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assign correct MaterialPtr to all visuals #114

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Merged
scpeters merged 4 commits into from
Jan 30, 2019
Merged

assign correct MaterialPtr to all visuals #114

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1939751
assign correct MaterialPtr to all visuals
rhaschke Oct 31, 2018
b53fef5
fix errors
rhaschke Nov 6, 2018
93a2bf4
tolerate undefined materials with a warning
rhaschke Nov 14, 2018
8175b16
Minor style fixups.
clalancette Jan 18, 2019
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4 changes: 1 addition & 3 deletions urdf_parser/src/link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -380,9 +380,7 @@ bool parseVisual(Visual &vis, TiXmlElement *config)
// try to parse material element in place
vis.material.reset(new Material());
if (!parseMaterial(*vis.material, mat, true))
{
CONSOLE_BRIDGE_logDebug("urdfdom: material has only name, actual material definition may be in the model");
}
vis.material.reset();
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@rhaschke rhaschke Jan 18, 2019

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Before the visual's material pointer was always well defined.

}

return true;
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56 changes: 31 additions & 25 deletions urdf_parser/src/model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,33 @@ ModelInterfaceSharedPtr parseURDFFile(const std::string &path)
return urdf::parseURDF( xml_str );
}

bool assignMaterial(const VisualSharedPtr& visual, ModelInterfaceSharedPtr& model, const char* link_name)
{
if (visual->material_name.empty())
return true;

const MaterialSharedPtr& material = model->getMaterial(visual->material_name);
if (material)
{
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material to '%s'", link_name, visual->material_name.c_str());
visual->material = material;
}
else
{
if (visual->material)
{
CONSOLE_BRIDGE_logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link_name,visual->material_name.c_str());
model->materials_.insert(make_pair(visual->material->name,visual->material));
}
else
{
CONSOLE_BRIDGE_logWarn("link '%s' material '%s' undefined.", link_name,visual->material_name.c_str());
return false;
}
}
return true;
}

ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
{
ModelInterfaceSharedPtr model(new ModelInterface);
Expand Down Expand Up @@ -137,33 +164,12 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
}
else
{
// set link visual material
// set link visual(s) material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
if (link->visual)
{
if (!link->visual->material_name.empty())
{
if (model->getMaterial(link->visual->material_name))
{
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
link->visual->material = model->getMaterial( link->visual->material_name.c_str() );
}
else
{
if (link->visual->material)
{
CONSOLE_BRIDGE_logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
model->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
}
else
{
CONSOLE_BRIDGE_logError("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
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@rhaschke rhaschke Jan 18, 2019

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Because the visual's material was always well-defined, this error was never printed.

model.reset();
return model;
}
}
}
}
assignMaterial(link->visual, model, link->name.c_str());
for (const auto& visual : link->visual_array)
assignMaterial(visual, model, link->name.c_str());

model->links_.insert(make_pair(link->name,link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
Expand Down