diff options
Diffstat (limited to 'dev-libs/sdformat/files/urdfdom1.patch')
-rw-r--r-- | dev-libs/sdformat/files/urdfdom1.patch | 392 |
1 files changed, 0 insertions, 392 deletions
diff --git a/dev-libs/sdformat/files/urdfdom1.patch b/dev-libs/sdformat/files/urdfdom1.patch deleted file mode 100644 index d76376aec016..000000000000 --- a/dev-libs/sdformat/files/urdfdom1.patch +++ /dev/null @@ -1,392 +0,0 @@ -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 |