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Add quaternion in URDF attributes #123

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Add quaternion in URDF attributes #123

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ce63d47
Add quaternion in URDF attributes
VictorLamoine Feb 2, 2019
ee6bbbe
Rename to initQuaternion (singular)
VictorLamoine Feb 25, 2019
fb4d9d8
Make sure rpy and quat cannot be both specified
VictorLamoine Feb 27, 2019
7a3fe31
Explicit initialization order of quaternion: X Y Z W
VictorLamoine Mar 11, 2019
b377abc
Update CMake project and URDF version to 1.1.0
VictorLamoine Mar 18, 2019
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26 changes: 22 additions & 4 deletions urdf_parser/src/pose.cpp
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
Expand All @@ -17,7 +17,7 @@
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Expand Down Expand Up @@ -105,6 +105,13 @@ bool parsePose(Pose &pose, TiXmlElement* xml)
}

const char* rpy_str = xml->Attribute("rpy");
const char* quat_str = xml->Attribute("quat");
if (rpy_str != NULL && quat_str != NULL)
{
CONSOLE_BRIDGE_logError("Both rpy and quat orientations are defined. Use either one or the other.");
return false;
}

if (rpy_str != NULL)
{
try {
Expand All @@ -115,6 +122,17 @@ bool parsePose(Pose &pose, TiXmlElement* xml)
return false;
}
}

if (quat_str != NULL)
{
try {
pose.rotation.initQuaternion(quat_str);
}
catch (ParseError &e) {
CONSOLE_BRIDGE_logError(e.what());
return false;
}
}
}
return true;
}
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1 change: 1 addition & 0 deletions xsd/urdf.xsd
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Expand Up @@ -17,6 +17,7 @@
<xs:complexType name="pose">
<xs:attribute name="xyz" type="xs:string" default="0 0 0" />
<xs:attribute name="rpy" type="xs:string" default="0 0 0" />
<xs:attribute name="quat" type="xs:string" default="0 0 0 1" />
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Is there somewhere that it can be explicitly documented what the order of the quaternion is, in a way such that people don't have to look at the documentation of some upstream math library?

(This looks like xyzw... as a minor side comment, perhaps wxyz - where the non-imaginary part comes first - is a way to up-front distinguish the name from translation, if you were to make some accessor like wxyz or what not.)

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(This looks like xyzw... as a minor side comment, perhaps wxyz - where the non-imaginary part comes first - is a way to up-front distinguish the name from translation, if you were to make some accessor like wxyz or what not.)

I highly prefer xyzw, since that is what most of the ROS stuff uses (going to and from Eigen is the place where this hurts, but at least we should be internally consistent).

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Sounds good!

</xs:complexType>

<!-- pose node type -->
Expand Down