Removed convex mesh; added global tesseract:make_convex attribute; …

…added mesh `tesseract:make_convex` attribute
tesseract-robotics · Jan 11, 2025 · 9fdabd5 · 9fdabd5
1 parent 5d636a2
commit 9fdabd5
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Showing 14 changed files with 74 additions and 286 deletions.
diff --git a/tesseract_urdf/CMakeLists.txt b/tesseract_urdf/CMakeLists.txt
@@ -50,7 +50,6 @@ add_library(
   src/capsule.cpp
   src/collision.cpp
   src/cone.cpp
-  src/convex_mesh.cpp
   src/cylinder.cpp
   src/dynamics.cpp
   src/geometry.cpp

diff --git a/tesseract_urdf/include/tesseract_urdf/collision.h b/tesseract_urdf/include/tesseract_urdf/collision.h
@@ -49,11 +49,12 @@ static const char* COLLISION_ELEMENT_NAME = "collision";  // NOLINT
  * @brief Parse xml element collision
  * @param xml_element The xml element
  * @param locator The Tesseract resource locator
- * @param version The version number
+ * @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
  * @return A Collision object
  */
 std::shared_ptr<tesseract_scene_graph::Collision> parseCollision(const tinyxml2::XMLElement* xml_element,
-                                                                 const tesseract_common::ResourceLocator& locator);
+                                                                 const tesseract_common::ResourceLocator& locator,
+                                                                 bool make_convex_meshes);
 
 /**
  * @brief writeCollision Write collision object to URDF XML

diff --git a/tesseract_urdf/include/tesseract_urdf/convex_mesh.h b/tesseract_urdf/include/tesseract_urdf/convex_mesh.h
diff --git a/tesseract_urdf/include/tesseract_urdf/geometry.h b/tesseract_urdf/include/tesseract_urdf/geometry.h
@@ -50,12 +50,13 @@ static const char* GEOMETRY_ELEMENT_NAME = "geometry";  // NOLINT
  * @param xml_element The xml element
  * @param locator The Tesseract resource locator
  * @param visual Indicate if visual
- * @param version The version number
+ * @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
  * @return A Tesseract Geometry
  */
 std::shared_ptr<tesseract_geometry::Geometry> parseGeometry(const tinyxml2::XMLElement* xml_element,
                                                             const tesseract_common::ResourceLocator& locator,
-                                                            bool visual);
+                                                            bool visual,
+                                                            bool make_convex_meshes);
 
 /**
  * @brief writeGeometry Write geometry to URDF XML

diff --git a/tesseract_urdf/include/tesseract_urdf/link.h b/tesseract_urdf/include/tesseract_urdf/link.h
@@ -50,12 +50,13 @@ static const char* LINK_ELEMENT_NAME = "link";  // NOLINT
  * @param xml_element The xml element
  * @param locator The Tesseract resource locator
  * @param available_materials The current available materials
- * @param version The version number
+ * @param make_convex_meshes Flag to indicate if the meshes should be converted to convex hulls
  * @return A Tesseract Link
  */
 std::shared_ptr<tesseract_scene_graph::Link>
 parseLink(const tinyxml2::XMLElement* xml_element,
           const tesseract_common::ResourceLocator& locator,
+          bool make_convex_meshes,
           std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials);
 
 /**

diff --git a/tesseract_urdf/include/tesseract_urdf/mesh.h b/tesseract_urdf/include/tesseract_urdf/mesh.h
@@ -50,12 +50,14 @@ static const char* MESH_ELEMENT_NAME = "mesh";  // NOLINT
  * @param xml_element The xml element
  * @param locator The Tesseract resource locator
  * @param visual Indicate if visual
- * @param version The version number
+ * @param make_convex Flag to indicate if the mesh should be converted to a convex hull
  * @return A vector of Tesseract Meshes
  */
-std::vector<std::shared_ptr<tesseract_geometry::Mesh>> parseMesh(const tinyxml2::XMLElement* xml_element,
-                                                                 const tesseract_common::ResourceLocator& locator,
-                                                                 bool visual);
+std::vector<std::shared_ptr<tesseract_geometry::PolygonMesh>>
+parseMesh(const tinyxml2::XMLElement* xml_element,
+          const tesseract_common::ResourceLocator& locator,
+          bool visual,
+          bool make_convex);
 
 /**
  * @brief writeMesh Write a mesh to URDF XML and PLY file

diff --git a/tesseract_urdf/include/tesseract_urdf/visual.h b/tesseract_urdf/include/tesseract_urdf/visual.h
@@ -50,7 +50,6 @@ static const char* VISUAL_ELEMENT_NAME = "visual";  // NOLINT
  * @brief Parse xml element visual
  * @param xml_element The xml element
  * @param locator The Tesseract resource locator
- * @param version The version number
  * @return A Visual object
  */
 std::shared_ptr<tesseract_scene_graph::Visual>

diff --git a/tesseract_urdf/src/collision.cpp b/tesseract_urdf/src/collision.cpp
@@ -43,7 +43,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_urdf
 {
 tesseract_scene_graph::Collision::Ptr parseCollision(const tinyxml2::XMLElement* xml_element,
-                                                     const tesseract_common::ResourceLocator& locator)
+                                                     const tesseract_common::ResourceLocator& locator,
+                                                     bool make_convex_meshes)
 {
   // get name
   std::string collision_name = tesseract_common::StringAttribute(xml_element, "name", "");
@@ -71,7 +72,7 @@ tesseract_scene_graph::Collision::Ptr parseCollision(const tinyxml2::XMLElement*
   tesseract_geometry::Geometry::Ptr geom;
   try
   {
-    geom = parseGeometry(geometry, locator, false);
+    geom = parseGeometry(geometry, locator, false, make_convex_meshes);
   }
   catch (...)
   {

diff --git a/tesseract_urdf/src/convex_mesh.cpp b/tesseract_urdf/src/convex_mesh.cpp