Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* Add base link to joint 0 when root joint is an anchor joint.
* Check that frame exists before attaching geometry to it.

[C++][CMake] Merged fake-fcl with fcl.hpp (splitted in .hpp and .hxx file). Propagated flag -DWITH_HPP_FCL to all binaries

[C++][Python] One can contruct a GeometryModel and Data even if hpp-fcl is not found. All stuff related to collisions is not available but geometryPlacements are ( for visualisation in the viewer especially).

Nicolas Mansard authored 8 years ago and Nicolas Mansard committed 8 years ago

[C++] Changed the signature of urdf::buildModel, that now takes the model as input. Previous signature is kept as deprecated.

[C++] The cloud of points in GeometryObject is now a fcl::CollisionGeometry instead of fcl::CollisionObject

Renamed convertUrdfPathToAbosulutePath to retrieveResourcePath as it is not only specific to meshes files. Fixed the way package:// and file:// paths are handled

[C++][Python] Removed references to kinematic model/data in geometry model/data. + fixed unallocated memory map ( due to using reserve keyword instead of resize)

[C++] Removed type from GeometryObject. Still using the enum GeometryType to specify if visuals or collisions must be parsed from urdf file