[mc_rbdyn::Robot] Update the convex #385
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gergondet
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Sep 6, 2023
Added --- - [bindings] Add bindings for ControllerClient (#384) - [mc_rtc] Allow to override existing log entries (#383) - [mc_rtc] Allow "chunky" XY plot updates (#386) - [mc_solver] ConstraintSet now has an update mechanism (#381) - [Samples: CoM] Support the Pepper robot Changes --- - [StabilizerTask] Improve force distribution and CoP horizon reference (#375) - [mc_rbdyn] Convex objects are now automatically updated (#385) - [mc_solver] Collision constraint automatically display distance arrows when the distance falls below the interaction distance (#381) Fixes --- - [bindings] Fix build for Cython >= 3.0.0 - [cmake] Fix issue with yaml-cpp >= 0.8.0 - [mc_control] Fix logging of plugin performances (#383) - [mc_observers] KinematicInertial uses function from state-observation (#388) - [mc_rbdyn] Fix loading of devices with canonical robots (#379) - [mc_rbdyn] Fix compilation with geos >= 3.12.0 - [Replay] Fix output replay on fixed-based robots - [Replay] Avoid precision issue when comparing controller timestep with replay timestep
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This PR modifies the
mc_rbdyn::Robot::forwardKinematicssuch as the convexes attached to a robot are also updated. Otherwise, the convexes' location keeps their initial pose unless they are used in a constraint.This allows
mc_rbdyn::Robot::convexfunction to return an up-to-date convex.