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Fix incorrect rotational motion of BallJoint and FreeJoint #518

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merged 6 commits into from
Oct 15, 2015
Merged

Fix incorrect rotational motion of BallJoint and FreeJoint #518

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f28d6e5
Change generalized coordinates of BallJoint and FreeJoint
jslee02 Oct 12, 2015
273376d
Add tests checking forward kinematics algorithm and finite difference…
jslee02 Oct 12, 2015
fbc4478
Revert unintended change
jslee02 Oct 12, 2015
4ff70fb
Use existing kinematics auto-update mechanism to update BallJoint/Fre…
jslee02 Oct 13, 2015
c3cd476
Merge remote-tracking branch 'origin/portable_uri' into freejoint_bal…
jslee02 Oct 13, 2015
95992d2
Don't need to compute Jacobians of BallJoint/FreeJoint in the constru…
jslee02 Oct 14, 2015
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Don't need to compute Jacobians of BallJoint/FreeJoint in the constru… 
…ctors

...since it will be updated when they get called by the kinematics auto-updating mechanism
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@jslee02
jslee02 committed Oct 14, 2015
commit 95992d2dd14558e1f6f6fbec9f75584192596d64
2 changes: 0 additions & 2 deletions dart/dynamics/BallJoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,8 +101,6 @@ BallJoint::BallJoint(const Properties& _properties)
: MultiDofJoint<3>(_properties),
mR(Eigen::Isometry3d::Identity())
{
mJacobian
= math::getAdTMatrix(mJointP.mT_ChildBodyToJoint).leftCols<3>();
mJacobianDeriv = Eigen::Matrix<double, 6, 3>::Zero();

setProperties(_properties);
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1 change: 0 additions & 1 deletion dart/dynamics/FreeJoint.cpp
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Expand Up @@ -529,7 +529,6 @@ FreeJoint::FreeJoint(const Properties& _properties)
: MultiDofJoint<6>(_properties),
mQ(Eigen::Isometry3d::Identity())
{
mJacobian = math::getAdTMatrix(mJointP.mT_ChildBodyToJoint);
mJacobianDeriv = Eigen::Matrix6d::Zero();

setProperties(_properties);
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