Verified Commit b19845fe authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: comment code which will be reintroduced later

parent b0c18326
Pipeline #13781 passed with stage
in 129 minutes and 1 second
...@@ -281,8 +281,9 @@ namespace pinocchio ...@@ -281,8 +281,9 @@ namespace pinocchio
PINOCCHIO_CHECK_INPUT_ARGUMENT(frame.parent < (JointIndex)njoints, PINOCCHIO_CHECK_INPUT_ARGUMENT(frame.parent < (JointIndex)njoints,
"The index of the parent frame is not valid."); "The index of the parent frame is not valid.");
PINOCCHIO_CHECK_INPUT_ARGUMENT(frame.inertia.isValid(), // TODO: fix it
"The input inertia is not valid.") // PINOCCHIO_CHECK_INPUT_ARGUMENT(frame.inertia.isValid(),
// "The input inertia is not valid.")
// Check if the frame.name exists with the same type // Check if the frame.name exists with the same type
if(existFrame(frame.name,frame.type)) if(existFrame(frame.name,frame.type))
......
...@@ -556,13 +556,14 @@ namespace pinocchio ...@@ -556,13 +556,14 @@ namespace pinocchio
inertia().template cast<NewScalar>()); inertia().template cast<NewScalar>());
} }
/// \brief Check whether *this is a valid inertia, resulting from a positive mass distribution // TODO: adjust code
bool isValid() const // /// \brief Check whether *this is a valid inertia, resulting from a positive mass distribution
{ // bool isValid() const
return // {
(m_mass > Scalar(0) && m_inertia.isValid()) // return
|| (m_mass == Scalar(0) && (m_inertia.data().array() == Scalar(0)).all()); // (m_mass > Scalar(0) && m_inertia.isValid())
} // || (m_mass == Scalar(0) && (m_inertia.data().array() == Scalar(0)).all());
// }
protected: protected:
Scalar m_mass; Scalar m_mass;
......
...@@ -455,13 +455,14 @@ namespace pinocchio ...@@ -455,13 +455,14 @@ namespace pinocchio
return Symmetric3Tpl<NewScalar,Options>(m_data.template cast<NewScalar>()); return Symmetric3Tpl<NewScalar,Options>(m_data.template cast<NewScalar>());
} }
bool isValid() const // TODO: adjust code
{ // bool isValid() const
return // {
m_data(0) >= Scalar(0) // return
&& m_data(2) >= Scalar(0) // m_data(0) >= Scalar(0)
&& m_data(5) >= Scalar(0); // && m_data(2) >= Scalar(0)
} // && m_data(5) >= Scalar(0);
// }
protected: protected:
Vector6 m_data; Vector6 m_data;
......
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