bool parseJointDynamics(JointDynamics &jd, TiXmlElement* config)
{
jd.clear();
// Get joint damping
const char* damping_str = config->Attribute("damping");
if (damping_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: no damping, defaults to 0");
jd.damping = 0;
}
else
{
try
{
jd.damping = boost::lexical_cast<double>(damping_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("damping value (%s) is not a float: %s",damping_str, e.what());
return false;
}
}
// Get joint friction
const char* friction_str = config->Attribute("friction");
if (friction_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: no friction, defaults to 0");
jd.friction = 0;
}
else
{
try
{
jd.friction = boost::lexical_cast<double>(friction_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("friction value (%s) is not a float: %s",friction_str, e.what());
return false;
}
}
if (damping_str == NULL && friction_str == NULL)
{
CONSOLE_BRIDGE_logError("joint dynamics element specified with no damping and no friction");
return false;
}
else{
CONSOLE_BRIDGE_logDebug("urdfdom.joint_dynamics: damping %f and friction %f", jd.damping, jd.friction);
return true;
}
}
bool parseJointDynamics(JointDynamics &jd, TiXmlElement* config)
{
jd.clear();
// Get joint damping
const char* damping_str = config->Attribute("damping");
if (damping_str == NULL){
//std::cout<<"joint dynamics: no damping, defaults to 1"<<std::endl;
jd.damping = 0;
}
else
{
try
{
jd.damping = boost::lexical_cast<double>(damping_str);
}
catch (boost::bad_lexical_cast &e)
{
std::cout<<"damping value ("<< damping_str<<") is not a float: "<< e.what()<< std::endl;
return false;
}
}
// Get joint friction
const char* friction_str = config->Attribute("friction");
if (friction_str == NULL){
//std::cout<<"joint dynamics: no friction, defaults to 0"<<std::endl;
jd.friction = 0;
}
else
{
try
{
jd.friction = boost::lexical_cast<double>(friction_str);
}
catch (boost::bad_lexical_cast &e)
{
std::cout<<"friction value ("<< friction_str<< ") is not a float: "<< e.what() << std::endl;
return false;
}
}
if (damping_str == NULL && friction_str == NULL)
{
//printf("joint dynamics element specified with no damping and no friction \n");
return false;
}
else{
//printf("joint dynamics: damping %f and friction %f", jd.damping, jd.friction);
return true;
}
}
