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pinocchio
Commits
44c631c0
Unverified
Commit
44c631c0
authored
Apr 27, 2021
by
Justin Carpentier
Committed by
GitHub
Apr 27, 2021
Browse files
Merge pull request #1440 from francois-keith/devel
Fix bug in urdf parsing (win32+debug)
parents
9cef2212
a6bf928b
Pipeline
#14204
passed with stage
in 138 minutes and 51 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
src/parsers/urdf/model.hxx
View file @
44c631c0
...
...
@@ -202,12 +202,13 @@ namespace pinocchio
const
std
::
string
&
body_name
)
{
const
Frame
&
parent_frame
=
model
.
frames
[
parent_frame_id
];
const
JointIndex
parent_frame_parent
=
parent_frame
.
parent
;
const
SE3
placement
=
parent_frame
.
placement
*
joint_placement
;
FrameIndex
fid
=
model
.
addFrame
(
Frame
(
joint_name
,
parent_frame
.
parent
,
parent_frame_id
,
placement
,
FIXED_JOINT
,
Y
));
model
.
addBodyFrame
(
body_name
,
parent_frame
.
parent
,
placement
,
(
int
)
fid
);
model
.
addBodyFrame
(
body_name
,
parent_frame
_
parent
,
placement
,
(
int
)
fid
);
}
void
appendBodyToJoint
(
...
...
unittest/urdf.cpp
View file @
44c631c0
...
...
@@ -178,12 +178,10 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
{
const
std
::
string
filename
=
PINOCCHIO_MODEL_DIR
+
std
::
string
(
"/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"
);
std
::
cout
<<
"parseURDFFile"
<<
std
::
endl
;
::
urdf
::
ModelInterfaceSharedPtr
urdfTree
=
::
urdf
::
parseURDFFile
(
filename
);
pinocchio
::
Model
model
;
std
::
cout
<<
"buildModel"
<<
std
::
endl
;
pinocchio
::
urdf
::
buildModel
(
urdfTree
,
pinocchio
::
JointModelFreeFlyer
(),
model
,
true
);
pinocchio
::
urdf
::
buildModel
(
urdfTree
,
pinocchio
::
JointModelFreeFlyer
(),
model
);
BOOST_CHECK
(
model
.
nq
==
38
);
}
...
...
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