diff --git a/VirtualRobot/BoundingBox.cpp b/VirtualRobot/BoundingBox.cpp
index 6102408f982a95de75a29a5bc06f7377fbeebb67..f2d8a7338fcd1a9e20c97fa6669967b00d9828d3 100644
--- a/VirtualRobot/BoundingBox.cpp
+++ b/VirtualRobot/BoundingBox.cpp
@@ -144,5 +144,14 @@ void BoundingBox::transform( Eigen::Matrix4f &pose )
}
}
+void BoundingBox::scale( Eigen::Vector3f &scaleFactor )
+{
+ for (int i=0;i<3;i++)
+ {
+ min(i) *= scaleFactor(i);
+ max(i) *= scaleFactor(i);
+ }
+}
+
}
diff --git a/VirtualRobot/BoundingBox.h b/VirtualRobot/BoundingBox.h
index 692a76cd4d18e57f9064aede0aa8b467f06ec457..c5d644e0a3083c45324b15f183692f633f1cfcd1 100644
--- a/VirtualRobot/BoundingBox.h
+++ b/VirtualRobot/BoundingBox.h
@@ -88,6 +88,8 @@ public:
*/
void transform(Eigen::Matrix4f &pose);
+ void scale (Eigen::Vector3f &scaleFactor);
+
protected:
Eigen::Vector3f min;
Eigen::Vector3f max;
diff --git a/VirtualRobot/CollisionDetection/CollisionModel.cpp b/VirtualRobot/CollisionDetection/CollisionModel.cpp
index 0a8bde0d5ca45621cf458d7eb18c0ec7d4178c5a..f59be1f33d23918ff78490bd78fd681fb67e3f91 100644
--- a/VirtualRobot/CollisionDetection/CollisionModel.cpp
+++ b/VirtualRobot/CollisionDetection/CollisionModel.cpp
@@ -26,7 +26,6 @@ CollisionModel::CollisionModel(VisualizationNodePtr visu, const std::string &nam
VR_WARNING << "no col checker..." << endl;
}
- TriMeshModelPtr model;
visualization = visu;
updateVisualization = true;
if (visualization)
@@ -250,6 +249,22 @@ bool CollisionModel::saveModel( const std::string &modelPath, const std::string
return true; // no model given
}
+void CollisionModel::scale( Eigen::Vector3f &scaleFactor )
+{
+ if (model)
+ {
+ TriMeshModelPtr modelScaled = model->clone(scaleFactor);
+ bbox = modelScaled->boundingBox;
+#if defined(VR_COLLISION_DETECTION_PQP)
+ collisionModelImplementation.reset(new CollisionModelPQP(modelScaled, colChecker,id));
+#else
+ collisionModelImplementation.reset(new CollisionModelDummy(modelScaled, colChecker,id));
+#endif
+ }
+ if (visualization)
+ visualization->scale(scaleFactor);
+}
+
/*
void CollisionModel::GetAABB( SbBox3f& store_aabb )
{
diff --git a/VirtualRobot/CollisionDetection/CollisionModel.h b/VirtualRobot/CollisionDetection/CollisionModel.h
index c94433de87667a5168dc7a41f972b335be8bf626..f0cbff97a8926a3878a10ae8c42a526140d30ff0 100644
--- a/VirtualRobot/CollisionDetection/CollisionModel.h
+++ b/VirtualRobot/CollisionDetection/CollisionModel.h
@@ -138,6 +138,7 @@ public:
*/
virtual bool saveModel(const std::string &modelPath, const std::string &filename);
+ virtual void scale(Eigen::Vector3f &scaleFactor);
protected:
@@ -146,6 +147,7 @@ protected:
VisualizationNodePtr visualization; // this is the original visualization
VisualizationNodePtr modelVisualization; // this is the visualization of the trimeshmodel
bool updateVisualization;
+ TriMeshModelPtr model;
BoundingBox bbox;
diff --git a/VirtualRobot/CollisionDetection/CollisionModelImplementation.h b/VirtualRobot/CollisionDetection/CollisionModelImplementation.h
index 1816aac9ae352037108ef09b557e253f58e469e3..3b2083f4a2de0aa428db012634492b6b179825a6 100644
--- a/VirtualRobot/CollisionDetection/CollisionModelImplementation.h
+++ b/VirtualRobot/CollisionDetection/CollisionModelImplementation.h
@@ -69,6 +69,7 @@ public:
virtual void print() {cout << "Dummy Collision Model Implementation..." << endl;};
TriMeshModelPtr getTriMeshModel(){return modelData;}
+
protected:
//! delete all data
diff --git a/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.cpp b/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.cpp
index 6da416fb4c7f243cc2a1fb6082b163189b69c93b..3af35178583e5b76be6e00b7817cd3cd226d6760 100644
--- a/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.cpp
+++ b/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.cpp
@@ -99,4 +99,5 @@ void CollisionModelPQP::print()
cout << endl;
}
+
} // namespace
diff --git a/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.h b/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.h
index bf8623f9ef0bee88d4efdd8f069bd3327359d806..318d0adc031495319bc836f1a96b12ce5c2a527f 100644
--- a/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.h
+++ b/VirtualRobot/CollisionDetection/PQP/CollisionModelPQP.h
@@ -42,7 +42,7 @@ class CollisionChecker;
class CollisionCheckerPQP;
/*!
- A PQP related implementaion of a collision model.
+ A PQP related implementation of a collision model.
*/
class VIRTUAL_ROBOT_IMPORT_EXPORT CollisionModelPQP : public CollisionModelImplementation
{
diff --git a/VirtualRobot/Nodes/RobotNodePrismatic.cpp b/VirtualRobot/Nodes/RobotNodePrismatic.cpp
index 82d94669cd31822ed34ef4df375e45d45782b0ce..1c9f5867af22c7fb2069bb4fb2d5944de3667d8b 100644
--- a/VirtualRobot/Nodes/RobotNodePrismatic.cpp
+++ b/VirtualRobot/Nodes/RobotNodePrismatic.cpp
@@ -24,6 +24,8 @@ RobotNodePrismatic::RobotNodePrismatic(RobotWeakPtr rob,
) : RobotNode(rob,name,jointLimitLo,jointLimitHi,visualization,collisionModel,jointValueOffset,p,colChecker,type)
{
initialized = false;
+ visuScaling = false;
+ visuScaleFactor << 1.0f,1.0f,1.0f;
optionalDHParameter.isSet = false;
this->localTransformation = preJointTransform;
this->jointTranslationDirection = translationDirection;
@@ -80,13 +82,32 @@ RobotNodePrismatic::~RobotNodePrismatic()
bool RobotNodePrismatic::initialize(SceneObjectPtr parent, const std::vector<SceneObjectPtr> &children)
{
- return RobotNode::initialize(parent,children);
+ bool res = RobotNode::initialize(parent,children);
+ unscaledLocalCoM = physics.localCoM;
+ return res;
}
void RobotNodePrismatic::updateTransformationMatrices(const Eigen::Matrix4f &parentPose)
{
Eigen::Affine3f tmpT(Eigen::Translation3f((this->getJointValue()+jointValueOffset)*jointTranslationDirection));
globalPose = parentPose * getLocalTransformation() * tmpT.matrix();
+ if (visuScaling)
+ {
+ float scValue = 0;
+ if (jointValueOffset==0)
+ scValue = jointValue;
+ else
+ scValue = (jointValue) / jointValueOffset;
+ Eigen::Vector3f scVec;
+ for (int i=0;i<3;i++)
+ scVec(i) = 1.0f + visuScaleFactor(i) * scValue;
+ if (visualizationModel)
+ visualizationModel->scale(scVec);
+ if (collisionModel)
+ collisionModel->scale(scVec);
+ for (int i=0;i<3;i++)
+ physics.localCoM(i) = unscaledLocalCoM(i) * scVec(i);
+ }
}
void RobotNodePrismatic::print( bool printChildren, bool printDecoration ) const
@@ -98,7 +119,12 @@ void RobotNodePrismatic::print( bool printChildren, bool printDecoration ) const
RobotNode::print(false,false);
- cout << "* jointTranslationDirection: " << jointTranslationDirection[0] << ", " << jointTranslationDirection[1] << "," << jointTranslationDirection[2] << endl;
+ cout << "* jointTranslationDirection: " << jointTranslationDirection[0] << ", " << jointTranslationDirection[1] << "," << jointTranslationDirection[2] << endl;
+ cout << "* VisuScaling: ";
+ if (visuScaling)
+ cout << visuScaleFactor[0] << ", " << visuScaleFactor[1] << "," << visuScaleFactor[2] << endl;
+ else
+ cout << "disabled" << endl;
if (printDecoration)
cout << "******** End RobotNodePrismatic ********" << endl;
@@ -111,7 +137,7 @@ void RobotNodePrismatic::print( bool printChildren, bool printDecoration ) const
RobotNodePtr RobotNodePrismatic::_clone(const RobotPtr newRobot, const VisualizationNodePtr visualizationModel, const CollisionModelPtr collisionModel, CollisionCheckerPtr colChecker, float scaling)
{
- RobotNodePtr result;
+ boost::shared_ptr<RobotNodePrismatic> result;
ReadLockPtr lock = getRobot()->getReadLock();
Physics p = physics.scale(scaling);
if (optionalDHParameter.isSet)
@@ -123,6 +149,10 @@ RobotNodePtr RobotNodePrismatic::_clone(const RobotPtr newRobot, const Visualiza
lt.block(0,3,3,1) *= scaling;
result.reset(new RobotNodePrismatic(newRobot,name,jointLimitLo,jointLimitHi,lt,jointTranslationDirection,visualizationModel,collisionModel,jointValueOffset,p,colChecker,nodeType));
}
+ if (result && visuScaling)
+ {
+ result->setVisuScaleFactor(visuScaleFactor);
+ }
return result;
}
@@ -211,6 +241,17 @@ std::string RobotNodePrismatic::_toXML( const std::string &modelPath )
return ss.str();
}
+void RobotNodePrismatic::setVisuScaleFactor( Eigen::Vector3f &scaleFactor )
+{
+ if (scaleFactor.norm()==0.0f)
+ visuScaling = false;
+ else
+ {
+ visuScaling = true;
+ visuScaleFactor = scaleFactor;
+ }
+}
+
} // namespace
diff --git a/VirtualRobot/Nodes/RobotNodePrismatic.h b/VirtualRobot/Nodes/RobotNodePrismatic.h
index 2bcddca7721e92d8cbe45e2563b10534790b9743..eabf9b034198a749934cea184637ccfe7f542eba 100644
--- a/VirtualRobot/Nodes/RobotNodePrismatic.h
+++ b/VirtualRobot/Nodes/RobotNodePrismatic.h
@@ -97,6 +97,15 @@ public:
*/
Eigen::Vector3f getJointTranslationDirectionJointCoordSystem() const;
+ /*!
+ Enables scaling of visualization and collision model according to joint value.
+ The jointOffset is used to determine the unscaled value.
+ Be careful, the scaling triggers a computation of the collision model, which may be time consuming.
+ \param scaleFactor If (0,0,0), the scaling is disabled, otherwise the value indicates the scale factors for each dimension.
+
+ */
+ void setVisuScaleFactor(Eigen::Vector3f &scaleFactor);
+
protected:
/*!
Can be called by a RobotNodeActuator in order to set the pose of this node.
@@ -120,6 +129,10 @@ protected:
*/
virtual std::string _toXML(const std::string &modelPath);
+ bool visuScaling;
+ Eigen::Vector3f visuScaleFactor;
+ Eigen::Vector3f unscaledLocalCoM;
+
};
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
index e8e1f6c4c16ac84c81a22cedbb02fa134a2e076c..c6d9ba7236a0f692abd9bda912ab9d92c550e91d 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.cpp
@@ -48,7 +48,13 @@ CoinVisualizationNode::CoinVisualizationNode(SoNode* visualizationNode) :
visualization = new SoSeparator(); // create dummy node
visualization->ref();
- visualizationAtGlobalPose->addChild(visualization);
+ scaledVisualization = new SoSeparator;
+ scaledVisualization->ref();
+ scaling = new SoScale;
+ scaling->scaleFactor.setValue(1.0f,1.0f,1.0f);
+ scaledVisualization->addChild(scaling);
+ scaledVisualization->addChild(visualization);
+ visualizationAtGlobalPose->addChild(scaledVisualization);
}
@@ -65,6 +71,8 @@ CoinVisualizationNode::~CoinVisualizationNode()
attachedVisualizationsSeparator->unref();
if (visualizationAtGlobalPose)
visualizationAtGlobalPose->unref();
+ if (scaledVisualization)
+ scaledVisualization->unref();
}
/*
@@ -116,7 +124,7 @@ TriMeshModelPtr CoinVisualizationNode::getTriMeshModel()
* CoinVisualizationNode::triMeshModel.
* If CoinVisualizationMode::visualization is invalid VirtualRobotException
* is thrown.
- * Otherwise CoinVisualizationNode::InentorTriangleCB() is called on the
+ * Otherwise CoinVisualizationNode::InventorTriangleCB() is called on the
* Inventor graph stored in CoinVisualizationNode::visualization.
*/
void CoinVisualizationNode::createTriMeshModel()
@@ -306,10 +314,10 @@ void CoinVisualizationNode::setupVisualization( bool showVisualization, bool sho
visualizationAtGlobalPose->removeChild(attachedVisualizationsSeparator);
- if (showVisualization && visualizationAtGlobalPose->findChild(visualization)<0)
- visualizationAtGlobalPose->addChild(visualization);
- if (!showVisualization && visualizationAtGlobalPose->findChild(visualization)>=0)
- visualizationAtGlobalPose->removeChild(visualization);
+ if (showVisualization && visualizationAtGlobalPose->findChild(scaledVisualization)<0)
+ visualizationAtGlobalPose->addChild(scaledVisualization);
+ if (!showVisualization && visualizationAtGlobalPose->findChild(scaledVisualization)>=0)
+ visualizationAtGlobalPose->removeChild(scaledVisualization);
}
void CoinVisualizationNode::setVisualization( SoNode* newVisu )
@@ -375,4 +383,10 @@ bool CoinVisualizationNode::saveModel(const std::string &modelPath, const std::s
return true;
}
+void CoinVisualizationNode::scale( Eigen::Vector3f &scaleFactor )
+{
+ scaling->scaleFactor.setValue(scaleFactor(0),scaleFactor(1),scaleFactor(2));
+ triMeshModel.reset();
+}
+
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h
index f35d5b40b6ab8af3b4cca3dae9a40c0312a46d46..c23984fe0b7d6b0443fd2239d8d119ebcbc15b1e 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationNode.h
@@ -31,6 +31,7 @@
class SoNode;
class SoSeparator;
+class SoScale;
class SoCallbackAction;
class SoPrimitiveVertex;
class SoMatrixTransform;
@@ -53,6 +54,8 @@ public:
virtual void print();
+ virtual void scale(Eigen::Vector3f &scaleFactor);
+
/*!
Attach an optional visualization to this VisualizationNode. The attached visualizations will not show up in the TriMeshModel.
If there is already a visualization attached with the given name, it is quietly replaced.
@@ -101,10 +104,12 @@ protected:
SoNode* visualization;
SoSeparator* visualizationAtGlobalPose;
SoSeparator* attachedVisualizationsSeparator;
+ SoSeparator* scaledVisualization;
std::map< std::string, SoNode* > attachedCoinVisualizations; //< These optional visualizations will not show up in the TriMeshModel
SoMatrixTransform *globalPoseTransform;
- TriMeshModelPtr triMeshModel;
+ TriMeshModelPtr triMeshModel;
+ SoScale* scaling;
static void InventorTriangleCB(void* data, SoCallbackAction* action,
const SoPrimitiveVertex* v1,
diff --git a/VirtualRobot/Visualization/TriMeshModel.cpp b/VirtualRobot/Visualization/TriMeshModel.cpp
index ec3498c56ae58e413d856e73ec9ec51c1206c68e..6afc7881f8883d538e8b50d248d403c99c2e5252 100644
--- a/VirtualRobot/Visualization/TriMeshModel.cpp
+++ b/VirtualRobot/Visualization/TriMeshModel.cpp
@@ -286,5 +286,36 @@ void TriMeshModel::print()
cout.precision(pr);
}
+void TriMeshModel::scale( Eigen::Vector3f &scaleFactor )
+{
+ if (scaleFactor(0) == 1.0f && scaleFactor(1) == 1.0f && scaleFactor(2) == 1.0f)
+ return;
+ for (size_t i=0; i < vertices.size(); i++)
+ {
+ for (int j=0;j<3;j++)
+ {
+ vertices[i][j] *= scaleFactor(j);
+ }
+ }
+ boundingBox.scale(scaleFactor);
+}
+
+VirtualRobot::TriMeshModelPtr TriMeshModel::clone()
+{
+ Eigen::Vector3f scaleFactor;
+ scaleFactor << 1.0f,1.0f,1.0f;
+ return clone(scaleFactor);
+}
+
+VirtualRobot::TriMeshModelPtr TriMeshModel::clone( Eigen::Vector3f &scaleFactor )
+{
+ TriMeshModelPtr r(new TriMeshModel());
+ r->vertices = vertices;
+ r->faces = faces;
+ r->boundingBox = boundingBox;
+ r->scale(scaleFactor);
+ return r;
+}
+
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/TriMeshModel.h b/VirtualRobot/Visualization/TriMeshModel.h
index 00b4937fd4bc0c8a66f92763dc599cee5dc47026..e6cb80afe037cd89ce3aecd1f1c65757e1f7a53e 100644
--- a/VirtualRobot/Visualization/TriMeshModel.h
+++ b/VirtualRobot/Visualization/TriMeshModel.h
@@ -51,6 +51,10 @@ public:
bool checkFacesHaveSameEdge(const MathTools::TriangleFace& face1, const MathTools::TriangleFace& face2, std::vector<std::pair<int, int> >& commonVertexIds) const;
unsigned int checkAndCorrectNormals(bool inverted);
+ virtual void scale(Eigen::Vector3f &scaleFactor);
+ TriMeshModelPtr clone ();
+ TriMeshModelPtr clone (Eigen::Vector3f &scaleFactor);
+
std::vector<Eigen::Vector3f> vertices;
std::vector<MathTools::TriangleFace> faces;
BoundingBox boundingBox;
diff --git a/VirtualRobot/Visualization/VisualizationNode.cpp b/VirtualRobot/Visualization/VisualizationNode.cpp
index a8e0a16acb326de756fc99636ffea9c3632da8e7..dc9f441cdfe4d5b34f9bf80534054f2fd1c3e58e 100644
--- a/VirtualRobot/Visualization/VisualizationNode.cpp
+++ b/VirtualRobot/Visualization/VisualizationNode.cpp
@@ -205,5 +205,10 @@ bool VisualizationNode::saveModel(const std::string &modelPath, const std::strin
return false;
}
+void VisualizationNode::scale( Eigen::Vector3f &scaleFactor )
+{
+ VR_WARNING << "not implemented..." << endl;
+}
+
} // namespace VirtualRobot
diff --git a/VirtualRobot/Visualization/VisualizationNode.h b/VirtualRobot/Visualization/VisualizationNode.h
index 7f9c0e43e988c08df168d39c02b590af2ea9c748..57608b8a8a58496ebc624d7836e7bda7f9eccb1b 100644
--- a/VirtualRobot/Visualization/VisualizationNode.h
+++ b/VirtualRobot/Visualization/VisualizationNode.h
@@ -143,6 +143,8 @@ public:
*/
virtual bool saveModel(const std::string &modelPath, const std::string &filename);
+ virtual void scale(Eigen::Vector3f &scaleFactor);
+
protected:
bool boundingBox; //!< Indicates, if the bounding box model was used
std::string filename; //!< if the visualization was build from a file, the filename is stored here
diff --git a/VirtualRobot/XML/RobotIO.cpp b/VirtualRobot/XML/RobotIO.cpp
index d663b93b75ce2c6c05a38a6feec87fc5cf937a89..0c7a69ce5b16f2e5b95b39b4962f5bb67dc60983 100644
--- a/VirtualRobot/XML/RobotIO.cpp
+++ b/VirtualRobot/XML/RobotIO.cpp
@@ -8,6 +8,7 @@
#include "../Nodes/RobotNodeFactory.h"
#include "../Nodes/SensorFactory.h"
#include "../Nodes/RobotNodeFixedFactory.h"
+#include "../Nodes/RobotNodePrismatic.h"
#include "../Transformation/DHParameter.h"
#include "../Visualization/VisualizationFactory.h"
#include "../Visualization/TriMeshModel.h"
@@ -196,6 +197,7 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
rapidxml::xml_attribute<> *attr;
float jointOffset = 0.0f;
+ float initialvalue = 0.0f;
std::string jointType;
RobotNodePtr robotNode;
@@ -219,11 +221,17 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
jointType = RobotNodeFixedFactory::getName();
}
- attr = jointXMLNode->first_attribute("offset", 0, false);
- if (attr)
- {
- jointOffset = convertToFloat(attr->value());
- }
+ attr = jointXMLNode->first_attribute("offset", 0, false);
+ if (attr)
+ {
+ jointOffset = convertToFloat(attr->value());
+ }
+
+ attr = jointXMLNode->first_attribute("initialvalue", 0, false);
+ if (attr)
+ {
+ initialvalue = convertToFloat(attr->value());
+ }
rapidxml::xml_node<>* node = jointXMLNode->first_node();
rapidxml::xml_node<> *tmpXMLNodeAxis = NULL;
@@ -233,6 +241,8 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
float maxVelocity = 1.0f; // m/s
float maxAcceleration = 1.0f; // m/s^2
float maxTorque = 1.0f; // Nm
+ float scaleVisu = false;
+ Eigen::Vector3f scaleVisuFactor = Eigen::Vector3f::Zero();
while (node)
{
@@ -345,7 +355,13 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
if (attrPropa)
f = convertToFloat(attrPropa->value());
propagateJVFactor.push_back(f);
- }
+ }else if (nodeName == "scalevisualization")
+ {
+ scaleVisu = true;
+ scaleVisuFactor[0] = getFloatByAttributeName(node, "x");
+ scaleVisuFactor[1] = getFloatByAttributeName(node, "y");
+ scaleVisuFactor[2] = getFloatByAttributeName(node, "z");
+ }
else
{
THROW_VR_EXCEPTION("XML definition <" << nodeName << "> not supported in <Joint> tag of RobotNode <" << robotNodeName << ">." << endl);
@@ -368,6 +384,11 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
*/
if (jointType=="revolute")
{
+ if (scaleVisu)
+ {
+ VR_WARNING << "Ignoring ScaleVisualization in Revolute joint." << endl;
+ scaleVisu = false;
+ }
if (tmpXMLNodeAxis)
{
axis[0] = getFloatByAttributeName(tmpXMLNodeAxis, "x");
@@ -391,6 +412,11 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
{
THROW_VR_EXCEPTION("Prismatic joint '" << robotNodeName << "' wrongly defined, expecting 'TranslationDirection' tag." << endl);
}
+ if (scaleVisu)
+ {
+ THROW_VR_EXCEPTION_IF(scaleVisuFactor.norm() == 0.0f,"Zero scale factor");
+
+ }
}
//}
@@ -413,6 +439,8 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
robotNode->setMaxAcceleration(maxAcceleration);
robotNode->setMaxTorque(maxTorque);
+ robotNode->jointValue = initialvalue;
+
if (robotNode->isRotationalJoint() || robotNode->isTranslationalJoint())
{
if (robotNode->jointValue < robotNode->jointLimitLo)
@@ -420,6 +448,12 @@ RobotNodePtr RobotIO::processJointNode(rapidxml::xml_node<char> *jointXMLNode, c
else if (robotNode->jointValue > robotNode->jointLimitHi)
robotNode->jointValue =robotNode->jointLimitHi;
}
+ if (scaleVisu)
+ {
+ boost::shared_ptr<RobotNodePrismatic> rnPM = boost::dynamic_pointer_cast<RobotNodePrismatic>(robotNode);
+ if (rnPM)
+ rnPM->setVisuScaleFactor(scaleVisuFactor);
+ }
VR_ASSERT (propagateJVName.size() == propagateJVFactor.size());
for (size_t i=0;i<propagateJVName.size();i++)
diff --git a/VirtualRobot/data/robots/examples/SimpleRobot/JointTranslation.xml b/VirtualRobot/data/robots/examples/SimpleRobot/JointTranslation.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67b34f62784b89610825fcd11b31bdd6bde1ec59
--- /dev/null
+++ b/VirtualRobot/data/robots/examples/SimpleRobot/JointTranslation.xml
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Simple3DoFRobot" RootNode="Joint1">
+
+ <RobotNode name="Joint1">
+ <Visualization enable="true">
+ <File type="inventor">box.iv</File>
+ <UseAsCollisionModel/>
+ </Visualization>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1" units="kg" />
+ </Physics>
+ <Child name="Joint2"/>
+ </RobotNode>
+
+ <!--RobotNode name="Joint2a">
+ <Child name="Joint2b"/>
+ </RobotNode-->
+
+ <RobotNode name="Joint2">
+ <Transform>
+ <translation x="0" y="0" z="3000"/>
+ <rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <axis x="1" y="0" z="0"/>
+ <Limits unit="degree" lo="-90" hi="90"/>
+ </Joint>
+ <Child name="Joint3"/>
+ </RobotNode>
+
+
+ <RobotNode name="Joint3">
+ <Joint type="prismatic" offset="3000">
+ <TranslationDirection x="0" y="0" z="1"/>
+ <Limits unit="mm" lo="-1000" hi="4000"/>
+ <ScaleVisualization x="0.1" y="0.1" z="1"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="inventor">box2.iv</File>
+ <UseAsCollisionModel/>
+ </Visualization>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1" units="kg" />
+ </Physics>
+ <Child name="Joint4"/>
+ </RobotNode>
+
+
+ <RobotNode name="Joint4">
+ <Visualization enable="true">
+ <File type="inventor">sphere.iv</File>
+ <UseAsCollisionModel/>
+ </Visualization>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1" units="kg" />
+ </Physics>
+ </RobotNode>
+
+</Robot>
diff --git a/VirtualRobot/data/robots/examples/SimpleRobot/box2.iv b/VirtualRobot/data/robots/examples/SimpleRobot/box2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b431e7f53fc00f4e148f3581b643db7e24400d14
--- /dev/null
+++ b/VirtualRobot/data/robots/examples/SimpleRobot/box2.iv
@@ -0,0 +1,19 @@
+#Inventor V2.0 ascii
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+ }
+ Material {
+ diffuseColor 1 1 1
+ }
+ Translation {
+ translation 0 0 -1500
+ }
+ Cube {
+ width 500
+ height 500
+ depth 3000
+ }
+}
\ No newline at end of file