SetWorldLink removed #52
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| void setReferenceFrameLink(std::string); | ||
| void setReferenceToWorldFrameRotoTrans(wbi::Frame); | ||
| // void setReferenceFrameLink(std::string); | ||
| // void setReferenceToWorldFrameRotoTrans(wbi::Frame); |
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I think we can directly remove the function, so it is easier to read the source code.
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Apart for the comment that I did inline, it seems ok for me. Are the tests passing? |
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@naveenoid Are you sure you want to comment everything out as opposed to deleting the code? It seems to me like an old habit due to lack of code versioning tools? |
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@iron76 Sorry fra it was meant to be an immediate push for Silvio. I agree completely and will get all commented lines out. |
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@traversaro ctest now works perfectly. I think the failure in my machine is related to the version of matlab Im using which explicitly needs the libstdc++ version passed to it with ld preload. It now works fine. |
| @@ -4,7 +4,7 @@ | |||
| %% initialise mexWholeBodyModel | |||
| wbm_modelInitialise('icubGazeboSim'); | |||
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| wbm_setWorldLink('l_sole',eye(3),[0 0 0]',[ 0,0,-9.81]'); | |||
| %wbm_setWorldLink('l_sole',eye(3),[0 0 0]',[ 0,0,-9.81]'); | |||
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Can you remove the line instead of commenting it?
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@naveenoid commented inline. |
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addressing it now |
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| static wbi::iWholeBodyModel *robotWBIModel; | ||
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| bool fixedLinkComputation; | ||
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| Eigen::Matrix4d H_w2b; |
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Unused attribute. @naveenoid consider adding the -Wall option to the compiler options in the cmake when compiling in Debug, so you can get warning like this. Check here https://github.com/robotology/codyco-modules/blob/f7dfddfa4299c4e605c7b533c3fe4f04389a4f8b/cmake/modules/CoDyCoOptions.cmake#L83 how we do in codyco-modules .
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ping @naveenoid |
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push coming in in couple of hours today |
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@traversaro almost all issues except the cmake option -Wall added. Check and merge when you are ok with it. |
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Ah yes! Sorry I was wrong..correcting now asap... |
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Fixed..Merge when ready. Tests all passing. |
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👍 |
In this branch the new version without complexity of "set world link" will be tested. Matlab sources to be updated in subsequent commits.