From f7f7ca276a5a6d0c6695a5812925a27eaa9299a8 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 24 Dec 2014 16:15:46 +0100
Subject: [PATCH] Add an interface method that load the collision geometry of
urdf files.
- addUrdfCollision loads collision geometry in viewer, while
addURDF loads visual geometry.
---
idl/gepetto/viewer/graphical-interface.idl | 19 ++++++++++++++
src/graphical-interface.impl.cpp | 30 ++++++++++++++++++++++
src/graphical-interface.impl.hh | 5 ++++
3 files changed, 54 insertions(+)
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index 50f510c..bc7f3ec 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -130,6 +130,25 @@ typedef double Color [4];
boolean addURDF (in string robotName, in string urdfFilePath,
in string meshDataRootDir) raises (Error);
+ /// Create a node from an urdf file
+ /// \param robotName Name of the node that will contain the robot geometry,
+ /// each geometric part is prefixed by this name,
+ /// \param urdfFilePath to the package containing the urdf file,
+ /// i.e. "/opt/ros/hydro/share/pr2_description",
+ /// \param meshDataRootDir path to the package that contains the collada
+ /// files, this path should finish by "/",
+ /// i.e. "/opt/ros/hydro/share/"
+ /// \note the parser will replace "package://" by meshDataRootDir in the
+ /// urdf file.
+ /// a groupNode is created and each link will be child node of this node.
+ /// Links are named "prefix/linkName", linkName is the name of the link
+ /// in the URDF file.
+ ///
+ /// Unlike addURDF, this method will load the collision geometry instead
+ /// of the visual geometry.
+ boolean addUrdfCollision (in string robotName, in string urdfFilePath,
+ in string meshDataRootDir) raises (Error);
+
/// create a groupNode called groupName
/// \param input groupName : name of the group.
boolean createGroup(in string groupName) raises (Error);
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 7d7d084..c71e492 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -595,6 +595,36 @@ namespace graphics {
}
}
+ bool GraphicalInterface::addUrdfCollision
+ (const char* urdfNameCorba, const char* urdfPathCorba,
+ const char* urdfPackagePathCorba) throw (Error)
+ {
+ try {
+ const std::string urdfName (urdfNameCorba);
+ const std::string urdfPath (urdfPathCorba);
+ const std::string urdfPackagePath (urdfPackagePathCorba);
+ if (nodes_.find (urdfName) != nodes_.end ()) {
+ std::cout << "You need to chose an other name, \"" << urdfName
+ << "\" already exist." << std::endl;
+ return false;
+ }
+ else {
+ GroupNodePtr_t urdf = urdfParser::parse
+ (urdfName, urdfPath, urdfPackagePath, "collision");
+ NodePtr_t link;
+ for (int i=0; i< urdf->getNumOfChildren (); i++) {
+ link = urdf->getChild (i);
+ nodes_[link->getID ()] = link;
+ }
+ GraphicalInterface::initParent (urdfName, urdf);
+ addGroup (urdfName, urdf);
+ return true;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
bool GraphicalInterface::addToGroup (const char* nodeNameCorba,
const char* groupNameCorba)
throw (Error)
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 6657aac..f8d7ca2 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -108,6 +108,11 @@ public:
virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error);
+ virtual bool addUrdfCollision (const char* urdfNameCorba,
+ const char* urdfPathCorba,
+ const char* urdfPackagePathCorba)
+ throw (Error);
+
virtual bool createGroup(const char* groupNameCorba) throw (Error);
virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) throw (Error);
--
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