Commit 21bdf01e authored by Valenza Florian's avatar Valenza Florian
Browse files

[Major] Now handle fixed joint if it has no children joint

parent c64732f9
......@@ -78,9 +78,6 @@ namespace se3
if(joint!=NULL)
{
assert(link->getParent()!=NULL);
if(joint->type != ::urdf::Joint::FIXED)
{
// This is a bypass to be corrected later. TODO
Model::Index parent
= (link->getParent()->parent_joint==NULL) ?
......@@ -150,8 +147,9 @@ namespace se3
}
case ::urdf::Joint::FIXED:
{
/* To fixed this, "spot" point should be added. TODO. */
//std::cerr << "For now, fixed joint are not accepted. " << std::endl;
model.mergeFixedBody(parent, jointPlacement, Y);
assert( (link->child_links.empty()) && "Fixed body has joint child. Shouldn't happen");
// For the moment, fixed bodies are handled only if end of chain (and only once)
break;
}
......@@ -162,7 +160,7 @@ namespace se3
break;
}
}
}}
}
else if(freeFlyer)
{ /* The link is the root of the body. */
model.addBody( 0, JointModelFreeFlyer(), SE3::Identity(), Y, "root", link->name, true );
......
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