Change getWorldTransformsAsHomogeneous signature by adding const

robotology · Apr 7, 2020 · f1f6135 · f1f6135
1 parent c6c500c
commit f1f6135
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Showing 6 changed files with 18 additions and 6 deletions.
diff --git a/bindings/matlab/+iDynTreeWrappers/README.md b/bindings/matlab/+iDynTreeWrappers/README.md
@@ -79,7 +79,10 @@ Not proper wrappers, they wrap more than one method of the class each. **Require
 
 ## Matlab Native visualization
 
-Not actual wrappers, they use the iDynTreeWrappers in combination with the MATLAB patch plotting functions to visualize the robot. **Not tested in Octave**
+Not actual wrappers, they use the iDynTreeWrappers in combination with the MATLAB patch plotting functions to visualize the robot.
+**Disclaimers**:
+- This visualization **has not been tested** with Octave.
+- At the moment, there is **no support** for .dae mesh files.
 
 - [prepareVisualization](prepareVisualization.m)
 - [updateVisualization](updateVisualization.m)

diff --git a/bindings/matlab/+iDynTreeWrappers/getMeshes.m b/bindings/matlab/+iDynTreeWrappers/getMeshes.m
@@ -10,6 +10,8 @@
 %         - `map`        : Cell array having both the names of the meshes and the associated link
 %         - `linkMeshInfo` : Struct array that contain the link name and a struct (`meshInfo`) that contains the name of file or if is a simple geometry, the triangulation ( edges and vertices of the mesh ) and the link to geometry transform.
 %
+% NOTE: at the moment only STL files are supported.
+%
 % Author : Francisco Andrade (franciscojavier.andradechavez@iit.it)
 %
 % Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
@@ -42,7 +44,11 @@
             meshName=split(externalMesh.filename,':');
             meshFile=meshName{2};
             % Import an STL mesh, returning a PATCH-compatible face-vertex structure
-            mesh_triangles = stlread([meshFilePrefix meshFile]);            
+            if strcmp('package',meshName{1})
+                mesh_triangles = stlread([meshFilePrefix meshFile]);
+            else
+                mesh_triangles = stlread(meshFile);
+            end
             meshInfo(solids).meshFile=meshFile;
             meshInfo(solids).scale=scale';
         else

diff --git a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
@@ -94543,7 +94543,7 @@ int _wrap_KinDynComputations_getWorldTransformsAsHomogeneous(int resc, mxArray *
     std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
     int res = swig::asptr(argv[1], &ptr);
     if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > >""'"); 
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > const""'"); 
     }
     arg2 = *ptr;
     if (SWIG_IsNewObj(res)) delete ptr;

diff --git a/doc/matlab_visualization.md b/doc/matlab_visualization.md
@@ -2,7 +2,9 @@
 The MATLAB Visualization uses the MATLAB capabilities for displaying meshes and figures and the floating-base kinematics of iDynTree to get the new poses of the links.
 It uses the [iDynTreeWrappers](../bindings/matlab/%2BiDynTreeWrappers) to handle the model and obtaining the required transforms.
 
-**Rermark**: This visualization has not been tested with Octave.
+**Disclaimers**:
+- This visualization has not been tested with Octave.
+- At the moment there is no support for .dae mesh files.
 
 ## functions
 ### Main functions

diff --git a/src/high-level/include/iDynTree/KinDynComputations.h b/src/high-level/include/iDynTree/KinDynComputations.h
@@ -385,7 +385,7 @@ class KinDynComputations {
      * (world_H_frame).
      *
      */
-    std::vector<iDynTree::Matrix4x4> getWorldTransformsAsHomogeneous(std::vector<std::string> frameNames);
+    std::vector<iDynTree::Matrix4x4> getWorldTransformsAsHomogeneous(const std::vector<std::string> frameNames);
 
     /**
      * Return the transform where the frame is the frame

diff --git a/src/high-level/src/KinDynComputations.cpp b/src/high-level/src/KinDynComputations.cpp
@@ -1073,7 +1073,7 @@ Transform KinDynComputations::getWorldTransform(const FrameIndex frameIndex)
     return world_H_frame;
 }
 
-std::vector<iDynTree::Matrix4x4> KinDynComputations::getWorldTransformsAsHomogeneous(std::vector<std::string> frameNames)
+std::vector<iDynTree::Matrix4x4> KinDynComputations::getWorldTransformsAsHomogeneous(const std::vector<std::string> frameNames)
 {
     std::vector<iDynTree::Matrix4x4> worldTransforms;
     int numberOfTransforms=frameNames.size();
@@ -1094,6 +1094,7 @@ std::vector<iDynTree::Matrix4x4> KinDynComputations::getWorldTransformsAsHomogen
     return worldTransforms;
 }
 
+
 unsigned int KinDynComputations::getNrOfFrames() const
 {
     return this->pimpl->m_robot_model.getNrOfFrames();