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Convenience setter functions for positions/velocities/accelerations of FreeJoint #470

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merged 18 commits into from
Sep 29, 2015
Merged

Convenience setter functions for positions/velocities/accelerations of FreeJoint #470

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ff1273b
Add pos/vel/acc setters to FreeJoint given spatial terms
jslee02 Jul 25, 2015
0af5365
Improve performance Frame::getSpatialAcceleration() by removing redun…
jslee02 Jul 25, 2015
c312ec2
Add more generalized velocities and accelerations setters to FreeJoin…
jslee02 Jul 26, 2015
2c13733
Fix comment
jslee02 Jul 26, 2015
3844f4a
Fix typo: withRespecTo --> withRespectTo
jslee02 Jul 26, 2015
d15c116
Merge remote-tracking branch 'origin/master' into freejoint_pos_vel_a…
jslee02 Jul 30, 2015
ab7d4d9
Replace referring to parent BodyNode in FreeJoint to parent Frame of …
jslee02 Aug 2, 2015
6aaed5a
Merge remote-tracking branch 'origin/master' into freejoint_pos_vel_a…
jslee02 Aug 3, 2015
2c15634
Merge remote-tracking branch 'origin/release-5.1'
jslee02 Sep 28, 2015
66e3850
Merge remote-tracking branch 'origin/master' into freejoint_pos_vel_a…
jslee02 Sep 28, 2015
e8b4f1c
Merge pull request #501 from dartsim/grey/fix_499
jslee02 Sep 28, 2015
e8e7b9c
Merge remote-tracking branch 'origin/master' into freejoint_pos_vel_a…
jslee02 Sep 29, 2015
daf0fd8
Merge remote-tracking branch 'origin/release-5.1' into freejoint_pos_…
jslee02 Sep 29, 2015
e83548c
Rename FreeJoint functions to be consistent with the codebase (e.g., …
jslee02 Sep 29, 2015
a9c27d7
Add static functions FreeJoint::setTransform(~)
jslee02 Sep 29, 2015
7fbe27b
give setTransform a default relative frame of Frame::World
mxgrey Sep 29, 2015
cfd9093
Merge pull request #507 from dartsim/grey/freejoint_pos_vel_acc_setters
jslee02 Sep 29, 2015
59cb97e
Print warning when the joint type is not FreeJoint
jslee02 Sep 29, 2015
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5 changes: 3 additions & 2 deletions dart/dynamics/Frame.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -289,8 +289,9 @@ Eigen::Vector6d Frame::getSpatialAcceleration(
(getSpatialAcceleration()
- math::AdT(_relativeTo->getTransform(this),
_relativeTo->getSpatialAcceleration())
- math::ad(getSpatialVelocity(),
getSpatialVelocity(_relativeTo, this))).eval();
+ math::ad(getSpatialVelocity(),
math::AdT(_relativeTo->getTransform(this),
_relativeTo->getSpatialVelocity()))).eval();

if(this == _inCoordinatesOf)
return result;
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