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Update to API change in Pinocchio #52

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merged 2 commits into from
Dec 5, 2017
Merged

Update to API change in Pinocchio #52

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3507efe
invalidate current config when calling createData or createGeomData
jmirabel Dec 4, 2017
3c02221
Update to change in pinocchio
jmirabel Dec 5, 2017
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2 changes: 2 additions & 0 deletions src/device.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -135,13 +135,15 @@ namespace hpp {
data_ = DataPtr_t( new Data(*model_) );
// We assume that model is now complete and state can be resized.
resizeState();
invalidate();
}

void Device::
createGeomData()
{
geomData_ = GeomDataPtr_t( new GeomData(*geomModel_) );
se3::computeBodyRadius(*model_,*geomModel_,*geomData_);
invalidate();
}

/* ---------------------------------------------------------------------- */
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21 changes: 11 additions & 10 deletions src/urdf/util.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -188,12 +188,13 @@ namespace hpp {
(model, geomModel, srdf, verbose);
}

template <bool srdfAsXmlString, typename InType>
template <bool srdfAsXmlString>
void _loadModel (const DevicePtr_t& robot,
const JointIndex& baseJoint,
std::string prefix,
const std::string& rootType,
const InType& urdf,
const ::urdf::ModelInterfaceSharedPtr urdfTree,
const std::istream& urdfStream,
const std::string& srdf)
{
if (baseJoint != 0)
Expand All @@ -203,17 +204,17 @@ namespace hpp {
const JointIndex idFirstJoint = model.joints.size();
const FrameIndex idFirstFrame = model.frames.size();
if (rootType == "anchor")
se3::urdf::buildModel(urdf, model, verbose);
se3::urdf::buildModel(urdfTree, model, verbose);
else
se3::urdf::buildModel(urdf, buildJoint(rootType), model, verbose);
se3::urdf::buildModel(urdfTree, buildJoint(rootType), model, verbose);
robot->createData();

hppDout (notice, "Finished parsing URDF file.");

GeomModel geomModel;

std::vector<std::string> baseDirs = se3::rosPaths();
se3::urdf::buildGeom(model, urdf, se3::COLLISION, geomModel, baseDirs);
se3::urdf::buildGeom(model, urdfStream, se3::COLLISION, geomModel, baseDirs);
geomModel.addAllCollisionPairs();

if (!srdf.empty()) {
Expand Down Expand Up @@ -346,8 +347,10 @@ namespace hpp {
}
}

::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(urdfFileName);
std::ifstream urdfStream (urdfFileName.c_str());
_loadModel <false> (robot, baseJoint, prefix, rootType,
urdfFileName, srdfFileName);
urdfTree, urdfStream, srdfFileName);
}

void loadModelFromString (const DevicePtr_t& robot,
Expand All @@ -358,11 +361,9 @@ namespace hpp {
const std::string& srdfString)
{
::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDF(urdfString);
if (!urdfTree) {
throw std::invalid_argument ("Unable to parse the input URDF string");
}
std::istringstream urdfStream (urdfString);
_loadModel <true> (robot, baseJoint, prefix, rootType,
urdfTree, srdfString);
urdfTree, urdfStream, srdfString);
}
} // end of namespace urdf.
} // end of namespace pinocchio.
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