mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
2282 lines
60 KiB
C++
2282 lines
60 KiB
C++
#include "UrdfParser.h"
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#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
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#include "urdfStringSplit.h"
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#include "urdfLexicalCast.h"
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#include "UrdfFindMeshFile.h"
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using namespace tinyxml2;
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UrdfParser::UrdfParser(CommonFileIOInterface* fileIO)
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: m_parseSDF(false),
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m_activeSdfModel(-1),
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m_urdfScaling(1),
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m_fileIO(fileIO)
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{
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m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING"; // if loadUrdf() called later, source file name will be replaced with real
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}
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UrdfParser::~UrdfParser()
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{
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for (int i = 0; i < m_tmpModels.size(); i++)
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{
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delete m_tmpModels[i];
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}
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}
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static bool parseVector4(btVector4& vec4, const std::string& vector_str)
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{
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vec4.setZero();
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btArray<std::string> pieces;
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btArray<double> rgba;
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btAlignedObjectArray<std::string> strArray;
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urdfIsAnyOf(" ", strArray);
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urdfStringSplit(pieces, vector_str, strArray);
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for (int i = 0; i < pieces.size(); ++i)
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{
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if (!pieces[i].empty())
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{
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rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
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}
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}
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if (rgba.size() != 4)
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{
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return false;
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}
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vec4.setValue(rgba[0], rgba[1], rgba[2], rgba[3]);
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return true;
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}
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static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLogger* logger, bool lastThree = false)
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{
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vec3.setZero();
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btArray<std::string> pieces;
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btArray<double> rgba;
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btAlignedObjectArray<std::string> strArray;
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urdfIsAnyOf(" ", strArray);
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urdfStringSplit(pieces, vector_str, strArray);
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for (int i = 0; i < pieces.size(); ++i)
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{
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if (!pieces[i].empty())
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{
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rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
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}
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}
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if (rgba.size() < 3)
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{
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logger->reportWarning("Couldn't parse vector3");
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return false;
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}
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if (lastThree)
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{
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vec3.setValue(rgba[rgba.size() - 3], rgba[rgba.size() - 2], rgba[rgba.size() - 1]);
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}
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else
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{
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vec3.setValue(rgba[0], rgba[1], rgba[2]);
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}
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return true;
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}
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// Parses user data from an xml element and stores it in a hashmap. User data is
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// expected to reside in a <user-data> tag that is nested inside a <bullet> tag.
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// Example:
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// <bullet>
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// <user-data key="label">...</user-data>
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// </bullet>
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static void ParseUserData(const XMLElement* element, btHashMap<btHashString,
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std::string>& user_data, ErrorLogger* logger) {
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// Parse any custom Bullet-specific info.
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for (const XMLElement* bullet_xml = element->FirstChildElement("bullet");
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bullet_xml; bullet_xml = bullet_xml->NextSiblingElement("bullet")) {
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for (const XMLElement* user_data_xml = bullet_xml->FirstChildElement("user-data");
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user_data_xml; user_data_xml = user_data_xml->NextSiblingElement("user-data")) {
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const char* key_attr = user_data_xml->Attribute("key");
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if (!key_attr) {
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logger->reportError("User data tag must have a key attribute.");
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}
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user_data.insert(key_attr, user_data_xml->GetText());
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}
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}
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}
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bool UrdfParser::parseMaterial(UrdfMaterial& material, XMLElement* config, ErrorLogger* logger)
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{
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if (!config->Attribute("name"))
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{
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logger->reportError("Material must contain a name attribute");
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return false;
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}
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material.m_name = config->Attribute("name");
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// texture
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XMLElement* t = config->FirstChildElement("texture");
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if (t)
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{
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if (t->Attribute("filename"))
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{
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material.m_textureFilename = t->Attribute("filename");
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}
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}
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if (material.m_textureFilename.length() == 0)
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{
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//logger->reportWarning("material has no texture file name");
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}
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// color
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{
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XMLElement* c = config->FirstChildElement("color");
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if (c)
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{
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if (c->Attribute("rgba"))
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{
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if (!parseVector4(material.m_matColor.m_rgbaColor, c->Attribute("rgba")))
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{
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std::string msg = material.m_name + " has no rgba";
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logger->reportWarning(msg.c_str());
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}
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}
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}
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}
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{
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// specular (non-standard)
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XMLElement* s = config->FirstChildElement("specular");
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if (s)
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{
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if (s->Attribute("rgb"))
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{
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if (!parseVector3(material.m_matColor.m_specularColor, s->Attribute("rgb"), logger))
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{
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}
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}
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}
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}
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return true;
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}
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bool UrdfParser::parseTransform(btTransform& tr, XMLElement* xml, ErrorLogger* logger, bool parseSDF)
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{
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tr.setIdentity();
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btVector3 vec(0, 0, 0);
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if (parseSDF)
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{
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parseVector3(vec, std::string(xml->GetText()), logger);
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}
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else
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{
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const char* xyz_str = xml->Attribute("xyz");
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if (xyz_str)
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{
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parseVector3(vec, std::string(xyz_str), logger);
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}
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}
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tr.setOrigin(vec * m_urdfScaling);
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if (parseSDF)
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{
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btVector3 rpy;
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if (parseVector3(rpy, std::string(xml->GetText()), logger, true))
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{
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double phi, the, psi;
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double roll = rpy[0];
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double pitch = rpy[1];
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double yaw = rpy[2];
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phi = roll / 2.0;
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the = pitch / 2.0;
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psi = yaw / 2.0;
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btQuaternion orn(
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sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
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cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
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cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
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cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi));
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orn.normalize();
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tr.setRotation(orn);
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}
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}
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else
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{
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const char* rpy_str = xml->Attribute("rpy");
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if (rpy_str != NULL)
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{
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btVector3 rpy;
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if (parseVector3(rpy, std::string(rpy_str), logger))
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{
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double phi, the, psi;
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double roll = rpy[0];
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double pitch = rpy[1];
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double yaw = rpy[2];
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phi = roll / 2.0;
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the = pitch / 2.0;
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psi = yaw / 2.0;
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btQuaternion orn(
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sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
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cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
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cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
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cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi));
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orn.normalize();
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tr.setRotation(orn);
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}
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}
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}
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return true;
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}
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bool UrdfParser::parseInertia(UrdfInertia& inertia, XMLElement* config, ErrorLogger* logger)
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{
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inertia.m_linkLocalFrame.setIdentity();
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inertia.m_mass = 0.f;
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if (m_parseSDF)
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{
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XMLElement* pose = config->FirstChildElement("pose");
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if (pose)
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{
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parseTransform(inertia.m_linkLocalFrame, pose, logger, m_parseSDF);
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}
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}
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// Origin
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XMLElement* o = config->FirstChildElement("origin");
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if (o)
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{
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if (!parseTransform(inertia.m_linkLocalFrame, o, logger))
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{
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return false;
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}
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}
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XMLElement* mass_xml = config->FirstChildElement("mass");
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if (!mass_xml)
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{
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logger->reportError("Inertial element must have a mass element");
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return false;
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}
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if (m_parseSDF)
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{
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inertia.m_mass = urdfLexicalCast<double>(mass_xml->GetText());
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}
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else
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{
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if (!mass_xml->Attribute("value"))
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{
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logger->reportError("Inertial: mass element must have value attribute");
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return false;
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}
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inertia.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value"));
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}
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XMLElement* inertia_xml = config->FirstChildElement("inertia");
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if (!inertia_xml)
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{
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logger->reportError("Inertial element must have inertia element");
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return false;
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}
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if (m_parseSDF)
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{
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XMLElement* ixx = inertia_xml->FirstChildElement("ixx");
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XMLElement* ixy = inertia_xml->FirstChildElement("ixy");
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XMLElement* ixz = inertia_xml->FirstChildElement("ixz");
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XMLElement* iyy = inertia_xml->FirstChildElement("iyy");
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XMLElement* iyz = inertia_xml->FirstChildElement("iyz");
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XMLElement* izz = inertia_xml->FirstChildElement("izz");
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if (ixx && ixy && ixz && iyy && iyz && izz)
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{
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inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText());
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inertia.m_ixy = urdfLexicalCast<double>(ixy->GetText());
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inertia.m_ixz = urdfLexicalCast<double>(ixz->GetText());
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inertia.m_iyy = urdfLexicalCast<double>(iyy->GetText());
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inertia.m_iyz = urdfLexicalCast<double>(iyz->GetText());
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inertia.m_izz = urdfLexicalCast<double>(izz->GetText());
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}
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else
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{
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if (ixx && iyy && izz)
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{
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inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText());
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inertia.m_ixy = 0;
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inertia.m_ixz = 0;
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inertia.m_iyy = urdfLexicalCast<double>(iyy->GetText());
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inertia.m_iyz = 0;
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inertia.m_izz = urdfLexicalCast<double>(izz->GetText());
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}
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else
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{
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logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz child elements");
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return false;
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}
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}
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}
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else
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{
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if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") &&
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inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") &&
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inertia_xml->Attribute("izz")))
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{
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if ((inertia_xml->Attribute("ixx") && inertia_xml->Attribute("iyy") &&
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inertia_xml->Attribute("izz")))
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{
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inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
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inertia.m_ixy = 0;
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inertia.m_ixz = 0;
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inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
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inertia.m_iyz = 0;
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inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
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}
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else
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{
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logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
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return false;
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}
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}
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else
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{
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inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
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inertia.m_ixy = urdfLexicalCast<double>(inertia_xml->Attribute("ixy"));
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inertia.m_ixz = urdfLexicalCast<double>(inertia_xml->Attribute("ixz"));
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inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
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inertia.m_iyz = urdfLexicalCast<double>(inertia_xml->Attribute("iyz"));
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inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
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}
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}
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return true;
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}
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bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* logger)
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{
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// btAssert(g);
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if (g == 0)
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return false;
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XMLElement* shape = g->FirstChildElement();
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if (!shape)
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{
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logger->reportError("Geometry tag contains no child element.");
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return false;
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}
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//const std::string type_name = shape->ValueTStr().c_str();
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const std::string type_name = shape->Value();
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if (type_name == "sphere")
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{
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geom.m_type = URDF_GEOM_SPHERE;
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if (m_parseSDF)
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{
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XMLElement* size = shape->FirstChildElement("radius");
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if (0 == size)
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{
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logger->reportError("sphere requires a radius child element");
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return false;
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}
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geom.m_sphereRadius = urdfLexicalCast<double>(size->GetText());
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}
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else
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{
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if (!shape->Attribute("radius"))
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{
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logger->reportError("Sphere shape must have a radius attribute");
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return false;
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}
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else
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{
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geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
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}
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}
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}
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else if (type_name == "box")
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{
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geom.m_type = URDF_GEOM_BOX;
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if (m_parseSDF)
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{
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XMLElement* size = shape->FirstChildElement("size");
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if (0 == size)
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{
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logger->reportError("box requires a size child element");
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return false;
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}
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parseVector3(geom.m_boxSize, size->GetText(), logger);
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geom.m_boxSize *= m_urdfScaling;
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}
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else
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{
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if (!shape->Attribute("size"))
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{
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logger->reportError("box requires a size attribute");
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return false;
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}
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else
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{
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parseVector3(geom.m_boxSize, shape->Attribute("size"), logger);
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geom.m_boxSize *= m_urdfScaling;
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}
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}
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}
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else if (type_name == "cylinder")
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{
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geom.m_type = URDF_GEOM_CYLINDER;
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geom.m_hasFromTo = false;
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geom.m_capsuleRadius = 0.1;
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geom.m_capsuleHeight = 0.1;
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if (m_parseSDF)
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{
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if (XMLElement* scale = shape->FirstChildElement("radius"))
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{
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parseVector3(geom.m_meshScale, scale->GetText(), logger);
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geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
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}
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if (XMLElement* scale = shape->FirstChildElement("length"))
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{
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parseVector3(geom.m_meshScale, scale->GetText(), logger);
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geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
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}
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}
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else
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{
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if (!shape->Attribute("length") || !shape->Attribute("radius"))
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{
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logger->reportError("Cylinder shape must have both length and radius attributes");
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return false;
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}
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geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
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geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
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}
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}
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else if (type_name == "capsule")
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{
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geom.m_type = URDF_GEOM_CAPSULE;
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geom.m_hasFromTo = false;
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if (m_parseSDF)
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{
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if (XMLElement* scale = shape->FirstChildElement("radius"))
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{
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parseVector3(geom.m_meshScale, scale->GetText(), logger);
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geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
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}
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if (XMLElement* scale = shape->FirstChildElement("length"))
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{
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parseVector3(geom.m_meshScale, scale->GetText(), logger);
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geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
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}
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}
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else
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{
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if (!shape->Attribute("length") || !shape->Attribute("radius"))
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{
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logger->reportError("Capsule shape must have both length and radius attributes");
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return false;
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}
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geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
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geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
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}
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}
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else if ((type_name == "mesh") || (type_name == "cdf"))
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{
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if ((type_name == "cdf"))
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{
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geom.m_type = URDF_GEOM_CDF;
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}
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else
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{
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geom.m_type = URDF_GEOM_MESH;
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}
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geom.m_meshScale.setValue(1, 1, 1);
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std::string fn;
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if (m_parseSDF)
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{
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if (XMLElement* scale = shape->FirstChildElement("scale"))
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{
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parseVector3(geom.m_meshScale, scale->GetText(), logger);
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}
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if (XMLElement* filename = shape->FirstChildElement("uri"))
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{
|
|
fn = filename->GetText();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// URDF
|
|
if (shape->Attribute("filename"))
|
|
{
|
|
fn = shape->Attribute("filename");
|
|
}
|
|
if (shape->Attribute("scale"))
|
|
{
|
|
if (!parseVector3(geom.m_meshScale, shape->Attribute("scale"), logger))
|
|
{
|
|
logger->reportWarning("Scale should be a vector3, not single scalar. Workaround activated.\n");
|
|
std::string scalar_str = shape->Attribute("scale");
|
|
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
|
|
if (scaleFactor)
|
|
{
|
|
geom.m_meshScale.setValue(scaleFactor, scaleFactor, scaleFactor);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
geom.m_meshScale *= m_urdfScaling;
|
|
|
|
if (fn.empty())
|
|
{
|
|
logger->reportError("Mesh filename is empty");
|
|
return false;
|
|
}
|
|
|
|
geom.m_meshFileName = fn;
|
|
bool success = UrdfFindMeshFile(m_fileIO,
|
|
m_urdf2Model.m_sourceFile, fn, sourceFileLocation(shape),
|
|
&geom.m_meshFileName, &geom.m_meshFileType);
|
|
if (!success)
|
|
{
|
|
// warning already printed
|
|
return false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (type_name == "plane")
|
|
{
|
|
geom.m_type = URDF_GEOM_PLANE;
|
|
if (this->m_parseSDF)
|
|
{
|
|
XMLElement* n = shape->FirstChildElement("normal");
|
|
XMLElement* s = shape->FirstChildElement("size");
|
|
|
|
if ((0 == n) || (0 == s))
|
|
{
|
|
logger->reportError("Plane shape must have both normal and size attributes");
|
|
return false;
|
|
}
|
|
|
|
parseVector3(geom.m_planeNormal, n->GetText(), logger);
|
|
}
|
|
else
|
|
{
|
|
if (!shape->Attribute("normal"))
|
|
{
|
|
logger->reportError("plane requires a normal attribute");
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
parseVector3(geom.m_planeNormal, shape->Attribute("normal"), logger);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("Unknown geometry type:");
|
|
logger->reportError(type_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseCollision(UrdfCollision& collision, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
collision.m_linkLocalFrame.setIdentity();
|
|
|
|
if (m_parseSDF)
|
|
{
|
|
XMLElement* pose = config->FirstChildElement("pose");
|
|
if (pose)
|
|
{
|
|
parseTransform(collision.m_linkLocalFrame, pose, logger, m_parseSDF);
|
|
}
|
|
}
|
|
|
|
// Origin
|
|
XMLElement* o = config->FirstChildElement("origin");
|
|
if (o)
|
|
{
|
|
if (!parseTransform(collision.m_linkLocalFrame, o, logger))
|
|
return false;
|
|
}
|
|
// Geometry
|
|
XMLElement* geom = config->FirstChildElement("geometry");
|
|
if (!parseGeometry(collision.m_geometry, geom, logger))
|
|
{
|
|
return false;
|
|
}
|
|
|
|
{
|
|
const char* group_char = config->Attribute("group");
|
|
if (group_char)
|
|
{
|
|
collision.m_flags |= URDF_HAS_COLLISION_GROUP;
|
|
collision.m_collisionGroup = urdfLexicalCast<int>(group_char);
|
|
}
|
|
}
|
|
|
|
{
|
|
const char* mask_char = config->Attribute("mask");
|
|
if (mask_char)
|
|
{
|
|
collision.m_flags |= URDF_HAS_COLLISION_MASK;
|
|
collision.m_collisionMask = urdfLexicalCast<int>(mask_char);
|
|
}
|
|
}
|
|
|
|
const char* name_char = config->Attribute("name");
|
|
if (name_char)
|
|
collision.m_name = name_char;
|
|
|
|
const char* concave_char = config->Attribute("concave");
|
|
if (concave_char)
|
|
collision.m_flags |= URDF_FORCE_CONCAVE_TRIMESH;
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
visual.m_linkLocalFrame.setIdentity();
|
|
if (m_parseSDF)
|
|
{
|
|
XMLElement* pose = config->FirstChildElement("pose");
|
|
if (pose)
|
|
{
|
|
parseTransform(visual.m_linkLocalFrame, pose, logger, m_parseSDF);
|
|
}
|
|
}
|
|
|
|
// Origin
|
|
XMLElement* o = config->FirstChildElement("origin");
|
|
if (o)
|
|
{
|
|
if (!parseTransform(visual.m_linkLocalFrame, o, logger))
|
|
return false;
|
|
}
|
|
// Geometry
|
|
XMLElement* geom = config->FirstChildElement("geometry");
|
|
if (!parseGeometry(visual.m_geometry, geom, logger))
|
|
{
|
|
return false;
|
|
}
|
|
|
|
const char* name_char = config->Attribute("name");
|
|
if (name_char)
|
|
visual.m_name = name_char;
|
|
|
|
visual.m_geometry.m_hasLocalMaterial = false;
|
|
|
|
// Material
|
|
XMLElement* mat = config->FirstChildElement("material");
|
|
//todo(erwincoumans) skip materials in SDF for now (due to complexity)
|
|
if (mat)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
UrdfMaterial* matPtr = new UrdfMaterial;
|
|
matPtr->m_name = "mat";
|
|
if (name_char)
|
|
matPtr->m_name = name_char;
|
|
|
|
UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
|
|
if (oldMatPtrPtr)
|
|
{
|
|
UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
|
|
model.m_materials.remove(matPtr->m_name.c_str());
|
|
if (oldMatPtr)
|
|
delete oldMatPtr;
|
|
}
|
|
model.m_materials.insert(matPtr->m_name.c_str(), matPtr);
|
|
{
|
|
XMLElement* diffuse = mat->FirstChildElement("diffuse");
|
|
if (diffuse)
|
|
{
|
|
std::string diffuseText = diffuse->GetText();
|
|
btVector4 rgba(1, 0, 0, 1);
|
|
parseVector4(rgba, diffuseText);
|
|
matPtr->m_matColor.m_rgbaColor = rgba;
|
|
|
|
visual.m_materialName = matPtr->m_name;
|
|
visual.m_geometry.m_hasLocalMaterial = true;
|
|
}
|
|
}
|
|
{
|
|
XMLElement* specular = mat->FirstChildElement("specular");
|
|
if (specular)
|
|
{
|
|
std::string specularText = specular->GetText();
|
|
btVector3 rgba(1, 1, 1);
|
|
parseVector3(rgba, specularText, logger);
|
|
matPtr->m_matColor.m_specularColor = rgba;
|
|
visual.m_materialName = matPtr->m_name;
|
|
visual.m_geometry.m_hasLocalMaterial = true;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// get material name
|
|
if (!mat->Attribute("name"))
|
|
{
|
|
logger->reportError("Visual material must contain a name attribute");
|
|
return false;
|
|
}
|
|
visual.m_materialName = mat->Attribute("name");
|
|
|
|
// try to parse material element in place
|
|
|
|
XMLElement* t = mat->FirstChildElement("texture");
|
|
XMLElement* c = mat->FirstChildElement("color");
|
|
XMLElement* s = mat->FirstChildElement("specular");
|
|
if (t || c || s)
|
|
{
|
|
if (parseMaterial(visual.m_geometry.m_localMaterial, mat, logger))
|
|
{
|
|
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_geometry.m_localMaterial);
|
|
|
|
UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
|
|
if (oldMatPtrPtr)
|
|
{
|
|
UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
|
|
model.m_materials.remove(matPtr->m_name.c_str());
|
|
if (oldMatPtr)
|
|
delete oldMatPtr;
|
|
}
|
|
model.m_materials.insert(matPtr->m_name.c_str(), matPtr);
|
|
visual.m_geometry.m_hasLocalMaterial = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
ParseUserData(config, visual.m_userData, logger);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
const char* linkName = config->Attribute("name");
|
|
if (!linkName)
|
|
{
|
|
logger->reportError("Link with no name");
|
|
return false;
|
|
}
|
|
link.m_name = linkName;
|
|
|
|
if (m_parseSDF)
|
|
{
|
|
XMLElement* pose = config->FirstChildElement("pose");
|
|
if (0 == pose)
|
|
{
|
|
link.m_linkTransformInWorld.setIdentity();
|
|
}
|
|
else
|
|
{
|
|
parseTransform(link.m_linkTransformInWorld, pose, logger, m_parseSDF);
|
|
}
|
|
}
|
|
|
|
{
|
|
//optional 'audio_source' parameters
|
|
//modified version of SDF audio_source specification in //http://sdformat.org/spec?ver=1.6&elem=link
|
|
#if 0
|
|
<audio_source>
|
|
<uri>file://media/audio/cheer.mp3</uri>
|
|
<pitch>2.0</pitch>
|
|
<gain>1.0</gain>
|
|
<loop>false</loop>
|
|
<contact>
|
|
<collision>collision</collision>
|
|
</contact>
|
|
</audio_source>
|
|
#endif
|
|
XMLElement* ci = config->FirstChildElement("audio_source");
|
|
if (ci)
|
|
{
|
|
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
|
|
|
|
const char* fn = ci->Attribute("filename");
|
|
if (fn)
|
|
{
|
|
link.m_audioSource.m_uri = fn;
|
|
}
|
|
else
|
|
{
|
|
if (XMLElement* filename_xml = ci->FirstChildElement("uri"))
|
|
{
|
|
link.m_audioSource.m_uri = filename_xml->GetText();
|
|
}
|
|
}
|
|
if (XMLElement* pitch_xml = ci->FirstChildElement("pitch"))
|
|
{
|
|
link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
|
|
}
|
|
if (XMLElement* gain_xml = ci->FirstChildElement("gain"))
|
|
{
|
|
link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
|
|
}
|
|
|
|
if (XMLElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
|
|
{
|
|
link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
|
|
}
|
|
|
|
if (XMLElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
|
|
{
|
|
link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
|
|
}
|
|
|
|
if (XMLElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
|
|
{
|
|
link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
|
|
}
|
|
|
|
if (XMLElement* release_rate_xml = ci->FirstChildElement("release_rate"))
|
|
{
|
|
link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
|
|
}
|
|
|
|
if (XMLElement* loop_xml = ci->FirstChildElement("loop"))
|
|
{
|
|
std::string looptxt = loop_xml->GetText();
|
|
if (looptxt == "true")
|
|
{
|
|
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
|
|
}
|
|
}
|
|
if (XMLElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
|
|
{
|
|
link.m_audioSource.m_collisionForceThreshold = urdfLexicalCast<double>(forceThreshold_xml->GetText());
|
|
}
|
|
//todo: see other audio_source children
|
|
//pitch, gain, loop, contact
|
|
}
|
|
}
|
|
{
|
|
//optional 'contact' parameters
|
|
XMLElement* ci = config->FirstChildElement("contact");
|
|
if (ci)
|
|
{
|
|
XMLElement* damping_xml = ci->FirstChildElement("inertia_scaling");
|
|
if (damping_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_inertiaScaling = urdfLexicalCast<double>(damping_xml->GetText());
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING;
|
|
}
|
|
else
|
|
{
|
|
if (!damping_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: damping element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_inertiaScaling = urdfLexicalCast<double>(damping_xml->Attribute("value"));
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING;
|
|
}
|
|
}
|
|
{
|
|
XMLElement* friction_xml = ci->FirstChildElement("lateral_friction");
|
|
if (friction_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->GetText());
|
|
}
|
|
else
|
|
{
|
|
if (!friction_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: lateral_friction element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
XMLElement* rolling_xml = ci->FirstChildElement("rolling_friction");
|
|
if (rolling_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
|
|
}
|
|
else
|
|
{
|
|
if (!rolling_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: rolling friction element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
XMLElement* restitution_xml = ci->FirstChildElement("restitution");
|
|
if (restitution_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->GetText());
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
|
|
}
|
|
else
|
|
{
|
|
if (!restitution_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: restitution element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->Attribute("value"));
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
XMLElement* spinning_xml = ci->FirstChildElement("spinning_friction");
|
|
if (spinning_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_spinningFriction = urdfLexicalCast<double>(spinning_xml->GetText());
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
|
|
}
|
|
else
|
|
{
|
|
if (!spinning_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: spinning friction element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_spinningFriction = urdfLexicalCast<double>(spinning_xml->Attribute("value"));
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
|
|
}
|
|
}
|
|
}
|
|
{
|
|
XMLElement* friction_anchor = ci->FirstChildElement("friction_anchor");
|
|
if (friction_anchor)
|
|
{
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_FRICTION_ANCHOR;
|
|
}
|
|
}
|
|
{
|
|
XMLElement* stiffness_xml = ci->FirstChildElement("stiffness");
|
|
if (stiffness_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->GetText());
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
|
|
}
|
|
else
|
|
{
|
|
if (!stiffness_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: stiffness element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->Attribute("value"));
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
|
|
}
|
|
}
|
|
}
|
|
{
|
|
XMLElement* damping_xml = ci->FirstChildElement("damping");
|
|
if (damping_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->GetText());
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
|
|
}
|
|
else
|
|
{
|
|
if (!damping_xml->Attribute("value"))
|
|
{
|
|
logger->reportError("Link/contact: damping element must have value attribute");
|
|
return false;
|
|
}
|
|
|
|
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
|
|
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Inertial (optional)
|
|
XMLElement* i = config->FirstChildElement("inertial");
|
|
if (i)
|
|
{
|
|
if (!parseInertia(link.m_inertia, i, logger))
|
|
{
|
|
logger->reportError("Could not parse inertial element for Link:");
|
|
logger->reportError(link.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if ((strlen(linkName) == 5) && (strncmp(linkName, "world", 5)) == 0)
|
|
{
|
|
link.m_inertia.m_mass = 0.f;
|
|
link.m_inertia.m_linkLocalFrame.setIdentity();
|
|
link.m_inertia.m_ixx = 0.f;
|
|
link.m_inertia.m_iyy = 0.f;
|
|
link.m_inertia.m_izz = 0.f;
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning("No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame");
|
|
link.m_inertia.m_mass = 1.f;
|
|
link.m_inertia.m_linkLocalFrame.setIdentity();
|
|
link.m_inertia.m_ixx = 1.f;
|
|
link.m_inertia.m_iyy = 1.f;
|
|
link.m_inertia.m_izz = 1.f;
|
|
logger->reportWarning(link.m_name.c_str());
|
|
}
|
|
}
|
|
|
|
// Multiple Visuals (optional)
|
|
for (XMLElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
|
|
{
|
|
UrdfVisual visual;
|
|
visual.m_sourceFileLocation = sourceFileLocation(vis_xml);
|
|
|
|
if (parseVisual(model, visual, vis_xml, logger))
|
|
{
|
|
link.m_visualArray.push_back(visual);
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("Could not parse visual element for Link:");
|
|
logger->reportError(link.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// Multiple Collisions (optional)
|
|
for (XMLElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
|
|
{
|
|
UrdfCollision col;
|
|
col.m_sourceFileLocation = sourceFileLocation(col_xml);
|
|
|
|
if (parseCollision(col, col_xml, logger))
|
|
{
|
|
link.m_collisionArray.push_back(col);
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("Could not parse collision element for Link:");
|
|
logger->reportError(link.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
ParseUserData(config, link.m_userData, logger);
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
joint.m_lowerLimit = 0.f;
|
|
joint.m_upperLimit = -1.f;
|
|
joint.m_effortLimit = 0.f;
|
|
joint.m_velocityLimit = 0.f;
|
|
joint.m_jointDamping = 0.f;
|
|
joint.m_jointFriction = 0.f;
|
|
|
|
if (m_parseSDF)
|
|
{
|
|
XMLElement* lower_xml = config->FirstChildElement("lower");
|
|
if (lower_xml)
|
|
{
|
|
joint.m_lowerLimit = urdfLexicalCast<double>(lower_xml->GetText());
|
|
}
|
|
|
|
XMLElement* upper_xml = config->FirstChildElement("upper");
|
|
if (upper_xml)
|
|
{
|
|
joint.m_upperLimit = urdfLexicalCast<double>(upper_xml->GetText());
|
|
}
|
|
|
|
XMLElement* effort_xml = config->FirstChildElement("effort");
|
|
if (effort_xml)
|
|
{
|
|
joint.m_effortLimit = urdfLexicalCast<double>(effort_xml->GetText());
|
|
}
|
|
|
|
XMLElement* velocity_xml = config->FirstChildElement("velocity");
|
|
if (velocity_xml)
|
|
{
|
|
joint.m_velocityLimit = urdfLexicalCast<double>(velocity_xml->GetText());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
const char* lower_str = config->Attribute("lower");
|
|
if (lower_str)
|
|
{
|
|
joint.m_lowerLimit = urdfLexicalCast<double>(lower_str);
|
|
}
|
|
|
|
const char* upper_str = config->Attribute("upper");
|
|
if (upper_str)
|
|
{
|
|
joint.m_upperLimit = urdfLexicalCast<double>(upper_str);
|
|
}
|
|
|
|
if (joint.m_type == URDFPrismaticJoint)
|
|
{
|
|
joint.m_lowerLimit *= m_urdfScaling;
|
|
joint.m_upperLimit *= m_urdfScaling;
|
|
}
|
|
|
|
// Get joint effort limit
|
|
const char* effort_str = config->Attribute("effort");
|
|
if (effort_str)
|
|
{
|
|
joint.m_effortLimit = urdfLexicalCast<double>(effort_str);
|
|
}
|
|
|
|
// Get joint velocity limit
|
|
const char* velocity_str = config->Attribute("velocity");
|
|
if (velocity_str)
|
|
{
|
|
joint.m_velocityLimit = urdfLexicalCast<double>(velocity_str);
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseJointDynamics(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
joint.m_jointDamping = 0;
|
|
joint.m_jointFriction = 0;
|
|
|
|
if (m_parseSDF)
|
|
{
|
|
XMLElement* damping_xml = config->FirstChildElement("damping");
|
|
if (damping_xml)
|
|
{
|
|
joint.m_jointDamping = urdfLexicalCast<double>(damping_xml->GetText());
|
|
}
|
|
|
|
XMLElement* friction_xml = config->FirstChildElement("friction");
|
|
if (friction_xml)
|
|
{
|
|
joint.m_jointFriction = urdfLexicalCast<double>(friction_xml->GetText());
|
|
}
|
|
|
|
if (damping_xml == NULL && friction_xml == NULL)
|
|
{
|
|
logger->reportError("joint dynamics element specified with no damping and no friction");
|
|
return false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Get joint damping
|
|
const char* damping_str = config->Attribute("damping");
|
|
if (damping_str)
|
|
{
|
|
joint.m_jointDamping = urdfLexicalCast<double>(damping_str);
|
|
}
|
|
|
|
// Get joint friction
|
|
const char* friction_str = config->Attribute("friction");
|
|
if (friction_str)
|
|
{
|
|
joint.m_jointFriction = urdfLexicalCast<double>(friction_str);
|
|
}
|
|
|
|
if (damping_str == NULL && friction_str == NULL)
|
|
{
|
|
logger->reportError("joint dynamics element specified with no damping and no friction");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
// Get Joint Name
|
|
const char* name = config->Attribute("name");
|
|
if (!name)
|
|
{
|
|
logger->reportError("unnamed joint found");
|
|
return false;
|
|
}
|
|
joint.m_name = name;
|
|
joint.m_parentLinkToJointTransform.setIdentity();
|
|
|
|
// Get transform from Parent Link to Joint Frame
|
|
XMLElement* origin_xml = config->FirstChildElement("origin");
|
|
if (origin_xml)
|
|
{
|
|
if (!parseTransform(joint.m_parentLinkToJointTransform, origin_xml, logger))
|
|
{
|
|
logger->reportError("Malformed parent origin element for joint:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// Get Parent Link
|
|
XMLElement* parent_xml = config->FirstChildElement("parent");
|
|
if (parent_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
joint.m_parentLinkName = std::string(parent_xml->GetText());
|
|
}
|
|
else
|
|
{
|
|
const char* pname = parent_xml->Attribute("link");
|
|
if (!pname)
|
|
{
|
|
logger->reportError("no parent link name specified for Joint link. this might be the root?");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
joint.m_parentLinkName = std::string(pname);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Get Child Link
|
|
XMLElement* child_xml = config->FirstChildElement("child");
|
|
if (child_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
joint.m_childLinkName = std::string(child_xml->GetText());
|
|
}
|
|
else
|
|
{
|
|
const char* pname = child_xml->Attribute("link");
|
|
if (!pname)
|
|
{
|
|
logger->reportError("no child link name specified for Joint link [%s].");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
joint.m_childLinkName = std::string(pname);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Get Joint type
|
|
const char* type_char = config->Attribute("type");
|
|
if (!type_char)
|
|
{
|
|
logger->reportError("joint [%s] has no type, check to see if it's a reference.");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
|
|
std::string type_str = type_char;
|
|
if (type_str == "spherical")
|
|
joint.m_type = URDFSphericalJoint;
|
|
else if (type_str == "planar")
|
|
joint.m_type = URDFPlanarJoint;
|
|
else if (type_str == "floating")
|
|
joint.m_type = URDFFloatingJoint;
|
|
else if (type_str == "revolute")
|
|
joint.m_type = URDFRevoluteJoint;
|
|
else if (type_str == "continuous")
|
|
joint.m_type = URDFContinuousJoint;
|
|
else if (type_str == "prismatic")
|
|
joint.m_type = URDFPrismaticJoint;
|
|
else if (type_str == "fixed")
|
|
joint.m_type = URDFFixedJoint;
|
|
else
|
|
{
|
|
logger->reportError("Joint ");
|
|
logger->reportError(joint.m_name.c_str());
|
|
logger->reportError("has unknown type:");
|
|
logger->reportError(type_str.c_str());
|
|
return false;
|
|
}
|
|
|
|
if (m_parseSDF)
|
|
{
|
|
if (joint.m_type != URDFFloatingJoint && joint.m_type != URDFFixedJoint)
|
|
{
|
|
// axis
|
|
XMLElement* axis_xml = config->FirstChildElement("axis");
|
|
if (!axis_xml)
|
|
{
|
|
logger->reportWarning("urdfdom: no axis elemement for Joint, defaulting to (1,0,0) axis");
|
|
logger->reportWarning(joint.m_name.c_str());
|
|
joint.m_localJointAxis.setValue(1, 0, 0);
|
|
}
|
|
else
|
|
{
|
|
XMLElement* xyz_xml = axis_xml->FirstChildElement("xyz");
|
|
if (xyz_xml)
|
|
{
|
|
if (!parseVector3(joint.m_localJointAxis, std::string(xyz_xml->GetText()), logger))
|
|
{
|
|
logger->reportError("Malformed axis element:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
logger->reportError(" for joint:");
|
|
logger->reportError(xyz_xml->GetText());
|
|
return false;
|
|
}
|
|
}
|
|
|
|
XMLElement* limit_xml = axis_xml->FirstChildElement("limit");
|
|
if (limit_xml)
|
|
{
|
|
if (joint.m_type != URDFContinuousJoint)
|
|
{
|
|
if (!parseJointLimits(joint, limit_xml, logger))
|
|
{
|
|
logger->reportError("Could not parse limit element for joint:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
else if (joint.m_type == URDFRevoluteJoint)
|
|
{
|
|
logger->reportError("Joint is of type REVOLUTE but it does not specify limits");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
else if (joint.m_type == URDFPrismaticJoint)
|
|
{
|
|
logger->reportError("Joint is of type PRISMATIC without limits");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
|
|
XMLElement* prop_xml = axis_xml->FirstChildElement("dynamics");
|
|
if (prop_xml)
|
|
{
|
|
if (!parseJointDynamics(joint, prop_xml, logger))
|
|
{
|
|
logger->reportError("Could not parse dynamics element for joint:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Get Joint Axis
|
|
if (joint.m_type != URDFFloatingJoint && joint.m_type != URDFFixedJoint)
|
|
{
|
|
// axis
|
|
XMLElement* axis_xml = config->FirstChildElement("axis");
|
|
if (!axis_xml)
|
|
{
|
|
logger->reportWarning("urdfdom: no axis elemement for Joint, defaulting to (1,0,0) axis");
|
|
logger->reportWarning(joint.m_name.c_str());
|
|
joint.m_localJointAxis.setValue(1, 0, 0);
|
|
}
|
|
else
|
|
{
|
|
if (axis_xml->Attribute("xyz"))
|
|
{
|
|
if (!parseVector3(joint.m_localJointAxis, axis_xml->Attribute("xyz"), logger))
|
|
{
|
|
logger->reportError("Malformed axis element:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
logger->reportError(" for joint:");
|
|
logger->reportError(axis_xml->Attribute("xyz"));
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Get limit
|
|
XMLElement* limit_xml = config->FirstChildElement("limit");
|
|
if (limit_xml)
|
|
{
|
|
if (!parseJointLimits(joint, limit_xml, logger))
|
|
{
|
|
logger->reportError("Could not parse limit element for joint:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
else if (joint.m_type == URDFRevoluteJoint)
|
|
{
|
|
logger->reportError("Joint is of type REVOLUTE but it does not specify limits");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
else if (joint.m_type == URDFPrismaticJoint)
|
|
{
|
|
logger->reportError("Joint is of type PRISMATIC without limits");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
|
|
joint.m_jointDamping = 0;
|
|
joint.m_jointFriction = 0;
|
|
|
|
// Get Dynamics
|
|
XMLElement* prop_xml = config->FirstChildElement("dynamics");
|
|
if (prop_xml)
|
|
{
|
|
// Get joint damping
|
|
const char* damping_str = prop_xml->Attribute("damping");
|
|
if (damping_str)
|
|
{
|
|
joint.m_jointDamping = urdfLexicalCast<double>(damping_str);
|
|
}
|
|
|
|
// Get joint friction
|
|
const char* friction_str = prop_xml->Attribute("friction");
|
|
if (friction_str)
|
|
{
|
|
joint.m_jointFriction = urdfLexicalCast<double>(friction_str);
|
|
}
|
|
|
|
if (damping_str == NULL && friction_str == NULL)
|
|
{
|
|
logger->reportError("joint dynamics element specified with no damping and no friction");
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
|
|
{
|
|
// Sensors are mapped to Links with a Fixed Joints connecting to the parents.
|
|
// They has no extent or mass so they will work with the existing
|
|
// model without affecting the system.
|
|
logger->reportError("Adding Sensor ");
|
|
const char* sensorName = config->Attribute("name");
|
|
if (!sensorName)
|
|
{
|
|
logger->reportError("Sensor with no name");
|
|
return false;
|
|
}
|
|
|
|
logger->reportError(sensorName);
|
|
link.m_name = sensorName;
|
|
link.m_linkTransformInWorld.setIdentity();
|
|
link.m_inertia.m_mass = 0.f;
|
|
link.m_inertia.m_linkLocalFrame.setIdentity();
|
|
link.m_inertia.m_ixx = 0.f;
|
|
link.m_inertia.m_iyy = 0.f;
|
|
link.m_inertia.m_izz = 0.f;
|
|
|
|
// Get Parent Link
|
|
XMLElement* parent_xml = config->FirstChildElement("parent");
|
|
if (parent_xml)
|
|
{
|
|
if (m_parseSDF)
|
|
{
|
|
joint.m_parentLinkName = std::string(parent_xml->GetText());
|
|
}
|
|
else
|
|
{
|
|
const char* pname = parent_xml->Attribute("link");
|
|
if (!pname)
|
|
{
|
|
logger->reportError("no parent link name specified for sensor. this might be the root?");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
joint.m_parentLinkName = std::string(pname);
|
|
}
|
|
}
|
|
}
|
|
|
|
joint.m_name = std::string(sensorName).append("_Joint");
|
|
joint.m_childLinkName = sensorName;
|
|
joint.m_type = URDFFixedJoint;
|
|
joint.m_localJointAxis.setValue(0, 0, 0);
|
|
|
|
// Get transform from Parent Link to Joint Frame
|
|
XMLElement* origin_xml = config->FirstChildElement("origin");
|
|
if (origin_xml)
|
|
{
|
|
if (!parseTransform(joint.m_parentLinkToJointTransform, origin_xml, logger))
|
|
{
|
|
logger->reportError("Malformed origin element for sensor:");
|
|
logger->reportError(joint.m_name.c_str());
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
static void CalculatePrincipalAxisTransform(btScalar* masses, const btTransform* transforms, btMatrix3x3* inertiasIn, btTransform& principal, btVector3& inertiaOut)
|
|
{
|
|
int n = 2;
|
|
|
|
btScalar totalMass = 0;
|
|
btVector3 center(0, 0, 0);
|
|
int k;
|
|
|
|
for (k = 0; k < n; k++)
|
|
{
|
|
btAssert(masses[k] > 0);
|
|
center += transforms[k].getOrigin() * masses[k];
|
|
totalMass += masses[k];
|
|
}
|
|
|
|
btAssert(totalMass > 0);
|
|
|
|
center /= totalMass;
|
|
principal.setOrigin(center);
|
|
|
|
btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
for (k = 0; k < n; k++)
|
|
{
|
|
|
|
|
|
const btTransform& t = transforms[k];
|
|
btVector3 o = t.getOrigin() - center;
|
|
|
|
//compute inertia tensor in coordinate system of parent
|
|
btMatrix3x3 j = t.getBasis().transpose();
|
|
j *= inertiasIn[k];
|
|
j = t.getBasis() * j;
|
|
|
|
//add inertia tensor
|
|
tensor[0] += j[0];
|
|
tensor[1] += j[1];
|
|
tensor[2] += j[2];
|
|
|
|
//compute inertia tensor of pointmass at o
|
|
btScalar o2 = o.length2();
|
|
j[0].setValue(o2, 0, 0);
|
|
j[1].setValue(0, o2, 0);
|
|
j[2].setValue(0, 0, o2);
|
|
j[0] += o * -o.x();
|
|
j[1] += o * -o.y();
|
|
j[2] += o * -o.z();
|
|
|
|
//add inertia tensor of pointmass
|
|
tensor[0] += masses[k] * j[0];
|
|
tensor[1] += masses[k] * j[1];
|
|
tensor[2] += masses[k] * j[2];
|
|
}
|
|
|
|
tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
|
|
inertiaOut.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
|
|
}
|
|
|
|
bool UrdfParser::mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger* logger, bool forceFixedBase, int level)
|
|
{
|
|
for (int l = 0; l < level; l++)
|
|
{
|
|
printf("\t");
|
|
}
|
|
printf("processing %s\n", link->m_name.c_str());
|
|
|
|
for (int i = 0; i < link->m_childJoints.size();)
|
|
{
|
|
if (link->m_childJoints[i]->m_type == URDFFixedJoint)
|
|
{
|
|
UrdfLink* childLink = link->m_childLinks[i];
|
|
UrdfJoint* childJoint = link->m_childJoints[i];
|
|
for (int l = 0; l < level+1; l++)
|
|
{
|
|
printf("\t");
|
|
}
|
|
//mergeChildLink
|
|
printf("merge %s into %s!\n", childLink->m_name.c_str(), link->m_name.c_str());
|
|
for (int c = 0; c < childLink->m_collisionArray.size(); c++)
|
|
{
|
|
UrdfCollision col = childLink->m_collisionArray[c];
|
|
col.m_linkLocalFrame = childJoint->m_parentLinkToJointTransform * col.m_linkLocalFrame;
|
|
link->m_collisionArray.push_back(col);
|
|
}
|
|
|
|
for (int c = 0; c < childLink->m_visualArray.size(); c++)
|
|
{
|
|
UrdfVisual viz = childLink->m_visualArray[c];
|
|
viz.m_linkLocalFrame = childJoint->m_parentLinkToJointTransform * viz.m_linkLocalFrame;
|
|
link->m_visualArray.push_back(viz);
|
|
}
|
|
|
|
if (!link->m_inertia.m_hasLinkLocalFrame)
|
|
{
|
|
link->m_inertia.m_linkLocalFrame.setIdentity();
|
|
}
|
|
if (!childLink->m_inertia.m_hasLinkLocalFrame)
|
|
{
|
|
childLink->m_inertia.m_linkLocalFrame.setIdentity();
|
|
}
|
|
//for a 'forceFixedBase' don't merge
|
|
bool isStaticBase = false;
|
|
if (forceFixedBase && link->m_parentJoint == 0)
|
|
isStaticBase = true;
|
|
if (link->m_inertia.m_mass==0 && link->m_parentJoint == 0)
|
|
isStaticBase = true;
|
|
|
|
//skip the mass and inertia merge for a fixed base link
|
|
if (!isStaticBase)
|
|
{
|
|
btScalar masses[2] = { (btScalar)link->m_inertia.m_mass, (btScalar)childLink->m_inertia.m_mass };
|
|
btTransform transforms[2] = { link->m_inertia.m_linkLocalFrame, childJoint->m_parentLinkToJointTransform * childLink->m_inertia.m_linkLocalFrame };
|
|
btMatrix3x3 inertiaLink(
|
|
link->m_inertia.m_ixx, link->m_inertia.m_ixy, link->m_inertia.m_ixz,
|
|
link->m_inertia.m_ixy, link->m_inertia.m_iyy, link->m_inertia.m_iyz,
|
|
link->m_inertia.m_ixz, link->m_inertia.m_iyz, link->m_inertia.m_izz);
|
|
btMatrix3x3 inertiaChild(
|
|
childLink->m_inertia.m_ixx, childLink->m_inertia.m_ixy, childLink->m_inertia.m_ixz,
|
|
childLink->m_inertia.m_ixy, childLink->m_inertia.m_iyy, childLink->m_inertia.m_iyz,
|
|
childLink->m_inertia.m_ixz, childLink->m_inertia.m_iyz, childLink->m_inertia.m_izz);
|
|
btMatrix3x3 inertiasIn[2] = { inertiaLink, inertiaChild };
|
|
btVector3 inertiaOut;
|
|
btTransform principal;
|
|
CalculatePrincipalAxisTransform(masses, transforms, inertiasIn, principal, inertiaOut);
|
|
link->m_inertia.m_hasLinkLocalFrame = true;
|
|
link->m_inertia.m_linkLocalFrame.setIdentity();
|
|
//link->m_inertia.m_linkLocalFrame = principal;
|
|
link->m_inertia.m_linkLocalFrame.setOrigin(principal.getOrigin());
|
|
|
|
link->m_inertia.m_ixx = inertiaOut[0];
|
|
link->m_inertia.m_ixy = 0;
|
|
link->m_inertia.m_ixz = 0;
|
|
link->m_inertia.m_iyy = inertiaOut[1];
|
|
link->m_inertia.m_iyz = 0;
|
|
link->m_inertia.m_izz = inertiaOut[2];
|
|
link->m_inertia.m_mass += childLink->m_inertia.m_mass;
|
|
}
|
|
link->m_childJoints.removeAtIndex(i);
|
|
link->m_childLinks.removeAtIndex(i);
|
|
|
|
for (int g = 0; g < childLink->m_childJoints.size(); g++)
|
|
{
|
|
UrdfLink* grandChildLink = childLink->m_childLinks[g];
|
|
UrdfJoint* grandChildJoint = childLink->m_childJoints[g];
|
|
for (int l = 0; l < level+2; l++)
|
|
{
|
|
printf("\t");
|
|
}
|
|
printf("relink %s from %s to %s!\n", grandChildLink->m_name.c_str(), childLink->m_name.c_str(), link->m_name.c_str());
|
|
|
|
grandChildJoint->m_parentLinkName = link->m_name;
|
|
grandChildJoint->m_parentLinkToJointTransform =
|
|
childJoint->m_parentLinkToJointTransform * grandChildJoint->m_parentLinkToJointTransform;
|
|
|
|
grandChildLink->m_parentLink = link;
|
|
grandChildLink->m_parentJoint->m_parentLinkName = link->m_name;
|
|
|
|
link->m_childJoints.push_back(grandChildJoint);
|
|
link->m_childLinks.push_back(grandChildLink);
|
|
}
|
|
model.m_links.remove(childLink->m_name.c_str());
|
|
model.m_joints.remove(childJoint->m_name.c_str());
|
|
|
|
}
|
|
else
|
|
{
|
|
//keep this link and recurse
|
|
mergeFixedLinks(model, link->m_childLinks[i], logger, forceFixedBase, level+1);
|
|
i++;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
const std::string sJointNames[]={"unused",
|
|
"URDFRevoluteJoint",
|
|
"URDFPrismaticJoint",
|
|
"URDFContinuousJoint",
|
|
"URDFFloatingJoint",
|
|
"URDFPlanarJoint",
|
|
"URDFFixedJoint",
|
|
"URDFSphericalJoint",
|
|
};
|
|
|
|
bool UrdfParser::printTree(UrdfLink* link, ErrorLogger* logger, int level)
|
|
{
|
|
printf("\n");
|
|
for (int l = 0; l < level; l++)
|
|
{
|
|
printf("\t");
|
|
}
|
|
printf("%s (mass=%f) ", link->m_name.c_str(), link->m_inertia.m_mass);
|
|
if (link->m_parentJoint)
|
|
{
|
|
printf("(joint %s, joint type=%s\n", link->m_parentJoint->m_name.c_str(), sJointNames[link->m_parentJoint->m_type].c_str());
|
|
}
|
|
else
|
|
{
|
|
printf("\n");
|
|
}
|
|
|
|
for (int i = 0; i<link->m_childJoints.size(); i++)
|
|
{
|
|
printTree(link->m_childLinks[i], logger, level + 1);
|
|
btAssert(link->m_childJoints[i]->m_parentLinkName == link->m_name);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::recreateModel(UrdfModel& model, UrdfLink* link, ErrorLogger* logger)
|
|
{
|
|
if (!link->m_parentJoint)
|
|
{
|
|
link->m_linkIndex = model.m_links.size();
|
|
model.m_links.insert(link->m_name.c_str(), link);
|
|
}
|
|
for (int i = 0; i < link->m_childJoints.size(); i++)
|
|
{
|
|
link->m_childLinks[i]->m_linkIndex = model.m_links.size();
|
|
const char* childName = link->m_childLinks[i]->m_name.c_str();
|
|
UrdfLink* childLink = link->m_childLinks[i];
|
|
model.m_links.insert(childName, childLink);
|
|
const char* jointName = link->m_childLinks[i]->m_parentJoint->m_name.c_str();
|
|
UrdfJoint* joint = link->m_childLinks[i]->m_parentJoint;
|
|
model.m_joints.insert(jointName, joint);
|
|
}
|
|
for (int i = 0; i < link->m_childJoints.size(); i++)
|
|
{
|
|
recreateModel(model, link->m_childLinks[i], logger);
|
|
}
|
|
return true;
|
|
}
|
|
bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
|
|
{
|
|
// every link has children links and joints, but no parents, so we create a
|
|
// local convenience data structure for keeping child->parent relations
|
|
btHashMap<btHashString, btHashString> parentLinkTree;
|
|
|
|
// loop through all joints, for every link, assign children links and children joints
|
|
for (int i = 0; i < model.m_joints.size(); i++)
|
|
{
|
|
UrdfJoint** jointPtr = model.m_joints.getAtIndex(i);
|
|
if (jointPtr)
|
|
{
|
|
UrdfJoint* joint = *jointPtr;
|
|
std::string parent_link_name = joint->m_parentLinkName;
|
|
std::string child_link_name = joint->m_childLinkName;
|
|
if (parent_link_name.empty() || child_link_name.empty())
|
|
{
|
|
logger->reportError("parent link or child link is empty for joint");
|
|
logger->reportError(joint->m_name.c_str());
|
|
return false;
|
|
}
|
|
|
|
UrdfLink** childLinkPtr = model.m_links.find(joint->m_childLinkName.c_str());
|
|
if (!childLinkPtr)
|
|
{
|
|
logger->reportError("Cannot find child link for joint ");
|
|
logger->reportError(joint->m_name.c_str());
|
|
|
|
return false;
|
|
}
|
|
UrdfLink* childLink = *childLinkPtr;
|
|
|
|
UrdfLink** parentLinkPtr = model.m_links.find(joint->m_parentLinkName.c_str());
|
|
if (!parentLinkPtr)
|
|
{
|
|
logger->reportError("Cannot find parent link for a joint");
|
|
logger->reportError(joint->m_name.c_str());
|
|
return false;
|
|
}
|
|
UrdfLink* parentLink = *parentLinkPtr;
|
|
|
|
childLink->m_parentLink = parentLink;
|
|
|
|
childLink->m_parentJoint = joint;
|
|
parentLink->m_childJoints.push_back(joint);
|
|
parentLink->m_childLinks.push_back(childLink);
|
|
parentLinkTree.insert(childLink->m_name.c_str(), parentLink->m_name.c_str());
|
|
}
|
|
}
|
|
|
|
//search for children that have no parent, those are 'root'
|
|
for (int i = 0; i < model.m_links.size(); i++)
|
|
{
|
|
UrdfLink** linkPtr = model.m_links.getAtIndex(i);
|
|
btAssert(linkPtr);
|
|
if (linkPtr)
|
|
{
|
|
UrdfLink* link = *linkPtr;
|
|
link->m_linkIndex = i;
|
|
|
|
if (!link->m_parentLink)
|
|
{
|
|
model.m_rootLinks.push_back(link);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (model.m_rootLinks.size() > 1)
|
|
{
|
|
std::string multipleRootMessage =
|
|
"URDF file with multiple root links found:";
|
|
|
|
for (int i = 0; i < model.m_rootLinks.size(); i++)
|
|
{
|
|
multipleRootMessage += " ";
|
|
multipleRootMessage += model.m_rootLinks[i]->m_name.c_str();
|
|
}
|
|
logger->reportWarning(multipleRootMessage.c_str());
|
|
}
|
|
|
|
if (model.m_rootLinks.size() == 0)
|
|
{
|
|
logger->reportError("URDF without root link found");
|
|
return false;
|
|
}
|
|
|
|
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase, bool parseSensors)
|
|
{
|
|
XMLDocument xml_doc;
|
|
xml_doc.Parse(urdfText);
|
|
if (xml_doc.Error())
|
|
{
|
|
#ifdef G3_TINYXML2
|
|
logger->reportError("xml reading error");
|
|
#else
|
|
logger->reportError(xml_doc.ErrorStr());
|
|
xml_doc.ClearError();
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
XMLElement* robot_xml = xml_doc.FirstChildElement("robot");
|
|
if (!robot_xml)
|
|
{
|
|
logger->reportError("expected a robot element");
|
|
return false;
|
|
}
|
|
|
|
// Get robot name
|
|
const char* name = robot_xml->Attribute("name");
|
|
if (!name)
|
|
{
|
|
logger->reportError("Expected a name for robot");
|
|
return false;
|
|
}
|
|
m_urdf2Model.m_name = name;
|
|
|
|
// Get all Material elements
|
|
for (XMLElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
|
|
{
|
|
UrdfMaterial* material = new UrdfMaterial;
|
|
|
|
parseMaterial(*material, material_xml, logger);
|
|
|
|
UrdfMaterial** mat = m_urdf2Model.m_materials.find(material->m_name.c_str());
|
|
if (mat)
|
|
{
|
|
delete material;
|
|
logger->reportWarning("Duplicate material");
|
|
}
|
|
else
|
|
{
|
|
m_urdf2Model.m_materials.insert(material->m_name.c_str(), material);
|
|
}
|
|
}
|
|
|
|
// char msg[1024];
|
|
// sprintf(msg,"Num materials=%d", m_model.m_materials.size());
|
|
// logger->printMessage(msg);
|
|
|
|
for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
|
|
{
|
|
UrdfLink* link = new UrdfLink;
|
|
|
|
if (parseLink(m_urdf2Model, *link, link_xml, logger))
|
|
{
|
|
if (m_urdf2Model.m_links.find(link->m_name.c_str()))
|
|
{
|
|
logger->reportError("Link name is not unique, link names in the same model have to be unique");
|
|
logger->reportError(link->m_name.c_str());
|
|
delete link;
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
//copy model material into link material, if link has no local material
|
|
for (int i = 0; i < link->m_visualArray.size(); i++)
|
|
{
|
|
UrdfVisual& vis = link->m_visualArray.at(i);
|
|
if (!vis.m_geometry.m_hasLocalMaterial && vis.m_materialName.c_str())
|
|
{
|
|
UrdfMaterial** mat = m_urdf2Model.m_materials.find(vis.m_materialName.c_str());
|
|
if (mat && *mat)
|
|
{
|
|
vis.m_geometry.m_localMaterial = **mat;
|
|
}
|
|
else
|
|
{
|
|
//logger->reportError("Cannot find material with name:");
|
|
//logger->reportError(vis.m_materialName.c_str());
|
|
}
|
|
}
|
|
}
|
|
|
|
m_urdf2Model.m_links.insert(link->m_name.c_str(), link);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("failed to parse link");
|
|
delete link;
|
|
return false;
|
|
}
|
|
}
|
|
if (m_urdf2Model.m_links.size() == 0)
|
|
{
|
|
logger->reportWarning("No links found in URDF file");
|
|
return false;
|
|
}
|
|
|
|
// Get all Joint elements
|
|
for (XMLElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
|
|
{
|
|
UrdfJoint* joint = new UrdfJoint;
|
|
|
|
if (parseJoint(*joint, joint_xml, logger))
|
|
{
|
|
if (m_urdf2Model.m_joints.find(joint->m_name.c_str()))
|
|
{
|
|
logger->reportError("joint '%s' is not unique.");
|
|
logger->reportError(joint->m_name.c_str());
|
|
delete joint;
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
m_urdf2Model.m_joints.insert(joint->m_name.c_str(), joint);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("joint xml is not initialized correctly");
|
|
delete joint;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
if (parseSensors)
|
|
{
|
|
// Get all Sensor Elements.
|
|
for (XMLElement* sensor_xml = robot_xml->FirstChildElement("sensor"); sensor_xml; sensor_xml = sensor_xml->NextSiblingElement("sensor"))
|
|
{
|
|
UrdfLink* sensor = new UrdfLink;
|
|
UrdfJoint* sensor_joint = new UrdfJoint;
|
|
|
|
if (parseSensor(m_urdf2Model, *sensor, *sensor_joint, sensor_xml, logger))
|
|
{
|
|
if (m_urdf2Model.m_links.find(sensor->m_name.c_str()))
|
|
{
|
|
logger->reportError("Sensor name is not unique, sensor and link names in the same model have to be unique");
|
|
logger->reportError(sensor->m_name.c_str());
|
|
delete sensor;
|
|
delete sensor_joint;
|
|
return false;
|
|
}
|
|
else if (m_urdf2Model.m_joints.find(sensor_joint->m_name.c_str()))
|
|
{
|
|
logger->reportError("Sensor Joint name is not unique, joint names in the same model have to be unique");
|
|
logger->reportError(sensor_joint->m_name.c_str());
|
|
delete sensor;
|
|
delete sensor_joint;
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
m_urdf2Model.m_links.insert(sensor->m_name.c_str(), sensor);
|
|
m_urdf2Model.m_joints.insert(sensor_joint->m_name.c_str(), sensor_joint);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("failed to parse sensor");
|
|
delete sensor;
|
|
delete sensor_joint;
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
ParseUserData(robot_xml, m_urdf2Model.m_userData, logger);
|
|
|
|
if (m_urdf2Model.m_links.size() == 0)
|
|
{
|
|
logger->reportWarning("No links found in URDF file");
|
|
return false;
|
|
}
|
|
|
|
bool ok(initTreeAndRoot(m_urdf2Model, logger));
|
|
if (!ok)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if (forceFixedBase)
|
|
{
|
|
for (int i = 0; i < m_urdf2Model.m_rootLinks.size(); i++)
|
|
{
|
|
UrdfLink* link(m_urdf2Model.m_rootLinks.at(i));
|
|
link->m_inertia.m_mass = 0.0;
|
|
link->m_inertia.m_ixx = 0.0;
|
|
link->m_inertia.m_ixy = 0.0;
|
|
link->m_inertia.m_ixz = 0.0;
|
|
link->m_inertia.m_iyy = 0.0;
|
|
link->m_inertia.m_iyz = 0.0;
|
|
link->m_inertia.m_izz = 0.0;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
void UrdfParser::activateModel(int modelIndex)
|
|
{
|
|
m_activeSdfModel = modelIndex;
|
|
}
|
|
|
|
bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
|
|
{
|
|
XMLDocument xml_doc;
|
|
xml_doc.Parse(sdfText);
|
|
if (xml_doc.Error())
|
|
{
|
|
#ifdef G3_TINYXML2
|
|
logger->reportError("xml reading error");
|
|
#else
|
|
logger->reportError(xml_doc.ErrorStr());
|
|
xml_doc.ClearError();
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
XMLElement* sdf_xml = xml_doc.FirstChildElement("sdf");
|
|
if (!sdf_xml)
|
|
{
|
|
logger->reportError("expected an sdf element");
|
|
return false;
|
|
}
|
|
|
|
//apparently, SDF doesn't require a "world" element, optional? URDF does.
|
|
XMLElement* world_xml = sdf_xml->FirstChildElement("world");
|
|
|
|
XMLElement* robot_xml = 0;
|
|
|
|
if (!world_xml)
|
|
{
|
|
logger->reportWarning("expected a world element, continuing without it.");
|
|
robot_xml = sdf_xml->FirstChildElement("model");
|
|
}
|
|
else
|
|
{
|
|
robot_xml = world_xml->FirstChildElement("model");
|
|
}
|
|
|
|
// Get all model (robot) elements
|
|
for (; robot_xml; robot_xml = robot_xml->NextSiblingElement("model"))
|
|
{
|
|
UrdfModel* localModel = new UrdfModel;
|
|
m_tmpModels.push_back(localModel);
|
|
|
|
XMLElement* stat = robot_xml->FirstChildElement("static");
|
|
if (0 != stat)
|
|
{
|
|
int val = int(atof(stat->GetText()));
|
|
if (val == 1)
|
|
{
|
|
localModel->m_overrideFixedBase = true;
|
|
}
|
|
}
|
|
|
|
// Get robot name
|
|
const char* name = robot_xml->Attribute("name");
|
|
if (!name)
|
|
{
|
|
logger->reportError("Expected a name for robot");
|
|
return false;
|
|
}
|
|
localModel->m_name = name;
|
|
|
|
XMLElement* pose_xml = robot_xml->FirstChildElement("pose");
|
|
if (0 == pose_xml)
|
|
{
|
|
localModel->m_rootTransformInWorld.setIdentity();
|
|
}
|
|
else
|
|
{
|
|
parseTransform(localModel->m_rootTransformInWorld, pose_xml, logger, m_parseSDF);
|
|
}
|
|
|
|
// Get all Material elements
|
|
for (XMLElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
|
|
{
|
|
UrdfMaterial* material = new UrdfMaterial;
|
|
|
|
parseMaterial(*material, material_xml, logger);
|
|
|
|
UrdfMaterial** mat = localModel->m_materials.find(material->m_name.c_str());
|
|
if (mat)
|
|
{
|
|
logger->reportWarning("Duplicate material");
|
|
delete material;
|
|
}
|
|
else
|
|
{
|
|
localModel->m_materials.insert(material->m_name.c_str(), material);
|
|
}
|
|
}
|
|
|
|
// char msg[1024];
|
|
// sprintf(msg,"Num materials=%d", m_model.m_materials.size());
|
|
// logger->printMessage(msg);
|
|
|
|
for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
|
|
{
|
|
UrdfLink* link = new UrdfLink;
|
|
|
|
if (parseLink(*localModel, *link, link_xml, logger))
|
|
{
|
|
if (localModel->m_links.find(link->m_name.c_str()))
|
|
{
|
|
logger->reportError("Link name is not unique, link names in the same model have to be unique");
|
|
logger->reportError(link->m_name.c_str());
|
|
delete link;
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
//copy model material into link material, if link has no local material
|
|
for (int i = 0; i < link->m_visualArray.size(); i++)
|
|
{
|
|
UrdfVisual& vis = link->m_visualArray.at(i);
|
|
if (!vis.m_geometry.m_hasLocalMaterial && vis.m_materialName.c_str())
|
|
{
|
|
UrdfMaterial** mat = localModel->m_materials.find(vis.m_materialName.c_str());
|
|
if (mat && *mat)
|
|
{
|
|
vis.m_geometry.m_localMaterial = **mat;
|
|
}
|
|
else
|
|
{
|
|
//logger->reportError("Cannot find material with name:");
|
|
//logger->reportError(vis.m_materialName.c_str());
|
|
}
|
|
}
|
|
}
|
|
|
|
localModel->m_links.insert(link->m_name.c_str(), link);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("failed to parse link");
|
|
delete link;
|
|
return false;
|
|
}
|
|
}
|
|
if (localModel->m_links.size() == 0)
|
|
{
|
|
logger->reportWarning("No links found in URDF file");
|
|
return false;
|
|
}
|
|
|
|
// Get all Joint elements
|
|
for (XMLElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
|
|
{
|
|
UrdfJoint* joint = new UrdfJoint;
|
|
|
|
if (parseJoint(*joint, joint_xml, logger))
|
|
{
|
|
if (localModel->m_joints.find(joint->m_name.c_str()))
|
|
{
|
|
logger->reportError("joint '%s' is not unique.");
|
|
logger->reportError(joint->m_name.c_str());
|
|
delete joint;
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
localModel->m_joints.insert(joint->m_name.c_str(), joint);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportError("joint xml is not initialized correctly");
|
|
delete joint;
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool ok(initTreeAndRoot(*localModel, logger));
|
|
if (!ok)
|
|
{
|
|
return false;
|
|
}
|
|
m_sdfModels.push_back(localModel);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
std::string UrdfParser::sourceFileLocation(XMLElement* e)
|
|
{
|
|
#if 0
|
|
//no C++11 etc, no snprintf
|
|
|
|
char buf[1024];
|
|
snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
|
|
return buf;
|
|
#else
|
|
char row[1024];
|
|
#ifdef G3_TINYXML2
|
|
sprintf(row, "unknown line");
|
|
#else
|
|
sprintf(row, "%d", e->GetLineNum());
|
|
#endif
|
|
std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
|
|
return str;
|
|
#endif
|
|
}
|