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Topic/fix fixed axis transforms #80
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added 4 commits
July 3, 2014 13:40
- improve RNEA test for checking the match between the torques computed from RNEA and those computed from the equation of motion - improve compareLogs func (log the diffs with the reference file)
…RotationMatrixAboutYTpl & RotationMatrixAboutZTpl) - Fix mulMatrixTransposeBy() in class TransformT<FloatType, RotationMatrixAboutYTpl<FloatType> > and in class TransformT<FloatType, RotationMatrixAboutZTpl<FloatType> > - add node.joint_F and Iic to PrintStateVisitor - use q.conf instead of q_init.conf in crba_test (q_init.conf vector has only null values and does not stress enough the CRBA algorithm - log robot state in test_crba
- renamed aEIEt to aEtIE - fixed alpha_y computation in rotTSymmetricMatrix() - generated crba.ref from "q.conf" config
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Changes Unknown when pulling 6a8f88a on nunoguedelha:topic/fix_fixed_axis_transforms into * on laas:master*. |
olivier-stasse
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Jul 16, 2014
Topic/fix fixed axis transforms
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The issue was in the handling of transformations ( sXp ) in the CRBA algorithm steps, while computing the Inertias and the F paramaters. More precisely, issue occured in a couple of methods used by specialization of class TransformT:
TransformT<FloatType, RotationMatrixAboutXTpl >