diff options
author | V3n3RiX <venerix@redcorelinux.org> | 2017-10-09 18:53:29 +0100 |
---|---|---|
committer | V3n3RiX <venerix@redcorelinux.org> | 2017-10-09 18:53:29 +0100 |
commit | 4f2d7949f03e1c198bc888f2d05f421d35c57e21 (patch) | |
tree | ba5f07bf3f9d22d82e54a462313f5d244036c768 /dev-libs/sdformat/files |
reinit the tree, so we can have metadata
Diffstat (limited to 'dev-libs/sdformat/files')
-rw-r--r-- | dev-libs/sdformat/files/urdfdom1.patch | 392 |
1 files changed, 392 insertions, 0 deletions
diff --git a/dev-libs/sdformat/files/urdfdom1.patch b/dev-libs/sdformat/files/urdfdom1.patch new file mode 100644 index 000000000000..d76376aec016 --- /dev/null +++ b/dev-libs/sdformat/files/urdfdom1.patch @@ -0,0 +1,392 @@ +Index: sdformat-4.1.1/src/parser_urdf.cc +=================================================================== +--- sdformat-4.1.1.orig/src/parser_urdf.cc ++++ sdformat-4.1.1/src/parser_urdf.cc +@@ -25,6 +25,7 @@ + #include "urdf_model/model.h" + #include "urdf_model/link.h" + #include "urdf_parser/urdf_parser.h" ++#include <urdf_model/utils.h> + + #include "sdf/SDFExtension.hh" + #include "sdf/parser_urdf.hh" +@@ -32,10 +33,10 @@ + + using namespace sdf; + +-typedef boost::shared_ptr<urdf::Collision> UrdfCollisionPtr; +-typedef boost::shared_ptr<urdf::Visual> UrdfVisualPtr; +-typedef boost::shared_ptr<urdf::Link> UrdfLinkPtr; +-typedef boost::shared_ptr<const urdf::Link> ConstUrdfLinkPtr; ++typedef std::shared_ptr<urdf::Collision> UrdfCollisionPtr; ++typedef std::shared_ptr<urdf::Visual> UrdfVisualPtr; ++typedef std::shared_ptr<urdf::Link> UrdfLinkPtr; ++typedef std::shared_ptr<const urdf::Link> ConstUrdfLinkPtr; + typedef std::shared_ptr<TiXmlElement> TiXmlElementPtr; + typedef std::shared_ptr<SDFExtension> SDFExtensionPtr; + typedef std::map<std::string, std::vector<SDFExtensionPtr> > +@@ -78,7 +79,7 @@ void InsertSDFExtensionJoint(TiXmlElemen + /// reduced fixed joints: check if a fixed joint should be lumped + /// checking both the joint type and if disabledFixedJointLumping + /// option is set +-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt); ++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt); + + /// reduced fixed joints: apply transform reduction for ray sensors + /// in extensions when doing fixed joint reduction +@@ -217,9 +218,9 @@ std::string Values2str(unsigned int _cou + + + void CreateGeometry(TiXmlElement* _elem, +- boost::shared_ptr<urdf::Geometry> _geometry); ++ std::shared_ptr<urdf::Geometry> _geometry); + +-std::string GetGeometryBoundingBox(boost::shared_ptr<urdf::Geometry> _geometry, ++std::string GetGeometryBoundingBox(std::shared_ptr<urdf::Geometry> _geometry, + double *_sizeVals); + + ignition::math::Pose3d inverseTransformToParentFrame( +@@ -254,7 +255,7 @@ urdf::Vector3 ParseVector3(const std::st + std::vector<std::string> pieces; + std::vector<double> vals; + +- boost::split(pieces, _str, boost::is_any_of(" ")); ++ urdf::split_string(pieces, _str, " "); + for (unsigned int i = 0; i < pieces.size(); ++i) + { + if (pieces[i] != "") +@@ -262,7 +263,7 @@ urdf::Vector3 ParseVector3(const std::st + try + { + vals.push_back(_scale +- * boost::lexical_cast<double>(pieces[i].c_str())); ++ * std::stod(pieces[i].c_str())); + } + catch(boost::bad_lexical_cast &) + { +@@ -349,7 +350,7 @@ void ReduceCollisionToParent(UrdfLinkPtr + UrdfCollisionPtr _collision) + { + #ifndef URDF_GE_0P3 +- boost::shared_ptr<std::vector<UrdfCollisionPtr> > cols; ++ std::shared_ptr<std::vector<UrdfCollisionPtr> > cols; + cols = _parentLink->getCollisions(_name); + + if (!cols) +@@ -427,7 +428,7 @@ void ReduceVisualToParent(UrdfLinkPtr _p + UrdfVisualPtr _visual) + { + #ifndef URDF_GE_0P3 +- boost::shared_ptr<std::vector<UrdfVisualPtr> > viss; ++ std::shared_ptr<std::vector<UrdfVisualPtr> > viss; + viss = _parentLink->getVisuals(_name); + + if (!viss) +@@ -950,7 +951,7 @@ void ReduceVisualsToParent(UrdfLinkPtr _ + // (original parent link name before lumping/reducing). + #ifndef URDF_GE_0P3 + for (std::map<std::string, +- boost::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator ++ std::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator + visualsIt = _link->visual_groups.begin(); + visualsIt != _link->visual_groups.end(); ++visualsIt) + { +@@ -1057,7 +1058,7 @@ void ReduceCollisionsToParent(UrdfLinkPt + // (original parent link name before lumping/reducing). + #ifndef URDF_GE_0P3 + for (std::map<std::string, +- boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator ++ std::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator + collisionsIt = _link->collision_groups.begin(); + collisionsIt != _link->collision_groups.end(); ++collisionsIt) + { +@@ -1160,7 +1161,7 @@ void ReduceJointsToParent(UrdfLinkPtr _l + // a parent link up stream that does not have a fixed parentJoint + for (unsigned int i = 0 ; i < _link->child_links.size() ; ++i) + { +- boost::shared_ptr<urdf::Joint> parentJoint = ++ std::shared_ptr<urdf::Joint> parentJoint = + _link->child_links[i]->parent_joint; + if (!FixedJointShouldBeReduced(parentJoint)) + { +@@ -1431,31 +1432,31 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo + else if (childElem->ValueStr() == "dampingFactor") + { + sdf->isDampingFactor = true; +- sdf->dampingFactor = boost::lexical_cast<double>( ++ sdf->dampingFactor = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "maxVel") + { + sdf->isMaxVel = true; +- sdf->maxVel = boost::lexical_cast<double>( ++ sdf->maxVel = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "minDepth") + { + sdf->isMinDepth = true; +- sdf->minDepth = boost::lexical_cast<double>( ++ sdf->minDepth = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "mu1") + { + sdf->isMu1 = true; +- sdf->mu1 = boost::lexical_cast<double>( ++ sdf->mu1 = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "mu2") + { + sdf->isMu2 = true; +- sdf->mu2 = boost::lexical_cast<double>( ++ sdf->mu2 = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "fdir1") +@@ -1465,13 +1466,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo + else if (childElem->ValueStr() == "kp") + { + sdf->isKp = true; +- sdf->kp = boost::lexical_cast<double>( ++ sdf->kp = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "kd") + { + sdf->isKd = true; +- sdf->kd = boost::lexical_cast<double>( ++ sdf->kd = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "selfCollide") +@@ -1488,13 +1489,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo + else if (childElem->ValueStr() == "maxContacts") + { + sdf->isMaxContacts = true; +- sdf->maxContacts = boost::lexical_cast<int>( ++ sdf->maxContacts = std::stoi( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "laserRetro") + { + sdf->isLaserRetro = true; +- sdf->laserRetro = boost::lexical_cast<double>( ++ sdf->laserRetro = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "springReference") +@@ -1510,37 +1511,37 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo + else if (childElem->ValueStr() == "stopCfm") + { + sdf->isStopCfm = true; +- sdf->stopCfm = boost::lexical_cast<double>( ++ sdf->stopCfm = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "stopErp") + { + sdf->isStopErp = true; +- sdf->stopErp = boost::lexical_cast<double>( ++ sdf->stopErp = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "stopKp") + { + sdf->isStopKp = true; +- sdf->stopKp = boost::lexical_cast<double>( ++ sdf->stopKp = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "stopKd") + { + sdf->isStopKd = true; +- sdf->stopKd = boost::lexical_cast<double>( ++ sdf->stopKd = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "initialJointPosition") + { + sdf->isInitialJointPosition = true; +- sdf->initialJointPosition = boost::lexical_cast<double>( ++ sdf->initialJointPosition = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "fudgeFactor") + { + sdf->isFudgeFactor = true; +- sdf->fudgeFactor = boost::lexical_cast<double>( ++ sdf->fudgeFactor = std::stod( + GetKeyValueAsString(childElem).c_str()); + } + else if (childElem->ValueStr() == "provideFeedback") +@@ -1917,7 +1918,7 @@ void InsertSDFExtensionCollision(TiXmlEl + if ((*ge)->isMaxContacts) + { + AddKeyValue(_elem, "max_contacts", +- boost::lexical_cast<std::string>((*ge)->maxContacts)); ++ std::to_string((*ge)->maxContacts)); + } + } + } +@@ -2339,7 +2340,7 @@ void InsertSDFExtensionRobot(TiXmlElemen + + //////////////////////////////////////////////////////////////////////////////// + void CreateGeometry(TiXmlElement* _elem, +- boost::shared_ptr<urdf::Geometry> _geom) ++ std::shared_ptr<urdf::Geometry> _geom) + { + TiXmlElement *sdfGeometry = new TiXmlElement("geometry"); + +@@ -2351,8 +2352,8 @@ void CreateGeometry(TiXmlElement* _elem, + case urdf::Geometry::BOX: + type = "box"; + { +- boost::shared_ptr<const urdf::Box> box; +- box = boost::dynamic_pointer_cast< const urdf::Box >(_geom); ++ std::shared_ptr<const urdf::Box> box; ++ box = std::dynamic_pointer_cast< const urdf::Box >(_geom); + int sizeCount = 3; + double sizeVals[3]; + sizeVals[0] = box->dim.x; +@@ -2366,8 +2367,8 @@ void CreateGeometry(TiXmlElement* _elem, + case urdf::Geometry::CYLINDER: + type = "cylinder"; + { +- boost::shared_ptr<const urdf::Cylinder> cylinder; +- cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom); ++ std::shared_ptr<const urdf::Cylinder> cylinder; ++ cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom); + geometryType = new TiXmlElement(type); + AddKeyValue(geometryType, "length", + Values2str(1, &cylinder->length)); +@@ -2378,8 +2379,8 @@ void CreateGeometry(TiXmlElement* _elem, + case urdf::Geometry::SPHERE: + type = "sphere"; + { +- boost::shared_ptr<const urdf::Sphere> sphere; +- sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom); ++ std::shared_ptr<const urdf::Sphere> sphere; ++ sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom); + geometryType = new TiXmlElement(type); + AddKeyValue(geometryType, "radius", + Values2str(1, &sphere->radius)); +@@ -2388,8 +2389,8 @@ void CreateGeometry(TiXmlElement* _elem, + case urdf::Geometry::MESH: + type = "mesh"; + { +- boost::shared_ptr<const urdf::Mesh> mesh; +- mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom); ++ std::shared_ptr<const urdf::Mesh> mesh; ++ mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom); + geometryType = new TiXmlElement(type); + AddKeyValue(geometryType, "scale", Vector32Str(mesh->scale)); + // do something more to meshes +@@ -2451,7 +2452,7 @@ void CreateGeometry(TiXmlElement* _elem, + + //////////////////////////////////////////////////////////////////////////////// + std::string GetGeometryBoundingBox( +- boost::shared_ptr<urdf::Geometry> _geom, double *_sizeVals) ++ std::shared_ptr<urdf::Geometry> _geom, double *_sizeVals) + { + std::string type; + +@@ -2460,8 +2461,8 @@ std::string GetGeometryBoundingBox( + case urdf::Geometry::BOX: + type = "box"; + { +- boost::shared_ptr<const urdf::Box> box; +- box = boost::dynamic_pointer_cast<const urdf::Box >(_geom); ++ std::shared_ptr<const urdf::Box> box; ++ box = std::dynamic_pointer_cast<const urdf::Box >(_geom); + _sizeVals[0] = box->dim.x; + _sizeVals[1] = box->dim.y; + _sizeVals[2] = box->dim.z; +@@ -2470,8 +2471,8 @@ std::string GetGeometryBoundingBox( + case urdf::Geometry::CYLINDER: + type = "cylinder"; + { +- boost::shared_ptr<const urdf::Cylinder> cylinder; +- cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom); ++ std::shared_ptr<const urdf::Cylinder> cylinder; ++ cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom); + _sizeVals[0] = cylinder->radius * 2; + _sizeVals[1] = cylinder->radius * 2; + _sizeVals[2] = cylinder->length; +@@ -2480,16 +2481,16 @@ std::string GetGeometryBoundingBox( + case urdf::Geometry::SPHERE: + type = "sphere"; + { +- boost::shared_ptr<const urdf::Sphere> sphere; +- sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom); ++ std::shared_ptr<const urdf::Sphere> sphere; ++ sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom); + _sizeVals[0] = _sizeVals[1] = _sizeVals[2] = sphere->radius * 2; + } + break; + case urdf::Geometry::MESH: + type = "trimesh"; + { +- boost::shared_ptr<const urdf::Mesh> mesh; +- mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom); ++ std::shared_ptr<const urdf::Mesh> mesh; ++ mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom); + _sizeVals[0] = mesh->scale.x; + _sizeVals[1] = mesh->scale.y; + _sizeVals[2] = mesh->scale.z; +@@ -2513,7 +2514,7 @@ void PrintCollisionGroups(UrdfLinkPtr _l + << static_cast<int>(_link->collision_groups.size()) + << "] collisions.\n"; + for (std::map<std::string, +- boost::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator ++ std::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator + colsIt = _link->collision_groups.begin(); + colsIt != _link->collision_groups.end(); ++colsIt) + { +@@ -2906,7 +2907,7 @@ void CreateCollisions(TiXmlElement* _ele + // lumped meshes (fixed joint reduction) + #ifndef URDF_GE_0P3 + for (std::map<std::string, +- boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator ++ std::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator + collisionsIt = _link->collision_groups.begin(); + collisionsIt != _link->collision_groups.end(); ++collisionsIt) + { +@@ -3028,7 +3029,7 @@ void CreateVisuals(TiXmlElement* _elem, + // lumped meshes (fixed joint reduction) + #ifndef URDF_GE_0P3 + for (std::map<std::string, +- boost::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator ++ std::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator + visualsIt = _link->visual_groups.begin(); + visualsIt != _link->visual_groups.end(); ++visualsIt) + { +@@ -3411,7 +3412,7 @@ TiXmlDocument URDF2SDF::InitModelString( + g_enforceLimits = _enforceLimits; + + // Create a RobotModel from string +- boost::shared_ptr<urdf::ModelInterface> robotModel = ++ std::shared_ptr<urdf::ModelInterface> robotModel = + urdf::parseURDF(_urdfStr.c_str()); + + // an xml object to hold the xml result +@@ -3453,7 +3454,7 @@ TiXmlDocument URDF2SDF::InitModelString( + // fixed joint lumping only for selected joints + if (g_reduceFixedJoints) + ReduceFixedJoints(robot, +- (boost::const_pointer_cast< urdf::Link >(rootLink))); ++ (std::const_pointer_cast< urdf::Link >(rootLink))); + + if (rootLink->name == "world") + { +@@ -3514,7 +3515,7 @@ TiXmlDocument URDF2SDF::InitModelFile(co + } + + //////////////////////////////////////////////////////////////////////////////// +-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt) ++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt) + { + // A joint should be lumped only if its type is fixed and + // the disabledFixedJointLumping joint option is not set |