Support quaternions in URDF 1.1 #235
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Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Update version in xml comment and add version attribute to xs:schema tag. Signed-off-by: Steve Peters <[email protected]>
This adds URDFVersion comparison helpers and updates the parser to allow parsing version 1.1. Signed-off-by: Steve Peters <[email protected]>
* Add URDFVersion constructor that accepts two integers * Create URDFVersion object in correct scope to pass to parsing functions * Pass URDFVersion argument to parsing functions Signed-off-by: Steve Peters <[email protected]>
Update logic in parsePoseInternal to ignore quat_xyzw if specified version is not new enough, but print a warning message if any are detected. Signed-off-by: Steve Peters <[email protected]>
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This is a second attempt adding quaternions to the URDF spec from #194, which was reverted in #231 due to in order to properly handle schema versioning (see #230).
WIP