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kdl_parser
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make parsing of doubles slightly more robust

This commit is contained in:
Ioan Sucan 2011-11-10 00:21:38 +00:00
parent f763ca2f1e
commit f1fa2bf898
2 changed files with 15 additions and 5 deletions
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1
srdf/CMakeLists.txt
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@ -10,6 +10,7 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
set(ROS_BUILD_TYPE Debug)
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)

19
srdf/src/model.cpp
View File

@ -36,6 +36,7 @@
#include "srdf/model.h"
#include <ros/console.h>
#include <boost/lexical_cast.hpp>
#include <algorithm>
#include <fstream>
#include <sstream>
@ -314,13 +315,21 @@ void srdf::Model::loadGroupStates(const urdf::ModelInterface &urdf_model, TiXmlE
continue;
}
}
std::string jval_str = std::string(jval);
std::stringstream ss(jval_str);
while (ss.good() && !ss.eof())
try
{
double val; ss >> val >> std::ws;
gs.joint_values_[jname_str].push_back(val);
std::string jval_str = std::string(jval);
std::stringstream ss(jval_str);
while (ss.good() && !ss.eof())
{
std::string val; ss >> val >> std::ws;
gs.joint_values_[jname_str].push_back(boost::lexical_cast<double>(val));
}
}
catch (boost::bad_lexical_cast &e)
{
ROS_ERROR("Unable to parse joint value '%s'", jval);
}
if (gs.joint_values_.empty())
ROS_ERROR("Unable to parse joint value ('%s') for joint '%s' in group state '%s'", jval, jname, sname);
}