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DAIRLab / dairlib

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Update to drake master #250

Closed mposa closed 2 years ago

mposa commented 2 years ago

-Fix deprecation warnings for missing port names. I chose names that seemed appropriate, but please weigh in if you have thoughts. -Remove dead serializer (UDPout) code -Add Clone method to serializer (UDPin) -Due to upstream changes, the new method to compute orthonormal bases from a single vector is now RotationMatrix::MakeFromOneVector. This does not necessarily produce the same results as the old function (since there is ambiguity in how the other two axes are defined). We used this in WorldPointEvaluator. I've updated the unit test, which has manually defined values, but it's worth being aware that this might have unintended consequences if we make assumptions about how those other two axes are ultimately specified.

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mposa commented 2 years ago

This is ready for review, if anyone can take a look. Notable changes are in the PR description.

Brian-Acosta commented 2 years ago

I agree with not using _in and _out suffixes, I think diagrams will be easier to read that way

I'm not sure about how to name ports that are of type OutputVector, robot_output feels vague but too wordy at the same time. We should probably distinguish between ports of type BasicVector, TimestampedVector, and OutputVector in the names, so that when we draw the diagram we can easily see which values are being passed along.

I think adding (TimestampedVector) to timestamped vector ports is probably sufficient here. Otherwise we can assume that the port is a BasicVector port unless it is named robot_output or whatever substitute for robot_output we decide on.

yminchen commented 2 years ago

Just one comment, we should use x_u_t instead of t_x_u so that it's in the same order as how it's stored