Modify model appending algorithm #2218
Conversation
There was a problem hiding this comment.
Thanks a lot @florent-lamiraux for working on this feature.
I made some remarks to enhance the integration of this PR into Pinocchio.
|
@jcarpent : I will handle your comments after fixing the tests. |
Modify robot append algorithm. In the new version, when appending model B to
model A on frame F, joints are copied in the
following order
- joints of model A up to the parent of F,
- all the descendents of parent of F,
- the remaining joints of A.
Modify test-cpp-model to check the new behavior.
Improve documentation of Model.
|
I addressed the above comments, modified test-cpp-model to test the new behavior, and improved the documentation |
| { | ||
| AJointsAfterB.push_back(jid); | ||
| } | ||
| } |
There was a problem hiding this comment.
Given the compact organization of the list of joints, I would expect that you can copy all the joints of model A until the first joint whose id id_insert matches:
id_frame_parent < id_insert: the joint is after theframe.parentwhere modelB is appended.modelA.parents[id_insert] < id_frame_parent: the joint parent is beforeframe.parent.
id_insert is to be added after model B.
If that is true, the code would arguably be easier to read because more atomic (e.g. I would not have to check the doc of model.support).
There was a problem hiding this comment.
Note that I'm not specifically asking you to change. I'm done with the current implementation.
This modification follows #2203.
In the new version, when appending model B to model A on frame F, joints are copied in the
following order