No more TransformFrom #72
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varunagrawal
approved these changes
Mar 21, 2021
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I liked how you guys dealt with the link-joint relationship. But the ability to do every operation in two different ways (
transformTo(link1,...) == transformFrom(link2,...)) is confusing and leads to a lot of boilerplate, magnified even more with the new JointTyped hierarchy. So, this PR gets rid of the "From" variants. Turns out they were almost not used anyway.I also added some derivative checks. We might not have enough of those.
As a heads up, I'd also like to just get rid of JointTyped. It's added value over ScrewJointBase seems very limited. I'll start an issue where you can comment.
Please review this ASAP so I can move on keep building. I have to teach grasps on Tuesday!
Frank