/// <summary>
/// Initializes RobotLinks and sets a boolean to its Visuals dictionary,
/// telling whether the model of individual visual was already imported (is type of box, cylinder, capsule)
/// or not yet (is mesh - is going to be continually imported from ColladaImporter).
/// </summary>
public void LoadLinks()
{
// Get all UrdfLink components in builded Robot
foreach (UrdfLink link in RobotModelGameObject.GetComponentsInChildren <UrdfLink>())
{
// Get all UrdfVisuals of each UrdfLink
GameObject visualsGameObject = link.gameObject.GetComponentInChildren <UrdfVisuals>().gameObject;
Dictionary <UrdfVisual, bool> visuals = new Dictionary <UrdfVisual, bool>();
// Traverse each UrdfVisual and set a boolean indicating whether its visual is already loaded (is of some basic type - box, cylinder, capsule)
// or is going to be loaded by ColladaImporter (in case its type of mesh)
foreach (UrdfVisual visual in visualsGameObject.GetComponentsInChildren <UrdfVisual>())
{
visuals.Add(visual, visual.GeometryType == GeometryTypes.Mesh ? false : true);
// hide visual if it is mesh.. mesh will be displayed when fully loaded
visual.gameObject.SetActive(visual.GeometryType == GeometryTypes.Mesh ? false : true);
}
UrdfJoint urdfJoint = link.GetComponent <UrdfJoint>();
JointStateWriter jointWriter = null;
if (urdfJoint != null)
{
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
jointWriter = urdfJoint.transform.AddComponentIfNotExists <JointStateWriter>();
Joints.Add(urdfJoint.JointName, link.gameObject.name);
}
}
Links.Add(link.gameObject.name, new RobotLink(link.gameObject.name, urdfJoint, jointWriter, visuals, is_base_link: link.IsBaseLink));
}
}
// Start is called before the first frame update
void Start()
{
writer = GetComponentInParent <JointStateWriter>();
if (writer == null)
{
Debug.Log("No Writer Component found in Module " + transform.parent.name);
}
}
public RobotLink(string link_name, UrdfJoint urdf_joint, JointStateWriter joint_writer, Dictionary <UrdfVisual, bool> visuals_gameObject = null, bool is_base_link = false)
{
LinkName = link_name;
UrdfJoint = urdf_joint;
jointWriter = joint_writer;
Visuals = visuals_gameObject ?? new Dictionary <UrdfVisual, bool>();
IsBaseLink = is_base_link;
}
public RobotLink(string link_name, UrdfJoint urdf_joint, JointStateWriter joint_writer, JointStateReader joint_reader, Dictionary <UrdfVisual, bool> visuals_gameObject = null, Dictionary <UrdfCollision, bool> collisions_gameObject = null, bool is_base_link = false, float scale = 1f)
{
LinkName = link_name;
UrdfJoint = urdf_joint;
jointWriter = joint_writer;
jointReader = joint_reader;
Visuals = visuals_gameObject ?? new Dictionary <UrdfVisual, bool>();
Collisions = collisions_gameObject ?? new Dictionary <UrdfCollision, bool>();
IsBaseLink = is_base_link;
LinkScale = scale;
}
void Start()
{
Register();
yawWriter = yaw.GetComponent <JointStateWriter>();
if (yawWriter == null)
{
Debug.Log("No Writer Component found in Module " + transform.parent.name);
}
pitchWriter = pitch.GetComponent <JointStateWriter>();
if (pitchWriter == null)
{
Debug.Log("No Writer Component found in Module " + transform.parent.name);
}
}
void Start()
{
Register();
leftWriter = leftHand.GetComponent <JointStateWriter>();
if (leftWriter == null)
{
Debug.Log("No Writer Component found in Module " + transform.parent.name);
}
rightWriter = rightHand.GetComponent <JointStateWriter>();
if (rightWriter == null)
{
Debug.Log("No Writer Component found in Module " + transform.parent.name);
}
}
// Use this for initialization
void Start()
{
joint = GetComponent <JointStateWriter>();
newState = 0.0f;
}
