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authorAlexis Ballier <aballier@gentoo.org>2016-07-26 10:04:33 +0200
committerAlexis Ballier <aballier@gentoo.org>2016-07-26 11:18:30 +0200
commit083207741bc59c0dc3e4c15a982225c94e3ee8af (patch)
tree41607a4915e2dbba011bdc58b1333f94f4a9bc74 /dev-ros
parentdev-ros/collada_urdf: remove old (diff)
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dev-ros/collada_urdf: fix build with urdfdom1
Package-Manager: portage-2.3.0
Diffstat (limited to 'dev-ros')
-rw-r--r--dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild (renamed from dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild)10
-rw-r--r--dev-ros/collada_urdf/files/urdfdom1.patch185
2 files changed, 193 insertions, 2 deletions
diff --git a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild
index bea7a16f72a..ef087a9e678 100644
--- a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild
+++ b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild
@@ -7,7 +7,7 @@ ROS_REPO_URI="https://github.com/ros/robot_model"
KEYWORDS="~amd64 ~arm"
ROS_SUBDIR=${PN}
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
LICENSE="BSD"
@@ -19,7 +19,7 @@ RDEPEND="
dev-ros/angles
dev-ros/collada_parser
dev-ros/resource_retriever
- dev-ros/urdf
+ >=dev-ros/urdf-1.12.3-r1
dev-ros/geometric_shapes
dev-ros/tf
media-libs/assimp
@@ -27,3 +27,9 @@ RDEPEND="
dev-libs/collada-dom
"
DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
+
+src_configure() {
+ append-cxxflags -std=gnu++11
+ ros-catkin_src_configure
+}
diff --git a/dev-ros/collada_urdf/files/urdfdom1.patch b/dev-ros/collada_urdf/files/urdfdom1.patch
new file mode 100644
index 00000000000..dd47d87f24c
--- /dev/null
+++ b/dev-ros/collada_urdf/files/urdfdom1.patch
@@ -0,0 +1,185 @@
+Index: collada_urdf/src/collada_urdf.cpp
+===================================================================
+--- collada_urdf.orig/src/collada_urdf.cpp
++++ collada_urdf/src/collada_urdf.cpp
+@@ -538,7 +538,7 @@ private:
+ domInstance_with_extraRef piscene;
+ };
+
+- typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
++ typedef std::map< std::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
+ struct LINKOUTPUT
+ {
+ list<pair<int,string> > listusedlinks;
+@@ -562,7 +562,7 @@ private:
+ axis_output() : iaxis(0) {
+ }
+ string sid, nodesid;
+- boost::shared_ptr<const urdf::Joint> pjoint;
++ std::shared_ptr<const urdf::Joint> pjoint;
+ int iaxis;
+ string jointnodesid;
+ };
+@@ -788,7 +788,7 @@ protected:
+
+ for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) {
+ string axis_infosid = _ComputeId(str(boost::format("axis_info_inst%d")%idof));
+- boost::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
++ std::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
+ BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof);
+ //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis;
+
+@@ -966,7 +966,7 @@ protected:
+ kmout->vlinksids.resize(_robot.links_.size());
+
+ FOREACHC(itjoint, _robot.joints_) {
+- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
++ std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+ int index = _mapjointindices[itjoint->second];
+ domJointRef pdomjoint = daeSafeCast<domJoint>(ktec->add(COLLADA_ELEMENT_JOINT));
+ string jointid = _ComputeId(pjoint->name); //str(boost::format("joint%d")%index);
+@@ -1039,7 +1039,7 @@ protected:
+ // create the formulas for all mimic joints
+ FOREACHC(itjoint, _robot.joints_) {
+ string jointsid = _ComputeId(itjoint->second->name);
+- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
++ std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+ if( !pjoint->mimic ) {
+ continue;
+ }
+@@ -1125,7 +1125,7 @@ protected:
+ /// \param pkinparent Kinbody parent
+ /// \param pnodeparent Node parent
+ /// \param strModelUri
+- virtual LINKOUTPUT _WriteLink(boost::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
++ virtual LINKOUTPUT _WriteLink(std::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
+ {
+ LINKOUTPUT out;
+ int linkindex = _maplinkindices[plink];
+@@ -1141,8 +1141,8 @@ protected:
+ pnode->setSid(nodesid.c_str());
+ pnode->setName(plink->name.c_str());
+
+- boost::shared_ptr<urdf::Geometry> geometry;
+- boost::shared_ptr<urdf::Material> material;
++ std::shared_ptr<urdf::Geometry> geometry;
++ std::shared_ptr<urdf::Material> material;
+ urdf::Pose geometry_origin;
+ if( !!plink->visual ) {
+ geometry = plink->visual->geometry;
+@@ -1161,7 +1161,7 @@ protected:
+ if ( !!plink->visual ) {
+ if (plink->visual_array.size() > 1) {
+ int igeom = 0;
+- for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
++ for (std::vector<std::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
+ it != plink->visual_array.end(); it++) {
+ // geom
+ string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
+@@ -1208,7 +1208,7 @@ protected:
+
+ // process all children
+ FOREACHC(itjoint, plink->child_joints) {
+- boost::shared_ptr<urdf::Joint> pjoint = *itjoint;
++ std::shared_ptr<urdf::Joint> pjoint = *itjoint;
+ int index = _mapjointindices[pjoint];
+
+ // <attachment_full joint="k1/joint0">
+@@ -1269,7 +1269,7 @@ protected:
+ return out;
+ }
+
+- domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
++ domGeometryRef _WriteGeometry(std::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
+ {
+ domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY));
+ cgeometry->setId(geometry_id.c_str());
+@@ -1308,7 +1308,7 @@ protected:
+ return cgeometry;
+ }
+
+- void _WriteMaterial(const string& geometry_id, boost::shared_ptr<urdf::Material> material)
++ void _WriteMaterial(const string& geometry_id, std::shared_ptr<urdf::Material> material)
+ {
+ string effid = geometry_id+string("_eff");
+ string matid = geometry_id+string("_mat");
+@@ -1386,7 +1386,7 @@ protected:
+ rigid_body->setSid(rigidsid.c_str());
+ rigid_body->setName(itlink->second->name.c_str());
+ domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
+- boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
++ std::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
+ if( !!inertial ) {
+ daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
+ domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
+@@ -1916,9 +1916,9 @@ private:
+
+ boost::shared_ptr<instance_kinematics_model_output> _ikmout;
+ boost::shared_ptr<instance_articulated_system_output> _iasout;
+- std::map< boost::shared_ptr<const urdf::Joint>, int > _mapjointindices;
+- std::map< boost::shared_ptr<const urdf::Link>, int > _maplinkindices;
+- std::map< boost::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
++ std::map< std::shared_ptr<const urdf::Joint>, int > _mapjointindices;
++ std::map< std::shared_ptr<const urdf::Link>, int > _maplinkindices;
++ std::map< std::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
+ Assimp::Importer _importer;
+ };
+
+Index: collada_urdf/src/collada_to_urdf.cpp
+===================================================================
+--- collada_urdf.orig/src/collada_to_urdf.cpp
++++ collada_urdf/src/collada_to_urdf.cpp
+@@ -188,7 +188,7 @@ void assimp_calc_bbox(string fname, floa
+ }
+ }
+
+-void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
++void addChildLinkNamesXML(std::shared_ptr<const Link> link, ofstream& os)
+ {
+ os << " <link name=\"" << link->name << "\">" << endl;
+ if ( !!link->visual ) {
+@@ -405,14 +405,14 @@ void addChildLinkNamesXML(boost::shared_
+ }
+ #endif
+
+- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
++ for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
+ addChildLinkNamesXML(*child, os);
+ }
+
+-void addChildJointNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
++void addChildJointNamesXML(std::shared_ptr<const Link> link, ofstream& os)
+ {
+ double r, p, y;
+- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
++ for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
+ (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
+ std::string jtype;
+ if ( (*child)->parent_joint->type == urdf::Joint::UNKNOWN ) {
+@@ -443,7 +443,7 @@ void addChildJointNamesXML(boost::shared
+ os << " <axis xyz=\"" << (*child)->parent_joint->axis.x << " ";
+ os << (*child)->parent_joint->axis.y << " " << (*child)->parent_joint->axis.z << "\"/>" << endl;
+ {
+- boost::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
++ std::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
+
+ if ( !!jt->limits ) {
+ os << " <limit ";
+@@ -501,7 +501,7 @@ void addChildJointNamesXML(boost::shared
+ }
+ }
+
+-void printTreeXML(boost::shared_ptr<const Link> link, string name, string file)
++void printTreeXML(std::shared_ptr<const Link> link, string name, string file)
+ {
+ std::ofstream os;
+ os.open(file.c_str());
+@@ -667,7 +667,7 @@ int main(int argc, char** argv)
+ }
+ xml_file.close();
+
+- boost::shared_ptr<ModelInterface> robot;
++ std::shared_ptr<ModelInterface> robot;
+ if( xml_string.find("<COLLADA") != std::string::npos )
+ {
+ ROS_DEBUG("Parsing robot collada xml string");