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Sehoon/sdfparser #775

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merged 7 commits into from
Oct 2, 2016
Merged

Sehoon/sdfparser #775

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f07bb23
read material from sdf
sehoonha Oct 2, 2016
21b8cd5
read WeldJoint from "fixed" type as in SDF specification
sehoonha Oct 2, 2016
7a4ca02
minor error safe statements on readMaterial
sehoonha Oct 2, 2016
cc16b1c
remove unused parameters
sehoonha Oct 2, 2016
c19dea8
add readMaterial test with a new quadruped sdf file.
sehoonha Oct 2, 2016
8b83059
update quad... -_-
sehoonha Oct 2, 2016
46c8109
Update changelog
jslee02 Oct 2, 2016
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@

* Parsers

* Added `sdf` parsing for `fixed` joint and `material` tag of visual shape: [#775](https://github.com/dartsim/dart/pull/775)
* Added support of urdfdom_headers 1.0: [#766](https://github.com/dartsim/dart/pull/766)

* Misc improvements and bug fixes
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39 changes: 39 additions & 0 deletions dart/utils/sdf/SdfParser.cpp
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Expand Up @@ -167,6 +167,11 @@ dynamics::ShapeNode* readShapeNode(
const std::string& skelPath,
const common::ResourceRetrieverPtr& retriever);


void readMaterial(
tinyxml2::XMLElement* materialEle,
dynamics::ShapeNode* shapeNode);

void readVisualizationShapeNode(
dynamics::BodyNode* bodyNode,
tinyxml2::XMLElement* vizShapeNodeEle,
Expand Down Expand Up @@ -634,6 +639,10 @@ std::pair<dynamics::Joint*,dynamics::BodyNode*> createJointAndNodePair(
return skeleton->createJointAndBodyNodePair<dynamics::BallJoint>(parent,
static_cast<const dynamics::BallJoint::Properties&>(*joint.properties),
static_cast<const typename NodeType::Properties&>(*node.properties));
else if (std::string("fixed") == type)
return skeleton->createJointAndBodyNodePair<dynamics::WeldJoint>(parent,
static_cast<const dynamics::WeldJoint::Properties&>(*joint.properties),
static_cast<const typename NodeType::Properties&>(*node.properties));
else if (std::string("free") == type)
return skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(parent,
static_cast<const dynamics::FreeJoint::Properties&>(*joint.properties),
Expand Down Expand Up @@ -981,6 +990,29 @@ dynamics::ShapeNode* readShapeNode(
return shapeNode;
}


//==============================================================================
void readMaterial(
tinyxml2::XMLElement* materialEle,
dynamics::ShapeNode* shapeNode) {

auto visualAspect = shapeNode->getVisualAspect();
if (hasElement(materialEle, "diffuse")) {
Eigen::VectorXd color = getValueVectorXd(materialEle, "diffuse");
if (color.size() == 3) {
Eigen::Vector3d color3d = color;
visualAspect->setColor(color3d);
} else if (color.size() == 4) {
Eigen::Vector4d color4d = color;
visualAspect->setColor(color4d);
} else {
dterr << "[SdfParse::readMaterial] Unsupported color vector size: "
<< color.size() << "\n";
}
}
}


//==============================================================================
void readVisualizationShapeNode(
dynamics::BodyNode* bodyNode,
Expand All @@ -994,6 +1026,13 @@ void readVisualizationShapeNode(
skelPath, retriever);

newShapeNode->createVisualAspect();

// Material
if (hasElement(vizShapeNodeEle, "material"))
{
tinyxml2::XMLElement* materialEle = getElement(vizShapeNodeEle, "material");
readMaterial(materialEle, newShapeNode);
}
}

//==============================================================================
Expand Down
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