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kdl_parser
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fixed typo for detecting collada file, removed commented out manipulator and sensor collada parsing funtions until urdf api can support them

This commit is contained in:
rdiankov 2010-12-01 21:31:35 +00:00
parent fa86ca0801
commit f53e2c0e6b
4 changed files with 7 additions and 169 deletions
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2
collada_urdf/manifest.xml
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@ -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
</description>
<author>Tim Field</author>
<license>BSD</license>

2
urdf/manifest.xml
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@ -5,7 +5,7 @@
The code API of the parser has been through our review process and will remain
backwards compatible in future releases.
</description>
<author>Wim Meeussen, John Hsu</author>
<author>Wim Meeussen, John Hsu, Rosen Diankov</author>
<license>BSD</license>
<review status="Doc reviewed" notes=""/>
<url>http://ros.org/wiki/urdf</url>

170
urdf/src/collada_model_reader.cpp
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@ -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<domLink>(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt);
// if( !!plink ) {
// pmanip->_pBase = boost::static_pointer_cast<KinBody::Link>(_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<domLink>(daeSidRef(pframe_tip->getAttribute("link"), as).resolve().elt);
// if( !!plink ) {
// pmanip->_pEndEffector = boost::static_pointer_cast<KinBody::Link>(_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<domAxis_constraint>(daeSidRef(pgripper_axis->getAttribute("axis"), as).resolve().elt);
// if( !!paxis ) {
// boost::shared_ptr<int> pdofindex = boost::static_pointer_cast<int>(_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<domLink>(daeSidRef(pframe_origin->getAttribute("link"), as).resolve().elt);
// if( !!plink ) {
// pattachedsensor->pattachedlink = boost::static_pointer_cast<KinBody::Link>(_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 <sensor> 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<std::pair<std::string,std::string> >());
// 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<daeElementRef> children;
// elt->getChildren(children);
// std::list<std::pair<std::string,std::string> > atts;
// for (size_t i = 0; i < children.getCount(); i++) {
// std::string xmltag = tolowerstring(children[i]->getElementName());
// daeTArray<daeElement::attr> 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);

2
urdf/src/model.cpp
View File

@ -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;