Parse a single or into a LinkGeom. Returns false if it has no recognizable geometry.
| 161 | // Parse a single <visual> or <collision> into a LinkGeom. Returns false if it |
| 162 | // has no recognizable geometry. |
| 163 | bool parseGeomElement( |
| 164 | const QDomElement& el, UrdfPackageResolver* resolver, const std::string& urdf_dir, bool source_is_url, |
| 165 | const std::unordered_map<std::string, glm::vec4>& materials, LinkGeom& out) { |
| 166 | if (!parseGeometry(el, resolver, urdf_dir, source_is_url, out.shape)) { |
| 167 | return false; |
| 168 | } |
| 169 | parseOriginInto(el, out); |
| 170 | parseMaterial(el, materials, out); |
| 171 | return true; |
| 172 | } |
| 173 | |
| 174 | // Map a URDF joint `type` attribute to JointType (unknown/empty ⇒ kOther). |
| 175 | JointType jointTypeFromString(const QString& type) { |
no test coverage detected