Commit 5d641655 authored by jcarpent's avatar jcarpent
Browse files

[Model] Remove default name for joint

parent d07b6f69
......@@ -158,11 +158,11 @@ namespace se3
///
template<typename JointModelDerived>
JointIndex addJoint(const JointIndex parent, const JointModelBase<JointModelDerived> & joint_model, const SE3 & joint_placement,
const std::string & joint_name,
const Eigen::VectorXd & max_effort,
const Eigen::VectorXd & max_velocity,
const Eigen::VectorXd & min_config,
const Eigen::VectorXd & max_config,
const std::string & joint_name = ""
const Eigen::VectorXd & max_config
);
///
......@@ -184,7 +184,7 @@ namespace se3
///
template<typename JointModelDerived>
JointIndex addJoint(const JointIndex parent, const JointModelBase<JointModelDerived> & joint_model, const SE3 & joint_placement,
const std::string & joint_name = ""
const std::string & joint_name
);
///
......
......@@ -56,11 +56,11 @@ namespace se3
Model::JointIndex Model::addJoint(const Model::JointIndex parent,
const JointModelBase<JointModelDerived> & joint_model,
const SE3 & joint_placement,
const std::string & joint_name,
const Eigen::VectorXd & max_effort,
const Eigen::VectorXd & max_velocity,
const Eigen::VectorXd & min_config,
const Eigen::VectorXd & max_config,
const std::string & joint_name
const Eigen::VectorXd & max_config
)
{
assert( (njoints==(int)joints.size())&&(njoints==(int)inertias.size())
......@@ -80,7 +80,7 @@ namespace se3
inertias .push_back(Inertia::Zero());
parents .push_back(parent);
jointPlacements.push_back(joint_placement);
names .push_back((joint_name!="")?joint_name:randomStringGenerator(8));
names .push_back(joint_name);
nq += joint_model.nq();
nv += joint_model.nv();
......@@ -116,7 +116,7 @@ namespace se3
min_config = Eigen::VectorXd::Constant(joint_model.nq(), std::numeric_limits<double>::max());
max_config = Eigen::VectorXd::Constant(joint_model.nq(), std::numeric_limits<double>::max());
return addJoint(parent, joint_model, joint_placement, max_effort, max_velocity, min_config, max_config, joint_name);
return addJoint(parent, joint_model, joint_placement, joint_name, max_effort, max_velocity, min_config, max_config);
}
inline int Model::addJointFrame (const JointIndex& jidx,
......
......@@ -41,11 +41,12 @@ namespace se3
if (setRandomLimits)
idx = model.addJoint(model.getJointId(parent_name),joint,
SE3::Random(),
name + "_joint",
TV::Random() + TV::Constant(1),
TV::Random() + TV::Constant(1),
CV::Random() - CV::Constant(1),
CV::Random() + CV::Constant(1),
name + "_joint");
CV::Random() + CV::Constant(1)
);
else
idx = model.addJoint(model.getJointId(parent_name),joint,
placement, name + "_joint");
......
......@@ -99,8 +99,9 @@ namespace se3
idx = model.addJoint(frame.parent,jmodel,
frame.placement * joint_placement,
max_effort,max_velocity,min_config,max_config,
joint_name);
joint_name,
max_effort,max_velocity,min_config,max_config
);
FrameIndex jointFrameId = (FrameIndex) model.addJointFrame(idx, (int)parentFrameId); // C-style cast to remove polluting compilation warning. This is Bad practice. See issue #323 (rework indexes)
appendBodyToJoint(model, jointFrameId, Y, SE3::Identity(), body_name);
}
......
......@@ -48,11 +48,11 @@ void addJointAndBody(Model & model, const JointModelBase<D> & jmodel, const Mode
typedef typename D::ConfigVector_t CV;
idx = model.addJoint(parent_id,jmodel,joint_placement,
name + "_joint",
TV::Zero(),
1e3 * (TV::Random() + TV::Constant(1)),
1e3 * (CV::Random() - CV::Constant(1)),
1e3 * (CV::Random() + CV::Constant(1)),
name + "_joint"
1e3 * (CV::Random() + CV::Constant(1))
);
model.appendBodyToJoint(idx,Y,SE3::Identity());
......
......@@ -82,7 +82,7 @@ BOOST_AUTO_TEST_CASE ( test_runal )
using namespace se3;
se3::Model model;
model.addJoint(0,se3::JointModelRevoluteUnaligned(0,0,1),se3::SE3::Random());
model.addJoint(0,se3::JointModelRevoluteUnaligned(0,0,1),se3::SE3::Random(),"");
Data data(model);
for( Model::JointIndex i=1;i<(Model::JointIndex)model.njoints;++i )
......
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