BOOL))->setValue(false); + + // Motion axis info + domMotion_axis_infoRef mai = daeSafeCast(mt->add(COLLADA_ELEMENT_AXIS_INFO)); + mai->setAxis(str(boost::format("%s/%s")%askid%axis_infosid).c_str()); + if( !!pjoint->limits ) { + domCommon_float_or_paramRef speed = daeSafeCast(mai->add(COLLADA_ELEMENT_SPEED)); + daeSafeCast(speed->add(COLLADA_ELEMENT_FLOAT))->setValue(pjoint->limits->velocity); + domCommon_float_or_paramRef accel = daeSafeCast(mai->add(COLLADA_ELEMENT_ACCELERATION)); + daeSafeCast(accel->add(COLLADA_ELEMENT_FLOAT))->setValue(pjoint->limits->effort); + } + } + + // write the bindings + string asmsym = str(boost::format("%s.%s")%asmid%_ikmout->ikm->getSid()); + string assym = str(boost::format("%s.%s")%_scene.kscene->getID()%_ikmout->ikm->getSid()); + FOREACH(it, _ikmout->vkinematicsbindings) { + domKinematics_bindRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_BIND)); + abm->setSymbol(asmsym.c_str()); + daeSafeCast(abm->add(COLLADA_ELEMENT_PARAM))->setRef(it->first.c_str()); + domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); + ab->setSymbol(assym.c_str()); + daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(asmsym.c_str()); + _iasout->vkinematicsbindings.push_back(make_pair(string(ab->getSymbol()), it->second)); + } + for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { + const axis_sids& kas = _ikmout->vaxissids.at(idof); + domKinematics_bindRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_BIND)); + abm->setSymbol(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); + daeSafeCast(abm->add(COLLADA_ELEMENT_PARAM))->setRef(kas.axissid.c_str()); + domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); + ab->setSymbol(str(boost::format("%s.%s")%assym%kas.axissid).c_str()); + daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); + string valuesid; + if( kas.valuesid.size() > 0 ) { + domKinematics_bindRef abmvalue = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_BIND)); + abmvalue->setSymbol(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str()); + daeSafeCast(abmvalue->add(COLLADA_ELEMENT_PARAM))->setRef(kas.valuesid.c_str()); + domKinematics_bindRef abvalue = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); + valuesid = str(boost::format("%s.%s")%assym%kas.valuesid); + abvalue->setSymbol(valuesid.c_str()); + daeSafeCast(abvalue->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str()); + } + _iasout->vaxissids.push_back(axis_sids(ab->getSymbol(),valuesid,kas.jointnodesid)); + } + } + + /// \brief Write kinematic body in a given scene + virtual void _WriteInstance_kinematics_model(daeElementRef parent, const string& sidscope, int id) + { + ROS_DEBUG_STREAM(str(boost::format("writing instance_kinematics_model %s\n")%_robot.getName())); + boost::shared_ptr kmout = WriteKinematics_model(id); + + _ikmout.reset(new instance_kinematics_model_output()); + _ikmout->kmout = kmout; + _ikmout->ikm = daeSafeCast(parent->add(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); + + string symscope, refscope; + if( sidscope.size() > 0 ) { + symscope = sidscope+string("."); + refscope = sidscope+string("/"); + } + string ikmsid = str(boost::format("%s_inst")%kmout->kmodel->getID()); + _ikmout->ikm->setUrl(str(boost::format("#%s")%kmout->kmodel->getID()).c_str()); + _ikmout->ikm->setSid(ikmsid.c_str()); + + domKinematics_bindRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_BIND)); + kbind->setSymbol((symscope+ikmsid).c_str()); + daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid).c_str()); + _ikmout->vkinematicsbindings.push_back(make_pair(string(kbind->getSymbol()), str(boost::format("visual%d/node0")%id))); + + _ikmout->vaxissids.reserve(kmout->vaxissids.size()); + int i = 0; + FOREACH(it,kmout->vaxissids) { + domKinematics_bindRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_BIND)); + string ref = it->sid; + size_t index = ref.find("/"); + while(index != string::npos) { + ref[index] = '.'; + index = ref.find("/",index+1); + } + string sid = symscope+ikmsid+"."+ref; + kbind->setSymbol(sid.c_str()); + daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str()); + double value=0; + double flower=0, fupper=0; + if( !!it->pjoint->limits ) { + flower = it->pjoint->limits->lower; + fupper = it->pjoint->limits->upper; + if( flower > 0 || fupper < 0 ) { + value = 0.5*(flower+fupper); + } + } + + domKinematics_newparamRef pvalueparam = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_NEWPARAM)); + pvalueparam->setSid((sid+string("_value")).c_str()); + daeSafeCast(pvalueparam->add(COLLADA_ELEMENT_FLOAT))->setValue(value); + _ikmout->vaxissids.push_back(axis_sids(sid,pvalueparam->getSid(),kmout->vaxissids.at(i).jointnodesid)); + ++i; + } + } + + virtual boost::shared_ptr WriteKinematics_model(int id) + { + domKinematics_modelRef kmodel = daeSafeCast(_kinematicsModelsLib->add(COLLADA_ELEMENT_KINEMATICS_MODEL)); + string kmodelid = str(boost::format("kmodel%d")%id); + kmodel->setId(kmodelid.c_str()); + kmodel->setName(_robot.getName().c_str()); + + domKinematics_model_techniqueRef ktec = daeSafeCast(kmodel->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // Create root node for the visual scene + domNodeRef pnoderoot = daeSafeCast(_scene.vscene->add(COLLADA_ELEMENT_NODE)); + string bodyid = str(boost::format("visual%d")%id); + pnoderoot->setId(bodyid.c_str()); + pnoderoot->setSid(bodyid.c_str()); + pnoderoot->setName(_robot.getName().c_str()); + + // Declare all the joints + _mapjointindices.clear(); + int index=0; + FOREACHC(itj, _robot.joints_) { + _mapjointindices[itj->second] = index++; + } + _maplinkindices.clear(); + index=0; + FOREACHC(itj, _robot.links_) { + _maplinkindices[itj->second] = index++; + } + _mapmaterialindices.clear(); + index=0; + FOREACHC(itj, _robot.materials_) { + _mapmaterialindices[itj->second] = index++; + } + + double lmin, lmax; + vector vdomjoints(_robot.joints_.size()); + boost::shared_ptr kmout(new kinematics_model_output()); + kmout->kmodel = kmodel; + kmout->vaxissids.resize(_robot.joints_.size()); + kmout->vlinksids.resize(_robot.links_.size()); + + FOREACHC(itjoint, _robot.joints_) { + boost::shared_ptr pjoint = itjoint->second; + int index = _mapjointindices[itjoint->second]; + domJointRef pdomjoint = daeSafeCast(ktec->add(COLLADA_ELEMENT_JOINT)); + string jointid = str(boost::format("joint%d")%index); + pdomjoint->setSid( jointid.c_str() ); + pdomjoint->setName(pjoint->name.c_str()); + domAxis_constraintRef axis; + if( !!pjoint->limits ) { + lmin=pjoint->limits->lower; + lmax=pjoint->limits->upper; + } + else { + lmin = lmax = 0; + } + + double fmult = 1.0; + switch(pjoint->type) { + case urdf::Joint::REVOLUTE: + case urdf::Joint::CONTINUOUS: + axis = daeSafeCast(pdomjoint->add(COLLADA_ELEMENT_REVOLUTE)); + fmult = 180.0f/M_PI; + lmin*=fmult; + lmax*=fmult; + break; + case urdf::Joint::PRISMATIC: + axis = daeSafeCast(pdomjoint->add(COLLADA_ELEMENT_PRISMATIC)); + break; + case urdf::Joint::FIXED: + axis = daeSafeCast(pdomjoint->add(COLLADA_ELEMENT_REVOLUTE)); + lmin = 0; + lmax = 0; + fmult = 0; + break; + default: + ROS_WARN_STREAM(str(boost::format("unsupported joint type specified %d")%(int)pjoint->type)); + break; + } + + if( !axis ) { + continue; + } + + int ia = 0; + string axisid = str(boost::format("axis%d")%ia); + axis->setSid(axisid.c_str()); + kmout->vaxissids.at(index).pjoint = pjoint; + kmout->vaxissids.at(index).sid = jointid+string("/")+axisid; + kmout->vaxissids.at(index).iaxis = ia; + domAxisRef paxis = daeSafeCast(axis->add(COLLADA_ELEMENT_AXIS)); + paxis->getValue().setCount(3); + paxis->getValue()[0] = pjoint->axis.x; + paxis->getValue()[1] = pjoint->axis.y; + paxis->getValue()[2] = pjoint->axis.z; + if( pjoint->type != urdf::Joint::CONTINUOUS ) { + domJoint_limitsRef plimits = daeSafeCast(axis->add(COLLADA_TYPE_LIMITS)); + daeSafeCast(plimits->add(COLLADA_ELEMENT_MIN))->getValue() = lmin; + daeSafeCast(plimits->add(COLLADA_ELEMENT_MAX))->getValue() = lmax; + } + vdomjoints.at(index) = pdomjoint; + } + + LINKOUTPUT childinfo = _WriteLink(_robot.getRoot(), ktec, pnoderoot, kmodel->getID()); + FOREACHC(itused, childinfo.listusedlinks) { + kmout->vlinksids.at(itused->first) = itused->second; + } + FOREACH(itprocessed,childinfo.listprocesseddofs) { + kmout->vaxissids.at(itprocessed->first).jointnodesid = itprocessed->second; + } + + // create the formulas for all mimic joints + FOREACHC(itjoint, _robot.joints_) { + int index = _mapjointindices[itjoint->second]; + boost::shared_ptr pjoint = itjoint->second; + if( !pjoint->mimic ) { + continue; + } + + domFormulaRef pf = daeSafeCast(ktec->add(COLLADA_ELEMENT_FORMULA)); + string formulaid = str(boost::format("joint%d.formula")%index); + pf->setSid(formulaid.c_str()); + domCommon_float_or_paramRef ptarget = daeSafeCast(pf->add(COLLADA_ELEMENT_TARGET)); + string targetjointid = str(boost::format("%s/joint%d")%kmodel->getID()%index); + daeSafeCast(ptarget->add(COLLADA_TYPE_PARAM))->setValue(targetjointid.c_str()); + + domFormula_techniqueRef pftec = daeSafeCast(pf->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + // create a const0*joint+const1 formula + // a x b + daeElementRef pmath_math = pftec->add("math"); + daeElementRef pmath_apply = pmath_math->add("apply"); + { + daeElementRef pmath_plus = pmath_apply->add("plus"); + daeElementRef pmath_apply1 = pmath_apply->add("apply"); + { + daeElementRef pmath_times = pmath_apply1->add("times"); + daeElementRef pmath_const0 = pmath_apply1->add("cn"); + pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); + daeElementRef pmath_symb = pmath_apply1->add("csymbol"); + pmath_symb->setAttribute("encoding","COLLADA"); + pmath_symb->setCharData(str(boost::format("%s/joint%d")%kmodel->getID()%_mapjointindices[_robot.getJoint(pjoint->mimic->joint_name)])); + } + daeElementRef pmath_const1 = pmath_apply->add("cn"); + pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); + } + } + + return kmout; + } + + /// \brief Write link of a kinematic body + /// \param link Link to write + /// \param pkinparent Kinbody parent + /// \param pnodeparent Node parent + /// \param strModelUri + virtual LINKOUTPUT _WriteLink(boost::shared_ptr plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri) + { + LINKOUTPUT out; + int linkindex = _maplinkindices[plink]; + string linksid = str(boost::format("link%d")%linkindex); + domLinkRef pdomlink = daeSafeCast(pkinparent->add(COLLADA_ELEMENT_LINK)); + pdomlink->setName(plink->name.c_str()); + pdomlink->setSid(linksid.c_str()); + + domNodeRef pnode = daeSafeCast(pnodeparent->add(COLLADA_ELEMENT_NODE)); + string nodeid = str(boost::format("v%s.node%d")%strModelUri%linkindex); + pnode->setId( nodeid.c_str() ); + string nodesid = str(boost::format("node%d")%linkindex); + pnode->setSid(nodesid.c_str()); + pnode->setName(plink->name.c_str()); + + boost::shared_ptr geometry; + boost::shared_ptr material; + urdf::Pose geometry_origin; + if( !!plink->visual ) { + geometry = plink->visual->geometry; + material = plink->visual->material; + geometry_origin = plink->visual->origin; + } + else if( !!plink->collision ) { + geometry = plink->collision->geometry; + geometry_origin = plink->collision->origin; + } + + if( !!geometry ) { + int igeom = 0; + string geomid = str(boost::format("g%s.%s.geom%d")%strModelUri%linksid%igeom); + domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid); + domInstance_geometryRef pinstgeom = daeSafeCast(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); + pinstgeom->setUrl((string("#")+geomid).c_str()); + + // material + _WriteMaterial(pdomgeom->getID(), material); + domBind_materialRef pmat = daeSafeCast(pinstgeom->add(COLLADA_ELEMENT_BIND_MATERIAL)); + domBind_material::domTechnique_commonRef pmattec = daeSafeCast(pmat->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domInstance_materialRef pinstmat = daeSafeCast(pmattec->add(COLLADA_ELEMENT_INSTANCE_MATERIAL)); + pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string(".mat"))); + pinstmat->setSymbol("mat0"); + } + + _WriteTransformation(pnode, geometry_origin); + urdf::Pose geometry_origin_inv = _poseInverse(geometry_origin); + + // process all children + FOREACHC(itjoint, plink->child_joints) { + boost::shared_ptr pjoint = *itjoint; + int index = _mapjointindices[pjoint]; + + // + domLink::domAttachment_fullRef attachment_full = daeSafeCast(pdomlink->add(COLLADA_ELEMENT_ATTACHMENT_FULL)); + string jointid = str(boost::format("%s/joint%d")%strModelUri%index); + attachment_full->setJoint(jointid.c_str()); + + LINKOUTPUT childinfo = _WriteLink(_robot.getLink(pjoint->child_link_name), attachment_full, pnode, strModelUri); + FOREACH(itused,childinfo.listusedlinks) { + out.listusedlinks.push_back(make_pair(itused->first,linksid+string("/")+itused->second)); + } + FOREACH(itprocessed,childinfo.listprocesseddofs) { + out.listprocesseddofs.push_back(make_pair(itprocessed->first,nodesid+string("/")+itprocessed->second)); + } + + // rotate/translate elements + string jointnodesid = str(boost::format("node_joint%d_axis0")%index); + switch(pjoint->type) { + case urdf::Joint::REVOLUTE: + case urdf::Joint::CONTINUOUS: + case urdf::Joint::FIXED: { + domRotateRef protate = daeSafeCast(childinfo.pnode->add(COLLADA_ELEMENT_ROTATE,0)); + protate->setSid(jointnodesid.c_str()); + protate->getValue().setCount(4); + protate->getValue()[0] = pjoint->axis.x; + protate->getValue()[1] = pjoint->axis.y; + protate->getValue()[2] = pjoint->axis.z; + protate->getValue()[3] = 0; + break; + } + case urdf::Joint::PRISMATIC: { + domTranslateRef ptrans = daeSafeCast(childinfo.pnode->add(COLLADA_ELEMENT_TRANSLATE,0)); + ptrans->setSid(jointnodesid.c_str()); + ptrans->getValue().setCount(3); + ptrans->getValue()[0] = 0; + ptrans->getValue()[1] = 0; + ptrans->getValue()[2] = 0; + break; + } + default: + ROS_WARN_STREAM(str(boost::format("unsupported joint type specified %d")%(int)pjoint->type)); + break; + } + + _WriteTransformation(attachment_full, pjoint->parent_to_joint_origin_transform); + _WriteTransformation(childinfo.pnode, pjoint->parent_to_joint_origin_transform); + _WriteTransformation(childinfo.pnode, geometry_origin_inv); // have to do multiply by inverse since geometry transformation is not part of hierarchy + out.listprocesseddofs.push_back(make_pair(index,string(childinfo.pnode->getSid())+string("/")+jointnodesid)); + // + } + + out.listusedlinks.push_back(make_pair(linkindex,linksid)); + out.plink = pdomlink; + out.pnode = pnode; + return out; + } + + domGeometryRef _WriteGeometry(boost::shared_ptr geometry, const std::string& geometry_id) + { + domGeometryRef cgeometry = daeSafeCast(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY)); + cgeometry->setId(geometry_id.c_str()); + switch (geometry->type) { + case urdf::Geometry::MESH: { + urdf::Mesh* urdf_mesh = (urdf::Mesh*) geometry.get(); + _loadMesh(urdf_mesh->filename, cgeometry, urdf_mesh->scale); + break; + } + case urdf::Geometry::SPHERE: { + ROS_WARN_STREAM(str(boost::format("cannot export sphere geometries yet! %s")%geometry_id)); + break; + } + case urdf::Geometry::BOX: { + ROS_WARN_STREAM(str(boost::format("cannot export box geometries yet! %s")%geometry_id)); + break; + } + case urdf::Geometry::CYLINDER: { + ROS_WARN_STREAM(str(boost::format("cannot export cylinder geometries yet! %s")%geometry_id)); + break; + } + default: { + throw ColladaUrdfException(str(boost::format("undefined geometry type %d, name %s")%(int)geometry->type%geometry_id)); + } + } + return cgeometry; + } + + void _WriteMaterial(const string& geometry_id, boost::shared_ptr material) + { + string effid = geometry_id+string(".eff"); + string matid = geometry_id+string(".mat"); + domMaterialRef pdommat = daeSafeCast(_materialsLib->add(COLLADA_ELEMENT_MATERIAL)); + pdommat->setId(matid.c_str()); + domInstance_effectRef pdominsteff = daeSafeCast(pdommat->add(COLLADA_ELEMENT_INSTANCE_EFFECT)); + pdominsteff->setUrl((string("#")+effid).c_str()); + + urdf::Color ambient, diffuse; + ambient.init("0.1 0.1 0.1 0"); + diffuse.init("1 1 1 0"); + + if( !!material ) { + ambient.r = diffuse.r = material->color.r; + ambient.g = diffuse.g = material->color.g; + ambient.b = diffuse.b = material->color.b; + ambient.a = diffuse.a = material->color.a; + } + + domEffectRef effect = _WriteEffect(geometry_id, ambient, diffuse); + + // + domMaterialRef dommaterial = daeSafeCast(_materialsLib->add(COLLADA_ELEMENT_MATERIAL)); + string material_id = geometry_id + string(".mat"); + dommaterial->setId(material_id.c_str()); + { + // + domInstance_effectRef instance_effect = daeSafeCast(dommaterial->add(COLLADA_ELEMENT_INSTANCE_EFFECT)); + string effect_id(effect->getId()); + instance_effect->setUrl((string("#") + effect_id).c_str()); + } + // + + domEffectRef pdomeff = _WriteEffect(effid, ambient, diffuse); + } + + void _loadMesh(std::string const& filename, domGeometryRef pdomgeom, const urdf::Vector3& scale) + { + const aiScene* scene = _importer.ReadFile(filename, aiProcess_SortByPType|aiProcess_Triangulate);//|aiProcess_GenNormals|aiProcess_GenUVCoords|aiProcess_FlipUVs); + if( !scene ) { + ROS_WARN("failed to load resource %s",filename.c_str()); + return; + } + if( !scene->mRootNode ) { + ROS_WARN("resource %s has no data",filename.c_str()); + return; + } + if (!scene->HasMeshes()) { + ROS_WARN_STREAM(str(boost::format("No meshes found in file %s")%filename)); + return; + } + domMeshRef pdommesh = daeSafeCast(pdomgeom->add(COLLADA_ELEMENT_MESH)); + domSourceRef pvertsource = daeSafeCast(pdommesh->add(COLLADA_ELEMENT_SOURCE)); + domAccessorRef pacc; + domFloat_arrayRef parray; + { + pvertsource->setId(str(boost::format("%s.positions")%pdomgeom->getID()).c_str()); + + parray = daeSafeCast(pvertsource->add(COLLADA_ELEMENT_FLOAT_ARRAY)); + parray->setId(str(boost::format("%s.positions-array")%pdomgeom->getID()).c_str()); + parray->setDigits(6); // 6 decimal places + + domSource::domTechnique_commonRef psourcetec = daeSafeCast(pvertsource->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + pacc = daeSafeCast(psourcetec->add(COLLADA_ELEMENT_ACCESSOR)); + pacc->setSource(xsAnyURI(*parray, string("#")+string(parray->getID()))); + pacc->setStride(3); + + domParamRef px = daeSafeCast(pacc->add(COLLADA_ELEMENT_PARAM)); + px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(pacc->add(COLLADA_ELEMENT_PARAM)); + py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(pacc->add(COLLADA_ELEMENT_PARAM)); + pz->setName("Z"); pz->setType("float"); + } + domVerticesRef pverts = daeSafeCast(pdommesh->add(COLLADA_ELEMENT_VERTICES)); + { + pverts->setId("vertices"); + domInput_localRef pvertinput = daeSafeCast(pverts->add(COLLADA_ELEMENT_INPUT)); + pvertinput->setSemantic("POSITION"); + pvertinput->setSource(domUrifragment(*pvertsource, string("#")+string(pvertsource->getID()))); + } + _buildAiMesh(scene,scene->mRootNode,pdommesh,parray, pdomgeom->getID(),scale); + pacc->setCount(parray->getCount()); + } + + void _buildAiMesh(const aiScene* scene, aiNode* node, domMeshRef pdommesh, domFloat_arrayRef parray, const string& geomid, const urdf::Vector3& scale) + { + if( !node ) { + return; + } + aiMatrix4x4 transform = node->mTransformation; + aiNode *pnode = node->mParent; + while (pnode) { + // Don't convert to y-up orientation, which is what the root node in + // Assimp does + if (pnode->mParent != NULL) { + transform = pnode->mTransformation * transform; + } + pnode = pnode->mParent; + } + + { + uint32_t vertexOffset = parray->getCount(); + uint32_t nTotalVertices=0; + for (uint32_t i = 0; i < node->mNumMeshes; i++) { + aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]]; + nTotalVertices += input_mesh->mNumVertices; + } + + parray->getValue().grow(parray->getCount()+nTotalVertices*3); + parray->setCount(parray->getCount()+nTotalVertices); + + for (uint32_t i = 0; i < node->mNumMeshes; i++) { + aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]]; + for (uint32_t j = 0; j < input_mesh->mNumVertices; j++) { + aiVector3D p = input_mesh->mVertices[j]; + p *= transform; + parray->getValue().append(p.x*scale.x); + parray->getValue().append(p.y*scale.y); + parray->getValue().append(p.z*scale.z); + } + } + + // in order to save space, separate triangles from poly lists + + vector triangleindices, otherindices; + int nNumOtherPrimitives = 0; + for (uint32_t i = 0; i < node->mNumMeshes; i++) { + aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]]; + uint32_t indexCount = 0, otherIndexCount = 0; + for (uint32_t j = 0; j < input_mesh->mNumFaces; j++) { + aiFace& face = input_mesh->mFaces[j]; + if( face.mNumIndices == 3 ) { + indexCount += face.mNumIndices; + } + else { + otherIndexCount += face.mNumIndices; + } + } + triangleindices.reserve(triangleindices.size()+indexCount); + otherindices.reserve(otherindices.size()+otherIndexCount); + for (uint32_t j = 0; j < input_mesh->mNumFaces; j++) { + aiFace& face = input_mesh->mFaces[j]; + if( face.mNumIndices == 3 ) { + triangleindices.push_back(vertexOffset+face.mIndices[0]); + triangleindices.push_back(vertexOffset+face.mIndices[1]); + triangleindices.push_back(vertexOffset+face.mIndices[2]); + } + else { + for (uint32_t k = 0; k < face.mNumIndices; ++k) { + otherindices.push_back(face.mIndices[k]+vertexOffset); + } + nNumOtherPrimitives++; + } + } + vertexOffset += input_mesh->mNumVertices; + } + + if( triangleindices.size() > 0 ) { + domTrianglesRef ptris = daeSafeCast(pdommesh->add(COLLADA_ELEMENT_TRIANGLES)); + ptris->setCount(triangleindices.size()/3); + ptris->setMaterial("mat0"); + domInput_local_offsetRef pvertoffset = daeSafeCast(ptris->add(COLLADA_ELEMENT_INPUT)); + pvertoffset->setSemantic("VERTEX"); + pvertoffset->setOffset(0); + pvertoffset->setSource(domUrifragment(*pdommesh->getVertices(), str(boost::format("#%s/vertices")%geomid))); + domPRef pindices = daeSafeCast(ptris->add(COLLADA_ELEMENT_P)); + pindices->getValue().setCount(triangleindices.size()); + for(size_t ind = 0; ind < triangleindices.size(); ++ind) { + pindices->getValue()[ind] = triangleindices[ind]; + } + } + + if( nNumOtherPrimitives > 0 ) { + domPolylistRef ptris = daeSafeCast(pdommesh->add(COLLADA_ELEMENT_POLYLIST)); + ptris->setCount(nNumOtherPrimitives); + ptris->setMaterial("mat0"); + domInput_local_offsetRef pvertoffset = daeSafeCast(ptris->add(COLLADA_ELEMENT_INPUT)); + pvertoffset->setSemantic("VERTEX"); + pvertoffset->setSource(domUrifragment(*pdommesh->getVertices(), str(boost::format("#%s/vertices")%geomid))); + domPRef pindices = daeSafeCast(ptris->add(COLLADA_ELEMENT_P)); + pindices->getValue().setCount(otherindices.size()); + for(size_t ind = 0; ind < otherindices.size(); ++ind) { + pindices->getValue()[ind] = otherindices[ind]; + } + + domPolylist::domVcountRef pcount = daeSafeCast(ptris->add(COLLADA_ELEMENT_VCOUNT)); + pcount->getValue().setCount(nNumOtherPrimitives); + uint32_t offset = 0; + for (uint32_t i = 0; i < node->mNumMeshes; i++) { + aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]]; + for (uint32_t j = 0; j < input_mesh->mNumFaces; j++) { + aiFace& face = input_mesh->mFaces[j]; + if( face.mNumIndices > 3 ) { + pcount->getValue()[offset++] = face.mNumIndices; + } + } + } + } + } + + for (uint32_t i=0; i < node->mNumChildren; ++i) { + _buildAiMesh(scene, node->mChildren[i], pdommesh,parray,geomid,scale); + } + } + + + domEffectRef _WriteEffect(std::string const& effect_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse) + { + // + domEffectRef effect = daeSafeCast(_effectsLib->add(COLLADA_ELEMENT_EFFECT)); + effect->setId(effect_id.c_str()); + { + // + domProfile_commonRef profile = daeSafeCast(effect->add(COLLADA_ELEMENT_PROFILE_COMMON)); + { + // + domProfile_common::domTechniqueRef technique = daeSafeCast(profile->add(COLLADA_ELEMENT_TECHNIQUE)); + { + // + domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->add(COLLADA_ELEMENT_PHONG)); + { + // + domFx_common_color_or_textureRef ambient = daeSafeCast(phong->add(COLLADA_ELEMENT_AMBIENT)); + { + // r g b a + domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->add(COLLADA_ELEMENT_COLOR)); + ambient_color->getValue().setCount(4); + ambient_color->getValue()[0] = color_ambient.r; + ambient_color->getValue()[1] = color_ambient.g; + ambient_color->getValue()[2] = color_ambient.b; + ambient_color->getValue()[3] = color_ambient.a; + // + } + // + + // + domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->add(COLLADA_ELEMENT_DIFFUSE)); + { + // r g b a + domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->add(COLLADA_ELEMENT_COLOR)); + diffuse_color->getValue().setCount(4); + diffuse_color->getValue()[0] = color_diffuse.r; + diffuse_color->getValue()[1] = color_diffuse.g; + diffuse_color->getValue()[2] = color_diffuse.b; + diffuse_color->getValue()[3] = color_diffuse.a; + // + } + // + } + // + } + // + } + // + } + // + + return effect; + } + + /// \brief Write transformation + /// \param pelt Element to transform + /// \param t Transform to write + void _WriteTransformation(daeElementRef pelt, const urdf::Pose& t) + { + domRotateRef prot = daeSafeCast(pelt->add(COLLADA_ELEMENT_ROTATE,0)); + domTranslateRef ptrans = daeSafeCast(pelt->add(COLLADA_ELEMENT_TRANSLATE,0)); + ptrans->getValue().setCount(3); + ptrans->getValue()[0] = t.position.x; + ptrans->getValue()[1] = t.position.y; + ptrans->getValue()[2] = t.position.z; + + prot->getValue().setCount(4); + // extract axis from quaternion + double sinang = t.rotation.x*t.rotation.x+t.rotation.y*t.rotation.y+t.rotation.z*t.rotation.z; + if( std::fabs(sinang) < 1e-10 ) { + prot->getValue()[0] = 1; + prot->getValue()[1] = 0; + prot->getValue()[2] = 0; + prot->getValue()[3] = 0; + } + else { + urdf::Rotation quat; + if( t.rotation.w < 0 ) { + quat.x = -t.rotation.x; + quat.y = -t.rotation.y; + quat.z = -t.rotation.z; + quat.w = -t.rotation.w; + } + else { + quat = t.rotation; + } + sinang = std::sqrt(sinang); + prot->getValue()[0] = quat.x/sinang; + prot->getValue()[1] = quat.y/sinang; + prot->getValue()[2] = quat.z/sinang; + prot->getValue()[3] = angles::to_degrees(2.0*std::atan2(sinang,quat.w)); + } + } + + // binding in instance_kinematics_scene + void _WriteBindingsInstance_kinematics_scene() + { + FOREACHC(it, _iasout->vkinematicsbindings) { + domBind_kinematics_modelRef pmodelbind = daeSafeCast(_scene.kiscene->add(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); + pmodelbind->setNode(it->second.c_str()); + daeSafeCast(pmodelbind->add(COLLADA_ELEMENT_PARAM))->setValue(it->first.c_str()); + } + FOREACHC(it, _iasout->vaxissids) { + domBind_joint_axisRef pjointbind = daeSafeCast(_scene.kiscene->add(COLLADA_ELEMENT_BIND_JOINT_AXIS)); + pjointbind->setTarget(it->jointnodesid.c_str()); + daeSafeCast(pjointbind->add(COLLADA_ELEMENT_AXIS)->add(COLLADA_TYPE_PARAM))->setValue(it->axissid.c_str()); + daeSafeCast(pjointbind->add(COLLADA_ELEMENT_VALUE)->add(COLLADA_TYPE_PARAM))->setValue(it->valuesid.c_str()); + } + } + +private: + static urdf::Vector3 _poseMult(const urdf::Pose& p, const urdf::Vector3& v) + { + double ww = 2 * p.rotation.x * p.rotation.x; + double wx = 2 * p.rotation.x * p.rotation.y; + double wy = 2 * p.rotation.x * p.rotation.z; + double wz = 2 * p.rotation.x * p.rotation.w; + double xx = 2 * p.rotation.y * p.rotation.y; + double xy = 2 * p.rotation.y * p.rotation.z; + double xz = 2 * p.rotation.y * p.rotation.w; + double yy = 2 * p.rotation.z * p.rotation.z; + double yz = 2 * p.rotation.z * p.rotation.w; + urdf::Vector3 vnew; + vnew.x = (1-xx-yy) * v.x + (wx-yz) * v.y + (wy+xz)*v.z + p.position.x; + vnew.y = (wx+yz) * v.x + (1-ww-yy) * v.y + (xy-wz)*v.z + p.position.y; + vnew.z = (wy-xz) * v.x + (xy+wz) * v.y + (1-ww-xx)*v.z + p.position.z; + return vnew; + } + + static urdf::Pose _poseInverse(const urdf::Pose& p) + { + urdf::Pose pinv; + pinv.rotation.x = -p.rotation.x; + pinv.rotation.y = -p.rotation.y; + pinv.rotation.z = -p.rotation.z; + pinv.rotation.w = p.rotation.w; + urdf::Vector3 t = _poseMult(pinv,p.position); + pinv.position.x = -t.x; + pinv.position.y = -t.y; + pinv.position.z = -t.z; + return pinv; + } + + int _writeoptions; + + const urdf::Model& _robot; + boost::shared_ptr _collada; + domCOLLADA* _dom; + domCOLLADA::domSceneRef _globalscene; + + domLibrary_visual_scenesRef _visualScenesLib; + domLibrary_kinematics_scenesRef _kinematicsScenesLib; + domLibrary_kinematics_modelsRef _kinematicsModelsLib; + domLibrary_articulated_systemsRef _articulatedSystemsLib; + domLibrary_physics_scenesRef _physicsScenesLib; + domLibrary_materialsRef _materialsLib; + domLibrary_effectsRef _effectsLib; + domLibrary_geometriesRef _geometriesLib; + domTechniqueRef _sensorsLib;///< custom sensors library + SCENE _scene; + + boost::shared_ptr _ikmout; + boost::shared_ptr _iasout; + std::map< boost::shared_ptr, int > _mapjointindices; + std::map< boost::shared_ptr, int > _maplinkindices; + std::map< boost::shared_ptr, int > _mapmaterialindices; + Assimp::Importer _importer; +}; + ColladaUrdfException::ColladaUrdfException(std::string const& what) : std::runtime_error(what) { } -bool colladaFromUrdfFile(string const& file, shared_ptr& dom) { - TiXmlDocument urdf_xml; - if (!urdf_xml.LoadFile(file)) { - ROS_ERROR("Could not load XML file"); - return false; - } - - return colladaFromUrdfXml(&urdf_xml, dom); -} - -bool colladaFromUrdfString(string const& xml, shared_ptr& dom) { - TiXmlDocument urdf_xml; - if (urdf_xml.Parse(xml.c_str()) == 0) { - ROS_ERROR("Could not parse XML document"); - return false; - } - - return colladaFromUrdfXml(&urdf_xml, dom); -} - -bool colladaFromUrdfXml(TiXmlDocument* xml_doc, shared_ptr& dom) { - urdf::Model robot_model; - if (!robot_model.initXml(xml_doc)) { - ROS_ERROR("Could not generate robot model"); - return false; - } - - return colladaFromUrdfModel(robot_model, dom); -} - -bool colladaFromUrdfModel(urdf::Model const& robot_model, shared_ptr& dom) { - ColladaWriter writer(robot_model); +bool colladaFromUrdfModel(const urdf::Model& robot_model, boost::shared_ptr& dom, int writeoptions) +{ + ColladaWriter writer(robot_model,writeoptions); dom = writer.convert(); - - return dom != shared_ptr(); + return dom != boost::shared_ptr(); } -bool colladaToFile(shared_ptr dom, string const& file) { +bool colladaToFile(boost::shared_ptr dom, string const& file) { daeString uri = dom->getDoc(0)->getDocumentURI()->getURI(); return dom->writeTo(uri, file); } diff --git a/collada_urdf/src/collada_writer.cpp b/collada_urdf/src/collada_writer.cpp deleted file mode 100644 index 7453fd1..0000000 --- a/collada_urdf/src/collada_writer.cpp +++ /dev/null @@ -1,975 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2010, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redstributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Tim Field */ - -#include "collada_urdf/collada_writer.h" - -#include "collada_urdf/stl_loader.h" - -#include -#include -#include - -#define foreach BOOST_FOREACH - -using std::string; -using std::map; -using std::vector; -using boost::shared_ptr; - -namespace collada_urdf { - -int ColladaWriter::s_doc_count_ = 0; - -ColladaWriter::ColladaWriter(urdf::Model const& robot) : robot_(robot), dom_(NULL) { - daeErrorHandler::setErrorHandler(this); - - collada_.reset(new DAE); - collada_->setIOPlugin(NULL); - collada_->setDatabase(NULL); -} - -ColladaWriter::~ColladaWriter() { } - -shared_ptr ColladaWriter::convert() { - try { - string doc_count_str = boost::lexical_cast(s_doc_count_++); - initDocument(string("collada_urdf_") + doc_count_str + string(".dae")); - - SCENE scene = createScene(); - - setupPhysics(scene); - addGeometries(); - addKinematics(scene); - addVisuals(scene); - addMaterials(); - addBindings(scene); - - return collada_; - } - catch (ColladaUrdfException ex) { - ROS_ERROR("Error converting: %s", ex.what()); - return shared_ptr(); - } -} - -// Implementation - -void ColladaWriter::handleError(daeString msg) { - throw ColladaUrdfException(msg); -} - -void ColladaWriter::handleWarning(daeString msg) { - std::cerr << "COLLADA DOM warning: " << msg << std::endl; -} - -void ColladaWriter::initDocument(string const& documentName) { - // Create the document - daeDocument* doc = NULL; - daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root - if (error != DAE_OK || doc == NULL) - throw ColladaUrdfException("Failed to create document"); - - dom_ = daeSafeCast(doc->getDomRoot()); - dom_->setAttribute("xmlns:math", "http://www.w3.org/1998/Math/MathML"); - - // Create asset elements - domAssetRef asset = daeSafeCast(dom_->add(COLLADA_ELEMENT_ASSET)); - { - string date = getTimeStampString(); - - domAsset::domCreatedRef created = daeSafeCast(asset->add(COLLADA_ELEMENT_CREATED)); - created->setValue(date.c_str()); - domAsset::domModifiedRef modified = daeSafeCast(asset->add(COLLADA_ELEMENT_MODIFIED)); - modified->setValue(date.c_str()); - - domAsset::domContributorRef contrib = daeSafeCast(asset->add(COLLADA_ELEMENT_CONTRIBUTOR)); - - domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->add(COLLADA_ELEMENT_AUTHORING_TOOL)); - authoringtool->setValue("URDF Collada Writer"); - - domAsset::domUnitRef units = daeSafeCast(asset->add(COLLADA_ELEMENT_UNIT)); - units->setMeter(1); - units->setName("meter"); - - domAsset::domUp_axisRef zup = daeSafeCast(asset->add(COLLADA_ELEMENT_UP_AXIS)); - zup->setValue(UP_AXIS_Z_UP); - } - - // Create top-level elements - scene_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_SCENE)); - visualScenesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); - visualScenesLib_->setId("vscenes"); - geometriesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); - geometriesLib_->setId("geometries"); - kinematicsScenesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); - kinematicsScenesLib_->setId("kscenes"); - kinematicsModelsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); - kinematicsModelsLib_->setId("kmodels"); - jointsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_JOINTS)); - jointsLib_->setId("joints"); - physicsScenesLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); - physicsScenesLib_->setId("physics_scenes"); - effectsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_EFFECTS)); - effectsLib_->setId("effects"); - materialsLib_ = daeSafeCast(dom_->add(COLLADA_ELEMENT_LIBRARY_MATERIALS)); - materialsLib_->setId("materials"); -} - -ColladaWriter::SCENE ColladaWriter::createScene() { - SCENE s; - - // Create visual scene - s.vscene = daeSafeCast(visualScenesLib_->add(COLLADA_ELEMENT_VISUAL_SCENE)); - s.vscene->setId("vscene"); - s.vscene->setName("URDF Visual Scene"); - - // Create instance visual scene - s.viscene = daeSafeCast(scene_->add(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); - s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); - - // Create kinematics scene - s.kscene = daeSafeCast(kinematicsScenesLib_->add(COLLADA_ELEMENT_KINEMATICS_SCENE)); - s.kscene->setId("kscene"); - s.kscene->setName("URDF Kinematics Scene"); - - // Create instance kinematics scene - s.kiscene = daeSafeCast(scene_->add(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); - s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); - - // Create physics scene - s.pscene = daeSafeCast(physicsScenesLib_->add(COLLADA_ELEMENT_PHYSICS_SCENE)); - s.pscene->setId("pscene"); - s.pscene->setName("URDF Physics Scene"); - - // Create instance physics scene - s.piscene = daeSafeCast(scene_->add(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); - s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); - - return s; -} - -void ColladaWriter::setupPhysics(SCENE const& scene) { - // - domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - { - // 0 0 0 - domTargetable_float3Ref g = daeSafeCast(common->add(COLLADA_ELEMENT_GRAVITY)); - g->getValue().set3(0.0, 0.0, 0.0); - // - } - // -} - -void ColladaWriter::addGeometries() { - int link_num = 0; - - for (map >::const_iterator i = robot_.links_.begin(); i != robot_.links_.end(); i++) { - shared_ptr urdf_link = i->second; - boost::shared_ptr< urdf::Geometry > geometry; - if( !!urdf_link->visual ) { - geometry = urdf_link->visual->geometry; - } - else if (!!urdf_link->collision ) { - geometry = urdf_link->collision->geometry; - } - if( !geometry ) { - continue; - } - switch (geometry->type) { - case urdf::Geometry::MESH: { - urdf::Mesh* urdf_mesh = (urdf::Mesh*) geometry.get(); - - string filename = urdf_mesh->filename; - urdf::Vector3 scale = urdf_mesh->scale; // @todo use scale - - // - domGeometryRef geometry = daeSafeCast(geometriesLib_->add(COLLADA_ELEMENT_GEOMETRY)); - string geometry_id = string("g1.link") + boost::lexical_cast(link_num) + string(".geom0"); - geometry->setId(geometry_id.c_str()); - { - loadMesh(filename, geometry, geometry_id); - } - geometry_ids_[urdf_link->name] = geometry_id; - // - - link_num++; - break; - } - case urdf::Geometry::SPHERE: { - std::cerr << "Warning: geometry type SPHERE of link " << urdf_link->name << " not exported" << std::endl; - break; - } - case urdf::Geometry::BOX: { - std::cerr << "Warning: geometry type BOX of link " << urdf_link->name << " not exported" << std::endl; - break; - } - case urdf::Geometry::CYLINDER: { - std::cerr << "Warning: geometry type CYLINDER of link " << urdf_link->name << " not exported" << std::endl; - break; - } - default: { - std::cerr << "Warning: geometry type " << geometry->type << " of link " << urdf_link->name << " not exported" << std::endl; - break; - } - } - } -} - -void ColladaWriter::loadMesh(string const& filename, domGeometryRef geometry, string const& geometry_id) { - // Load the mesh - resource_retriever::MemoryResource resource; - resource_retriever::Retriever retriever; - try { - resource = retriever.get(filename.c_str()); - } - catch (resource_retriever::Exception& e) { - std::cerr << "Unable to load mesh file " << filename << ": " << e.what() << std::endl; - return; - } - - // Try assimp first, then STLLoader - try { - loadMeshWithSTLLoader(resource, geometry, geometry_id); - } - catch (ColladaUrdfException e) { - std::cerr << "Unable to load mesh file " << filename << ": " << e.what() << std::endl; - } -} - -bool ColladaWriter::loadMeshWithSTLLoader(resource_retriever::MemoryResource const& resource, domGeometryRef geometry, string const& geometry_id) { - // Write the resource to a temporary file - char tmp_filename[] = "/tmp/collada_urdf_XXXXXX"; - int fd = mkstemp(tmp_filename); - if (fd == -1) - throw ColladaUrdfException("Couldn't create temporary file"); - - if ((uint32_t) write(fd, resource.data.get(), resource.size) != resource.size) { - close(fd); - unlink(tmp_filename); - throw ColladaUrdfException("Couldn't write resource to file"); - } - close(fd); - - // Import the mesh using STLLoader - STLLoader loader; - shared_ptr stl_mesh = loader.load(string(tmp_filename)); - if (stl_mesh == shared_ptr()) { - unlink(tmp_filename); - throw ColladaUrdfException("Couldn't import STL mesh"); - } - - // Build the COLLADA mesh - buildMeshFromSTLLoader(stl_mesh, geometry, geometry_id); - - // Delete the temporary file - unlink(tmp_filename); - - return true; -} - -void ColladaWriter::buildMeshFromSTLLoader(shared_ptr stl_mesh, daeElementRef parent, string const& geometry_id) { - // - domMeshRef mesh = daeSafeCast(parent->add(COLLADA_ELEMENT_MESH)); - { - unsigned int num_vertices = stl_mesh->vertices.size(); - unsigned int num_indices = stl_mesh->indices.size(); - unsigned int num_faces = num_indices / 3; - - // - domSourceRef positions_source = daeSafeCast(mesh->add(COLLADA_ELEMENT_SOURCE)); - positions_source->setId((geometry_id + string(".positions")).c_str()); - { - // - domFloat_arrayRef positions_array = daeSafeCast(positions_source->add(COLLADA_ELEMENT_FLOAT_ARRAY)); - positions_array->setId((geometry_id + string(".positions-array")).c_str()); - positions_array->setCount(num_vertices * 3); - positions_array->setDigits(6); // 6 decimal places - positions_array->getValue().setCount(num_vertices * 3); - for (unsigned int j = 0; j < num_vertices; j++) { - positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x; - positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y; - positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z; - } - // - - // - domSource::domTechnique_commonRef source_tech = daeSafeCast(positions_source->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - { - // - domAccessorRef accessor = daeSafeCast(source_tech->add(COLLADA_ELEMENT_ACCESSOR)); - accessor->setCount(num_vertices / 3); - accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); - accessor->setStride(3); - { - // - // - // - domParamRef px = daeSafeCast(accessor->add(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); - domParamRef py = daeSafeCast(accessor->add(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); - domParamRef pz = daeSafeCast(accessor->add(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); - } - // - } - // - } - - // - domVerticesRef vertices = daeSafeCast(mesh->add(COLLADA_ELEMENT_VERTICES)); - string vertices_id = geometry_id + string(".vertices"); - vertices->setId(vertices_id.c_str()); - { - // - domInput_localRef vertices_input = daeSafeCast(vertices->add(COLLADA_ELEMENT_INPUT)); - vertices_input->setSemantic("POSITION"); - vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId()))); - } - // - - // - domTrianglesRef triangles = daeSafeCast(mesh->add(COLLADA_ELEMENT_TRIANGLES)); - triangles->setCount(num_faces); - triangles->setMaterial("mat0"); - { - // - domInput_local_offsetRef vertex_offset = daeSafeCast(triangles->add(COLLADA_ELEMENT_INPUT)); - vertex_offset->setSemantic("VERTEX"); - vertex_offset->setOffset(0); - vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id)); - { - //

0 1 2 3 ... - domPRef indices = daeSafeCast(triangles->add(COLLADA_ELEMENT_P)); - indices->getValue().setCount(num_indices); - for (unsigned int i = 0; i < num_indices; i++) - indices->getValue()[i] = stl_mesh->indices[i]; - //

- } - } - // - } - // -} - -void ColladaWriter::addJoints(daeElementRef parent) { - int joint_num = 0; - for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { - shared_ptr urdf_joint = i->second; - - // - domJointRef joint = daeSafeCast(parent->add(COLLADA_ELEMENT_JOINT)); - string joint_sid = string("joint") + boost::lexical_cast(joint_num); - joint_num++; - joint->setName(urdf_joint->name.c_str()); - joint->setSid(joint_sid.c_str()); - joint_sids_[urdf_joint->name] = joint_sid; - - double axis_x = urdf_joint->axis.x; - double axis_y = urdf_joint->axis.y; - double axis_z = urdf_joint->axis.z; - if (axis_x == 0.0 && axis_y == 0.0 && axis_z == 0.0) { - axis_x = 1.0; - axis_y = 0.0; - axis_z = 0.0; - } - - switch (urdf_joint->type) - { - case urdf::Joint::REVOLUTE: { - // - domAxis_constraintRef revolute = daeSafeCast(joint->add(COLLADA_ELEMENT_REVOLUTE)); - revolute->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(revolute->add(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - - // - domJoint_limitsRef limits = daeSafeCast(revolute->add(COLLADA_ELEMENT_LIMITS)); - { - daeSafeCast(limits->add(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower); - daeSafeCast(limits->add(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper); - } - // - } - // - break; - } - case urdf::Joint::CONTINUOUS: { - // Model as a REVOLUTE joint without limits - - // - domAxis_constraintRef revolute = daeSafeCast(joint->add(COLLADA_ELEMENT_REVOLUTE)); - revolute->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(revolute->add(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - } - // - break; - } - case urdf::Joint::PRISMATIC: { - // - domAxis_constraintRef prismatic = daeSafeCast(joint->add(COLLADA_ELEMENT_PRISMATIC)); - prismatic->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(prismatic->add(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - - // - domJoint_limitsRef limits = daeSafeCast(prismatic->add(COLLADA_ELEMENT_LIMITS)); - { - daeSafeCast(limits->add(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; - daeSafeCast(limits->add(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; - } - // - } - // - break; - } - case urdf::Joint::FIXED: { - // Model as a REVOLUTE joint with no leeway - - domAxis_constraintRef revolute = daeSafeCast(joint->add(COLLADA_ELEMENT_REVOLUTE)); - revolute->setSid("axis0"); - { - // - domAxisRef axis = daeSafeCast(revolute->add(COLLADA_ELEMENT_AXIS)); - { - axis->getValue().setCount(3); - axis->getValue()[0] = axis_x; - axis->getValue()[1] = axis_y; - axis->getValue()[2] = axis_z; - } - // - - // - domJoint_limitsRef limits = daeSafeCast(revolute->add(COLLADA_ELEMENT_LIMITS)); - { - daeSafeCast(limits->add(COLLADA_ELEMENT_MIN))->getValue() = 0.0; - daeSafeCast(limits->add(COLLADA_ELEMENT_MAX))->getValue() = 0.0; - } - // - } - // - break; - } - case urdf::Joint::UNKNOWN: { - std::cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << std::endl; - break; - } - case urdf::Joint::FLOATING: { - std::cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << std::endl; - break; - } - case urdf::Joint::PLANAR: { - std::cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << std::endl; - break; - } - default: { - std::cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << std::endl; - break; - } - } - } -} - -void ColladaWriter::addBindings(SCENE const& scene) { - string model_id = kmodel_->getID(); - string inst_model_sid = string("inst_") + model_id; - - // - // - domBind_kinematics_modelRef kmodel_bind = daeSafeCast(scene.kiscene->add(COLLADA_ELEMENT_BIND_KINEMATICS_MODEL)); - kmodel_bind->setNode("v1.node0"); // @todo - daeSafeCast(kmodel_bind->add(COLLADA_ELEMENT_PARAM))->setValue(string(string(scene.kscene->getID()) + string(".") + inst_model_sid).c_str()); - - for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { - shared_ptr urdf_joint = i->second; - - int idof = 0; // @todo assuming 1 dof joints - string joint_sid = joint_sids_[urdf_joint->name]; - string axis_name = string("axis") + boost::lexical_cast(idof); - string joint_axis_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; - string joint_axis_value_sid = joint_axis_sid + string("_value"); - - // - domBind_joint_axisRef joint_bind = daeSafeCast(scene.kiscene->add(COLLADA_ELEMENT_BIND_JOINT_AXIS)); - string node_name = node_ids_[urdf_joint->name]; - joint_bind->setTarget((node_name + string("/node_") + joint_sid + string("_") + axis_name).c_str()); - { - // - domCommon_sidref_or_paramRef axis_bind = daeSafeCast(joint_bind->add(COLLADA_ELEMENT_AXIS)); - { - daeSafeCast(axis_bind->add(COLLADA_ELEMENT_PARAM))->setValue(joint_axis_sid.c_str()); - } - // - // - domCommon_float_or_paramRef value_bind = daeSafeCast(joint_bind->add(COLLADA_ELEMENT_VALUE)); - { - daeSafeCast(value_bind->add(COLLADA_ELEMENT_PARAM))->setValue(joint_axis_value_sid.c_str()); - } - } - // - } -} - -void ColladaWriter::addKinematics(SCENE const& scene) { - // - domKinematics_modelRef kmodel = daeSafeCast(kinematicsModelsLib_->add(COLLADA_ELEMENT_KINEMATICS_MODEL)); - kmodel->setId("k1"); - kmodel->setName(robot_.getName().c_str()); - { - // - domKinematics_model_techniqueRef technique = daeSafeCast(kmodel->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - addJoints(technique); - // - - // - int link_num = 0; - addKinematicLink(robot_.getRoot(), technique, link_num); - // - - // add a formula for each mimic joint - for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { - shared_ptr urdf_joint = i->second; - if( !!urdf_joint->mimic ) { - string joint_sid = string("k1/")+joint_sids_[urdf_joint->name]; - string joint_mimic_sid = string("k1/")+joint_sids_[urdf_joint->mimic->joint_name]; - // - addMimicJoint(daeSafeCast(technique->add(COLLADA_ELEMENT_FORMULA)), joint_sid,joint_mimic_sid,urdf_joint->mimic->multiplier,urdf_joint->mimic->offset); - // - } - } - } - kmodel_ = kmodel; - // - - string model_id = kmodel->getID(); - string inst_model_sid = string("inst_") + model_id; - - // - domInstance_kinematics_modelRef ikm = daeSafeCast(scene.kscene->add(COLLADA_ELEMENT_INSTANCE_KINEMATICS_MODEL)); - ikm->setUrl((string("#") + model_id).c_str()); - ikm->setSid(inst_model_sid.c_str()); - { - // - domKinematics_newparamRef newparam_model = daeSafeCast(ikm->add(COLLADA_ELEMENT_NEWPARAM)); - string newparam_model_sid = string("kscene.inst_") + model_id; - newparam_model->setSid(newparam_model_sid.c_str()); - { - // kscene/inst_k1 - string model_sidref = string("kscene/inst_") + model_id; - daeSafeCast(newparam_model->add(COLLADA_ELEMENT_SIDREF))->setValue(model_sidref.c_str()); - } - // - - for (map >::const_iterator i = robot_.joints_.begin(); i != robot_.joints_.end(); i++) { - shared_ptr urdf_joint = i->second; - - int idof = 0; // @todo assuming 1 dof joints - - string joint_sid = joint_sids_[urdf_joint->name]; - - string axis_name = string("axis") + boost::lexical_cast(idof); - - // - domKinematics_newparamRef newparam = daeSafeCast(ikm->add(COLLADA_ELEMENT_NEWPARAM)); - string newparam_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name; - newparam->setSid(newparam_sid.c_str()); - { - // kscene/inst_k1/joint0/axis0 - string sidref = string("kscene/inst_") + model_id + string("/") + joint_sid + string("/") + axis_name; - daeSafeCast(newparam->add(COLLADA_ELEMENT_SIDREF))->setValue(sidref.c_str()); - } - // - - // - domKinematics_newparamRef newparam_value = daeSafeCast(ikm->add(COLLADA_ELEMENT_NEWPARAM)); - string newparam_value_sid = string("kscene.inst_") + model_id + string(".") + joint_sid + string(".") + axis_name + string("_value"); - newparam_value->setSid(newparam_value_sid.c_str()); - { - // 0 - daeSafeCast(newparam_value->add(COLLADA_ELEMENT_FLOAT))->setValue(0.0f); - } - // - } - } - // -} - -void ColladaWriter::addKinematicLink(shared_ptr urdf_link, daeElementRef parent, int& link_num) { - // - domLinkRef link = daeSafeCast(parent->add(COLLADA_ELEMENT_LINK)); - string link_sid = string("link") + boost::lexical_cast(link_num); - link->setName(urdf_link->name.c_str()); - link->setSid(link_sid.c_str()); - link_num++; - foreach(shared_ptr urdf_joint, urdf_link->child_joints) { - // - domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->add(COLLADA_ELEMENT_ATTACHMENT_FULL)); - string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name]; - attachment_full->setJoint(attachment_joint.c_str()); - { - // x y z - addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position, NULL, true); - // x y z w - addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation, NULL, true); - - addKinematicLink(robot_.getLink(urdf_joint->child_link_name), attachment_full, link_num); - } - // - } - // -} - -void ColladaWriter::addVisuals(SCENE const& scene) { - // - domNodeRef root_node = daeSafeCast(scene.vscene->add(COLLADA_ELEMENT_NODE)); - root_node->setId("v1"); - root_node->setName(robot_.getName().c_str()); - { - int link_num = 0; - addVisualLink(robot_.getRoot(), root_node, link_num); - } -} - -void ColladaWriter::addMaterials() { - urdf::Color ambient, diffuse; - ambient.init("1 1 1 0"); - diffuse.init("1 1 1 0"); - - for (map >::const_iterator i = robot_.links_.begin(); i != robot_.links_.end(); i++) { - shared_ptr urdf_link = i->second; - - map::const_iterator j = geometry_ids_.find(urdf_link->name); - if (j == geometry_ids_.end()) - continue; - - if (!urdf_link->visual->material->texture_filename.empty()) { - ambient.r = ambient.g = ambient.b = 1; ambient.a = 0; - diffuse.r = diffuse.g = diffuse.b = 1; diffuse.a = 0; - } - else { - ambient.r = diffuse.r = urdf_link->visual->material->color.r; - ambient.g = diffuse.g = urdf_link->visual->material->color.g; - ambient.b = diffuse.b = urdf_link->visual->material->color.b; - ambient.a = diffuse.a = urdf_link->visual->material->color.a; - } - - string geometry_id = j->second; - - domEffectRef effect = addEffect(geometry_id, ambient, diffuse); - - // - domMaterialRef material = daeSafeCast(materialsLib_->add(COLLADA_ELEMENT_MATERIAL)); - string material_id = geometry_id + string(".mat"); - material->setId(material_id.c_str()); - { - // - domInstance_effectRef instance_effect = daeSafeCast(material->add(COLLADA_ELEMENT_INSTANCE_EFFECT)); - string effect_id(effect->getId()); - instance_effect->setUrl((string("#") + effect_id).c_str()); - } - // - } -} - -domEffectRef ColladaWriter::addEffect(string const& geometry_id, urdf::Color const& color_ambient, urdf::Color const& color_diffuse) -{ - // - domEffectRef effect = daeSafeCast(effectsLib_->add(COLLADA_ELEMENT_EFFECT)); - string effect_id = geometry_id + string(".eff"); - effect->setId(effect_id.c_str()); - { - // - domProfile_commonRef profile = daeSafeCast(effect->add(COLLADA_ELEMENT_PROFILE_COMMON)); - { - // - domProfile_common::domTechniqueRef technique = daeSafeCast(profile->add(COLLADA_ELEMENT_TECHNIQUE)); - { - // - domProfile_common::domTechnique::domPhongRef phong = daeSafeCast(technique->add(COLLADA_ELEMENT_PHONG)); - { - // - domFx_common_color_or_textureRef ambient = daeSafeCast(phong->add(COLLADA_ELEMENT_AMBIENT)); - { - // r g b a - domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast(ambient->add(COLLADA_ELEMENT_COLOR)); - ambient_color->getValue().setCount(4); - ambient_color->getValue()[0] = color_ambient.r; - ambient_color->getValue()[1] = color_ambient.g; - ambient_color->getValue()[2] = color_ambient.b; - ambient_color->getValue()[3] = color_ambient.a; - // - } - // - - // - domFx_common_color_or_textureRef diffuse = daeSafeCast(phong->add(COLLADA_ELEMENT_DIFFUSE)); - { - // r g b a - domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast(diffuse->add(COLLADA_ELEMENT_COLOR)); - diffuse_color->getValue().setCount(4); - diffuse_color->getValue()[0] = color_diffuse.r; - diffuse_color->getValue()[1] = color_diffuse.g; - diffuse_color->getValue()[2] = color_diffuse.b; - diffuse_color->getValue()[3] = color_diffuse.a; - // - } - // - } - // - } - // - } - // - } - // - - return effect; -} - -void ColladaWriter::addVisualLink(shared_ptr urdf_link, daeElementRef parent, int& link_num) { - // - domNodeRef node = daeSafeCast(parent->add(COLLADA_ELEMENT_NODE)); - string node_sid = string("node") + boost::lexical_cast(link_num); - string node_id = string("v1.") + node_sid; - node->setName(urdf_link->name.c_str()); - node->setSid(node_sid.c_str()); - node->setId(node_id.c_str()); - link_num++; - - domNodeRef parent_node = node; - - { - if (!!urdf_link->parent_joint) { - // x y z - addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position, NULL, true); - // x y z w - addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true); - - domRotateRef joint_rotate; - // x y z angle - //joint_rotate = addRotate(parent_node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation); - - joint_rotate = daeSafeCast(parent_node->add(COLLADA_ELEMENT_ROTATE)); - joint_rotate->getValue().setCount(4); - joint_rotate->getValue()[0] = urdf_link->parent_joint->axis.x; - joint_rotate->getValue()[1] = urdf_link->parent_joint->axis.y; - joint_rotate->getValue()[2] = urdf_link->parent_joint->axis.z; - joint_rotate->getValue()[3] = 0; - - string joint_sid = joint_sids_[urdf_link->parent_joint->name]; - string joint_rotate_sid = string("node_") + joint_sid + string("_axis0"); - joint_rotate->setSid(joint_rotate_sid.c_str()); - - node_ids_[urdf_link->parent_joint->name] = node_id; - } - - if (!!urdf_link->visual) { - // - domNodeRef visual_node = daeSafeCast(node->add(COLLADA_ELEMENT_NODE)); - string visual_sid("visual"); - string visual_id = node_id + "." + visual_sid; - visual_node->setName("visual"); - visual_node->setSid(visual_sid.c_str()); - visual_node->setId(visual_id.c_str()); - parent_node = visual_node; - - // x y z - addTranslate(parent_node, urdf_link->visual->origin.position, NULL, true); - // x y z w - addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true); - } - - // - map::const_iterator i = geometry_ids_.find(urdf_link->name); - if (i != geometry_ids_.end()) { - domInstance_geometryRef instance_geometry = daeSafeCast(parent_node->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); - string geometry_id = i->second; - string instance_geometry_url = string("#") + geometry_id; - instance_geometry->setUrl(instance_geometry_url.c_str()); - { - // - domBind_materialRef bind_material = daeSafeCast(instance_geometry->add(COLLADA_ELEMENT_BIND_MATERIAL)); - { - // - domBind_material::domTechnique_commonRef technique_common = daeSafeCast(bind_material->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - { - // - domInstance_materialRef instance_material = daeSafeCast(technique_common->add(COLLADA_ELEMENT_INSTANCE_MATERIAL)); - instance_material->setTarget((instance_geometry_url + string(".mat")).c_str()); - instance_material->setSymbol("mat0"); - // - } - // - } - // - } - } - // - - // - foreach(shared_ptr link2, urdf_link->child_links) - addVisualLink(link2, node, link_num); - // - } - // -} - -domTranslateRef ColladaWriter::addTranslate(daeElementRef parent, urdf::Vector3 const& position, daeElementRef before, bool ignore_zero_translations) { - if (ignore_zero_translations && position.x == 0.0 && position.y == 0.0 && position.z == 0.0) - return NULL; - - // x y z - domTranslateRef trans; - if (before) { - trans = daeSafeCast(parent->createElement(COLLADA_ELEMENT_TRANSLATE)); - parent->addBefore(trans, before); - } - else - trans = daeSafeCast(parent->add(COLLADA_ELEMENT_TRANSLATE)); - trans->getValue().setCount(3); - trans->getValue()[0] = position.x; - trans->getValue()[1] = position.y; - trans->getValue()[2] = position.z; - return trans; -} - -domRotateRef ColladaWriter::addRotate(daeElementRef parent, urdf::Rotation const& r, daeElementRef before, bool ignore_zero_rotations) { - double ax, ay, az, aa; - - // Convert from quaternion to axis-angle - double sqr_len = r.x * r.x + r.y * r.y + r.z * r.z; - if (sqr_len > 0) { - aa = 2 * acos(r.w); - - double inv_len = 1.0 / sqrt(sqr_len); - ax = r.x * inv_len; - ay = r.y * inv_len; - az = r.z * inv_len; - } - else { - if (ignore_zero_rotations) - return NULL; - - // Angle is 0 (mod 2*pi), so no need to add rotate node - aa = 0.0; - ax = 1.0; - ay = 0.0; - az = 0.0; - } - - // x y z w - domRotateRef rot; - if (before) { - rot = daeSafeCast(parent->createElement(COLLADA_ELEMENT_ROTATE)); - parent->addBefore(rot, before); - } - else - rot = daeSafeCast(parent->add(COLLADA_ELEMENT_ROTATE)); - rot->getValue().setCount(4); - rot->getValue()[0] = ax; - rot->getValue()[1] = ay; - rot->getValue()[2] = az; - rot->getValue()[3] = angles::to_degrees(aa); - - return rot; -} - - void ColladaWriter::addMimicJoint(domFormulaRef formula, const std::string& joint_sid,const std::string& joint_mimic_sid, double multiplier, double offset) -{ - string sid = joint_sid+string(".formula"); - formula->setSid(sid.c_str()); - - domCommon_float_or_paramRef ptarget = daeSafeCast(formula->createAndPlace(COLLADA_ELEMENT_TARGET)); - daeSafeCast(ptarget->createAndPlace(COLLADA_TYPE_PARAM))->setValue(joint_sid.c_str()); - - domFormula_techniqueRef pftec = daeSafeCast(formula->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - - // a x b - daeElementRef pmath_math = pftec->createAndPlace("math"); - daeElementRef pmath_apply = pmath_math->createAndPlace("apply"); - { - daeElementRef pmath_plus = pmath_apply->createAndPlace("plus"); - daeElementRef pmath_apply1 = pmath_apply->createAndPlace("apply"); - { - daeElementRef pmath_times = pmath_apply1->createAndPlace("times"); - daeElementRef pmath_const0 = pmath_apply1->createAndPlace("cn"); - pmath_const0->setCharData(boost::lexical_cast(multiplier)); - daeElementRef pmath_symb = pmath_apply1->createAndPlace("csymbol"); - pmath_symb->setAttribute("encoding","COLLADA"); - pmath_symb->setCharData(joint_mimic_sid); - } - daeElementRef pmath_const1 = pmath_apply->createAndPlace("cn"); - pmath_const1->setCharData(boost::lexical_cast(offset)); - } -} - -string ColladaWriter::getTimeStampString() const { - // facet becomes owned by locale, so no need to explicitly delete - boost::posix_time::time_facet* facet = new boost::posix_time::time_facet("%Y-%m-%dT%H:%M:%s"); - - std::stringstream ss(std::stringstream::in | std::stringstream::out); - ss.imbue(std::locale(ss.getloc(), facet)); - ss << boost::posix_time::second_clock::local_time(); - - string date; - ss >> date; - - return date; -} - -} diff --git a/collada_urdf/src/stl_loader.cpp b/collada_urdf/src/stl_loader.cpp deleted file mode 100644 index 4194f99..0000000 --- a/collada_urdf/src/stl_loader.cpp +++ /dev/null @@ -1,153 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2010, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redstributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Tim Field */ - -#include "collada_urdf/stl_loader.h" - -#include -#include -#include - -#include - -using std::string; -using boost::shared_ptr; - -namespace collada_urdf { - -// Vector3 - -Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { } - -bool Vector3::operator==(Vector3 const& v) const { - return x == v.x && y == v.y && z == v.z; -} - -// Mesh - -Mesh::Mesh() { -} - -int Mesh::getVertexIndex(const Vector3& v) const { - for (unsigned int i = 0; i < vertices.size(); i++) - if (vertices[i] == v) - return i; - - return -1; -} - -void Mesh::addVertex(Vector3 const& v) { vertices.push_back(v); } -void Mesh::addNormal(Vector3 const& n) { normals.push_back(n); } -void Mesh::addIndex(unsigned int i) { indices.push_back(i); } - -// STLLoader - -shared_ptr STLLoader::load(std::string const& filename) { - file_ = fopen(filename.c_str(), "r"); - if (file_ == NULL) - return shared_ptr(); - - mesh_ = shared_ptr(new Mesh); - readBinary(); - fclose(file_); - file_ = NULL; - - return mesh_; -} - -void STLLoader::readBinary() { - // 80 byte Header - for (int i = 0; i < 80; i++) - fgetc(file_); - - int face_num = readLongInt(); - - for (int iface = 0; iface < face_num; iface++) { - float nx = readFloat(); - float ny = readFloat(); - float nz = readFloat(); - Vector3 normal(nx, ny, nz); - - for (int i = 0; i < 3; i++) { - float vx = readFloat(); - float vy = readFloat(); - float vz = readFloat(); - Vector3 vertex(vx, vy, vz); - - int index = mesh_->getVertexIndex(vertex); - if (index == -1) { - mesh_->addVertex(vertex); - mesh_->addNormal(normal); - index = mesh_->vertices.size() - 1; - } - mesh_->addIndex(index); - } - - readShortInt(); // 2 byte attribute - } -} - -float STLLoader::readFloat() { - float rval; - if (fread(&rval, sizeof(float), 1, file_) == 0) - std::cerr << "Error in STLLoader::readFloat" << std::endl; - - return rval; -} - -uint32_t STLLoader::readLongInt() { - union - { - uint32_t yint; - char ychar[4]; - } y; - y.ychar[0] = fgetc(file_); - y.ychar[1] = fgetc(file_); - y.ychar[2] = fgetc(file_); - y.ychar[3] = fgetc(file_); - - return y.yint; -} - -uint16_t STLLoader::readShortInt() { - uint8_t c1 = fgetc(file_); - uint8_t c2 = fgetc(file_); - - uint16_t ival = c1 | (c2 << 8); - - return ival; -} - -} diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp index 6785ebe..163ec9d 100644 --- a/collada_urdf/src/urdf_to_collada.cpp +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -48,8 +48,13 @@ int main(int argc, char** argv) std::string input_filename(argv[1]); std::string output_filename(argv[2]); + urdf::Model robot_model; + if( !robot_model.initFile(input_filename) ) { + ROS_ERROR("failed to open urdf file %s",input_filename.c_str()); + } + boost::shared_ptr dom; - if (!collada_urdf::colladaFromUrdfFile(input_filename, dom)) { + if (!collada_urdf::colladaFromUrdfModel(robot_model, dom)) { std::cerr << std::endl << "Error converting document" << std::endl; return -1; } diff --git a/urdf/manifest.xml b/urdf/manifest.xml index f857168..9e5ed9a 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -13,6 +13,7 @@ + From 2a6e9665bb01a2e34ab20acc3c40d17bd905a6bd Mon Sep 17 00:00:00 2001 From: rdiankov Date: Wed, 8 Dec 2010 02:56:20 +0000 Subject: [PATCH 227/245] collada urdf uses link/joint names for sids (easier referencing) --- collada_urdf/src/collada_urdf.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 394d648..c9d1e6e 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -426,7 +426,7 @@ protected: for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { string axis_infosid = str(boost::format("axis_info_inst%d")%idof); boost::shared_ptr pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint; - BOOST_ASSERT(_mapjointindices[pjoint] == idof); + BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof); //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis; // Kinematics axis info @@ -601,7 +601,7 @@ protected: boost::shared_ptr pjoint = itjoint->second; int index = _mapjointindices[itjoint->second]; domJointRef pdomjoint = daeSafeCast(ktec->add(COLLADA_ELEMENT_JOINT)); - string jointid = str(boost::format("joint%d")%index); + string jointid = pjoint->name;//str(boost::format("joint%d")%index); pdomjoint->setSid( jointid.c_str() ); pdomjoint->setName(pjoint->name.c_str()); domAxis_constraintRef axis; @@ -669,17 +669,17 @@ protected: // create the formulas for all mimic joints FOREACHC(itjoint, _robot.joints_) { - int index = _mapjointindices[itjoint->second]; + string jointsid = itjoint->second->name; boost::shared_ptr pjoint = itjoint->second; if( !pjoint->mimic ) { continue; } domFormulaRef pf = daeSafeCast(ktec->add(COLLADA_ELEMENT_FORMULA)); - string formulaid = str(boost::format("joint%d.formula")%index); + string formulaid = str(boost::format("%s_formula")%jointsid); pf->setSid(formulaid.c_str()); domCommon_float_or_paramRef ptarget = daeSafeCast(pf->add(COLLADA_ELEMENT_TARGET)); - string targetjointid = str(boost::format("%s/joint%d")%kmodel->getID()%index); + string targetjointid = str(boost::format("%s/%s")%kmodel->getID()%jointsid); daeSafeCast(ptarget->add(COLLADA_TYPE_PARAM))->setValue(targetjointid.c_str()); domFormula_techniqueRef pftec = daeSafeCast(pf->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); @@ -696,7 +696,7 @@ protected: pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); daeElementRef pmath_symb = pmath_apply1->add("csymbol"); pmath_symb->setAttribute("encoding","COLLADA"); - pmath_symb->setCharData(str(boost::format("%s/joint%d")%kmodel->getID()%_mapjointindices[_robot.getJoint(pjoint->mimic->joint_name)])); + pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); } daeElementRef pmath_const1 = pmath_apply->add("cn"); pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); @@ -715,7 +715,7 @@ protected: { LINKOUTPUT out; int linkindex = _maplinkindices[plink]; - string linksid = str(boost::format("link%d")%linkindex); + string linksid = plink->name; domLinkRef pdomlink = daeSafeCast(pkinparent->add(COLLADA_ELEMENT_LINK)); pdomlink->setName(plink->name.c_str()); pdomlink->setSid(linksid.c_str()); @@ -766,7 +766,7 @@ protected: // domLink::domAttachment_fullRef attachment_full = daeSafeCast(pdomlink->add(COLLADA_ELEMENT_ATTACHMENT_FULL)); - string jointid = str(boost::format("%s/joint%d")%strModelUri%index); + string jointid = str(boost::format("%s/%s")%strModelUri%pjoint->name); attachment_full->setJoint(jointid.c_str()); LINKOUTPUT childinfo = _WriteLink(_robot.getLink(pjoint->child_link_name), attachment_full, pnode, strModelUri); @@ -778,7 +778,7 @@ protected: } // rotate/translate elements - string jointnodesid = str(boost::format("node_joint%d_axis0")%index); + string jointnodesid = str(boost::format("node_%s_axis0")%pjoint->name); switch(pjoint->type) { case urdf::Joint::REVOLUTE: case urdf::Joint::CONTINUOUS: From 37e10c333cc4ff915c6dda5dbca1d79011a9b3fc Mon Sep 17 00:00:00 2001 From: rdiankov Date: Fri, 17 Dec 2010 03:02:51 +0000 Subject: [PATCH 228/245] fixed bind/newparam problem in collada writer --- collada_urdf/src/collada_urdf.cpp | 32 +++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index c9d1e6e..1fd163b 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -472,9 +472,9 @@ protected: string asmsym = str(boost::format("%s.%s")%asmid%_ikmout->ikm->getSid()); string assym = str(boost::format("%s.%s")%_scene.kscene->getID()%_ikmout->ikm->getSid()); FOREACH(it, _ikmout->vkinematicsbindings) { - domKinematics_bindRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_BIND)); - abm->setSymbol(asmsym.c_str()); - daeSafeCast(abm->add(COLLADA_ELEMENT_PARAM))->setRef(it->first.c_str()); + domKinematics_newparamRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); + abm->setSid(asmsym.c_str()); + daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(it->first.c_str()); domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); ab->setSymbol(assym.c_str()); daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(asmsym.c_str()); @@ -482,17 +482,17 @@ protected: } for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { const axis_sids& kas = _ikmout->vaxissids.at(idof); - domKinematics_bindRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_BIND)); - abm->setSymbol(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); - daeSafeCast(abm->add(COLLADA_ELEMENT_PARAM))->setRef(kas.axissid.c_str()); + domKinematics_newparamRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); + abm->setSid(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); + daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(kas.axissid.c_str()); domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); ab->setSymbol(str(boost::format("%s.%s")%assym%kas.axissid).c_str()); daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); string valuesid; if( kas.valuesid.size() > 0 ) { - domKinematics_bindRef abmvalue = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_BIND)); - abmvalue->setSymbol(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str()); - daeSafeCast(abmvalue->add(COLLADA_ELEMENT_PARAM))->setRef(kas.valuesid.c_str()); + domKinematics_newparamRef abmvalue = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); + abmvalue->setSid(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str()); + daeSafeCast(abmvalue->add(COLLADA_ELEMENT_SIDREF))->setValue(kas.valuesid.c_str()); domKinematics_bindRef abvalue = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); valuesid = str(boost::format("%s.%s")%assym%kas.valuesid); abvalue->setSymbol(valuesid.c_str()); @@ -521,15 +521,15 @@ protected: _ikmout->ikm->setUrl(str(boost::format("#%s")%kmout->kmodel->getID()).c_str()); _ikmout->ikm->setSid(ikmsid.c_str()); - domKinematics_bindRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_BIND)); - kbind->setSymbol((symscope+ikmsid).c_str()); - daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid).c_str()); - _ikmout->vkinematicsbindings.push_back(make_pair(string(kbind->getSymbol()), str(boost::format("visual%d/node0")%id))); + domKinematics_newparamRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_NEWPARAM)); + kbind->setSid((symscope+ikmsid).c_str()); + daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid).c_str()); + _ikmout->vkinematicsbindings.push_back(make_pair(string(kbind->getSid()), str(boost::format("visual%d/node0")%id))); _ikmout->vaxissids.reserve(kmout->vaxissids.size()); int i = 0; FOREACH(it,kmout->vaxissids) { - domKinematics_bindRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_BIND)); + domKinematics_newparamRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_NEWPARAM)); string ref = it->sid; size_t index = ref.find("/"); while(index != string::npos) { @@ -537,8 +537,8 @@ protected: index = ref.find("/",index+1); } string sid = symscope+ikmsid+"."+ref; - kbind->setSymbol(sid.c_str()); - daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str()); + kbind->setSid(sid.c_str()); + daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str()); double value=0; double flower=0, fupper=0; if( !!it->pjoint->limits ) { From d138bd73e04b7a7e3e707e3508e17b7059996da1 Mon Sep 17 00:00:00 2001 From: hsu Date: Fri, 17 Dec 2010 23:39:50 +0000 Subject: [PATCH 229/245] new multiple collision support with group tags per ticket #4932 --- urdf/include/urdf/link.h | 7 +++++ urdf/src/link.cpp | 61 ++++++++++++++++++++++++++++++++++++---- 2 files changed, 63 insertions(+), 5 deletions(-) diff --git a/urdf/include/urdf/link.h b/urdf/include/urdf/link.h index 0990407..af973e2 100644 --- a/urdf/include/urdf/link.h +++ b/urdf/include/urdf/link.h @@ -180,8 +180,10 @@ public: { origin.clear(); geometry.reset(); + this->group_name.clear(); }; bool initXml(TiXmlElement* config); + std::string group_name; }; @@ -201,6 +203,9 @@ public: /// collision element boost::shared_ptr collision; + /// a collection of collision elements, keyed by a string tag called "group" + std::map > > > collision_groups; + /// Parent Joint element /// explicitly stating "parent" because we want directional-ness for tree structure /// every link can have one parent @@ -225,11 +230,13 @@ public: this->parent_joint.reset(); this->child_joints.clear(); this->child_links.clear(); + this->collision_groups.clear(); }; void setParentJoint(boost::shared_ptr child); void addChild(boost::shared_ptr child); void addChildJoint(boost::shared_ptr child); + boost::shared_ptr > > getCollision(const std::string& grouip_name) const; private: boost::weak_ptr parent_link_; diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp index ec44af3..367fe1b 100644 --- a/urdf/src/link.cpp +++ b/urdf/src/link.cpp @@ -297,6 +297,14 @@ bool Collision::initXml(TiXmlElement* config) return false; } + // Group Tag (optional) + // collision blocks without a group tag are designated to the "default" group + const char *group_name_char = config->Attribute("group"); + if (!group_name_char) + group_name = std::string("default"); + else + group_name = std::string(group_name_char); + return true; } @@ -443,21 +451,64 @@ bool Link::initXml(TiXmlElement* config) } } - // Collision (optional) - TiXmlElement *col = config->FirstChildElement("collision"); - if (col) + // Multiple Collisions (optional) + for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision")) { - collision.reset(new Collision); - if (!collision->initXml(col)) + boost::shared_ptr col; + col.reset(new Collision); + + if (col->initXml(col_xml)) + { + boost::shared_ptr > > cols = this->getCollision(col->group_name); + if (!cols) + { + // group does not exist, create one and add to map + cols.reset(new std::vector >); + // new group name, create vector, add vector to map and add Collision to the vector + this->collision_groups.insert(make_pair(col->group_name,cols)); + ROS_DEBUG("successfully added a new collision group name '%s'",col->group_name.c_str()); + } + + // group exists, add Collision to the vector in the map + cols->push_back(col); + ROS_DEBUG("successfully added a new collision under group name '%s'",col->group_name.c_str()); + } + else { ROS_ERROR("Could not parse collision element for Link '%s'", this->name.c_str()); + col.reset(); return false; } } + // Collision (optional) + // Assign one single default collision pointer from the collision_groups map + boost::shared_ptr > > default_collision = this->getCollision("default"); + if (!default_collision) + { + ROS_DEBUG("No 'default' collision group for Link '%s'", this->name.c_str()); + } + else if (default_collision->empty()) + { + ROS_DEBUG("'default' collision group is empty for Link '%s'", this->name.c_str()); + } + else + this->collision = (*default_collision->begin()); + return true; } +boost::shared_ptr > > Link::getCollision(const std::string& group_name) const +{ + boost::shared_ptr > > ptr; + if (this->collision_groups.find(group_name) == this->collision_groups.end()) + ptr.reset(); + else + ptr = this->collision_groups.find(group_name)->second; + return ptr; +} + + void Link::setParent(boost::shared_ptr parent) { this->parent_link_ = parent; From 0e6ee0cf9d09e456d586e9aa8cfb6d46914b044d Mon Sep 17 00:00:00 2001 From: hsu Date: Fri, 17 Dec 2010 23:54:15 +0000 Subject: [PATCH 230/245] forgot to reset collision --- urdf/src/link.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/urdf/src/link.cpp b/urdf/src/link.cpp index 367fe1b..e5b86f8 100644 --- a/urdf/src/link.cpp +++ b/urdf/src/link.cpp @@ -483,6 +483,7 @@ bool Link::initXml(TiXmlElement* config) // Collision (optional) // Assign one single default collision pointer from the collision_groups map + this->collision.reset(); boost::shared_ptr > > default_collision = this->getCollision("default"); if (!default_collision) { From 697db704d302b8d6d716093908e92b3b990a725f Mon Sep 17 00:00:00 2001 From: rdiankov Date: Mon, 20 Dec 2010 10:03:36 +0000 Subject: [PATCH 231/245] added more patches to collada, fixed several problems in collada export/import that led to invalid files, added a program to annotate the pr2 file with extra robot information --- collada_urdf/annotate_pr2dae.py | 368 ++++++++++++++++++++++++++++++ collada_urdf/src/collada_urdf.cpp | 44 ++-- colladadom/collada-dom.patch | 24 ++ urdf/src/collada_model_reader.cpp | 4 +- 4 files changed, 416 insertions(+), 24 deletions(-) create mode 100755 collada_urdf/annotate_pr2dae.py diff --git a/collada_urdf/annotate_pr2dae.py b/collada_urdf/annotate_pr2dae.py new file mode 100755 index 0000000..1d62095 --- /dev/null +++ b/collada_urdf/annotate_pr2dae.py @@ -0,0 +1,368 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +import sys + +if __name__=="__main__": + if len(sys.argv) < 2: + print "Usage:\n\tannotate_pr2dae.py [collada file]\n\nAnnoates the PR2 with the OpenRAVE profile tags.\nThis file will be in existence until URDF can support the extra information providedhere" + sys.exit(0) + + dae = open(sys.argv[1],'r').read() + if dae.find('') < 0: + index = dae.find('') + dae = dae[:index] + """ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +""" + dae[index:] + + if dae.find('') + dae = dae[:index] + """ + + + + -130 129.75 + 0.023 60.0 + 0.25 + 1.73611115315e-05 + 0.05 + + + BaseLaser2D + + + + + -90 89.75 + 0.023 10.0 + 0.25 + 1.73611115315e-05 + 0.025 + + + BaseLaser2D + + + + + 2448 2050 3 + uint8 + 0.05 + 2955 0 1224.5 0 2955 1025.5 + 0 0 0 0 0 + + + BaseCamera + + + + + 640 480 1 + uint8 + 0.04 + 395.71449999999999 0.0 335.86279000000002 0.0 395.71449999999999 245.62557000000001 + 0 0 0 0 0 + + + BaseCamera + + + + + 640 480 1 + uint8 + 0.04 + 395.71449999999999 0.0 335.86279000000002 0.0 395.71449999999999 245.62557000000001 + 0 0 0 0 0 + + + BaseCamera + + + + + + 0.99956000000000012 0.0027200000000000002 -0.029390000000000003 -0.0027700000000000003 0.99999000000000005 -0.0016800000000000001 0.029390000000000003 0.0017600000000000001 0.99957000000000007 + + + 0.99941000000000013 0.0035200000000000001 -0.034260000000000006 -0.0034600000000000004 0.99999000000000005 0.0017800000000000001 0.034270000000000002 -0.0016600000000000002 0.99941000000000013 + + + + 640 480 1 + uint8 + 0.04 + 426.35142000000002 0.0 313.91464000000002 0.0 426.51092999999997 238.27394000000001 + 0 0 0 0 0 + + + BaseCamera + + + + + 640 480 1 + uint8 + 0.04 + 430.5514 0.0 320.85068000000001 0.0 429.22170999999997 240.4314 + 0 0 0 0 0 + + + BaseCamera + + + + + +""" + dae[index:] + + manipulators = [('leftarm',""" + + + + + 0.18 0 0 + 0 1 0 90 + + + + -1 + + + + + + + ikfast_pr2_leftarm + + + + + +"""), + ('leftarm_torso',""" + + + + + 0.18 0 0 + 0 1 0 90 + + + + -1 + + + + + + + + ikfast_pr2_leftarm_torso + + + + + +"""), + ('rightarm',""" + + + + + 0.18 0 0 + 0 1 0 90 + + + + -1 + + + + + + + ikfast_pr2_rightarm + + + + + +"""), + ('rightarm_torso',""" + + + + + 0.18 0 0 + 0 1 0 90 + + + + -1 + + + + + + + + ikfast_pr2_rightarm_torso + + + + + +"""), + ('head',""" + + + + + + + + ikfast_pr2_head + + + + + +"""), + ('head_torso',""" + + + + + + + + + ikfast_pr2_head_torso + + + + + +"""), + ('rightarm_camera',""" + + + + + + + + + +"""), + ('leftarm_camera',""" + + + + + + + + + +""")] + sensors = [('base_laser',""" + + + + + + +"""), + ('tilt_laser',""" + + + + + + +"""), + ('l_forearm_cam_optical_sensor',""" + + + + + + +"""), + ('r_forearm_cam_optical_sensor',""" + + + + + + +"""), + ('narrow_stereo_optical_sensor',""" + + + + + + +"""), + ('wide_stereo_optical_sensor',""" + + + + + + +""")] + for name,xml in manipulators: + if dae.find(''%name) < 0: + index = dae.find('')+9 + dae = dae[:index] + xml + dae[index:] + for name,xml in sensors: + if dae.find(''%name) < 0: + index = dae.find('')+9 + dae = dae[:index] + xml + dae[index:] + open(sys.argv[1],'w').write(dae) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 1fd163b..2671187 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -469,34 +469,34 @@ protected: } // write the bindings - string asmsym = str(boost::format("%s.%s")%asmid%_ikmout->ikm->getSid()); - string assym = str(boost::format("%s.%s")%_scene.kscene->getID()%_ikmout->ikm->getSid()); + string asmsym = str(boost::format("%s_%s")%asmid%_ikmout->ikm->getSid()); + string assym = str(boost::format("%s_%s")%_scene.kscene->getID()%_ikmout->ikm->getSid()); FOREACH(it, _ikmout->vkinematicsbindings) { domKinematics_newparamRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); abm->setSid(asmsym.c_str()); - daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(it->first.c_str()); + daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(str(boost::format("%s/%s")%askid%it->first).c_str()); domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); ab->setSymbol(assym.c_str()); - daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(asmsym.c_str()); + daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s/%s")%asmid%asmsym).c_str()); _iasout->vkinematicsbindings.push_back(make_pair(string(ab->getSymbol()), it->second)); } for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { const axis_sids& kas = _ikmout->vaxissids.at(idof); domKinematics_newparamRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); - abm->setSid(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); - daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(kas.axissid.c_str()); + abm->setSid(str(boost::format("%s_%s")%asmid%kas.axissid).c_str()); + daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(str(boost::format("%s/%s")%askid%kas.axissid).c_str()); domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); - ab->setSymbol(str(boost::format("%s.%s")%assym%kas.axissid).c_str()); - daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s.%s")%asmid%kas.axissid).c_str()); + ab->setSymbol(str(boost::format("%s_%s")%assym%kas.axissid).c_str()); + daeSafeCast(ab->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s/%s_%s")%asmid%asmid%kas.axissid).c_str()); string valuesid; if( kas.valuesid.size() > 0 ) { domKinematics_newparamRef abmvalue = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); - abmvalue->setSid(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str()); - daeSafeCast(abmvalue->add(COLLADA_ELEMENT_SIDREF))->setValue(kas.valuesid.c_str()); + abmvalue->setSid(str(boost::format("%s_%s")%asmid%kas.valuesid).c_str()); + daeSafeCast(abmvalue->add(COLLADA_ELEMENT_SIDREF))->setValue(str(boost::format("%s/%s")%askid%kas.valuesid).c_str()); domKinematics_bindRef abvalue = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); - valuesid = str(boost::format("%s.%s")%assym%kas.valuesid); + valuesid = str(boost::format("%s_%s")%assym%kas.valuesid); abvalue->setSymbol(valuesid.c_str()); - daeSafeCast(abvalue->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s.%s")%asmid%kas.valuesid).c_str()); + daeSafeCast(abvalue->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s/%s_%s")%asmid%asmid%kas.valuesid).c_str()); } _iasout->vaxissids.push_back(axis_sids(ab->getSymbol(),valuesid,kas.jointnodesid)); } @@ -514,7 +514,7 @@ protected: string symscope, refscope; if( sidscope.size() > 0 ) { - symscope = sidscope+string("."); + symscope = sidscope+string("_"); refscope = sidscope+string("/"); } string ikmsid = str(boost::format("%s_inst")%kmout->kmodel->getID()); @@ -536,7 +536,7 @@ protected: ref[index] = '.'; index = ref.find("/",index+1); } - string sid = symscope+ikmsid+"."+ref; + string sid = symscope+ikmsid+"_"+ref; kbind->setSid(sid.c_str()); daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str()); double value=0; @@ -721,7 +721,7 @@ protected: pdomlink->setSid(linksid.c_str()); domNodeRef pnode = daeSafeCast(pnodeparent->add(COLLADA_ELEMENT_NODE)); - string nodeid = str(boost::format("v%s.node%d")%strModelUri%linkindex); + string nodeid = str(boost::format("v%s_node%d")%strModelUri%linkindex); pnode->setId( nodeid.c_str() ); string nodesid = str(boost::format("node%d")%linkindex); pnode->setSid(nodesid.c_str()); @@ -742,7 +742,7 @@ protected: if( !!geometry ) { int igeom = 0; - string geomid = str(boost::format("g%s.%s.geom%d")%strModelUri%linksid%igeom); + string geomid = str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom); domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid); domInstance_geometryRef pinstgeom = daeSafeCast(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); pinstgeom->setUrl((string("#")+geomid).c_str()); @@ -752,7 +752,7 @@ protected: domBind_materialRef pmat = daeSafeCast(pinstgeom->add(COLLADA_ELEMENT_BIND_MATERIAL)); domBind_material::domTechnique_commonRef pmattec = daeSafeCast(pmat->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); domInstance_materialRef pinstmat = daeSafeCast(pmattec->add(COLLADA_ELEMENT_INSTANCE_MATERIAL)); - pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string(".mat"))); + pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string("_mat"))); pinstmat->setSymbol("mat0"); } @@ -850,8 +850,8 @@ protected: void _WriteMaterial(const string& geometry_id, boost::shared_ptr material) { - string effid = geometry_id+string(".eff"); - string matid = geometry_id+string(".mat"); + string effid = geometry_id+string("_eff"); + string matid = geometry_id+string("_mat"); domMaterialRef pdommat = daeSafeCast(_materialsLib->add(COLLADA_ELEMENT_MATERIAL)); pdommat->setId(matid.c_str()); domInstance_effectRef pdominsteff = daeSafeCast(pdommat->add(COLLADA_ELEMENT_INSTANCE_EFFECT)); @@ -872,7 +872,7 @@ protected: // domMaterialRef dommaterial = daeSafeCast(_materialsLib->add(COLLADA_ELEMENT_MATERIAL)); - string material_id = geometry_id + string(".mat"); + string material_id = geometry_id + string("_mat"); dommaterial->setId(material_id.c_str()); { // @@ -905,10 +905,10 @@ protected: domAccessorRef pacc; domFloat_arrayRef parray; { - pvertsource->setId(str(boost::format("%s.positions")%pdomgeom->getID()).c_str()); + pvertsource->setId(str(boost::format("%s_positions")%pdomgeom->getID()).c_str()); parray = daeSafeCast(pvertsource->add(COLLADA_ELEMENT_FLOAT_ARRAY)); - parray->setId(str(boost::format("%s.positions-array")%pdomgeom->getID()).c_str()); + parray->setId(str(boost::format("%s_positions-array")%pdomgeom->getID()).c_str()); parray->setDigits(6); // 6 decimal places domSource::domTechnique_commonRef psourcetec = daeSafeCast(pvertsource->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); diff --git a/colladadom/collada-dom.patch b/colladadom/collada-dom.patch index e28599d..468977a 100644 --- a/colladadom/collada-dom.patch +++ b/colladadom/collada-dom.patch @@ -74,3 +74,27 @@ Index: dom/make/domTest.mk // First see if the whole thing resolves correctly if (daeElement* result = finder(container, s, profile)) return result; +@@ -355,6 +367,23 @@ + if ((!member.empty() || haveArrayIndex1) && result.scalar == NULL) + return daeSidRef::resolveData(); + ++ if( !!result.elt && !result.array && !result.scalar ) { ++ // if newparam, follow its SIDREF (Rosen Diankov) ++ if( strcmp(result.elt->getElementName(),"newparam") == 0) { ++ daeElement* psidref = result.elt->getChild("SIDREF"); ++ if( !!psidref ) { ++ daeSidRef::resolveData newresult; ++ newresult = resolveImpl(daeSidRef(string("./") + psidref->getCharData(),result.elt->getParent(),sidRef.profile)); ++ if( !newresult.elt ) { ++ newresult = resolveImpl(daeSidRef(psidref->getCharData(),result.elt->getParent(),sidRef.profile)); ++ } ++ if( !!newresult.elt ) { ++ return newresult; ++ } ++ } ++ } ++ } ++ + // SID resolution was successful. + return result; + } diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp index 8778559..72f427d 100644 --- a/urdf/src/collada_model_reader.cpp +++ b/urdf/src/collada_model_reader.cpp @@ -1858,7 +1858,7 @@ protected: if( !!pbind->getSymbol() && strcmp(pbind->getSymbol(), ref) == 0 ) { // found a match if( !!pbind->getParam() ) { - return searchBinding(pbind->getParam()->getRef(), pbindelt); + return daeSidRef(pbind->getParam()->getRef(), pbindelt).resolve().elt; } else if( !!pbind->getSIDREF() ) { return daeSidRef(pbind->getSIDREF()->getValue(), pbindelt).resolve().elt; @@ -2197,7 +2197,7 @@ protected: ROS_WARN_STREAM("bind_kinematics_model does not reference element\n"); } else { - ROS_WARN_STREAM(str(boost::format("bind_kinematics_model cannot find reference to %s%s:\n")%pelt->getElementName())); + ROS_WARN_STREAM(str(boost::format("bind_kinematics_model cannot find reference to %s:\n")%pelt->getElementName())); } continue; } From 9de088ff755cc60295a2c146860a7e808b233e0e Mon Sep 17 00:00:00 2001 From: rdiankov Date: Tue, 21 Dec 2010 05:21:02 +0000 Subject: [PATCH 232/245] moved pr2 specific annotations to openrave_planning stack --- collada_urdf/annotate_pr2dae.py | 368 -------------------------------- 1 file changed, 368 deletions(-) delete mode 100755 collada_urdf/annotate_pr2dae.py diff --git a/collada_urdf/annotate_pr2dae.py b/collada_urdf/annotate_pr2dae.py deleted file mode 100755 index 1d62095..0000000 --- a/collada_urdf/annotate_pr2dae.py +++ /dev/null @@ -1,368 +0,0 @@ -#!/usr/bin/python -# -*- coding: utf-8 -*- -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -import sys - -if __name__=="__main__": - if len(sys.argv) < 2: - print "Usage:\n\tannotate_pr2dae.py [collada file]\n\nAnnoates the PR2 with the OpenRAVE profile tags.\nThis file will be in existence until URDF can support the extra information providedhere" - sys.exit(0) - - dae = open(sys.argv[1],'r').read() - if dae.find('') < 0: - index = dae.find('') - dae = dae[:index] + """ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -""" + dae[index:] - - if dae.find('') - dae = dae[:index] + """ - - - - -130 129.75 - 0.023 60.0 - 0.25 - 1.73611115315e-05 - 0.05 - - - BaseLaser2D - - - - - -90 89.75 - 0.023 10.0 - 0.25 - 1.73611115315e-05 - 0.025 - - - BaseLaser2D - - - - - 2448 2050 3 - uint8 - 0.05 - 2955 0 1224.5 0 2955 1025.5 - 0 0 0 0 0 - - - BaseCamera - - - - - 640 480 1 - uint8 - 0.04 - 395.71449999999999 0.0 335.86279000000002 0.0 395.71449999999999 245.62557000000001 - 0 0 0 0 0 - - - BaseCamera - - - - - 640 480 1 - uint8 - 0.04 - 395.71449999999999 0.0 335.86279000000002 0.0 395.71449999999999 245.62557000000001 - 0 0 0 0 0 - - - BaseCamera - - - - - - 0.99956000000000012 0.0027200000000000002 -0.029390000000000003 -0.0027700000000000003 0.99999000000000005 -0.0016800000000000001 0.029390000000000003 0.0017600000000000001 0.99957000000000007 - - - 0.99941000000000013 0.0035200000000000001 -0.034260000000000006 -0.0034600000000000004 0.99999000000000005 0.0017800000000000001 0.034270000000000002 -0.0016600000000000002 0.99941000000000013 - - - - 640 480 1 - uint8 - 0.04 - 426.35142000000002 0.0 313.91464000000002 0.0 426.51092999999997 238.27394000000001 - 0 0 0 0 0 - - - BaseCamera - - - - - 640 480 1 - uint8 - 0.04 - 430.5514 0.0 320.85068000000001 0.0 429.22170999999997 240.4314 - 0 0 0 0 0 - - - BaseCamera - - - - - -""" + dae[index:] - - manipulators = [('leftarm',""" - - - - - 0.18 0 0 - 0 1 0 90 - - - - -1 - - - - - - - ikfast_pr2_leftarm - - - - - -"""), - ('leftarm_torso',""" - - - - - 0.18 0 0 - 0 1 0 90 - - - - -1 - - - - - - - - ikfast_pr2_leftarm_torso - - - - - -"""), - ('rightarm',""" - - - - - 0.18 0 0 - 0 1 0 90 - - - - -1 - - - - - - - ikfast_pr2_rightarm - - - - - -"""), - ('rightarm_torso',""" - - - - - 0.18 0 0 - 0 1 0 90 - - - - -1 - - - - - - - - ikfast_pr2_rightarm_torso - - - - - -"""), - ('head',""" - - - - - - - - ikfast_pr2_head - - - - - -"""), - ('head_torso',""" - - - - - - - - - ikfast_pr2_head_torso - - - - - -"""), - ('rightarm_camera',""" - - - - - - - - - -"""), - ('leftarm_camera',""" - - - - - - - - - -""")] - sensors = [('base_laser',""" - - - - - - -"""), - ('tilt_laser',""" - - - - - - -"""), - ('l_forearm_cam_optical_sensor',""" - - - - - - -"""), - ('r_forearm_cam_optical_sensor',""" - - - - - - -"""), - ('narrow_stereo_optical_sensor',""" - - - - - - -"""), - ('wide_stereo_optical_sensor',""" - - - - - - -""")] - for name,xml in manipulators: - if dae.find(''%name) < 0: - index = dae.find('')+9 - dae = dae[:index] + xml + dae[index:] - for name,xml in sensors: - if dae.find(''%name) < 0: - index = dae.find('')+9 - dae = dae[:index] + xml + dae[index:] - open(sys.argv[1],'w').write(dae) From e92227f894e6dfc849329af17633ca1726f5f73a Mon Sep 17 00:00:00 2001 From: rdiankov Date: Tue, 21 Dec 2010 22:47:56 +0000 Subject: [PATCH 233/245] put back old collada_urdf (thanks to Tim Field for noticing this) --- .../include/collada_urdf/collada_urdf.h | 43 ++++++++++++------- collada_urdf/src/collada_urdf.cpp | 36 ++++++++++++++-- 2 files changed, 61 insertions(+), 18 deletions(-) diff --git a/collada_urdf/include/collada_urdf/collada_urdf.h b/collada_urdf/include/collada_urdf/collada_urdf.h index 558e51f..ae7ed8f 100644 --- a/collada_urdf/include/collada_urdf/collada_urdf.h +++ b/collada_urdf/include/collada_urdf/collada_urdf.h @@ -1,7 +1,7 @@ /********************************************************************* * Software License Agreement (BSD License) * -* Copyright (c) 2010, Willow Garage, Inc., University of Tokyo +* Copyright (c) 2010, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -32,7 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ -/* Authors: Tim Field, Rosen Diankov */ +/* Authors: Tim Field */ #ifndef COLLADA_URDF_COLLADA_URDF_H #define COLLADA_URDF_COLLADA_URDF_H @@ -50,20 +50,33 @@ public: ColladaUrdfException(std::string const& what); }; -enum WriteOptions -{ - WO_IgnoreCollisionGeometry = 1, ///< if set, will use only the visual geometry -}; - -/** Construct a COLLADA DOM from an URDF model - - \param robot_model The initialized robot model - \param dom The resulting COLLADA DOM - \param writeoptions A combination of \ref WriteOptions - - \return true on success, false on failure +/** Construct a COLLADA DOM from an URDF file + * \param file The filename from where to read the URDF + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure */ -bool colladaFromUrdfModel(const urdf::Model& robot_model, boost::shared_ptr& dom, int writeoptions=0); +bool colladaFromUrdfFile(std::string const& file, boost::shared_ptr& dom); + +/** Construct a COLLADA DOM from a string containing URDF + * \param xml A string containing the XML description of the robot + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromUrdfString(std::string const& xml, boost::shared_ptr& dom); + +/** Construct a COLLADA DOM from a TiXmlDocument containing URDF + * \param xml_doc The TiXmlDocument containing URDF + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom); + +/** Construct a COLLADA DOM from a URDF robot model + * \param robot_model The URDF robot model + * \param dom The resulting COLLADA DOM + * \return true on success, false on failure + */ +bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom); /** Write a COLLADA DOM to a file * \param dom COLLADA DOM to write diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 2671187..6e85bc6 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -1225,14 +1225,44 @@ private: Assimp::Importer _importer; }; + ColladaUrdfException::ColladaUrdfException(std::string const& what) : std::runtime_error(what) { } -bool colladaFromUrdfModel(const urdf::Model& robot_model, boost::shared_ptr& dom, int writeoptions) -{ - ColladaWriter writer(robot_model,writeoptions); +bool colladaFromUrdfFile(string const& file, boost::shared_ptr& dom) { + TiXmlDocument urdf_xml; + if (!urdf_xml.LoadFile(file)) { + ROS_ERROR("Could not load XML file"); + return false; + } + + return colladaFromUrdfXml(&urdf_xml, dom); +} + +bool colladaFromUrdfString(string const& xml, boost::shared_ptr& dom) { + TiXmlDocument urdf_xml; + if (urdf_xml.Parse(xml.c_str()) == 0) { + ROS_ERROR("Could not parse XML document"); + return false; + } + + return colladaFromUrdfXml(&urdf_xml, dom); +} + +bool colladaFromUrdfXml(TiXmlDocument* xml_doc, boost::shared_ptr& dom) { + urdf::Model robot_model; + if (!robot_model.initXml(xml_doc)) { + ROS_ERROR("Could not generate robot model"); + return false; + } + + return colladaFromUrdfModel(robot_model, dom); +} + +bool colladaFromUrdfModel(urdf::Model const& robot_model, boost::shared_ptr& dom) { + ColladaWriter writer(robot_model,0); dom = writer.convert(); return dom != boost::shared_ptr(); } From e2cb0826dacb3293be447751c9e5dbaf1d3a5d61 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Mon, 3 Jan 2011 04:28:56 +0000 Subject: [PATCH 234/245] updated collada_urdf with openrave profile formulas (partial derivative info) --- collada_urdf/src/collada_urdf.cpp | 75 ++++++++++++++++++++++++------- 1 file changed, 60 insertions(+), 15 deletions(-) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 6e85bc6..de766d1 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -682,24 +682,68 @@ protected: string targetjointid = str(boost::format("%s/%s")%kmodel->getID()%jointsid); daeSafeCast(ptarget->add(COLLADA_TYPE_PARAM))->setValue(targetjointid.c_str()); - domFormula_techniqueRef pftec = daeSafeCast(pf->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); - // create a const0*joint+const1 formula - // a x b - daeElementRef pmath_math = pftec->add("math"); - daeElementRef pmath_apply = pmath_math->add("apply"); + domTechniqueRef pftec = daeSafeCast(pf->add(COLLADA_ELEMENT_TECHNIQUE)); + pftec->setProfile("OpenRAVE"); + // save position equation { - daeElementRef pmath_plus = pmath_apply->add("plus"); - daeElementRef pmath_apply1 = pmath_apply->add("apply"); + daeElementRef poselt = pftec->add("equation"); + poselt->setAttribute("type","position"); + // create a const0*joint+const1 formula + // a x b + daeElementRef pmath_math = poselt->add("math"); + daeElementRef pmath_apply = pmath_math->add("apply"); { - daeElementRef pmath_times = pmath_apply1->add("times"); - daeElementRef pmath_const0 = pmath_apply1->add("cn"); - pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); - daeElementRef pmath_symb = pmath_apply1->add("csymbol"); - pmath_symb->setAttribute("encoding","COLLADA"); - pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); + daeElementRef pmath_plus = pmath_apply->add("plus"); + daeElementRef pmath_apply1 = pmath_apply->add("apply"); + { + daeElementRef pmath_times = pmath_apply1->add("times"); + daeElementRef pmath_const0 = pmath_apply1->add("cn"); + pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); + daeElementRef pmath_symb = pmath_apply1->add("csymbol"); + pmath_symb->setAttribute("encoding","COLLADA"); + pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); + } + daeElementRef pmath_const1 = pmath_apply->add("cn"); + pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); + } + } + // save first partial derivative + { + daeElementRef derivelt = pftec->add("equation"); + derivelt->setAttribute("type","first_partial"); + derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name).c_str()); + daeElementRef pmath_const0 = derivelt->add("cn"); + pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); + } + // save second partial derivative + { + daeElementRef derivelt = pftec->add("equation"); + derivelt->setAttribute("type","second_partial"); + derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name).c_str()); + daeElementRef pmath_const0 = derivelt->add("cn"); + pmath_const0->setCharData("0"); + } + + { + domFormula_techniqueRef pfcommontec = daeSafeCast(pf->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + // create a const0*joint+const1 formula + // a x b + daeElementRef pmath_math = pfcommontec->add("math"); + daeElementRef pmath_apply = pmath_math->add("apply"); + { + daeElementRef pmath_plus = pmath_apply->add("plus"); + daeElementRef pmath_apply1 = pmath_apply->add("apply"); + { + daeElementRef pmath_times = pmath_apply1->add("times"); + daeElementRef pmath_const0 = pmath_apply1->add("cn"); + pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); + daeElementRef pmath_symb = pmath_apply1->add("csymbol"); + pmath_symb->setAttribute("encoding","COLLADA"); + pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); + } + daeElementRef pmath_const1 = pmath_apply->add("cn"); + pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); } - daeElementRef pmath_const1 = pmath_apply->add("cn"); - pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); } } @@ -707,6 +751,7 @@ protected: } /// \brief Write link of a kinematic body + /// /// \param link Link to write /// \param pkinparent Kinbody parent /// \param pnodeparent Node parent From 3676dd78eb584b96f0de3c32b5c5a5b07afb42dc Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 3 Jan 2011 18:37:01 +0000 Subject: [PATCH 235/245] fix include flags for messages --- kdl_parser/manifest.xml | 2 +- urdf/manifest.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml index afa6bc9..603b8c9 100644 --- a/kdl_parser/manifest.xml +++ b/kdl_parser/manifest.xml @@ -15,7 +15,7 @@ - + diff --git a/urdf/manifest.xml b/urdf/manifest.xml index 9e5ed9a..c3987b1 100644 --- a/urdf/manifest.xml +++ b/urdf/manifest.xml @@ -15,7 +15,7 @@ - + From 0dcc5b0f8b083a4d5aad3edcc93061210dd5c6e4 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Thu, 6 Jan 2011 02:03:40 +0000 Subject: [PATCH 236/245] collada urdf exporter: remove / and . from ids --- collada_urdf/src/collada_urdf.cpp | 60 ++++++++++++++++++------------- 1 file changed, 36 insertions(+), 24 deletions(-) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index de766d1..6bda536 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -394,10 +394,10 @@ protected: void _WriteRobot(int id = 0) { ROS_DEBUG_STREAM(str(boost::format("writing robot as instance_articulated_system (%d) %s\n")%id%_robot.getName())); - string asid = str(boost::format("robot%d")%id); - string askid = str(boost::format("%s_kinematics")%asid); - string asmid = str(boost::format("%s_motion")%asid); - string iassid = str(boost::format("%s_inst")%asmid); + string asid = _ComputeId(str(boost::format("robot%d")%id)); + string askid = _ComputeId(str(boost::format("%s_kinematics")%asid)); + string asmid = _ComputeId(str(boost::format("%s_motion")%asid)); + string iassid = _ComputeId(str(boost::format("%s_inst")%asmid)); domInstance_articulated_systemRef ias = daeSafeCast(_scene.kscene->add(COLLADA_ELEMENT_INSTANCE_ARTICULATED_SYSTEM)); ias->setSid(iassid.c_str()); @@ -424,7 +424,7 @@ protected: _WriteInstance_kinematics_model(kinematics,askid,id); for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { - string axis_infosid = str(boost::format("axis_info_inst%d")%idof); + string axis_infosid = _ComputeId(str(boost::format("axis_info_inst%d")%idof)); boost::shared_ptr pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint; BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof); //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis; @@ -469,8 +469,8 @@ protected: } // write the bindings - string asmsym = str(boost::format("%s_%s")%asmid%_ikmout->ikm->getSid()); - string assym = str(boost::format("%s_%s")%_scene.kscene->getID()%_ikmout->ikm->getSid()); + string asmsym = _ComputeId(str(boost::format("%s_%s")%asmid%_ikmout->ikm->getSid())); + string assym = _ComputeId(str(boost::format("%s_%s")%_scene.kscene->getID()%_ikmout->ikm->getSid())); FOREACH(it, _ikmout->vkinematicsbindings) { domKinematics_newparamRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); abm->setSid(asmsym.c_str()); @@ -483,7 +483,7 @@ protected: for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { const axis_sids& kas = _ikmout->vaxissids.at(idof); domKinematics_newparamRef abm = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); - abm->setSid(str(boost::format("%s_%s")%asmid%kas.axissid).c_str()); + abm->setSid(_ComputeId(str(boost::format("%s_%s")%asmid%kas.axissid)).c_str()); daeSafeCast(abm->add(COLLADA_ELEMENT_SIDREF))->setValue(str(boost::format("%s/%s")%askid%kas.axissid).c_str()); domKinematics_bindRef ab = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); ab->setSymbol(str(boost::format("%s_%s")%assym%kas.axissid).c_str()); @@ -491,7 +491,7 @@ protected: string valuesid; if( kas.valuesid.size() > 0 ) { domKinematics_newparamRef abmvalue = daeSafeCast(ias_motion->add(COLLADA_ELEMENT_NEWPARAM)); - abmvalue->setSid(str(boost::format("%s_%s")%asmid%kas.valuesid).c_str()); + abmvalue->setSid(_ComputeId(str(boost::format("%s_%s")%asmid%kas.valuesid)).c_str()); daeSafeCast(abmvalue->add(COLLADA_ELEMENT_SIDREF))->setValue(str(boost::format("%s/%s")%askid%kas.valuesid).c_str()); domKinematics_bindRef abvalue = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); valuesid = str(boost::format("%s_%s")%assym%kas.valuesid); @@ -517,12 +517,12 @@ protected: symscope = sidscope+string("_"); refscope = sidscope+string("/"); } - string ikmsid = str(boost::format("%s_inst")%kmout->kmodel->getID()); + string ikmsid = _ComputeId(str(boost::format("%s_inst")%kmout->kmodel->getID())); _ikmout->ikm->setUrl(str(boost::format("#%s")%kmout->kmodel->getID()).c_str()); _ikmout->ikm->setSid(ikmsid.c_str()); domKinematics_newparamRef kbind = daeSafeCast(_ikmout->ikm->add(COLLADA_ELEMENT_NEWPARAM)); - kbind->setSid((symscope+ikmsid).c_str()); + kbind->setSid(_ComputeId(symscope+ikmsid).c_str()); daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid).c_str()); _ikmout->vkinematicsbindings.push_back(make_pair(string(kbind->getSid()), str(boost::format("visual%d/node0")%id))); @@ -536,7 +536,7 @@ protected: ref[index] = '.'; index = ref.find("/",index+1); } - string sid = symscope+ikmsid+"_"+ref; + string sid = _ComputeId(symscope+ikmsid+"_"+ref); kbind->setSid(sid.c_str()); daeSafeCast(kbind->add(COLLADA_ELEMENT_SIDREF))->setValue((refscope+ikmsid+"/"+it->sid).c_str()); double value=0; @@ -560,7 +560,7 @@ protected: virtual boost::shared_ptr WriteKinematics_model(int id) { domKinematics_modelRef kmodel = daeSafeCast(_kinematicsModelsLib->add(COLLADA_ELEMENT_KINEMATICS_MODEL)); - string kmodelid = str(boost::format("kmodel%d")%id); + string kmodelid = _ComputeId(str(boost::format("kmodel%d")%id)); kmodel->setId(kmodelid.c_str()); kmodel->setName(_robot.getName().c_str()); @@ -568,7 +568,7 @@ protected: // Create root node for the visual scene domNodeRef pnoderoot = daeSafeCast(_scene.vscene->add(COLLADA_ELEMENT_NODE)); - string bodyid = str(boost::format("visual%d")%id); + string bodyid = _ComputeId(str(boost::format("visual%d")%id)); pnoderoot->setId(bodyid.c_str()); pnoderoot->setSid(bodyid.c_str()); pnoderoot->setName(_robot.getName().c_str()); @@ -601,8 +601,8 @@ protected: boost::shared_ptr pjoint = itjoint->second; int index = _mapjointindices[itjoint->second]; domJointRef pdomjoint = daeSafeCast(ktec->add(COLLADA_ELEMENT_JOINT)); - string jointid = pjoint->name;//str(boost::format("joint%d")%index); - pdomjoint->setSid( jointid.c_str() ); + string jointid = _ComputeId(pjoint->name);//str(boost::format("joint%d")%index); + pdomjoint->setSid(jointid.c_str() ); pdomjoint->setName(pjoint->name.c_str()); domAxis_constraintRef axis; if( !!pjoint->limits ) { @@ -641,7 +641,7 @@ protected: } int ia = 0; - string axisid = str(boost::format("axis%d")%ia); + string axisid = _ComputeId(str(boost::format("axis%d")%ia)); axis->setSid(axisid.c_str()); kmout->vaxissids.at(index).pjoint = pjoint; kmout->vaxissids.at(index).sid = jointid+string("/")+axisid; @@ -676,7 +676,7 @@ protected: } domFormulaRef pf = daeSafeCast(ktec->add(COLLADA_ELEMENT_FORMULA)); - string formulaid = str(boost::format("%s_formula")%jointsid); + string formulaid = _ComputeId(str(boost::format("%s_formula")%jointsid)); pf->setSid(formulaid.c_str()); domCommon_float_or_paramRef ptarget = daeSafeCast(pf->add(COLLADA_ELEMENT_TARGET)); string targetjointid = str(boost::format("%s/%s")%kmodel->getID()%jointsid); @@ -760,15 +760,15 @@ protected: { LINKOUTPUT out; int linkindex = _maplinkindices[plink]; - string linksid = plink->name; + string linksid = _ComputeId(plink->name); domLinkRef pdomlink = daeSafeCast(pkinparent->add(COLLADA_ELEMENT_LINK)); pdomlink->setName(plink->name.c_str()); pdomlink->setSid(linksid.c_str()); domNodeRef pnode = daeSafeCast(pnodeparent->add(COLLADA_ELEMENT_NODE)); - string nodeid = str(boost::format("v%s_node%d")%strModelUri%linkindex); + string nodeid = _ComputeId(str(boost::format("v%s_node%d")%strModelUri%linkindex)); pnode->setId( nodeid.c_str() ); - string nodesid = str(boost::format("node%d")%linkindex); + string nodesid = _ComputeId(str(boost::format("node%d")%linkindex)); pnode->setSid(nodesid.c_str()); pnode->setName(plink->name.c_str()); @@ -787,7 +787,7 @@ protected: if( !!geometry ) { int igeom = 0; - string geomid = 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)); domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid); domInstance_geometryRef pinstgeom = daeSafeCast(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY)); pinstgeom->setUrl((string("#")+geomid).c_str()); @@ -811,7 +811,7 @@ protected: // domLink::domAttachment_fullRef attachment_full = daeSafeCast(pdomlink->add(COLLADA_ELEMENT_ATTACHMENT_FULL)); - string jointid = str(boost::format("%s/%s")%strModelUri%pjoint->name); + string jointid = str(boost::format("%s/%s")%strModelUri%_ComputeId(pjoint->name)); attachment_full->setJoint(jointid.c_str()); LINKOUTPUT childinfo = _WriteLink(_robot.getLink(pjoint->child_link_name), attachment_full, pnode, strModelUri); @@ -823,7 +823,7 @@ protected: } // rotate/translate elements - string jointnodesid = str(boost::format("node_%s_axis0")%pjoint->name); + string jointnodesid = _ComputeId(str(boost::format("node_%s_axis0")%pjoint->name)); switch(pjoint->type) { case urdf::Joint::REVOLUTE: case urdf::Joint::CONTINUOUS: @@ -1244,6 +1244,18 @@ private: return pinv; } + /// \brief computes a collada-compliant sid from the urdf name + static std::string _ComputeId(const std::string& name) + { + std::string newname = name; + for(size_t i = 0; i < newname.size(); ++i) { + if( newname[i] == '/' || newname[i] == ' ' || newname[i] == '.' ) { + newname[i] = '_'; + } + } + return newname; + } + int _writeoptions; const urdf::Model& _robot; From 7512d26196dad4eaf94f3802ce07fc5bf2ac1712 Mon Sep 17 00:00:00 2001 From: rdiankov Date: Thu, 6 Jan 2011 04:22:15 +0000 Subject: [PATCH 237/245] collada exporter: forgot one place to update the id --- collada_urdf/src/collada_urdf.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index 6bda536..c502e5c 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -494,7 +494,7 @@ protected: abmvalue->setSid(_ComputeId(str(boost::format("%s_%s")%asmid%kas.valuesid)).c_str()); daeSafeCast(abmvalue->add(COLLADA_ELEMENT_SIDREF))->setValue(str(boost::format("%s/%s")%askid%kas.valuesid).c_str()); domKinematics_bindRef abvalue = daeSafeCast(ias->add(COLLADA_ELEMENT_BIND)); - valuesid = str(boost::format("%s_%s")%assym%kas.valuesid); + valuesid = _ComputeId(str(boost::format("%s_%s")%assym%kas.valuesid)); abvalue->setSymbol(valuesid.c_str()); daeSafeCast(abvalue->add(COLLADA_ELEMENT_PARAM))->setRef(str(boost::format("%s/%s_%s")%asmid%asmid%kas.valuesid).c_str()); } @@ -669,7 +669,7 @@ protected: // create the formulas for all mimic joints FOREACHC(itjoint, _robot.joints_) { - string jointsid = itjoint->second->name; + string jointsid = _ComputeId(itjoint->second->name); boost::shared_ptr pjoint = itjoint->second; if( !pjoint->mimic ) { continue; From 701b17c423ec7da0cc90d4c767441863a271712e Mon Sep 17 00:00:00 2001 From: rdiankov Date: Thu, 6 Jan 2011 04:25:05 +0000 Subject: [PATCH 238/245] collada exporter: forgot one place to update the id --- collada_urdf/src/collada_urdf.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp index c502e5c..208ab9c 100644 --- a/collada_urdf/src/collada_urdf.cpp +++ b/collada_urdf/src/collada_urdf.cpp @@ -701,7 +701,7 @@ protected: pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); daeElementRef pmath_symb = pmath_apply1->add("csymbol"); pmath_symb->setAttribute("encoding","COLLADA"); - pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); + pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name))); } daeElementRef pmath_const1 = pmath_apply->add("cn"); pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); @@ -711,7 +711,7 @@ protected: { daeElementRef derivelt = pftec->add("equation"); derivelt->setAttribute("type","first_partial"); - derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name).c_str()); + derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)).c_str()); daeElementRef pmath_const0 = derivelt->add("cn"); pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); } @@ -719,7 +719,7 @@ protected: { daeElementRef derivelt = pftec->add("equation"); derivelt->setAttribute("type","second_partial"); - derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name).c_str()); + derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)).c_str()); daeElementRef pmath_const0 = derivelt->add("cn"); pmath_const0->setCharData("0"); } @@ -739,7 +739,7 @@ protected: pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); daeElementRef pmath_symb = pmath_apply1->add("csymbol"); pmath_symb->setAttribute("encoding","COLLADA"); - pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); + pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name))); } daeElementRef pmath_const1 = pmath_apply->add("cn"); pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); From d3e0a45e7eba02871dae8eb428c064234c8ad928 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 18 Jan 2011 23:01:17 +0000 Subject: [PATCH 239/245] minor fix ros error message type --- urdf/src/model.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp index c4106d7..e244af3 100644 --- a/urdf/src/model.cpp +++ b/urdf/src/model.cpp @@ -89,7 +89,7 @@ bool Model::initParam(const std::string& param) // read the robot description from the parameter server if (!nh.getParam(full_param, xml_string)){ - ROS_ERROR("Could read parameter %s on parameter server", full_param.c_str()); + ROS_ERROR("Could not read parameter %s on parameter server", full_param.c_str()); return false; } return initString(xml_string); From d3883c158c2a45c09559b8144f2a8eaf79ce6e51 Mon Sep 17 00:00:00 2001 From: hsu Date: Tue, 18 Jan 2011 23:52:20 +0000 Subject: [PATCH 240/245] update manifest.xml for colladadom per doc review #4686 --- colladadom/manifest.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index c244c89..94cf747 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -2,6 +2,11 @@ This package contains the COLLADA Document Object Model (DOM) which is an API that provides a C++ object representation of a COLLADA XML instance document. + Currently, this package pulls collada-dom-2.2 tar ball, and applies a local patch + containing + some custom changes, + various bug fixes as well as + forcing configure to use rosboost-cfg for boost compile/link flags. See http://sourceforge.net/projects/collada-dom. From 990a25929fbccd45e9cabcc619a954c6bde218c6 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 19 Jan 2011 18:42:39 +0000 Subject: [PATCH 241/245] use correct string for review --- assimp/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/assimp/manifest.xml b/assimp/manifest.xml index 368c952..5e88929 100644 --- a/assimp/manifest.xml +++ b/assimp/manifest.xml @@ -13,7 +13,7 @@ ASSIMP Development Team BSD - + http://assimp.sourceforge.net/ From 1c07fc2999c8752d4ff53d9c6edd1dfe2786389a Mon Sep 17 00:00:00 2001 From: rdiankov Date: Sun, 23 Jan 2011 23:09:17 +0000 Subject: [PATCH 242/245] colladadom now exporting the zlib dependency --- colladadom/manifest.xml | 2 +- urdf/src/collada_model_reader.cpp | 20 +++++++++++++++----- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index 94cf747..abc565c 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -19,7 +19,7 @@ - + diff --git a/urdf/src/collada_model_reader.cpp b/urdf/src/collada_model_reader.cpp index 72f427d..678aee8 100644 --- a/urdf/src/collada_model_reader.cpp +++ b/urdf/src/collada_model_reader.cpp @@ -1000,8 +1000,12 @@ protected: } } - //pdomlink->getAttachment_start_array(); - //pdomlink->getAttachment_end_array(); + if( pdomlink->getAttachment_start_array().getCount() > 0 ) { + ROS_WARN("urdf collada reader does not support attachment_start\n"); + } + if( pdomlink->getAttachment_end_array().getCount() > 0 ) { + ROS_WARN("urdf collada reader does not support attachment_end\n"); + } plink->visual->geometry = _CreateGeometry(plink->name, listGeomProperties); return plink; @@ -1120,10 +1124,16 @@ protected: geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); int fd = mkstemps(&geometry->filename[0],4); #else - do { + int fd = -1; + for(int iter = 0; iter < 1000; ++iter) { geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_%d.dae")%name%rand()); - } while(!!std::ifstream(geometry->filename.c_str())); - int fd = open(geometry->filename.c_str(),O_WRONLY|O_CREAT|O_EXCL); + if( !!std::ifstream(geometry->filename.c_str())) { + fd = open(geometry->filename.c_str(),O_WRONLY|O_CREAT|O_EXCL); + if( fd != -1 ) { + break; + } + } + } if( fd == -1 ) { ROS_ERROR("failed to open geometry dae file %s",geometry->filename.c_str()); return geometry; From fc8adeecd2b6059d845f47a35946e96aa42b87bb Mon Sep 17 00:00:00 2001 From: wim Date: Mon, 24 Jan 2011 20:20:46 +0000 Subject: [PATCH 243/245] mark as doc reviewed --- colladadom/manifest.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml index abc565c..c8aef49 100644 --- a/colladadom/manifest.xml +++ b/colladadom/manifest.xml @@ -13,7 +13,7 @@ Du Hung Hou, Khronos.org, Marcus Barnes, Greg Corson, Herbert Law, Sebastian Schwarz, Steven Thomas, John Hsu (ros package), Tim Field (ros package) BSD - + http://ros.org/wiki/colladadom From 541dab340e94db4e048fd69d3344c3706d4475a7 Mon Sep 17 00:00:00 2001 From: wim Date: Wed, 9 Feb 2011 18:20:25 +0000 Subject: [PATCH 244/245] add debian rosdep. ticket #4775 --- rosdep.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/rosdep.yaml b/rosdep.yaml index 3238800..2d78050 100644 --- a/rosdep.yaml +++ b/rosdep.yaml @@ -1,3 +1,4 @@ pcre: ubuntu: libpcre3-dev fedora: pcre-devel + debian: libpcre3-dev