Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

make Travis CI pass

Browse Source
This commit is contained in:
erwincoumans
2019-01-23 19:34:21 -08:00
parent 66f4b276ec
commit 43d3cdfa38
3 changed files with 2 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
View File

@@ -1771,64 +1771,6 @@ void cKinTree::NormalizePoseHeading(const Eigen::MatrixXd& joint_mat, Eigen::Vec
}
}
void cKinTree::MirrorPoseStance(const Eigen::MatrixXd& joint_mat, const std::vector<int> mirror_joints0, const std::vector<int> mirror_joints1, Eigen::VectorXd& out_pose)
{
// mirrors along xy plane
assert(mirror_joints0.size() == mirror_joints1.size());
int num_joints = cKinTree::GetNumJoints(joint_mat);
tQuaternion root_rot = cKinTree::GetRootRot(joint_mat, out_pose);
tVector root_pos = cKinTree::GetRootPos(joint_mat, out_pose);
root_pos[2] *= -1;
root_rot = cMathUtil::MirrorQuaternion(root_rot, cMathUtil::eAxisZ);
cKinTree::SetRootRot(joint_mat, root_rot, out_pose);
cKinTree::SetRootPos(joint_mat, root_pos, out_pose);
for (int j = 0; j < num_joints; ++j)
{
cKinTree::eJointType joint_type = cKinTree::GetJointType(joint_mat, j);
bool is_root = cKinTree::IsRoot(joint_mat, j);
if (!is_root)
{
int param_offset = cKinTree::GetParamOffset(joint_mat, j);
int param_size = cKinTree::GetParamSize(joint_mat, j);
Eigen::VectorBlock<Eigen::VectorXd> joint_params = out_pose.segment(param_offset, param_size);
if (joint_type == cKinTree::eJointTypeRevolute
|| joint_type == cKinTree::eJointTypeFixed)
{
}
else if (joint_type == cKinTree::eJointTypeSpherical)
{
tQuaternion quat = cMathUtil::VecToQuat(joint_params);
quat = cMathUtil::MirrorQuaternion(quat, cMathUtil::eAxisZ);
joint_params = cMathUtil::QuatToVec(quat);
}
else
{
assert(false); // unsupported joint type
}
}
}
for (size_t i = 0; i < mirror_joints0.size(); ++i)
{
int id0 = mirror_joints0[i];
int id1 = mirror_joints1[i];
int offset0 = cKinTree::GetParamOffset(joint_mat, id0);
int size0 = cKinTree::GetParamSize(joint_mat, id0);
int offset1 = cKinTree::GetParamOffset(joint_mat, id1);
int size1 = cKinTree::GetParamSize(joint_mat, id1);
Eigen::VectorXd params0 = out_pose.segment(offset0, size0);
Eigen::VectorXd params1 = out_pose.segment(offset1, size1);
out_pose.segment(offset0, size0) = params1;
out_pose.segment(offset1, size1) = params0;
}
}
tMatrix cKinTree::ChildParentTransRoot(const Eigen::MatrixXd& joint_mat, const Eigen::VectorXd& state, int joint_id)
{

3
examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
View File

@@ -238,8 +238,7 @@ public:
static void NormalizePoseHeading(const Eigen::MatrixXd& joint_mat, Eigen::VectorXd& out_pose);
static void NormalizePoseHeading(const Eigen::MatrixXd& joint_mat, Eigen::VectorXd& out_pose, Eigen::VectorXd& out_vel);
static void MirrorPoseStance(const Eigen::MatrixXd& joint_mat, const std::vector<int> mirror_joints0, const std::vector<int> mirror_joints1, Eigen::VectorXd& out_pose);
protected:
static bool ParseJointType(const std::string& type_str, eJointType& out_joint_type);

1
examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
View File

@@ -1,5 +1,6 @@
#include "Shape.h"
#include <assert.h>
#include <stdio.h>
bool cShape::ParseShape(const std::string& str, eShape& out_shape)
{