Load neutralconfiguration from srdf for joint.nq()>1 #652
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…play joint and value. If not found, display error message. Don't display both.
… tag and pinocchio::Joint joint instance
src/parsers/srdf.hxx
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| const std::string joint_val = joint_tag.second.get<std::string>("<xmlattr>.value"); | ||
| std::istringstream config_string(joint_val); | ||
| const std::vector<double> config_vec((std::istream_iterator<double>(config_string)), std::istream_iterator<double>()); | ||
| joint_config = ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType::Map(config_vec.data(), config_vec.size()); |
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Use Model here instead of ModelTpl<Scalar,Options,JointCollectionTpl>
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I tried using typename Model::ConfigVectorType.
gcc cannot does not understand the Map attribute when I do that, but it finds the attribute when I use the full name.
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because you miss the template keyword when doing so. You can see with @jmirabel for that point if he is at LAAS today to explain you this additional info.
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@proyan Thanks for this contribution. I just have some minor remarks that you can handle rapidly. |
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By the way, you can also simplify your code by just handling the generic case. We do not care about the single DOF context in fact. |
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@proyan Also, if you have an example where a SRDF file contains joints with more than one dof. It could be nice to add it inside unit tests. |
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I've taken care of all comments by the recent commit. |
* [parsers][srdf][neutralConfiguration] Update verbosity. If found, display joint and value. If not found, display error message. Don't display both. * [parsers][srdf][neutralConfiguration] remove ambiguity in name of xml tag and pinocchio::Joint joint instance * [parsers][srdf][neutralConfiguration] Load q0 value for joints with nq>1 * [srdf][unittest][neutralConfig] Add joint state to simple humanoid * [srdf][unittest] Use simple_humanoid for loading q0. * [srdf][neutralConfiguration] remove scalar parsing for nq()==1. Simplify Eigen::Map template
Currently when loading neutralConfiguration from srdf, root_joint values are not loaded.
This PR should change that.