Commit b8bc5661 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Add debug message and comment about the missing method getNeutralConfigurationFromSRDFString

parent 197e89bb
......@@ -220,7 +220,13 @@ namespace hpp {
if (!srdf.empty()) {
_removeCollisionPairs<srdfAsXmlString>
(model, geomModel, srdf, verbose);
se3::srdf::getNeutralConfigurationFromSrdf(model,srdf);
if(!srdfAsXmlString)
se3::srdf::getNeutralConfigurationFromSrdf(model,srdf);
else{
hppDout(warning,"Neutral configuration won't be extracted from SRDF string.");
//TODO : A method getNeutralConfigurationFromSrdfString must be added in Pinocchio,
// similarly to removeCollisionPairsFromSrdf / removeCollisionPairsFromSrdfString
}
}
if (!prefix.empty()) {
......
......@@ -100,6 +100,8 @@ BOOST_AUTO_TEST_CASE (unit_test_device)
BOOST_CHECK_EQUAL (space->name(), "R^19");
}
// TODO When neutral configuration can be read from XML string, this test should be updated in order to
// read a URDF and SRDF string rather than a file in a different package.
BOOST_AUTO_TEST_CASE(load_neutral_configuration){
std::string robotName("romeo");
std::string packageName("romeo_description");
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment