New API #3
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New API #3
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@@ Coverage Diff @@
## master #3 +/- ##
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- Coverage 88.8% 88.16% -0.65%
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Files 1 4 +3
Lines 134 169 +35
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+ Hits 119 149 +30
- Misses 15 20 +5
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|
tkoolen
reviewed
Feb 28, 2018
| Base.one(::Type{InterpolatableArray{A}}) where {A} = 1 | ||
| Base.:*(n::Number, a::InterpolatableArray) = n * a.data | ||
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| rbd.normalize_configuration!(joint_type::JointType, q) = nothing |
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I think these are unused now, right? Since you're using RigidBodyDynamics.normalize_configuration! below.
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good point. I'll fix that in #4
| tree = mechanism.tree # TODO: tree accessor? | ||
| for vertex in rbd.Graphs.vertices(tree) | ||
| body = vertex | ||
| body_ancestors = rbd.Graphs.ancestors(vertex, tree) |
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Cool, glad to see the RBD.Graphs stuff coming in handy.
| settransform!(vis, to_affine_map(transform_to_root(state, body))) | ||
| else | ||
| body_ancestors = rbd.Graphs.ancestors(vertex, tree) | ||
| path = Symbol.(string.(reverse(body_ancestors))) |
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Could be nice to just store these in a Dict in MechanismVisualizer maybe.
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@tkoolen this diverges a bit from the way RigidBodyTreeInspector.jl worked, but I think it's for the better. This package now exports a
MechanismVisualizertype which holds aMechanismState. So to visualize a robot, you do:and to draw it in a configuration, you just use
RigidBodyDynamics.set_configuration!:This should alleviate the annoyance of always having to make a new state just for the visualizer.
I've also turned on animation and the OdeIntegrators sink. I haven't made the demo as nice as before, but most of the important features should be in.