Allow to attach a robot at a specified frame. #91
Conversation
|
Please, wait before merging this. It is incomplete. |
jmirabel
changed the title
jmirabel
changed the title
|
It is now ready. |
|
For reference, this implement thread safety in class Frame. #74 |
|
|
||
| hppDout (notice, "Finished parsing URDF file."); | ||
|
|
||
| GeomModel geomModel; | ||
|
|
||
| std::vector<std::string> baseDirs = ::pinocchio::rosPaths(); | ||
| fcl::MeshLoaderPtr loader (new fcl::CachedMeshLoader); | ||
| ::pinocchio::urdf::buildGeom(model, urdfStream, ::pinocchio::COLLISION, geomModel, baseDirs, loader); | ||
| static fcl::MeshLoaderPtr loader (new fcl::CachedMeshLoader (fcl::BV_OBB)); |
There was a problem hiding this comment.
@stonneau your problem comes from here. Before, we used BV_OBBRSS. OBB-RSS bounding volume allows distance computation, while OBB does not. I switched to OBB because it takes much less memory.
I see two ways of solving this issue:
- modify hpp-fcl so that OBB can handle distance computation. I believe that it isn't hard to implement but that it will be slower than OBBRSS.
- make the BV type modifiable somehow.
There was a problem hiding this comment.
The next HPP release will be done with OBBRSS. We will include the implementation of the features above in a next release.
There was a problem hiding this comment.
Adressed in coal-library/coal#70
There was a problem hiding this comment.
I haven't benchmarked the performances though. @stonneau are they critical for its use in rbprm ?
58118f0 makes the MeshLoader static. This is questionable since the FCL objects will not be released even after destroying a problem. When relaunching the same script however, it speeds up creating the robot, since the mesh files are already parsed and stored into memory.