Commit 5e0d90d4 authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Valenza Florian
Browse files

Restaure FF in urdf parser.

parent 2ec66db4
......@@ -66,7 +66,7 @@ namespace se3
// std::cout << "#" << link->parent_joint->name << std::endl;
// else std::cout << "###ROOT" << std::endl;
// assert(link->inertial && "The parser cannot accept trivial mass");
assert(link->inertial && "The parser cannot accept trivial mass");
const Inertia & Y = (link->inertial) ?
convertFromUrdf(*link->inertial)
: Inertia::Identity();
......@@ -121,8 +121,7 @@ namespace se3
else /* (joint==NULL) */
{ /* The link is the root of the body. */
//std::cout << "Parent = 0 (universe)" << std::endl;
//model.addBody( 0, JointModelFreeFlyer(), SE3::Identity(), Y, "root" ); // TODO replace RX by FF
model.addBody( 0, JointModelRX(), SE3::Identity(), Y, "root" ); // TODO replace RX by FF
model.addBody( 0, JointModelFreeFlyer(), SE3::Identity(), Y, "root" );
}
BOOST_FOREACH(urdf::LinkConstPtr child,link->child_links)
......
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