Kinematics features #169
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Kinematics features #169
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bullet/src/KinematicsFeatures.cc
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| const auto modelIdentity = linkInfo->model; | ||
| // auto linkIndex = linkInfo->linkIndex; | ||
| const auto &modelInfo = this->models.at(modelIdentity); | ||
| const auto &model = modelInfo->model; |
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modelInfo->model does not exist anymore, probably you meant linkInfo->model.
bullet/src/KinematicsFeatures.cc
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| data.pose.linear() = eigenMat; | ||
| data.pose.translation() = eigenVec; | ||
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| // Get frame velocities |
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Those comments can be removed, as those are already in the previous implementation in the case we ever need them.
| } | ||
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| const auto linkID = _id.ID(); | ||
| const auto &linkInfo = this->links.at(linkID); |
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If we will the _id, which is a FrameID as a replacement to query the linkIDs I think we should something to exit the function cleanly in the case this function receives a not valid linkID.
I won't block this PR on that, but you can add a comment about it here so we remember later.
Codecov Report
@@ Coverage Diff @@
## bullet_classic_dev #169 +/- ##
======================================================
+ Coverage 80.68% 80.98% +0.29%
======================================================
Files 111 111
Lines 4090 4075 -15
======================================================
Hits 3300 3300
+ Misses 790 775 -15
Continue to review full report at Codecov.
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Signed-off-by: Lobotuerk <jtlorente@ekumenlabs.com>
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* Kinematic Features Signed-off-by: Lobotuerk <jtlorente@ekumenlabs.com>
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* Kinematic Features Signed-off-by: Lobotuerk <jtlorente@ekumenlabs.com>
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* Kinematic Features Signed-off-by: Lobotuerk <jtlorente@ekumenlabs.com> Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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* Kinematic Features Signed-off-by: Lobotuerk <jtlorente@ekumenlabs.com> Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
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* Kinematic Features Signed-off-by: Lobotuerk <jtlorente@ekumenlabs.com> Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com> Signed-off-by: Tomas Lorente <jtlorente@ekumenlabs.com>
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* base and entity features * Add base Cmake and plugin dummy feature * Replace dummy features with base ones * Added Simulation Features (#168) * added features * [Bullet] Bullet classic, Add sdf entities (#167) * Add SDF features to build models * Fix class inheritance problem * Comment unused variables in this commit * Add vector with ids of links added in a model * Kinematics features (#169) * Kinematic Features * Free Group Features (#171) * [bullet] Basic Features (#172) * Fixed gravity, pose, and corrected some auto variables * [Bullet] Collision Features (#173) * Collision working * [bullet] Add find or construct link (#175) * Add Find or Construct Link function * Change function to return entity instead of identity * Remove loop creating links inside model * [Bullet] Mesh features (#178) * Collision working * [bullet] Joints implementation (#190) * Add placeholders joint features * Iteration to add joints after links * sdfConstructJoint math fixed * added missing dummys * added constraint to the world * Change dummy functions print to debug * fixed position * friction * fixed sdfLinkSearch * Joint velocity command * working version tunnels * added joint position methods * Add basic tests * Add missing override keyword * Updated CMake and replaced using with structs for feature lists * Save base when adding a mesh * deleted worlds Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com> Signed-off-by: Tomas Lorente <jtlorente@ekumenlabs.com>
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Signed-off-by: Lobotuerk jtlorente@ekumenlabs.com