urdf-loader - npm Package Compare versions

Comparing version 0.7.3 to 0.8.0

CHANGELOG.md

@@ -7,2 +7,7 @@ # Changelog
 
+## [0.8.0] - 2020-01-03
+### Changed
+- Moved the URDFLoader options to member variables instead of an object paramter to `parse` and `load` functions.
+- Added `onError` and `onProgress` callbacks to `load` function.
+
 ## [0.7.3] - 2019-11-08
@@ -9,0 +14,0 @@ ### Fixed

package.json

 {
   "name": "urdf-loader",
-  "version": "0.7.3",
+  "version": "0.8.0",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -10,4 +10,4 @@ "main": "umd/URDFLoader.js",
     "build": "rollup -c && cd example && webpack",
-    "test": "rollup -c && jest",
-    "lint": "eslint ./src/*.js ./test/*.js",
+    "test": "jest",
+    "lint": "eslint ./src/*.js ./test/*.js && tsc -p tsconfig.json --noEmit",
     "coverage": "nyc report --reporter=html & opn coverage/index.html"
@@ -59,2 +59,3 @@ },
     "threejs-model-loader": "0.0.1",
+    "typescript": "^3.7.4",
     "wc-loader": "^1.1.12",
@@ -61,0 +62,0 @@ "webpack": "^3.5.3"

README.md

@@ -20,11 +20,9 @@ # javascript urdf-loader
 const loader = new URDFLoader(manager);
+loader.packages = {
+    packageName : '.../package/dir/'            // The equivalent of a (list of) ROS package(s):// directory
+};
+loader.loadMeshCb = (path, manager, done) => { };
 loader.load(
   'T12/urdf/T12.URDF',                    // The path to the URDF within the package OR absolute
-  robot => { },                           // The robot is loaded!
-  {
-    packages:     {
-      packageName : '.../package/dir/'            // The equivalent of a (list of) ROS package(s):// directory
-    },
-    loadMeshCb: (path, manager, done) => { },       // Callback for each mesh for custom mesh processing and loading code
-  }
+  robot => { }                            // The robot is loaded!
 );
@@ -40,2 +38,4 @@ ```
 
+List of options available on the URDFLoader class.
+
 ### .packages
@@ -68,3 +68,3 @@
         onComplete : ( obj : Object3D ) => void
-     ) => void
+    ) => void
 ```
@@ -129,4 +129,5 @@
     urdfpath : string,
-    onComplete : (robot: URDFRobot) => void,
-    options = null : URDFOptions
+    onComplete : (robot : URDFRobot) => void,
+    onProgress? : () => void,
+    onError? : (error : Error) => void
 ) : void
@@ -142,3 +143,3 @@ ```
 ```js
-parse( urdfContent : string,  options = null : URDFOptions) : URDFRobot
+parse( urdfContent : string ) : URDFRobot
 ```
@@ -260,3 +261,3 @@
 <!-- Register the Element -->
-<script href=".../urdf-viewer-element.js" />
+<script href=".../urdf-viewer-element.js"></script>
 <script>customElements.define('urdf-viewer', URDFViewer)</script>
@@ -263,0 +264,0 @@

src/urdf-viewer-element.js

@@ -501,15 +501,8 @@ import * as THREE from 'three';
 
-            new URDFLoader(manager).load(
-                urdf,
-                model => robot = model,
+            const loader = new URDFLoader(manager);
+            loader.packages = pkg;
+            loader.loadMeshCb = this.loadMeshFunc;
+            loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+            loader.load(urdf, model => robot = model);
 
-                // options
-                {
-
-                    packages: pkg,
-                    loadMeshCb: this.loadMeshFunc,
-                    fetchOptions: { mode: 'cors', credentials: 'same-origin' },
-
-                });
-
         }
@@ -516,0 +509,0 @@

src/URDFClasses.d.ts

@@ -0,0 +0,0 @@ import { Object3D, Vector3 } from 'three';

src/URDFLoader.d.ts

@@ -12,11 +12,2 @@ import { LoadingManager, Object3D } from 'three';
 
-interface URDFLoaderOptions {
-
-    packages?: string | { [key: string]: string },
-    loadMeshCb?: MeshLoadFunc,
-    workingPath?: string,
-    fetchOptions?: object
-
-}
-
 export default class URDFLoader {
@@ -27,6 +18,19 @@
 
+    // options
+    fetchOptions: Object;
+    workingPath: string;
+    parseVisual: boolean;
+    parseCollision: boolean;
+    packages: string | { [key: string]: string };
+    loadMeshCb: MeshLoadFunc;
+
     constructor(manager?: LoadingManager);
-    load(url: string, onLoad: (robot: URDFRobot) => void, options?: URDFLoaderOptions): void;
-    parse(content: string, options?: URDFLoaderOptions): URDFRobot;
+    load(
+        url: string,
+        onLoad: (robot: URDFRobot) => void,
+        onProgress?: () => void,
+        onError?: () => void
+    ): void;
+    parse(content: string): URDFRobot;
 
 }

src/URDFLoader.js

@@ -62,2 +62,8 @@ import * as THREE from 'three';
         this.manager = manager || THREE.DefaultLoadingManager;
+        this.loadMeshCb = this.defaultMeshLoader.bind(this);
+        this.parseVisual = true;
+        this.parseCollision = false;
+        this.packages = '';
+        this.workingPath = '';
+        this.fetchOptions = null;
 
@@ -69,3 +75,3 @@ }
     // onComplete:      Callback that is passed the model once loaded
-    load(urdf, onComplete, options) {
+    load(urdf, onComplete, onProgress, onError) {
 
@@ -78,12 +84,19 @@ // Check if a full URI is specified before
 
-        options = Object.assign({
-            workingPath,
-        }, options);
-
         manager.itemStart(urdfPath);
-        fetch(urdfPath, options.fetchOptions)
-            .then(res => res.text())
+        fetch(urdfPath, this.fetchOptions)
+            .then(res => {
+                if (onProgress) {
+                    onProgress(null);
+                }
+                return res.text();
+            })
             .then(data => {
 
-                const model = this.parse(data, options);
+                if (this.workingPath === '') {
+
+                    this.workingPath = workingPath;
+
+                }
+
+                const model = this.parse(data);
                 onComplete(model);
@@ -95,4 +108,7 @@ manager.itemEnd(urdfPath);
 
-                // TODO: Add onProgress and onError functions here
-                console.error('URDFLoader: Error parsing file.', e);
+                if (onError) {
+                    onError(e);
+                } else {
+                    console.error('URDFLoader: Error loading file.', e);
+                }
                 manager.itemError(urdfPath);
@@ -105,9 +121,9 @@ manager.itemEnd(urdfPath);
 
-    parse(content, options = {}) {
+    parse(content) {
 
-        const packages = options.packages || '';
-        const loadMeshCb = options.loadMeshCb || this.defaultMeshLoader.bind(this);
-        const workingPath = options.workingPath || '';
-        const parseVisual = ('parseVisual' in options) ? options.parseVisual : true;
-        const parseCollision = options.parseCollision || false;
+        const packages = this.packages;
+        const loadMeshCb = this.loadMeshCb;
+        const parseVisual = this.parseVisual;
+        const parseCollision = this.parseCollision;
+        const workingPath = this.workingPath;
         const manager = this.manager;
@@ -114,0 +130,0 @@ const linkMap = {};

umd/urdf-viewer-element.js

@@ -0,0 +0,0 @@ (function (global, factory) {

umd/URDFLoader.js

@@ -0,0 +0,0 @@ (function (global, factory) {

New alerts

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License

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Found 1 instance in 1 package

Fixed alerts

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Found 1 instance in 1 package

Improved metrics

Total package byte prevSize

250471

increased by0.22%

Lines of code

2854

increased by0.56%

Number of lines in readme file

414

increased by0.24%

Worsened metrics

Dev dependency count

17

increased by6.25%

No dependency changes