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Commit 8a83c9cc authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Valenza Florian
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Set FF to SE3::Identity in model-sample.

parent 127c6a94
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src/multibody/parser/sample-models.hpp
+ 17
− 17
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......@@ -10,38 +10,38 @@ namespace se3
void humanoid2d( Model& model)
{
model.addBody(model.getBodyId("universe"),JointModelRX(),SE3::Random(),Inertia::Random(),"ff1");
model.addBody(model.getBodyId("ff1"),JointModelRX(),SE3::Random(),Inertia::Random(),"root");
model.addBody(model.getBodyId("universe"),JointModelRX(),SE3::Identity(),Inertia::Random(),"ff1");
model.addBody(model.getBodyId("ff1"),JointModelRY(),SE3::Identity(),Inertia::Random(),"root");
model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg1");
model.addBody(model.getBodyId("lleg1"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg2");
model.addBody(model.getBodyId("root"),JointModelRZ(),SE3::Random(),Inertia::Random(),"lleg1");
model.addBody(model.getBodyId("lleg1"),JointModelRY(),SE3::Random(),Inertia::Random(),"lleg2");
model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg1");
model.addBody(model.getBodyId("rleg1"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg2");
model.addBody(model.getBodyId("root"),JointModelRZ(),SE3::Random(),Inertia::Random(),"rleg1");
model.addBody(model.getBodyId("rleg1"),JointModelRY(),SE3::Random(),Inertia::Random(),"rleg2");
model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"torso1");
model.addBody(model.getBodyId("torso1"),JointModelRX(),SE3::Random(),Inertia::Random(),"chest");
model.addBody(model.getBodyId("root"),JointModelRY(),SE3::Random(),Inertia::Random(),"torso1");
model.addBody(model.getBodyId("torso1"),JointModelRZ(),SE3::Random(),Inertia::Random(),"chest");
model.addBody(model.getBodyId("chest"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm1");
model.addBody(model.getBodyId("rarm1"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm2");
model.addBody(model.getBodyId("rarm1"),JointModelRZ(),SE3::Random(),Inertia::Random(),"rarm2");
model.addBody(model.getBodyId("chest"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm1");
model.addBody(model.getBodyId("larm1"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm2");
model.addBody(model.getBodyId("larm1"),JointModelRZ(),SE3::Random(),Inertia::Random(),"larm2");
}
void humanoidSimple( Model& model, bool usingFF = true)
{
if(! usingFF )
{
model.addBody(model.getBodyId("universe"),JointModelRX(),SE3::Random(),Inertia::Random(),"ff1");
model.addBody(model.getBodyId("ff1"),JointModelRX(),SE3::Random(),Inertia::Random(),"ff2");
model.addBody(model.getBodyId("ff2"),JointModelRX(),SE3::Random(),Inertia::Random(),"ff3");
model.addBody(model.getBodyId("ff3"),JointModelRX(),SE3::Random(),Inertia::Random(),"ff4");
model.addBody(model.getBodyId("ff4"),JointModelRX(),SE3::Random(),Inertia::Random(),"ff5");
model.addBody(model.getBodyId("ff5"),JointModelRX(),SE3::Random(),Inertia::Random(),"root");
model.addBody(model.getBodyId("universe"),JointModelRX(),SE3::Identity(),Inertia::Random(),"ff1");
model.addBody(model.getBodyId("ff1"),JointModelRY(),SE3::Identity(),Inertia::Random(),"ff2");
model.addBody(model.getBodyId("ff2"),JointModelRZ(),SE3::Identity(),Inertia::Random(),"ff3");
model.addBody(model.getBodyId("ff3"),JointModelRZ(),SE3::Random(),Inertia::Random(),"ff4");
model.addBody(model.getBodyId("ff4"),JointModelRY(),SE3::Identity(),Inertia::Random(),"ff5");
model.addBody(model.getBodyId("ff5"),JointModelRX(),SE3::Identity(),Inertia::Random(),"root");
}
else
model.addBody(model.getBodyId("universe"),JointModelFreeFlyer(),SE3::Random(),Inertia::Random(),"root");
model.addBody(model.getBodyId("universe"),JointModelFreeFlyer(),SE3::Identity(),Inertia::Random(),"root");
model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg1");
model.addBody(model.getBodyId("lleg1"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg2");
......
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