Comments (9)
If you are happy with the way it has been handled in #65 I can make similar modifications for JointState
from control-libraries.
@buschbapti I think we are almost there. One thing that still confuses me is why the Jacobian class implements set_rows
and set_cols
without changing the data
variable and a set_data
function without changing the rows
and cols
variables. Shouldn't that all happen together, i.e. when you change the data, the number of rows and cols are changed and when you change the size, the data is changed too?
from control-libraries.
For the JointState this problem is solved, as each time you call set_names
, the JointState is initialized again.
from control-libraries.
Well to be honest I am not even sure what should be the usage of the rows
and cols
setters. At least in the public API. I would say that those should either do as you suggest or be completely removed. Regarding set_names
in JointState
didn't you had a problem there that is is changing the size? I believe I have modified this behavior in Jacobian
but not JointState
.
from control-libraries.
I agree about the rows
and cols
setters, we could probably remove those and in the data
setter we only accept matrices of the correct size..?
I don't recall the problem you are mentioning with the JointState
, from the code I can tell that initialize
is called when you set the names and that makes sense in my opinion.
from control-libraries.
Well I guess this is part of the bigger improvement of making states less mutable. I am not sure if it should accept the correct size or at least the possibility to also set the transpose maybe.
from control-libraries.
Okay so would you leave this issue open? Because I was just checking in if this is something that could be closed quickly
from control-libraries.
no let's keep it open for now
from control-libraries.
I think the problems have been addressed in PR #144 and this issue can be closed now.
from control-libraries.
Related Issues (20)
- Jacobian derivative HOT 4
- install.sh script not working HOT 5
- Pinocchio-Boost Problems HOT 9
- Error when putting ros.h include before pinocchio include HOT 3
- Library libpinocchio.so.2.6.0 not correctly loaded HOT 8
- Random JointPositions HOT 7
- Wrench not computed in the multiplication operator
- Inverse is not meaningful for all cartesian types
- Deprecated `from_std_vector` HOT 4
- Demos on develop branch HOT 3
- CartesianState operators in Python bindings HOT 1
- Use hpp extension for clproto headers HOT 1
- Python binding of CartesianState uses argument name "reference", not "reference_frame" HOT 1
- Re-enable building of pinocchio tests in development image HOT 1
- Not using actual rotation vector for ImpedanceController
- Inconsisten behavior of passing state.force_ and state.torque_
- Not using actual rotation vector for ImpedanceController # HOT 1
- Inconsisten behavior of passing state.force_ and state.torque_ HOT 2
- VelocityImpedance is actually a PassiveController HOT 3
- Force gain matrix in Impedance HOT 2
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from control-libraries.