urdfdom-headers debdiff

urdfdom-headers.diff

diff -Nru urdfdom-headers-1.0.0/debian/changelog urdfdom-headers-1.0.0/debian/changelog
--- urdfdom-headers-1.0.0/debian/changelog	2016-07-23 00:38:00.000000000 +0000
+++ urdfdom-headers-1.0.0/debian/changelog	2019-08-08 17:49:30.000000000 +0000
@@ -1,3 +1,9 @@
+urdfdom-headers (1.0.0-1ubuntu1) bionic; urgency=medium
+
+  * Patch to avoid truncating problems on non english locale systems
+
+ -- Jose Luis Rivero <jrivero@osrfoundation.org>  Thu, 08 Aug 2019 17:49:30 +0000
+
 urdfdom-headers (1.0.0-1) unstable; urgency=medium
 
   * Cherry pick patch for current version to fix problem in upstream code
diff -Nru urdfdom-headers-1.0.0/debian/patches/avoid_truncating_floating_values.patch urdfdom-headers-1.0.0/debian/patches/avoid_truncating_floating_values.patch
--- urdfdom-headers-1.0.0/debian/patches/avoid_truncating_floating_values.patch	1970-01-01 00:00:00.000000000 +0000
+++ urdfdom-headers-1.0.0/debian/patches/avoid_truncating_floating_values.patch	2019-08-08 17:49:30.000000000 +0000
@@ -0,0 +1,94 @@
+Description: use helper function strToDouble for locale independent
+Author: Simon Schmeisser <simon.schmeisser@isys-vision.de>
+Author: Chris Lalancette <clalancette@gmail.com>
+Upstream: https://github.com/ros/urdfdom_headers/commit/e7e0972a4617b8a5df7a274ea3ba3b92e3895a35.patch 
+Upstream: https://github.com/ros/urdfdom_headers/commit/f97cbceba9827629c6f010554513219a828d9592.patch
+
+Use stringstream instead of stod to work around locale issues.
+
+diff --git a/urdf_model/include/urdf_model/color.h b/urdf_model/include/urdf_model/color.h
+index 505d9a6..46915a5 100644
+--- a/urdf_model/include/urdf_model/color.h
++++ b/urdf_model/include/urdf_model/color.h
+@@ -73,13 +73,10 @@ class Color
+       {
+         try
+         {
+-          rgba.push_back(std::stof(pieces[i]));
++          rgba.push_back(strToDouble(pieces[i].c_str()));
+         }
+-        catch (std::invalid_argument &/*e*/) {
+-          return false;
+-        }
+-        catch (std::out_of_range &/*e*/) {
+-          return false;
++        catch (std::runtime_error &/*e*/) {
++          throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a color value)");
+         }
+       }
+     }
+
+diff --git a/urdf_model/include/urdf_model/pose.h b/urdf_model/include/urdf_model/pose.h
+index 90e74a8..da65b53 100644
+--- a/urdf_model/include/urdf_model/pose.h
++++ b/urdf_model/include/urdf_model/pose.h
+@@ -67,14 +67,10 @@ class Vector3
+     for (unsigned int i = 0; i < pieces.size(); ++i){
+       if (pieces[i] != ""){
+         try {
+-          xyz.push_back(std::stod(pieces[i]));
+-        }
+-        catch (std::invalid_argument &/*e*/) {
++          xyz.push_back(strToDouble(pieces[i].c_str()));
++        } catch(std::runtime_error &) {
+           throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a vector value)");
+         }
+-        catch (std::out_of_range &/*e*/) {
+-          throw ParseError("Unable to parse component [" + pieces[i] + "] to a double, out of range (while parsing a vector value)");
+-        }
+       }
+     }
+ 
+diff --git a/urdf_model/include/urdf_model/utils.h b/urdf_model/include/urdf_model/utils.h
+index e295496..f9f59c1 100644
+--- a/urdf_model/include/urdf_model/utils.h
++++ b/urdf_model/include/urdf_model/utils.h
+@@ -37,6 +37,9 @@
+ #ifndef URDF_INTERFACE_UTILS_H
+ #define URDF_INTERFACE_UTILS_H
+ 
++#include <locale>
++#include <sstream>
++#include <stdexcept>
+ #include <string>
+ #include <vector>
+ 
+@@ -62,6 +65,28 @@ void split_string(std::vector<std::string> &result,
+   }
+ }
+ 
++// This is a locale-safe version of string-to-double, which is suprisingly
++// difficult to do correctly.  This function ensures that the C locale is used
++// for parsing, as that matches up with what the XSD for double specifies.
++// On success, the double is returned; on failure, a std::runtime_error is
++// thrown.
++static inline double strToDouble(const char *in)
++{
++  std::stringstream ss;
++  ss.imbue(std::locale::classic());
++
++  ss << in;
++
++  double out;
++  ss >> out;
++
++  if (ss.fail() || !ss.eof()) {
++    throw std::runtime_error("Failed converting string to double");
++  }
++
++  return out;
++}
++
+ }
+ 
+ #endif
diff -Nru urdfdom-headers-1.0.0/debian/patches/series urdfdom-headers-1.0.0/debian/patches/series
--- urdfdom-headers-1.0.0/debian/patches/series	1970-01-01 00:00:00.000000000 +0000
+++ urdfdom-headers-1.0.0/debian/patches/series	2019-08-08 17:49:30.000000000 +0000
@@ -0,0 +1 @@
+avoid_truncating_floating_values.patch