Merge pull request #98 from orikuma/euscollada-yamlcpp-0.5.1

[euscollada] Add size check to end-coords translation/rotation
jsk-ros-pkg · Apr 30, 2015 · 81534c8 · 81534c8
2 parents 39957aa + 2e1e95b
commit 81534c8
Showing 1 changed file with 17 additions and 13 deletions.
diff --git a/euscollada/src/collada2eus.cpp b/euscollada/src/collada2eus.cpp
@@ -1375,32 +1375,36 @@ int main(int argc, char* argv[]){
       }
       try {
         const YAML::Node& n = doc[limb_name+"-end-coords"]["translate"];
-        double value;
-        fprintf(output_fp, "     (send %s-end-coords :translate (float-vector", limb_name.c_str());
+        if ( n.size() > 0 ) {
+          double value;
+          fprintf(output_fp, "     (send %s-end-coords :translate (float-vector", limb_name.c_str());
 #ifdef USE_CURRENT_YAML
-        for(unsigned int i=0;i<3;i++) fprintf(output_fp, " "FLOAT_PRECISION_FINE"", 1000*n[i].as<double>());
+          for(unsigned int i=0;i<3;i++) fprintf(output_fp, " "FLOAT_PRECISION_FINE"", 1000*n[i].as<double>());
 #else
-        for(unsigned int i=0;i<3;i++) { n[i]>>value; fprintf(output_fp, " "FLOAT_PRECISION_FINE"", 1000*value);}
+          for(unsigned int i=0;i<3;i++) { n[i]>>value; fprintf(output_fp, " "FLOAT_PRECISION_FINE"", 1000*value);}
 #endif
-        fprintf(output_fp, "))\n");
+          fprintf(output_fp, "))\n");
+        }
       } catch(YAML::RepresentationException& e) {
       }
       try {
         const YAML::Node& n = doc[limb_name+"-end-coords"]["rotate"];
-        double value;
-        fprintf(output_fp, "     (send %s-end-coords :rotate", limb_name.c_str());
+        if ( n.size() > 0 ) {
+          double value;
+          fprintf(output_fp, "     (send %s-end-coords :rotate", limb_name.c_str());
 #if USE_CURRENT_YAML
-        for(unsigned int i=3;i<4;i++) fprintf(output_fp, " "FLOAT_PRECISION_FINE"", M_PI/180*n[i].as<double>());
+          for(unsigned int i=3;i<4;i++) fprintf(output_fp, " "FLOAT_PRECISION_FINE"", M_PI/180*n[i].as<double>());
 #else
-        for(unsigned int i=3;i<4;i++) { n[i]>>value; fprintf(output_fp, " "FLOAT_PRECISION_FINE"", M_PI/180*value);}
+          for(unsigned int i=3;i<4;i++) { n[i]>>value; fprintf(output_fp, " "FLOAT_PRECISION_FINE"", M_PI/180*value);}
 #endif
-        fprintf(output_fp, " (float-vector");
+          fprintf(output_fp, " (float-vector");
 #if USE_CURRENT_YAML
-        for(unsigned int i=0;i<3;i++) fprintf(output_fp, " "FLOAT_PRECISION_FINE"", n[i].as<double>());
+          for(unsigned int i=0;i<3;i++) fprintf(output_fp, " "FLOAT_PRECISION_FINE"", n[i].as<double>());
 #else
-        for(unsigned int i=0;i<3;i++) { n[i]>>value; fprintf(output_fp, " "FLOAT_PRECISION_FINE"", value);}
+          for(unsigned int i=0;i<3;i++) { n[i]>>value; fprintf(output_fp, " "FLOAT_PRECISION_FINE"", value);}
 #endif
-        fprintf(output_fp, "))\n");
+          fprintf(output_fp, "))\n");
+        }
       } catch(YAML::RepresentationException& e) {
       }
       if(add_link_suffix) {