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UrdfParser.cpp
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UrdfParser.cpp
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#include "UrdfParser.h"
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "urdfStringSplit.h"
#include "urdfLexicalCast.h"
using namespace tinyxml2;
UrdfParser::UrdfParser()
:m_parseSDF(false),
m_activeSdfModel(-1),
m_urdfScaling(1)
{
m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING"; // if loadUrdf() called later, source file name will be replaced with real
}
UrdfParser::~UrdfParser()
{
for (int i=0;i<m_tmpModels.size();i++)
{
delete m_tmpModels[i];
}
}
static bool parseVector4(btVector4& vec4, const std::string& vector_str)
{
vec4.setZero();
btArray<std::string> pieces;
btArray<float> rgba;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, vector_str, strArray);
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
if (rgba.size() != 4)
{
return false;
}
vec4.setValue(rgba[0],rgba[1],rgba[2],rgba[3]);
return true;
}
static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLogger* logger, bool lastThree = false)
{
vec3.setZero();
btArray<std::string> pieces;
btArray<float> rgba;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, vector_str, strArray);
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
if (rgba.size() < 3)
{
logger->reportWarning("Couldn't parse vector3");
return false;
}
if (lastThree) {
vec3.setValue(rgba[rgba.size()-3], rgba[rgba.size()-2], rgba[rgba.size()-1]);
}
else
{
vec3.setValue(rgba[0],rgba[1],rgba[2]);
}
return true;
}
bool UrdfParser::parseMaterial(UrdfMaterial& material, XMLElement *config, ErrorLogger* logger)
{
if (!config->Attribute("name"))
{
logger->reportError("Material must contain a name attribute");
return false;
}
material.m_name = config->Attribute("name");
// texture
XMLElement *t = config->FirstChildElement("texture");
if (t)
{
if (t->Attribute("filename"))
{
material.m_textureFilename = t->Attribute("filename");
}
}
if (material.m_textureFilename.length()==0)
{
//logger->reportWarning("material has no texture file name");
}
// color
{
XMLElement *c = config->FirstChildElement("color");
if (c)
{
if (c->Attribute("rgba"))
{
if (!parseVector4(material.m_matColor.m_rgbaColor,c->Attribute("rgba")))
{
std::string msg = material.m_name+" has no rgba";
logger->reportWarning(msg.c_str());
}
}
}
}
{
// specular (non-standard)
XMLElement *s = config->FirstChildElement("specular");
if (s)
{
if (s->Attribute("rgb"))
{
if (!parseVector3(material.m_matColor.m_specularColor,s->Attribute("rgb"),logger))
{
}
}
}
}
return true;
}
bool UrdfParser::parseTransform(btTransform& tr, XMLElement* xml, ErrorLogger* logger, bool parseSDF )
{
tr.setIdentity();
btVector3 vec(0,0,0);
if (parseSDF)
{
parseVector3(vec,std::string(xml->GetText()),logger);
}
else
{
const char* xyz_str = xml->Attribute("xyz");
if (xyz_str)
{
parseVector3(vec,std::string(xyz_str),logger);
}
}
tr.setOrigin(vec*m_urdfScaling);
if (parseSDF)
{
btVector3 rpy;
if (parseVector3(rpy,std::string(xml->GetText()),logger,true))
{
double phi, the, psi;
double roll = rpy[0];
double pitch = rpy[1];
double yaw = rpy[2];
phi = roll / 2.0;
the = pitch / 2.0;
psi = yaw / 2.0;
btQuaternion orn(
sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi));
orn.normalize();
tr.setRotation(orn);
}
}
else
{
const char* rpy_str = xml->Attribute("rpy");
if (rpy_str != NULL)
{
btVector3 rpy;
if (parseVector3(rpy,std::string(rpy_str),logger))
{
double phi, the, psi;
double roll = rpy[0];
double pitch = rpy[1];
double yaw = rpy[2];
phi = roll / 2.0;
the = pitch / 2.0;
psi = yaw / 2.0;
btQuaternion orn(
sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi));
orn.normalize();
tr.setRotation(orn);
}
}
}
return true;
}
bool UrdfParser::parseInertia(UrdfInertia& inertia, XMLElement* config, ErrorLogger* logger)
{
inertia.m_linkLocalFrame.setIdentity();
inertia.m_mass = 0.f;
if(m_parseSDF)
{
XMLElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(inertia.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
XMLElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parseTransform(inertia.m_linkLocalFrame,o,logger))
{
return false;
}
}
XMLElement *mass_xml = config->FirstChildElement("mass");
if (!mass_xml)
{
logger->reportError("Inertial element must have a mass element");
return false;
}
if (m_parseSDF)
{
inertia.m_mass = urdfLexicalCast<double>(mass_xml->GetText());
} else
{
if (!mass_xml->Attribute("value"))
{
logger->reportError("Inertial: mass element must have value attribute");
return false;
}
inertia.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value"));
}
XMLElement *inertia_xml = config->FirstChildElement("inertia");
if (!inertia_xml)
{
logger->reportError("Inertial element must have inertia element");
return false;
}
if (m_parseSDF)
{
XMLElement* ixx = inertia_xml->FirstChildElement("ixx");
XMLElement* ixy = inertia_xml->FirstChildElement("ixy");
XMLElement* ixz = inertia_xml->FirstChildElement("ixz");
XMLElement* iyy = inertia_xml->FirstChildElement("iyy");
XMLElement* iyz = inertia_xml->FirstChildElement("iyz");
XMLElement* izz = inertia_xml->FirstChildElement("izz");
if (ixx && ixy && ixz && iyy && iyz && izz)
{
inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText());
inertia.m_ixy = urdfLexicalCast<double>(ixy->GetText());
inertia.m_ixz = urdfLexicalCast<double>(ixz->GetText());
inertia.m_iyy = urdfLexicalCast<double>(iyy->GetText());
inertia.m_iyz = urdfLexicalCast<double>(iyz->GetText());
inertia.m_izz = urdfLexicalCast<double>(izz->GetText());
} else
{
if (ixx && iyy && izz)
{
inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText());
inertia.m_ixy = 0;
inertia.m_ixz = 0;
inertia.m_iyy = urdfLexicalCast<double>(iyy->GetText());
inertia.m_iyz = 0;
inertia.m_izz = urdfLexicalCast<double>(izz->GetText());
} else
{
logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz child elements");
return false;
}
}
} else
{
if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") &&
inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") &&
inertia_xml->Attribute("izz")))
{
if ((inertia_xml->Attribute("ixx") && inertia_xml->Attribute("iyy") &&
inertia_xml->Attribute("izz")))
{
inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
inertia.m_ixy = 0;
inertia.m_ixz = 0;
inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
inertia.m_iyz = 0;
inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
} else
{
logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
return false;
}
} else
{
inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
inertia.m_ixy = urdfLexicalCast<double>(inertia_xml->Attribute("ixy"));
inertia.m_ixz = urdfLexicalCast<double>(inertia_xml->Attribute("ixz"));
inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
inertia.m_iyz = urdfLexicalCast<double>(inertia_xml->Attribute("iyz"));
inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
}
}
return true;
}
bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* logger)
{
// btAssert(g);
if (g==0)
return false;
XMLElement *shape = g->FirstChildElement();
if (!shape)
{
logger->reportError("Geometry tag contains no child element.");
return false;
}
//const std::string type_name = shape->ValueTStr().c_str();
const std::string type_name = shape->Value();
if (type_name == "sphere")
{
geom.m_type = URDF_GEOM_SPHERE;
if (!shape->Attribute("radius"))
{
logger->reportError("Sphere shape must have a radius attribute");
return false;
} else
{
geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
}
}
else if (type_name == "box")
{
geom.m_type = URDF_GEOM_BOX;
if (m_parseSDF)
{
XMLElement* size = shape->FirstChildElement("size");
if (0==size)
{
logger->reportError("box requires a size child element");
return false;
}
parseVector3(geom.m_boxSize,size->GetText(),logger);
geom.m_boxSize *= m_urdfScaling;
}
else
{
if (!shape->Attribute("size"))
{
logger->reportError("box requires a size attribute");
return false;
} else
{
parseVector3(geom.m_boxSize,shape->Attribute("size"),logger);
geom.m_boxSize *= m_urdfScaling;
}
}
}
else if (type_name == "cylinder")
{
geom.m_type = URDF_GEOM_CYLINDER;
geom.m_hasFromTo = false;
geom.m_capsuleRadius = 0.1;
geom.m_capsuleHeight = 0.1;
if (m_parseSDF)
{
if (XMLElement* scale = shape->FirstChildElement("radius"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
if (XMLElement* scale = shape->FirstChildElement("length"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
} else
{
if (!shape->Attribute("length") ||!shape->Attribute("radius"))
{
logger->reportError("Cylinder shape must have both length and radius attributes");
return false;
}
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
}
}
else if (type_name == "capsule")
{
geom.m_type = URDF_GEOM_CAPSULE;
geom.m_hasFromTo = false;
if (m_parseSDF)
{
if (XMLElement* scale = shape->FirstChildElement("radius"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
if (XMLElement* scale = shape->FirstChildElement("length"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
}
} else
{
if (!shape->Attribute("length") || !shape->Attribute("radius"))
{
logger->reportError("Capsule shape must have both length and radius attributes");
return false;
}
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
}
}
else if ((type_name == "mesh") || (type_name == "cdf"))
{
if ((type_name == "cdf"))
{
geom.m_type = URDF_GEOM_CDF;
}
else
{
geom.m_type = URDF_GEOM_MESH;
}
geom.m_meshScale.setValue(1,1,1);
std::string fn;
if (m_parseSDF)
{
if (XMLElement* scale = shape->FirstChildElement("scale"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
}
if (XMLElement* filename = shape->FirstChildElement("uri"))
{
fn = filename->GetText();
}
}
else
{
// URDF
if (shape->Attribute("filename"))
{
fn = shape->Attribute("filename");
}
if (shape->Attribute("scale"))
{
if (!parseVector3(geom.m_meshScale, shape->Attribute("scale"), logger))
{
logger->reportWarning("Scale should be a vector3, not single scalar. Workaround activated.\n");
std::string scalar_str = shape->Attribute("scale");
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
if (scaleFactor)
{
geom.m_meshScale.setValue(scaleFactor, scaleFactor, scaleFactor);
}
}
}
}
geom.m_meshScale *= m_urdfScaling;
if (fn.empty())
{
logger->reportError("Mesh filename is empty");
return false;
}
geom.m_meshFileName = fn;
bool success = findExistingMeshFile(
m_urdf2Model.m_sourceFile, fn, sourceFileLocation(shape),
&geom.m_meshFileName, &geom.m_meshFileType);
if (!success)
{
// warning already printed
return false;
}
}
else
{
if (type_name == "plane")
{
geom.m_type = URDF_GEOM_PLANE;
if (this->m_parseSDF)
{
XMLElement *n = shape->FirstChildElement("normal");
XMLElement *s = shape->FirstChildElement("size");
if ((0==n)||(0==s))
{
logger->reportError("Plane shape must have both normal and size attributes");
return false;
}
parseVector3(geom.m_planeNormal,n->GetText(),logger);
} else
{
if (!shape->Attribute("normal"))
{
logger->reportError("plane requires a normal attribute");
return false;
} else
{
parseVector3(geom.m_planeNormal,shape->Attribute("normal"),logger);
}
}
}
else
{
logger->reportError("Unknown geometry type:");
logger->reportError(type_name.c_str());
return false;
}
}
return true;
}
bool UrdfParser::parseCollision(UrdfCollision& collision, XMLElement* config, ErrorLogger* logger)
{
collision.m_linkLocalFrame.setIdentity();
if(m_parseSDF)
{
XMLElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(collision.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
XMLElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parseTransform(collision.m_linkLocalFrame, o,logger))
return false;
}
// Geometry
XMLElement *geom = config->FirstChildElement("geometry");
if (!parseGeometry(collision.m_geometry,geom,logger))
{
return false;
}
const char *name_char = config->Attribute("name");
if (name_char)
collision.m_name = name_char;
const char *concave_char = config->Attribute("concave");
if (concave_char)
collision.m_flags |= URDF_FORCE_CONCAVE_TRIMESH;
return true;
}
bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, XMLElement* config, ErrorLogger* logger)
{
visual.m_linkLocalFrame.setIdentity();
if(m_parseSDF)
{
XMLElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(visual.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
XMLElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parseTransform(visual.m_linkLocalFrame, o,logger))
return false;
}
// Geometry
XMLElement *geom = config->FirstChildElement("geometry");
if (!parseGeometry(visual.m_geometry,geom,logger))
{
return false;
}
const char *name_char = config->Attribute("name");
if (name_char)
visual.m_name = name_char;
visual.m_geometry.m_hasLocalMaterial = false;
// Material
XMLElement *mat = config->FirstChildElement("material");
//todo(erwincoumans) skip materials in SDF for now (due to complexity)
if (mat)
{
if (m_parseSDF)
{
UrdfMaterial* matPtr = new UrdfMaterial;
matPtr->m_name = "mat";
if (name_char)
matPtr->m_name = name_char;
UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
if (oldMatPtrPtr)
{
UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
model.m_materials.remove(matPtr->m_name.c_str());
if (oldMatPtr)
delete oldMatPtr;
}
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
{
XMLElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_matColor.m_rgbaColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
{
XMLElement *specular = mat->FirstChildElement("specular");
if (specular) {
std::string specularText = specular->GetText();
btVector3 rgba(1,1,1);
parseVector3(rgba,specularText,logger);
matPtr->m_matColor.m_specularColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
}
else
{
// get material name
if (!mat->Attribute("name"))
{
logger->reportError("Visual material must contain a name attribute");
return false;
}
visual.m_materialName = mat->Attribute("name");
// try to parse material element in place
XMLElement *t = mat->FirstChildElement("texture");
XMLElement *c = mat->FirstChildElement("color");
XMLElement *s = mat->FirstChildElement("specular");
if (t||c||s)
{
if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_geometry.m_localMaterial);
UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
if (oldMatPtrPtr)
{
UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
model.m_materials.remove(matPtr->m_name.c_str());
if (oldMatPtr)
delete oldMatPtr;
}
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_geometry.m_hasLocalMaterial = true;
}
}
}
}
return true;
}
bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, XMLElement *config, ErrorLogger* logger)
{
const char* linkName = config->Attribute("name");
if (!linkName)
{
logger->reportError("Link with no name");
return false;
}
link.m_name = linkName;
if (m_parseSDF) {
XMLElement* pose = config->FirstChildElement("pose");
if (0==pose)
{
link.m_linkTransformInWorld.setIdentity();
}
else
{
parseTransform(link.m_linkTransformInWorld, pose,logger,m_parseSDF);
}
}
{
//optional 'audio_source' parameters
//modified version of SDF audio_source specification in //http://sdformat.org/spec?ver=1.6&elem=link
#if 0
<audio_source>
<uri>file://media/audio/cheer.mp3</uri>
<pitch>2.0</pitch>
<gain>1.0</gain>
<loop>false</loop>
<contact>
<collision>collision</collision>
</contact>
</audio_source>
#endif
XMLElement* ci = config->FirstChildElement("audio_source");
if (ci)
{
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
const char* fn = ci->Attribute("filename");
if (fn)
{
link.m_audioSource.m_uri = fn;
} else
{
if (XMLElement* filename_xml = ci->FirstChildElement("uri"))
{
link.m_audioSource.m_uri = filename_xml->GetText();
}
}
if (XMLElement* pitch_xml = ci->FirstChildElement("pitch"))
{
link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
}
if (XMLElement* gain_xml = ci->FirstChildElement("gain"))
{
link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
}
if (XMLElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
{
link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
}
if (XMLElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
{
link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
}
if (XMLElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
{
link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
}
if (XMLElement* release_rate_xml = ci->FirstChildElement("release_rate"))
{
link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
}
if (XMLElement* loop_xml = ci->FirstChildElement("loop"))
{
std::string looptxt = loop_xml->GetText();
if (looptxt == "true")
{
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
}
}
if (XMLElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
{
link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText());
}
//todo: see other audio_source children
//pitch, gain, loop, contact
}
}
{
//optional 'contact' parameters
XMLElement* ci = config->FirstChildElement("contact");
if (ci)
{
XMLElement *damping_xml = ci->FirstChildElement("inertia_scaling");
if (damping_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_inertiaScaling = urdfLexicalCast<double>(damping_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING;
} else
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("Link/contact: damping element must have value attribute");
return false;
}
link.m_contactInfo.m_inertiaScaling = urdfLexicalCast<double>(damping_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING;
}
}
{
XMLElement *friction_xml = ci->FirstChildElement("lateral_friction");
if (friction_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->GetText());
} else
{
if (!friction_xml->Attribute("value"))
{
logger->reportError("Link/contact: lateral_friction element must have value attribute");
return false;
}
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
}
}
}
{
XMLElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
}
}
{
XMLElement *restitution_xml = ci->FirstChildElement("restitution");
if (restitution_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
}
else
{
if (!restitution_xml->Attribute("value"))
{
logger->reportError("Link/contact: restitution element must have value attribute");
return false;
}
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
}
}
}
{
XMLElement *spinning_xml = ci->FirstChildElement("spinning_friction");
if (spinning_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_spinningFriction = urdfLexicalCast<double>(spinning_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
} else
{
if (!spinning_xml->Attribute("value"))
{
logger->reportError("Link/contact: spinning friction element must have value attribute");
return false;
}
link.m_contactInfo.m_spinningFriction = urdfLexicalCast<double>(spinning_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
}
}
}
{
XMLElement *friction_anchor = ci->FirstChildElement("friction_anchor");
if (friction_anchor)
{
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_FRICTION_ANCHOR;
}
}
{
XMLElement *stiffness_xml = ci->FirstChildElement("stiffness");
if (stiffness_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!stiffness_xml->Attribute("value"))
{
logger->reportError("Link/contact: stiffness element must have value attribute");
return false;
}
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
{
XMLElement *damping_xml = ci->FirstChildElement("damping");
if (damping_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("Link/contact: damping element must have value attribute");
return false;
}
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
}
}
// Inertial (optional)
XMLElement *i = config->FirstChildElement("inertial");
if (i)
{
if (!parseInertia(link.m_inertia, i,logger))
{
logger->reportError("Could not parse inertial element for Link:");
logger->reportError(link.m_name.c_str());
return false;
}
} else
{
if ((strlen(linkName)==5) && (strncmp(linkName, "world", 5))==0)
{
link.m_inertia.m_mass = 0.f;
link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 0.f;
link.m_inertia.m_iyy = 0.f;
link.m_inertia.m_izz= 0.f;
} else
{
logger->reportWarning("No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame");
link.m_inertia.m_mass = 1.f;
link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 1.f;