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[SofaBoundaryCondition] make LinearMovementConstraint accept absolute movements #394

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merged 3 commits into from Nov 8, 2017
Merged

[SofaBoundaryCondition] make LinearMovementConstraint accept absolute movements #394

merged 3 commits into from Nov 8, 2017

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raphaeldeimel
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@raphaeldeimel raphaeldeimel commented Sep 7, 2017 •
edited by guparan

This is small feature addition.

Currently, LinearMovementConstraint only takes trajectories relative to the rest position of the MechanicalState. Sometimes though, the trajectory is specified in world frame coordinates, and especially with Rigid3D (i.e. orientations), conversion is not trivial for the user

This patch introduces a switch "relativeMovements" (default true).
When disabled, trajectories can be specified in world frame coordinates.

This PR:

  • builds with SUCCESS for all platforms on the CI.
  • does not generate new warnings.
  • does not generate new unit test failures.
  • does not generate new scene test failures.
  • does not break API compatibility.
  • is more than 1 week old (or has fast-merge label).

Reviewers will merge only if all these checks are true.

@sofabot
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sofabot commented Sep 7, 2017

Thank you for your pull request!
Someone will soon check it and start the builds.

@damienmarchal
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damienmarchal commented Sep 8, 2017 •
edited

Hi Raphael,

Many thank for your pull request.
The feature sounds appealing and at first sight it looks ok. I have never used this component so if someone can give feedback it would be great.

EDIT: do you mind if I push some cleaning commit on this component in your PR. I would like to add some test cases for this component.

@guparan guparan added enhancement About a possible enhancement pr: status to review To notify reviewers to review this pull-request labels Sep 11, 2017
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guparan commented Sep 11, 2017

Hi @raphaeldeimel,
Thank you for your PR. I just rebased it to remove the empty commit with duplicated message.
[ci-build]

@guparan guparan changed the title make LinearMovementConstraint also accept absolute movements [SofaBoundaryCondition] make LinearMovementConstraint accept absolute movements Sep 11, 2017
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guparan commented Sep 13, 2017 •
edited

Shouldn't this code also be contained in a if (relativeMovements.getValue())?

@guparan guparan added pr: status wip Development in the pull-request is still in progress and removed pr: status to review To notify reviewers to review this pull-request labels Sep 13, 2017
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guparan commented Sep 13, 2017 •
edited

Another remark from SOFA-dev meeting: relativeMovements should be false by default to keep current behavior.

@guparan
[SofaBoundaryCondition] CLEAN LinearMovementConstraint
5286bbc 
Remove commented cerr and rename Data relativeMovements to d_relativeMovements
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guparan commented Oct 23, 2017

I think the default value was misunderstood.
default to true = relative coordinates = current behavior = nothing changes by default = we are happy
[ci-build]

@guparan guparan added pr: status to review To notify reviewers to review this pull-request and removed pr: status wip Development in the pull-request is still in progress labels Oct 23, 2017
guparan
guparan reviewed Oct 25, 2017
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modules/SofaBoundaryCondition/LinearMovementConstraint.inl
@@ -248,24 +249,15 @@ template <class MyCoord>
void LinearMovementConstraint<DataTypes>::interpolatePosition(Real cT, typename std::enable_if<!std::is_same<MyCoord, defaulttype::RigidCoord<3, Real> >::value, VecCoord>::type& x)
{
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From SOFA-dev meeting: shouldn't this function handle d_relativeMovements too?

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ping @raphaeldeimel :-)

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you're totally right ;)

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guparan commented Nov 6, 2017

@raphaeldeimel did you see my comment in LinearMovementConstraint.inl?

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guparan commented Nov 7, 2017

[ci-build]

@guparan guparan added pr: status ready Approved a pull-request, ready to be squashed and removed pr: status to review To notify reviewers to review this pull-request labels Nov 8, 2017
@guparan guparan merged commit a0bc024 into sofa-framework:master Nov 8, 2017
@guparan guparan added this to the v17.12 milestone Dec 14, 2017
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@raphaeldeimel @sofabot @damienmarchal @guparan