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graspit-simulator / graspit

The GraspIt! simulator
http://graspit-simulator.github.io/
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transposed rotation part of relative contact location to restore pre-… #115

Closed mkghaas closed 7 years ago

mkghaas commented 7 years ago

…Eigen behavior. The behavior of this function is now in line with it's description. I believe the EGPlanner does not use this method, so that should be fine?

mateiciocarlie commented 7 years ago

This looks good to me, but makes me worried. If .affine() is now transposed relative to before the Eigen change, should that not be reflected everywhere in the code? It looks like in some parts that change has been made, but in others it has not.

Perhaps this explains why various things (e.g. the dynamics engine) are broken?

@jvarley - any thoughts?

mateiciocarlie commented 7 years ago

I will go ahead and merge this since the only thing that uses localToWorldWrenchMatrix() is GFO stuff, where the change is needed, but I am still worried about the stuff mentioned above...