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Support urdfdom_headers 1.0 #766

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Aug 27, 2016
Merged

Support urdfdom_headers 1.0 #766

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9060b2e
Support urdfdom_headers 1.0
jslee02 Aug 27, 2016
8e8b833
Update changelog
jslee02 Aug 27, 2016
7b87382
Update code styles of URDFTypes.hpp
jslee02 Aug 27, 2016
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -15,6 +15,10 @@

* Fixed incorrect linking to flann library: [#761](https://github.com/dartsim/dart/pull/761)

* Parsers

* Added support of urdfdom_headers 1.0: [#766](https://github.com/dartsim/dart/pull/766)

* Misc improvements and bug fixes

* Made building with SIMD optional: [#765](https://github.com/dartsim/dart/pull/765), [#760](https://github.com/dartsim/dart/pull/760)
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2 changes: 1 addition & 1 deletion cmake/DARTFindDependencies.cmake
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Expand Up @@ -239,7 +239,7 @@ endif()
# urdfdom
find_package(urdfdom QUIET)
if(urdfdom_FOUND)
message(STATUS "Looking for urdfdom - found")
message(STATUS "Looking for urdfdom - ${urdfdom_headers_VERSION} found")
else()
message(STATUS "Looking for urdfdom - NOT found, please install liburdfdom-dev")
endif()
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12 changes: 12 additions & 0 deletions dart/config.hpp.in
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Expand Up @@ -28,6 +28,18 @@
(DART_MAJOR_VERSION < x || (DART_MAJOR_VERSION <= x && \
(DART_MINOR_VERSION < y || (DART_MINOR_VERSION <= y))))

/* urdfdom_headers Version number */
// We define the version numbers of urdfdom_headers here since it doesn't expose
// the version numbers itself in source level.
#define URDFDOM_HEADERS_MAJOR_VERSION @urdfdom_headers_VERSION_MAJOR@
#define URDFDOM_HEADERS_MINOR_VERSION @urdfdom_headers_VERSION_MINOR@
#define URDFDOM_HEADERS_PATCH_VERSION @urdfdom_headers_VERSION_PATCH@

#define URDFDOM_HEADERS_VERSION_AT_LEAST(x,y,z) \
(URDFDOM_HEADERS_MAJOR_VERSION > x || (URDFDOM_HEADERS_MAJOR_VERSION >= x && \
(URDFDOM_HEADERS_MINOR_VERSION > y || (URDFDOM_HEADERS_MINOR_VERSION >= y && \
URDFDOM_HEADERS_PATCH_VERSION >= z))))
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shouldn't this third part also have URDFDOM_HEADERS_MAJOR_VERSION >= x?

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@jslee02 jslee02 Aug 28, 2016 •
edited
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If I understand your question correctly, it actually has URDFDOM_HEADERS_MAJOR_VERSION >= x. If it is reached to the last part (i.e., URDFDOM_HEADERS_PATCH_VERSION >= z), that means it's the case of URDFDOM_HEADERS_MAJOR_VERSION >= x AND URDFDOM_HEADERS_MINOR_VERSION >= y.

The logic expressed in C++ would be like:

if (major > x)
{
  return true;
}
else if (major >= x)
{
  if (minor > y)
  {
    return true;
  }
  else if (minor >= y)
  {
    // the third part
    if (patch >= z)
      return true;
    else
      return false;
  }
  else
  {
    return false;
  }
}
else
{
  return false;
}

I borrowed this from Eigen, but yeah it's pretty confusing.

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thanks for the explanation. I guess I don't remember the order of precedence between || and && operators


// Detect the compiler
#if defined(__clang__)
#define DART_COMPILER_CLANG
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5 changes: 3 additions & 2 deletions dart/utils/urdf/DartLoader.cpp
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Expand Up @@ -52,13 +52,14 @@
#include "dart/dynamics/CylinderShape.hpp"
#include "dart/dynamics/MeshShape.hpp"
#include "dart/simulation/World.hpp"
#include "dart/utils/urdf/URDFTypes.hpp"
#include "dart/utils/urdf/urdf_world_parser.hpp"

using ModelInterfacePtr = boost::shared_ptr<urdf::ModelInterface>;

namespace dart {
namespace utils {

using ModelInterfacePtr = urdf_shared_ptr<urdf::ModelInterface>;

DartLoader::DartLoader()
: mLocalRetriever(new common::LocalResourceRetriever),
mPackageRetriever(new utils::PackageResourceRetriever(mLocalRetriever)),
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58 changes: 58 additions & 0 deletions dart/utils/urdf/URDFTypes.hpp
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@@ -0,0 +1,58 @@
/*
* Copyright (c) 2016, Graphics Lab, Georgia Tech Research Corporation
* Copyright (c) 2016, Humanoid Lab, Georgia Tech Research Corporation
* Copyright (c) 2016, Personal Robotics Lab, Carnegie Mellon University
* All rights reserved.
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef DART_UTILS_URDF_URDFTYPES_HPP_
#define DART_UTILS_URDF_URDFTYPES_HPP_

#include "dart/config.hpp"

#if URDFDOM_HEADERS_VERSION_AT_LEAST(1,0,0)
#include <memory>
#else
#include "boost/shared_ptr.hpp"
#include "boost/weak_ptr.hpp"
#endif

namespace dart {
namespace utils {

#if URDFDOM_HEADERS_VERSION_AT_LEAST(1,0,0)
template <typename T> using urdf_shared_ptr = std::shared_ptr<T>;
template <typename T> using urdf_weak_ptr = std::weak_ptr<T>;
#else
template <typename T> using urdf_shared_ptr = boost::shared_ptr<T>;
template <typename T> using urdf_weak_ptr = boost::weak_ptr<T>;
#endif

} // namespace utils
} // namespace dart

#endif // DART_UTILS_URDF_URDFTYPES_HPP_
3 changes: 2 additions & 1 deletion dart/utils/urdf/urdf_world_parser.hpp
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Expand Up @@ -46,6 +46,7 @@

#include "dart/common/Uri.hpp"
#include "dart/common/ResourceRetriever.hpp"
#include "dart/utils/urdf/URDFTypes.hpp"

namespace dart {
namespace utils {
Expand All @@ -62,7 +63,7 @@ class Entity
/// Copy over a standard urdfEntity
Entity(const urdf::Entity& urdfEntity);

boost::shared_ptr<urdf::ModelInterface> model;
urdf_shared_ptr<urdf::ModelInterface> model;
urdf::Pose origin;
urdf::Twist twist;

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