Commit 8e0f3891 authored by jcarpent's avatar jcarpent
Browse files

[Model] Use new neutral accessor algo to retrive the neutral configuration

parent 3834a6d8
......@@ -21,6 +21,7 @@
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/tools/string-generator.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include <boost/bind.hpp>
#include <boost/utility.hpp>
......@@ -89,16 +90,16 @@ namespace se3
// However, this option is not compiling in Travis (why?).
// As efficiency of Model::addJoint is not critical, the dynamic bottomRows is used here.
effortLimit.conservativeResize(nv);
jmodel.jointConfigSelector(effortLimit) = max_effort;
jmodel.jointVelocitySelector(effortLimit) = max_effort;
velocityLimit.conservativeResize(nv);
jmodel.jointVelocitySelector(effortLimit) = max_velocity;
jmodel.jointVelocitySelector(velocityLimit) = max_velocity;
lowerPositionLimit.conservativeResize(nq);
jmodel.jointConfigSelector(lowerPositionLimit) = min_config;
upperPositionLimit.conservativeResize(nq);
jmodel.jointConfigSelector(upperPositionLimit) = max_config;
neutralConfiguration.conservativeResize(nq);
neutralConfiguration.tail(joint_model.nq()) = joint_model.neutralConfiguration();
NeutralStepAlgo<LieGroupTpl,JointModelDerived>::run(jmodel,neutralConfiguration);
rotorInertia.conservativeResize(nv);
jmodel.jointVelocitySelector(rotorInertia).setZero();
......
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