testing world pose function #80
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Signed-off-by: Ian Chen <[email protected]>
claireyywang
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Jul 10, 2020
Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Ian Chen <[email protected]> Signed-off-by: claireyywang <[email protected]>
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Jul 13, 2020
* add offset to collision * correct collision_TEST, add offset to link * update link pose in model * testing world pose function (#80) * remove tf, use pose instead; add unit tests for GetWorldPose * remove unused include statements Signed-off-by: claireyywang <[email protected]> Co-authored-by: Ian Chen <[email protected]>
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Jul 20, 2020
* add offset to collision * correct collision_TEST, add offset to link * update link pose in model * add all entity offset poses to frame data in kinematicsfeatures * add offset pose to frame * testing world pose function (#80) * remove tf, use pose instead; add unit tests for GetWorldPose * use semanticPose in SDFfeatures * include closing bracket * remove unused include statements * add worldpose tests * add link to free group * add link and debug msg * correct framedata of model and link pose * correct test cases * clean up debug msgs * more clean up * add more tests Signed-off-by: claireyywang <[email protected]> Co-authored-by: Ian Chen <[email protected]>
iche033
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Sep 14, 2020
* add support for nested models Signed-off-by: Ian Chen <[email protected]> * add construct model function to model Signed-off-by: Ian Chen <[email protected]> * comment out freegroup canonical link Signed-off-by: Ian Chen <[email protected]> * add offset to collision Signed-off-by: claireyywang <[email protected]> * correct collision_TEST, add offset to link Signed-off-by: claireyywang <[email protected]> * update link pose in model Signed-off-by: claireyywang <[email protected]> * add all entity offset poses to frame data in kinematicsfeatures Signed-off-by: claireyywang <[email protected]> * add offset pose to frame Signed-off-by: claireyywang <[email protected]> * testing world pose function (#80) Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Ian Chen <[email protected]> Signed-off-by: claireyywang <[email protected]> * remove tf, use pose instead; add unit tests for GetWorldPose Signed-off-by: claireyywang <[email protected]> * use semanticPose in SDFfeatures Signed-off-by: claireyywang <[email protected]> * update collide bitmask test to include a nested model Signed-off-by: Ian Chen <[email protected]> * include closing bracket Signed-off-by: claireyywang <[email protected]> * remove unused include statements Signed-off-by: claireyywang <[email protected]> * add worldpose tests Signed-off-by: claireyywang <[email protected]> * add link to free group Signed-off-by: claireyywang <[email protected]> * add link and debug msg Signed-off-by: claireyywang <[email protected]> * correct framedata of model and link pose Signed-off-by: claireyywang <[email protected]> * correct test cases Signed-off-by: claireyywang <[email protected]> * clean up debug msgs Signed-off-by: claireyywang <[email protected]> * more clean up Signed-off-by: claireyywang <[email protected]> * freegroup working with nested models Signed-off-by: Ian Chen <[email protected]> * fix codecheck errors Signed-off-by: Ian Chen <[email protected]> * check parent world when constructing model in dartsim Signed-off-by: Ian Chen <[email protected]> * add ConstructNestedModel feature Signed-off-by: Ian Chen <[email protected]> * add doc Signed-off-by: Ian Chen <[email protected]> * add world construct nested model feature, fix freegroup set world pose Signed-off-by: Ian Chen <[email protected]> * doc limitation of construct model Signed-off-by: Ian Chen <[email protected]> * Try to find sdformat 9.3 Signed-off-by: Steve Peters <[email protected]> * return first link as canonical link before searching in nested models Signed-off-by: Ian Chen <[email protected]> * update comment Signed-off-by: Ian Chen <[email protected]> * make sure first link added becomes the canonical link Signed-off-by: Ian Chen <[email protected]> * fix build Signed-off-by: Ian Chen <[email protected]> * add note about order Signed-off-by: Ian Chen <[email protected]> Co-authored-by: claireyywang <[email protected]> Co-authored-by: Steve Peters <[email protected]>
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Use
poseinstead oftfto keep track of relative transformation. AddGetWorldPoseto get entity pose relative to world,GetPoseto get entity pose relative to parent. This change will make tpe more consistent with the rest of the library.Signed-off-by: Ian Chen [email protected]