From 2bc2d9063607658c76ee7867fc057ab47a765df0 Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Wed, 13 Jul 2016 12:59:18 +0200
Subject: [PATCH] [C++] Removed type from GeometryObject. Still using the enum
GeometryType to specify if visuals or collisions must be parsed from urdf
file
---
src/multibody/geometry.hpp | 26 ++++++++++----------------
src/multibody/geometry.hxx | 10 ++--------
src/parsers/urdf/geometry.hxx | 4 ++--
unittest/geom.cpp | 4 ++--
4 files changed, 16 insertions(+), 28 deletions(-)
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index ec442535b..96ae0df8a 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -177,8 +177,6 @@ struct GeometryObject
typedef Model::JointIndex JointIndex;
typedef Model::GeomIndex GeomIndex;
- /// \brief Type of the GeometryObject. Cann be VISUAL, COLLISION, or NONE (cf GeometryType enumeration)
- GeometryType type;
/// \brief Name of the geometry object
std::string name;
@@ -196,10 +194,9 @@ struct GeometryObject
std::string mesh_path;
- GeometryObject(const GeometryType type, const std::string & name, const JointIndex parent, const fcl::CollisionObject & collision,
+ GeometryObject(const std::string & name, const JointIndex parent, const fcl::CollisionObject & collision,
const SE3 & placement, const std::string & mesh_path)
- : type(type)
- , name(name)
+ : name(name)
, parent(parent)
, collision_object(collision)
, placement(placement)
@@ -208,7 +205,6 @@ struct GeometryObject
GeometryObject & operator=(const GeometryObject & other)
{
- type = other.type;
name = other.name;
parent = other.parent;
collision_object = other.collision_object;
@@ -221,18 +217,17 @@ struct GeometryObject
inline bool operator==(const GeometryObject & lhs, const GeometryObject & rhs)
{
- return (lhs.type == rhs.type && lhs.name == rhs.name
- && lhs.parent == rhs.parent
- && lhs.collision_object == rhs.collision_object
- && lhs.placement == rhs.placement
- && lhs.mesh_path == rhs.mesh_path
- );
+ return ( lhs.name == rhs.name
+ && lhs.parent == rhs.parent
+ && lhs.collision_object == rhs.collision_object
+ && lhs.placement == rhs.placement
+ && lhs.mesh_path == rhs.mesh_path
+ );
}
inline std::ostream & operator<< (std::ostream & os, const GeometryObject & geom_object)
{
- os << "Type: \t \n" << geom_object.type << "\n"
- << "Name: \t \n" << geom_object.name << "\n"
+ os << "Name: \t \n" << geom_object.name << "\n"
<< "Parent ID: \t \n" << geom_object.parent << "\n"
// << "collision object: \t \n" << geom_object.collision_object << "\n"
<< "Position in parent frame: \t \n" << geom_object.placement << "\n"
@@ -284,13 +279,12 @@ struct GeometryObject
* @param[in] placement The relative placement regarding to the parent frame
* @param[in] geom_name The name of the Geometry Object
* @param[in] mesh_path The absolute path to the mesh
- * @param[in] type The type of the GeometryObject
*
* @return The index of the new added GeometryObject in geometry_objects
*/
inline GeomIndex addGeometryObject(const JointIndex parent, const fcl::CollisionObject & co,
const SE3 & placement, const std::string & geom_name = "",
- const std::string & mesh_path = "", const GeometryType type = NONE) throw(std::invalid_argument);
+ const std::string & mesh_path = "") throw(std::invalid_argument);
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index d4012904a..074aa088f 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -46,18 +46,12 @@ namespace se3
const fcl::CollisionObject & co,
const SE3 & placement,
const std::string & geom_name,
- const std::string & mesh_path,
- const GeometryType type) throw(std::invalid_argument)
+ const std::string & mesh_path) throw(std::invalid_argument)
{
- if (type == NONE)
- {
- const std::string exception_message ("You must specify if the geometryobject you want to add is of type VISUAL or COLLISION");
- throw std::invalid_argument(exception_message);
- }
Index idx = (Index) (ngeoms ++);
- geometry_objects.push_back(GeometryObject(type, geom_name, parent, co,
+ geometry_objects.push_back(GeometryObject( geom_name, parent, co,
placement, mesh_path));
addInnerObject(parent, idx);
return idx;
diff --git a/src/parsers/urdf/geometry.hxx b/src/parsers/urdf/geometry.hxx
index 2b08e98d6..90130f921 100644
--- a/src/parsers/urdf/geometry.hxx
+++ b/src/parsers/urdf/geometry.hxx
@@ -165,7 +165,7 @@ namespace se3
fcl::CollisionObject collision_object = retrieveCollisionGeometry((*i)->geometry, package_dirs, mesh_path);
SE3 geomPlacement = convertFromUrdf((*i)->origin);
const std::string & collision_object_name = link_name;
- geom_model.addGeometryObject(model.getFrameParent(link_name), collision_object, geomPlacement, collision_object_name, mesh_path, COLLISION);
+ geom_model.addGeometryObject(model.getFrameParent(link_name), collision_object, geomPlacement, collision_object_name, mesh_path);
}
} // if(link->collision)
break;
@@ -184,7 +184,7 @@ namespace se3
fcl::CollisionObject visual_object = retrieveCollisionGeometry((*i)->geometry, package_dirs, mesh_path);
SE3 geomPlacement = convertFromUrdf((*i)->origin);
const std::string & visual_object_name = link_name;
- geom_model.addGeometryObject(model.getFrameParent(link_name), visual_object, geomPlacement, visual_object_name, mesh_path, VISUAL);
+ geom_model.addGeometryObject(model.getFrameParent(link_name), visual_object, geomPlacement, visual_object_name, mesh_path);
}
} // if(link->visual)
break;
diff --git a/unittest/geom.cpp b/unittest/geom.cpp
index 9198405e0..fc5e4623b 100644
--- a/unittest/geom.cpp
+++ b/unittest/geom.cpp
@@ -155,11 +155,11 @@ BOOST_AUTO_TEST_CASE ( simple_boxes )
boost::shared_ptr<fcl::Box> Sample(new fcl::Box(1));
fcl::CollisionObject box1(Sample, fcl::Transform3f());
- model_geom.addGeometryObject(model.getJointId("planar1_joint"),box1, SE3::Identity(), "ff1_collision_object", "", COLLISION);
+ model_geom.addGeometryObject(model.getJointId("planar1_joint"),box1, SE3::Identity(), "ff1_collision_object", "");
boost::shared_ptr<fcl::Box> Sample2(new fcl::Box(1));
fcl::CollisionObject box2(Sample, fcl::Transform3f());
- model_geom.addGeometryObject(model.getJointId("planar2_joint"),box2, SE3::Identity(), "ff2_collision_object", "", COLLISION);
+ model_geom.addGeometryObject(model.getJointId("planar2_joint"),box2, SE3::Identity(), "ff2_collision_object", "");
se3::Data data(model);
se3::GeometryData data_geom(data, model_geom);
--
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