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pinocchio
Commits
5a5abdec
Commit
5a5abdec
authored
Oct 29, 2015
by
jcarpent
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[C++][Fix Bug] Check if the urdf tree pointer is indeed initialized
parent
918d6ddd
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.gitignore
.gitignore
+2
-0
src/multibody/parser/urdf.hpp
src/multibody/parser/urdf.hpp
+14
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.gitignore
0 → 100644
View file @
5a5abdec
build*
Xcode*
src/multibody/parser/urdf.hpp
View file @
5a5abdec
...
...
@@ -262,7 +262,13 @@ void parseTree( ::urdf::LinkConstPtr link, Model & model,SE3 placementOffset = S
Model
model
;
::
urdf
::
ModelInterfacePtr
urdfTree
=
::
urdf
::
parseURDFFile
(
filename
);
parseTree
(
urdfTree
->
getRoot
(),
model
,
SE3
::
Identity
(),
root_joint
);
if
(
urdfTree
)
parseTree
(
urdfTree
->
getRoot
(),
model
,
SE3
::
Identity
(),
root_joint
);
else
{
std
::
cerr
<<
"The URDF tree seems to be empty"
<<
std
::
endl
;
// In future, raise exception instead
}
return
model
;
}
...
...
@@ -271,7 +277,13 @@ void parseTree( ::urdf::LinkConstPtr link, Model & model,SE3 placementOffset = S
Model
model
;
::
urdf
::
ModelInterfacePtr
urdfTree
=
::
urdf
::
parseURDFFile
(
filename
);
parseTree
(
urdfTree
->
getRoot
(),
model
,
SE3
::
Identity
());
if
(
urdfTree
)
parseTree
(
urdfTree
->
getRoot
(),
model
,
SE3
::
Identity
());
else
{
std
::
cerr
<<
"The URDF tree seems to be empty"
<<
std
::
endl
;
// In future, raise exception instead
}
return
model
;
}
...
...
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