add parent and child in urdf joint (RobotWebTools#262)

5730289021-NN · Sep 20, 2017 · b47beb5 · b47beb5
1 parent e0d67d1
commit b47beb5
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Showing 3 changed files with 25 additions and 5 deletions.
diff --git a/build/roslib.js b/build/roslib.js
@@ -3138,7 +3138,7 @@ function UrdfCylinder(options) {
 module.exports = UrdfCylinder;
 },{"./UrdfTypes":36}],30:[function(require,module,exports){
 /**
- * @fileOverview 
+ * @fileOverview
  * @author David V. Lu!!  [email protected]
  */
 
@@ -3152,7 +3152,17 @@ module.exports = UrdfCylinder;
 function UrdfJoint(options) {
   this.name = options.xml.getAttribute('name');
   this.type = options.xml.getAttribute('type');
-
+
+  var parents = options.xml.getElementsByTagName('parent');
+  if(parents.length > 0) {
+    this.parent = parents[0].getAttribute('link');
+  }
+
+  var children = options.xml.getElementsByTagName('child');
+  if(children.length > 0) {
+    this.child = children[0].getAttribute('link');
+  }
+
   var limits = options.xml.getElementsByTagName('limit');
   if (limits.length > 0) {
     this.minval = parseFloat( limits[0].getAttribute('lower') );