diff --git a/src/algorithm/geometry.hxx b/src/algorithm/geometry.hxx
index 5d3aafaa43e79215b42d3a0b7ba44aa9e91e8096..1a01bbb536456ed550a7ce9b94f3a38f48a2087e 100644
--- a/src/algorithm/geometry.hxx
+++ b/src/algorithm/geometry.hxx
@@ -207,7 +207,7 @@ namespace se3
BOOST_FOREACH(const GeometryObject & geom,geomModel.geometryObjects)
{
const boost::shared_ptr<const fcl::CollisionGeometry> & fcl
- = geom.collision_geometry;
+ = geom.fcl;
const SE3 & jMb = geom.placement; // placement in joint.
const Model::JointIndex & i = geom.parentJoint;
assert (i<geomData.radius.size());
diff --git a/src/multibody/fcl.hpp b/src/multibody/fcl.hpp
index 3517532c4d92089c783ef0e7cc42a649594c0c9a..1587e4b5a09b248ba39612c4803ed48e79431e75 100644
--- a/src/multibody/fcl.hpp
+++ b/src/multibody/fcl.hpp
@@ -99,23 +99,23 @@ struct GeometryObject
JointIndex parentJoint;
/// \brief The actual cloud of points representing the collision mesh of the object
- boost::shared_ptr<fcl::CollisionGeometry> collision_geometry;
+ boost::shared_ptr<fcl::CollisionGeometry> fcl;
/// \brief Position of geometry object in parent joint frame
SE3 placement;
/// \brief Absolute path to the mesh file
- std::string mesh_path;
+ std::string meshPath;
GeometryObject(const std::string & name, const FrameIndex parentF,
const JointIndex parentJ, const boost::shared_ptr<fcl::CollisionGeometry> & collision,
- const SE3 & placement, const std::string & mesh_path)
+ const SE3 & placement, const std::string & meshPath)
: name(name)
, parentFrame(parentF)
, parentJoint(parentJ)
- , collision_geometry(collision)
+ , fcl(collision)
, placement(placement)
- , mesh_path(mesh_path)
+ , meshPath(meshPath)
{}
GeometryObject & operator=(const GeometryObject & other)
@@ -123,13 +123,13 @@ struct GeometryObject
name = other.name;
parentFrame = other.parentFrame;
parentJoint = other.parentJoint;
- collision_geometry = other.collision_geometry;
+ fcl = other.fcl;
placement = other.placement;
- mesh_path = other.mesh_path;
+ meshPath = other.meshPath;
return *this;
}
- friend std::ostream & operator<< (std::ostream & os, const GeometryObject & geom_object);
+ friend std::ostream & operator<< (std::ostream & os, const GeometryObject & geomObject);
};
diff --git a/src/multibody/fcl.hxx b/src/multibody/fcl.hxx
index 0769099b531f491108022303b40dfe6eeb20efcb..95a7d26ac670d063b74b18465b533246a7d32744 100644
--- a/src/multibody/fcl.hxx
+++ b/src/multibody/fcl.hxx
@@ -63,16 +63,15 @@ namespace se3
}
#endif // WITH_HPP_FCL
-
inline bool operator==(const GeometryObject & lhs, const GeometryObject & rhs)
{
- return ( lhs.name == rhs.name
- && lhs.parentFrame == rhs.parentFrame
- && lhs.parentJoint == rhs.parentJoint
- && lhs.collision_geometry == rhs.collision_geometry
- && lhs.placement == rhs.placement
- && lhs.mesh_path == rhs.mesh_path
+ return ( lhs.name == rhs.name
+ && lhs.parentFrame == rhs.parentFrame
+ && lhs.parentJoint == rhs.parentJoint
+ && lhs.fcl == rhs.fcl
+ && lhs.placement == rhs.placement
+ && lhs.meshPath == rhs.meshPath
);
}
@@ -81,9 +80,8 @@ namespace se3
os << "Name: \t \n" << geom_object.name << "\n"
<< "Parent frame ID: \t \n" << geom_object.parentFrame << "\n"
<< "Parent joint ID: \t \n" << geom_object.parentJoint << "\n"
- // << "collision object: \t \n" << geom_object.collision_geometry << "\n"
<< "Position in parent frame: \t \n" << geom_object.placement << "\n"
- << "Absolute path to mesh file: \t \n" << geom_object.mesh_path << "\n"
+ << "Absolute path to mesh file: \t \n" << geom_object.meshPath << "\n"
<< std::endl;
return os;
}
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index 2da6efe8b33958dcb40da2494d18f6c761c6b545..b5da2c31ad317c7aa93f698744087f991d5257fc 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -74,14 +74,14 @@ namespace se3
* @param[in] co The actual fcl CollisionGeometry
* @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] meshPath The absolute path to the mesh
*
* @return The index of the new added GeometryObject in geometryObjects
*/
inline GeomIndex addGeometryObject(const Model& model,
const FrameIndex parent, const boost::shared_ptr<fcl::CollisionGeometry> & co,
const SE3 & placement, const std::string & geom_name = "",
- const std::string & mesh_path = "") throw(std::invalid_argument);
+ const std::string & meshPath = "") throw(std::invalid_argument);
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 41dee30a8eb513bba5c5e72a6cfac85e11b411da..e604d5e310460aa51401e1dd4811a764a8b6563d 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -48,7 +48,7 @@ namespace se3
collisionObjects.reserve(modelGeom.geometryObjects.size());
BOOST_FOREACH( const GeometryObject & geom, modelGeom.geometryObjects)
{ collisionObjects.push_back
- (fcl::CollisionObject(geom.collision_geometry)); }
+ (fcl::CollisionObject(geom.fcl)); }
fillInnerOuterObjectMaps(modelGeom);
}
#else
@@ -67,12 +67,12 @@ namespace se3
const boost::shared_ptr<fcl::CollisionGeometry> & co,
const SE3 & placement,
const std::string & geom_name,
- const std::string & mesh_path) throw(std::invalid_argument)
+ const std::string & meshPath) throw(std::invalid_argument)
{
assert (model.frames[parent].type == se3::BODY);
JointIndex parentJoint = model.frames[parent].parent;
GeometryObject object( geom_name, parent, parentJoint, co,
- placement, mesh_path);
+ placement, meshPath);
return addGeometryObject (object);
}
diff --git a/src/parsers/urdf/geometry.cpp b/src/parsers/urdf/geometry.cpp
index 2967ccd79617e9293ca84209678c873f34f91c79..eb57fd9781f3101f8ce12f706a8c1d4c0e6e759e 100644
--- a/src/parsers/urdf/geometry.cpp
+++ b/src/parsers/urdf/geometry.cpp
@@ -48,13 +48,13 @@ namespace se3
*
* @param[in] urdf_geometry A shared pointer on the input urdf Geometry
* @param[in] package_dirs A vector containing the different directories where to search for packages
- * @param[out] mesh_path The Absolute path of the mesh currently read
+ * @param[out] meshPath The Absolute path of the mesh currently read
*
* @return A shared pointer on the he geometry converted as a fcl::CollisionGeometry
*/
boost::shared_ptr<fcl::CollisionGeometry> retrieveCollisionGeometry(const boost::shared_ptr< ::urdf::Geometry> urdf_geometry,
const std::vector<std::string> & package_dirs,
- std::string & mesh_path)
+ std::string & meshPath)
{
boost::shared_ptr<fcl::CollisionGeometry> geometry;
@@ -64,7 +64,7 @@ namespace se3
boost::shared_ptr < ::urdf::Mesh> collisionGeometry = boost::dynamic_pointer_cast< ::urdf::Mesh> (urdf_geometry);
std::string collisionFilename = collisionGeometry->filename;
- mesh_path = retrieveResourcePath(collisionFilename, package_dirs);
+ meshPath = retrieveResourcePath(collisionFilename, package_dirs);
fcl::Vec3f scale = fcl::Vec3f(collisionGeometry->scale.x,
collisionGeometry->scale.y,
@@ -74,7 +74,7 @@ namespace se3
// Create FCL mesh by parsing Collada file.
PolyhedronPtrType polyhedron (new PolyhedronType);
- fcl::loadPolyhedronFromResource (mesh_path, scale, polyhedron);
+ fcl::loadPolyhedronFromResource (meshPath, scale, polyhedron);
geometry = polyhedron;
}
@@ -82,7 +82,7 @@ namespace se3
// Use FCL capsules for cylinders
else if (urdf_geometry->type == ::urdf::Geometry::CYLINDER)
{
- mesh_path = "CYLINDER";
+ meshPath = "CYLINDER";
boost::shared_ptr < ::urdf::Cylinder> collisionGeometry = boost::dynamic_pointer_cast< ::urdf::Cylinder> (urdf_geometry);
double radius = collisionGeometry->radius;
@@ -94,7 +94,7 @@ namespace se3
// Handle the case where collision geometry is a box.
else if (urdf_geometry->type == ::urdf::Geometry::BOX)
{
- mesh_path = "BOX";
+ meshPath = "BOX";
boost::shared_ptr < ::urdf::Box> collisionGeometry = boost::dynamic_pointer_cast< ::urdf::Box> (urdf_geometry);
double x = collisionGeometry->dim.x;
@@ -106,7 +106,7 @@ namespace se3
// Handle the case where collision geometry is a sphere.
else if (urdf_geometry->type == ::urdf::Geometry::SPHERE)
{
- mesh_path = "SPHERE";
+ meshPath = "SPHERE";
boost::shared_ptr < ::urdf::Sphere> collisionGeometry = boost::dynamic_pointer_cast< ::urdf::Sphere> (urdf_geometry);
double radius = collisionGeometry->radius;
@@ -186,7 +186,7 @@ namespace se3
{
if(getLinkGeometry<T>(link))
{
- std::string mesh_path = "";
+ std::string meshPath = "";
std::string link_name = link->name;
@@ -201,12 +201,12 @@ namespace se3
std::size_t objectId = 0;
for (typename std::vector< boost::shared_ptr< T > >::const_iterator i = geometries_array.begin();i != geometries_array.end(); ++i)
{
- mesh_path.clear();
+ meshPath.clear();
#ifdef WITH_HPP_FCL
- const boost::shared_ptr<fcl::CollisionGeometry> geometry = retrieveCollisionGeometry((*i)->geometry, package_dirs, mesh_path);
+ const boost::shared_ptr<fcl::CollisionGeometry> geometry = retrieveCollisionGeometry((*i)->geometry, package_dirs, meshPath);
#else
boost::shared_ptr < ::urdf::Mesh> urdf_mesh = boost::dynamic_pointer_cast< ::urdf::Mesh> ((*i)->geometry);
- if (urdf_mesh) mesh_path = retrieveResourcePath(urdf_mesh->filename, package_dirs);
+ if (urdf_mesh) meshPath = retrieveResourcePath(urdf_mesh->filename, package_dirs);
const boost::shared_ptr<fcl::CollisionGeometry> geometry(new fcl::CollisionGeometry());
#endif // WITH_HPP_FCL
@@ -215,7 +215,7 @@ namespace se3
std::ostringstream geometry_object_suffix;
geometry_object_suffix << "_" << objectId;
const std::string & geometry_object_name = std::string(link_name + geometry_object_suffix.str());
- geom_model.addGeometryObject(model, frame_id, geometry, geomPlacement, geometry_object_name, mesh_path);
+ geom_model.addGeometryObject(model, frame_id, geometry, geomPlacement, geometry_object_name, meshPath);
++objectId;
}
}