Comments (9)
I will work on it. After this afternoon.
from mex-wholebodymodel.
Hi guys, this is of fundamental importance. We are currently mounting the inverse kinematics in Simulink, and we need dynamic quantities evaluated at the desired configurations. On one hand, some simulink blocks (e.g. jacobians) cannot be evaluated in other points than the state, since they do not take it as input @jeljaik. On the other hand, this bug forbids tests of an mex-wholebody model implementation.
May we try to address it ASAP?
from mex-wholebodymodel.
Just to understand better : The fix using reshape( ) in the relevant wbm_ wrappers is insufficient? Or is it incorrect?
from mex-wholebodymodel.
As far I can see, reshape is simply mapping the n x n matrix to a n^2 double vector using a column-major ordering (so you get a vector similar to how the matrix is actually displayed in memory:
>> A = [1,2;3,4]
A =
1 2
3 4
>> reshape(A,[],1)
ans =
1
3
2
4
However, the data in the wbi::Rotation
is stored using the classical C-Style row major ordering, i.e. in memory the data is stored as :
double mat[2][2];
mat[0][0] = 1.0;
mat[0][1] = 2.0;
mat[1][0] = 3.0;
mat[1][1] = 4.0;
double * p_mat = mat;
assert(p_mat[0] == 1.0);
assert(p_mat[1] == 2.0);
assert(p_mat[2] == 3.0);
assert(p_mat[3] == 4.0);
See https://en.wikipedia.org/wiki/Row-major_order .
from mex-wholebodymodel.
Please check da6ceda
All tests are passing. ( @traversaro, @DanielePucci , @gabrielenava)
from mex-wholebodymodel.
@naveenoid I guess da6ceda solve the first point of the issue, but not the second ( Change all the code that is assuming the wrong behavior). @gabrielenava
from mex-wholebodymodel.
yes thats right. I can check the @gabrielenava code if one of you gives me a quick overview. I can help maintain it from now on.
from mex-wholebodymodel.
I fixed the original and the joint space balancing controller. I don't think there are other functions that assume the wrong behaviour. I also tested the balancing and it seems that everything is working fine.
from mex-wholebodymodel.
I am closing this for now since its completely addresses.
from mex-wholebodymodel.
Related Issues (20)
- Provide a example on how to load a simple URDF model HOT 1
- Warning: quaternions numerical integration errors HOT 7
- error while use wbm_jacobian HOT 2
- Cmake: check dependencies HOT 3
- windows compilation failed HOT 1
- Matlab crash when running the ctest HOT 8
- Semi Positive Definite Mass Matrix from URDF using mexWholeBodyModel HOT 3
- Unused wbm_setWorldLink.m function HOT 3
- Provide a shim of mex-wholebodymodel against iDynTree classes HOT 1
- torqueBalancing not working HOT 6
- Bug: DBL_MAX in yarpWholeBodyModelV2::getJointLimitFromModel HOT 5
- wbm_jacobian retrieves always the CoM jacobian when called with non-existent frames HOT 8
- Create CI files HOT 2
- latest mex-subroutine causes numerical problems HOT 3
- Clarification on the function `dquat2tform.m` HOT 3
- wbm_getState return nan in the vector-quaternion transformation HOT 33
- ChangeLog is broken HOT 1
- Deprecation of codyco-superbuild HOT 6
- Move this repo to Robotology Legacy? HOT 6
- bug in rotm2quat.m HOT 3
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from mex-wholebodymodel.