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Fix incorrect integration of BallJoint and FreeJoint using modified integration API #168

Merged
merged 18 commits into from
Mar 29, 2014
Merged

Fix incorrect integration of BallJoint and FreeJoint using modified integration API #168

merged 18 commits into from
Mar 29, 2014

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jslee02
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@jslee02 jslee02 commented Mar 28, 2014

  • Modify the integration API;

Explicit Euler integration with previous API:

    Eigen::VectorXd deriv = _system->evalDeriv();
    _system->setState(system->getState() + (_dt * deriv));

Explicit Euler integration with modified API:

  _system->integrateConfigs(_system->getGenVels(), _dt);
  _system->integrateGenVels(_system->evalGenAccs(), _dt);

jslee02 added 18 commits March 23, 2014 14:31
@jslee02
Remove workaround for Issue 122
7324325
@jslee02
Clean up BallJoint and FreeJoint
f680f3a
@jslee02
Add a test for Issue 122
4f0c5f8
@jslee02
Fix typo
53ef6ed
@jslee02
Merge branch 'origin/master'
e03547c
@jslee02
Improve integration for BallJoint and FreeJoint
45e29a8
@jslee02
Merge branch 'origin/master'
53d9952
@jslee02
Fix setting joint rest position in testDynamics.cpp
e2bf91a
@jslee02
Fix typo and add comment on Integrator
27c91f7
@jslee02
Rename Integrator::evalAccs() to Integrator::evalGenAccs()
332875c 
and add some comment on World
@jslee02
Restore RK4 integrator with updated integration api
efb398c
@jslee02
Add SemiImplicitEulerIntegrator
1b0c042
@jslee02
Reduce number of virtual functions for Integrator
b847d14
@jslee02
Update testJoints.cpp for BallJoint and FreeJoint
cf71618
@jslee02
Don't integrate for immobile skeletons
8bf1676
@jslee02
Update Migration.md and rename FreeJoint mR to mQ
f73dcf2
@jslee02
Update Changelog.md
dc0a401
@jslee02
Fix typo in Changelog.md
4af0c91
@jslee02 jslee02 added this to the Release DART 4.0 milestone Mar 28, 2014
karenliu added a commit that referenced this pull request Mar 29, 2014
@karenliu
Merge pull request #168 from dartsim/issue122
8a35be8 
Fix incorrect integration of BallJoint and FreeJoint using modified integration API
@karenliu karenliu merged commit 8a35be8 into master Mar 29, 2014
@jslee02 jslee02 deleted the issue122 branch April 2, 2014 07:34
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Successfully merging this pull request may close these issues.

Incorrect integration of generalized coordinates for BallJoint and FreeJoint
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@jslee02 @karenliu