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Skylion007
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Jun 8, 2021
eundersander
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I know this class is adapted from Bullet code so I expect we don't want to modify it too much. Still, I added some comments.
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| // parse a loaded URDF string into relevant general data structures | ||
| // return false if the string is not a valid urdf or other error causes abort | ||
| bool parseURDF(std::shared_ptr<Model>& model, |
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Nit: kinda a strange interface to pass in a reference to a shared_ptr to be populated. How about just return a valid shared_ptr or null on failure?
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Yeah, that makes sense. Was following the parser paradigm of filling reference input variables, but perhaps the top-level API here should just return the smart pointer. Easy enough refactor. 👍
Skylion007
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Motivation and Context
This change introduces the
esp::io::URDFnamespace containing aParserfor xml based URDF files (using tinyxml) and aModelstruct (plus supporting datastrctures) to cache articulated object metadata before instancing. No physics simulation or Bullet implementation is included at this stage.How Has This Been Tested
Added a new C++ test
IOTest::parseURDFwith URDF parsing and validation of a test file.Types of changes
Checklist