Skip to content

assign correct MaterialPtr to all visuals #114

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 4 commits into from
Jan 30, 2019
Merged

assign correct MaterialPtr to all visuals #114

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
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
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion urdf_parser/src/link.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -381,7 +381,7 @@ bool parseVisual(Visual &vis, TiXmlElement *config)
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();
Copy link
Contributor Author

@rhaschke rhaschke Jan 18, 2019

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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

}
}

Expand Down
56 changes: 33 additions & 23 deletions urdf_parser/src/model.cpp
View file
Open in desktop
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 @@ -137,32 +164,15 @@ 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());
Copy link
Contributor Author

@rhaschke rhaschke Jan 18, 2019

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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));
Expand Down