Unverified Commit 44c631c0 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
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
......@@ -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(
......
......@@ -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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