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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
|
