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Gabriele Buondonno
pinocchio
Commits
9c3a688c
Commit
9c3a688c
authored
Mar 10, 2016
by
Valenza Florian
Browse files
[Python] Updated RobotWrapper with change in buildGeom
parent
cb910e16
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/python/robot_wrapper.py
View file @
9c3a688c
...
...
@@ -25,10 +25,8 @@ class RobotWrapper:
def
__init__
(
self
,
filename
,
package_dirs
=
None
,
root_joint
=
None
):
if
(
root_joint
is
None
):
self
.
model
=
se3
.
buildModelFromUrdf
(
filename
)
self
.
root_added
=
False
else
:
self
.
model
=
se3
.
buildModelFromUrdf
(
filename
,
root_joint
)
self
.
root_added
=
True
self
.
data
=
self
.
model
.
createData
()
...
...
@@ -36,13 +34,13 @@ class RobotWrapper:
raise
Exception
(
'It seems that the Geometry Module has not been compiled with Pinocchio. No geometry model'
)
else
:
if
(
package_dirs
is
None
):
self
.
geometry_model
=
se3
.
buildGeomFromUrdf
(
self
.
model
,
filename
,
self
.
root_added
)
# Will parse ROS_PACKAGE_PATH
self
.
geometry_model
=
se3
.
buildGeomFromUrdf
(
self
.
model
,
filename
)
self
.
geometry_data
=
se3
.
GeometryData
(
self
.
data
,
self
.
geometry_model
)
else
:
if
not
all
(
isinstance
(
item
,
basestring
)
for
item
in
package_dirs
):
raise
Exception
(
'The list of package directories is wrong. At least one is not a string'
)
else
:
self
.
geometry_model
=
se3
.
buildGeomFromUrdf
(
self
.
model
,
filename
,
utils
.
fromListToVectorOfString
(
package_dirs
)
,
self
.
root_added
)
self
.
geometry_model
=
se3
.
buildGeomFromUrdf
(
self
.
model
,
filename
,
utils
.
fromListToVectorOfString
(
package_dirs
))
self
.
geometry_data
=
se3
.
GeometryData
(
self
.
data
,
self
.
geometry_model
)
self
.
v0
=
utils
.
zero
(
self
.
nv
)
...
...
src/tools/file-explorer.hpp
View file @
9c3a688c
...
...
@@ -34,7 +34,7 @@ namespace se3
*
* @param[in][out] paths { The package directories where to search for meshes }
*/
void
appendRosPackagePaths
(
std
::
vector
<
std
::
string
>
&
package_dirs
)
inline
void
appendRosPackagePaths
(
std
::
vector
<
std
::
string
>
&
package_dirs
)
{
std
::
string
delimiter
=
":"
;
...
...
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