Merge pull request #628 from dartsim/fix_issue_626

Fix for issue #626
dartsim · Mar 7, 2016 · c2ed0ea · c2ed0ea
2 parents 840dedf + e691d14
commit c2ed0ea
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Showing 4 changed files with 17 additions and 3 deletions.
diff --git a/dart/dynamics/MetaSkeleton.h b/dart/dynamics/MetaSkeleton.h
@@ -475,7 +475,7 @@ class MetaSkeleton : public common::Subject
   /// You can specify a coordinate Frame to express the Jabocian in.
   virtual math::LinearJacobian getLinearJacobianDeriv(
       const JacobianNode* _node,
-      const Eigen::Vector3d& _localOffset = Eigen::Vector3d::Zero(),
+      const Eigen::Vector3d& _localOffset,
       const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
   /// Get the angular Jacobian time derivative of a BodyNode. You can specify a

diff --git a/dart/dynamics/ReferentialSkeleton.h b/dart/dynamics/ReferentialSkeleton.h
@@ -214,7 +214,7 @@ class ReferentialSkeleton : public MetaSkeleton
   // Documentation inherited
   math::LinearJacobian getLinearJacobianDeriv(
       const JacobianNode* _node,
-      const Eigen::Vector3d& _localOffset = Eigen::Vector3d::Zero(),
+      const Eigen::Vector3d& _localOffset,
       const Frame* _inCoordinatesOf = Frame::World()) const override;
 
   // Documentation inherited

diff --git a/dart/dynamics/Skeleton.h b/dart/dynamics/Skeleton.h
@@ -776,7 +776,7 @@ class Skeleton :  public virtual common::AddonManager,
   // Documentation inherited
   math::LinearJacobian getLinearJacobianDeriv(
       const JacobianNode* _node,
-      const Eigen::Vector3d& _localOffset = Eigen::Vector3d::Zero(),
+      const Eigen::Vector3d& _localOffset,
       const Frame* _inCoordinatesOf = Frame::World()) const override;
 
   // Documentation inherited

diff --git a/unittests/testSkeleton.cpp b/unittests/testSkeleton.cpp
@@ -1223,6 +1223,20 @@ TEST(Skeleton, Configurations)
   EXPECT_TRUE(c2.mAccelerations.size() == 0);
 }
 
+TEST(Skeleton, LinearJacobianDerivOverload)
+{
+  // Regression test for #626: Make sure that getLinearJacobianDeriv's overload
+  // is working appropriately.
+  SkeletonPtr skeleton = createThreeLinkRobot(Vector3d::Ones(), DOF_PITCH,
+                                              Vector3d::Ones(), DOF_ROLL,
+                                              Vector3d::Ones(), DOF_YAW);
+
+  skeleton->getLinearJacobianDeriv(skeleton->getBodyNode(0));
+
+  LinkagePtr linkage = Branch::create(skeleton->getBodyNode(0));
+  linkage->getLinearJacobianDeriv(linkage->getBodyNode(0));
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);