Simplify if-else clauses

Improve extensibility (adding more sensors) by emloying an exclusive-if-and-final-else strategy, utilizing a helper variable. This way we avoid augmenting the list in the 'sensor in [...]' tests.
ubi-agni · Oct 4, 2021 · a8fecfa · a8fecfa
1 parent ef82347
commit a8fecfa
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Showing 3 changed files with 49 additions and 39 deletions.
diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
@@ -25,44 +25,47 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}${link_prefix}distal_visual">
-          <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
-            <!-- Standard distal  -->
-            <mesh filename="package://sr_description/meshes/hand/F1.dae"
+          <!-- Do we need to instantiate the standard distal? -->
+          <xacro:property name="standard" value="true" />
+          <xacro:if value="${tip_sensor == 'eli'}">
+            <!-- Ellispoid distal  -->
+            <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid_visual.dae"
                   scale="0.001 0.001 0.001" />
-          </xacro:unless>
-          <xacro:if value="${tip_sensor in ['bt_sp','eli']}">
-            <xacro:if value="${tip_sensor == 'eli'}">
-              <!-- Ellispoid distal  -->
-              <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid_visual.dae"
-		    scale="0.001 0.001 0.001" />
-            </xacro:if>
-            <xacro:if value="${tip_sensor == 'bt_sp'}">
-              <!-- bt_sp distal  -->
-              <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
-            </xacro:if>
+            <xacro:property name="standard" value="false" />
+          </xacro:if>
+          <xacro:if value="${tip_sensor == 'bt_sp'}">
+            <!-- bt_sp distal  -->
+            <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+            <xacro:property name="standard" value="false" />
+          </xacro:if>
+          <xacro:if value="${standard}">
+            <!-- Standard distal  -->
+            <mesh filename="package://sr_description/meshes/hand/F1.dae" scale="0.001 0.001 0.001" />
           </xacro:if>
         </geometry>
         <!-- <material name="Grey" /> -->
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}${link_prefix}distal_collision_geom">
-          <xacro:if value="${tip_sensor in ['bt_sp','eli']}">
-            <xacro:if value="${tip_sensor == 'eli'}">
-              <!-- Ellispoid distal  -->
-              <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid.dae"
-                    scale="0.001 0.001 0.001" />
-            </xacro:if>
-            <xacro:if value="${tip_sensor == 'bt_sp'}">
-              <!-- bt_sp distal  -->
-              <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
-            </xacro:if>
+          <!-- Do we need to instantiate the standard distal? -->
+          <xacro:property name="standard" value="true" />
+          <xacro:if value="${tip_sensor == 'eli'}">
+            <!-- Ellispoid distal  -->
+            <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid.dae"
+                  scale="0.001 0.001 0.001" />
+            <xacro:property name="standard" value="false" />
           </xacro:if>
-          <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
+          <xacro:if value="${tip_sensor == 'bt_sp'}">
+            <!-- bt_sp distal  -->
+            <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+            <xacro:property name="standard" value="false" />
+          </xacro:if>
+          <xacro:if value="${standard}">
             <!-- Standard distal  -->
             <mesh filename="package://sr_description/meshes/hand/F1.dae"
                   scale="0.001 0.001 0.001" />
-          </xacro:unless>
+          </xacro:if>
         </geometry>
       </collision>
     </link>

diff --git a/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro b/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro
@@ -3,7 +3,7 @@
   <xacro:macro name="thdistal_gazebo" params="prefix:=^ tip_sensor:=^|std ns:=^|''">
     <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
     <gazebo reference="${prefix}thdistal">
-     <xacro:unless value="${'none' in tip_sensor}" >
+      <xacro:unless value="${'none' in tip_sensor}" >
         <sensor type="contact" name="${prefix}thdistal_contact">
           <always_on>1</always_on>
           <update_rate>1000.0</update_rate>

diff --git a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
@@ -125,19 +125,23 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry name="${prefix}thdistal_visual">
-            <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
-              <!-- Standard distal  -->
-              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae"
-                    scale="0.001 0.001 0.001" />
-            </xacro:unless>
+            <!-- Do we need to instantiate the standard distal? -->
+            <xacro:property name="standard" value="true" />
             <xacro:if value="${tip_sensor == 'eli'}">
               <!-- Ellispoid distal  -->
               <mesh filename="package://sr_description/meshes/hand/ellipsoids/thdistal_ellipsoid_visual.dae"
-              scale="0.001 0.001 0.001" />
+                    scale="0.001 0.001 0.001" />
+              <xacro:property name="standard" value="false" />
             </xacro:if>
             <xacro:if value="${tip_sensor == 'bt_sp'}">
               <!-- bt sp distal  -->
               <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+              <xacro:property name="standard" value="false" />
+            </xacro:if>
+            <xacro:if value="${standard}">
+              <!-- Standard distal  -->
+              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae"
+                    scale="0.001 0.001 0.001" />
             </xacro:if>
           </geometry>
           <material name="shadow_thmiddle_material">
@@ -147,19 +151,22 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry name="${prefix}thmiddle_collision_geom">
-            <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
-              <!-- Standard distal  -->
-              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae"
-                    scale="0.001 0.001 0.001" />
-            </xacro:unless>
+            <!-- Do we need to instantiate the standard distal? -->
+            <xacro:property name="standard" value="true" />
             <xacro:if value="${tip_sensor == 'eli'}">
               <!-- Ellispoid distal  -->
               <mesh filename="package://sr_description/meshes/hand/ellipsoids/thdistal_ellipsoid.dae"
-              scale="0.001 0.001 0.001" />
+                    scale="0.001 0.001 0.001" />
+              <xacro:property name="standard" value="false" />
             </xacro:if>
             <xacro:if value="${tip_sensor == 'bt_sp'}">
               <!-- bt sp distal  -->
               <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+              <xacro:property name="standard" value="false" />
+            </xacro:if>
+            <xacro:if value="${standard}">
+              <!-- Standard distal  -->
+              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae" scale="0.001 0.001 0.001" />
             </xacro:if>
             <!-- <box size="0.015 0.015 0.015" /> -->
           </geometry>