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Import premultH from asibot-main repo and merge into the transCoords app #137

Merged
merged 22 commits into from
Jan 26, 2018
Merged

Import premultH from asibot-main repo and merge into the transCoords app #137

merged 22 commits into from
Jan 26, 2018

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PeterBowman
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@PeterBowman PeterBowman commented Jan 26, 2018 •
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Small cleanup of transCoordsUsingJoints + integration of former premultH app from asibot-main (roboticslab-uc3m/asibot-main#21).

More goodies and improvements:

jgvictores and others added 19 commits January 6, 2018 02:28
@jgvictores @PeterBowman
add example use
b266f66
@PeterBowman
Handle rotations in PremultPorts, assume scaled axis-angle notation
55fe798
@PeterBowman
Remove temporary fix applied at #97
18e5f5b 
Users should have already upgraded to 2.3.68.1 if still stuck with
YARP pre-2.3.70.
@PeterBowman
Review includes, prefer C++ headers
121f007
@PeterBowman
Move numRobotJoints setter logic to new method
7e2f94e 
Accessor method logic should be simple. If it must perform any
check on the current class state, we should be able to test that
somehow (e.g. return value) instead of blowing it up (std::exit).
Right now, it feels more clean to perform said check in the caller,
i.e. TransCoordsUsingJoints.cpp.
@PeterBowman
Use 'return' statement instead of std::exit
4a6b8f0 
The latter does not call class destructors, that is, ports and
devices will not close cleanly.
@PeterBowman
Use ColorDebug macros instead of std::printf
e88cc44
@PeterBowman
Merge branch 'develop' into transCoordsUsingJoints-rb
d86091e
@PeterBowman
Read initial base frame from YARP options, premultiply
f894ce6
@PeterBowman
Rename frames
e3e6fd8
@PeterBowman
Rename transCoordsUsingJoints to transCoords
ff29ec7
@PeterBowman
Drop PremulPorts class, implement TypedReaderCallback
ff49f6a
@PeterBowman
Use if-guard in callback in case a robot is present
a0f8f4d
@PeterBowman
Clear output bottle prior to using it
bdb4b37
@PeterBowman
Interpret input matrix as list
c47490e
@PeterBowman
Rename frame option to fixedH, don't premultiply if using robot solver
b567537
@PeterBowman
Enable custom port prefix
697ba47
@PeterBowman
Read --angleRepr option, handle distinct angle representations
bd12716
@PeterBowman
Merge branch 'develop' into transCoords-2in1
462fea4 
Conflicts:
	programs/transCoordsUsingJoints/CMakeLists.txt
This was referenced Jan 26, 2018
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jgvictores
jgvictores approved these changes Jan 26, 2018
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Perfect!!

@jgvictores jgvictores merged commit 3a4effc into develop Jan 26, 2018
@jgvictores jgvictores deleted the transCoords-2in1 branch January 26, 2018 23:10
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@PeterBowman @jgvictores