From f186e2839df44b50e53160ad1d8c152a795ead08 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 5 Sep 2016 13:39:42 +0200
Subject: [PATCH] [C++] Remove unnecessary test in URDF parser
---
src/parsers/urdf/model.cpp | 7 -------
1 file changed, 7 deletions(-)
diff --git a/src/parsers/urdf/model.cpp b/src/parsers/urdf/model.cpp
index b42df5c86..be9d73bd8 100644
--- a/src/parsers/urdf/model.cpp
+++ b/src/parsers/urdf/model.cpp
@@ -111,13 +111,6 @@ namespace se3
const std::string & parent_link_name = link->getParent()->name;
std::ostringstream joint_info;
- // check if inertial information is provided
- if (!link->inertial && joint->type != ::urdf::Joint::FIXED)
- {
- const std::string exception_message (link->name + " - spatial inertial information missing.");
- throw std::invalid_argument(exception_message);
- }
-
Model::JointIndex parent_joint_id = (link->getParent()->parent_joint==NULL)
? (model.existJointName("root_joint") ? model.getJointId("root_joint") : 0)
: model.getJointId( link->getParent()->parent_joint->name );
--
GitLab