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Inconsistent joint order after calling connectURDF #38

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Inconsistent joint order after calling connectURDF #38

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87dfd08
fixed inconsistent joint order after calling connectURDF
Jun 18, 2021
eedde20
log message is only printed if joint order is changed
Jun 18, 2021
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30 changes: 30 additions & 0 deletions src/RcsCore/Rcs_URDFParser.c
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Original file line number Diff line number Diff line change
Expand Up @@ -545,6 +545,33 @@ RcsJoint* parseJointURDF(xmlNode* node)
return jnt;
}

/*******************************************************************************
* Corrects the joint order.
* When executing the connectURDF function, previous joints do not necessarily
* exist (yet) which can mess up the joint order for the Jacobian backward traversal.
* Therefore, after calling connectURDF, this function must be called for making
* the joint order consistent.
******************************************************************************/
static void makeJointOrderConsistent(RcsBody* bdy)
{
RCSBODY_TRAVERSE_BODIES(bdy)
{
RcsBody* parentBdy = BODY->parent;
RcsJoint* prevJnt = RcsBody_lastJointBeforeBody(parentBdy);
RCSBODY_TRAVERSE_JOINTS(BODY)
{
if(prevJnt != JNT->prev)
{
RLOG(5, "Joint \"%s\" previous joint was \"%s\", previous joint now \"%s\"",
JNT->name, (JNT->prev == NULL) ? "NULL" : JNT->prev->name,
(prevJnt == NULL) ? "NULL" : prevJnt->name);
JNT->prev = prevJnt;
JNT->next = NULL;
}
}
}
}

/*******************************************************************************
* Connect bodies and joints.
* URDF is a bit limited in the sense that there's only one actuated joint
Expand Down Expand Up @@ -1049,6 +1076,9 @@ RcsBody* RcsGraph_rootBodyFromURDFFile(const char* filename,
RCHECK_MSG(root, "Couldn't find root link in URFD model - did you "
"define a cyclic model?");

// Make the joint order consistent
makeJointOrderConsistent(root);

// Clean up
xmlFreeDoc(doc);
RFREE(bdyVec);
Expand Down