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jrl-umi3218 / RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
BSD 2-Clause "Simplified" License
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Remove Geometry::scale #119

Closed arntanguy closed 6 months ago

arntanguy commented 6 months ago

This PR proposes to remove the duplication between double Geometry::Mesh::scale and Eigen::Vector3d Geometry::Mesh::scaleV. Indeed scaleV contains all the necessary information and having both is unnecessary and confusing.

Loading from urdf/yaml still supports both a single valued or dimensional scale. Exporting always exports the dimensional scale.

See https://github.com/jrl-umi3218/mc_rtc/pull/430

gergondet commented 6 months ago

Hi @arntanguy

Thanks for the PR I have no problem with it but I suggest we make sure that no code (that we are aware of) relies on scale first. Release new versions of the packages that did and finally merge and release a version of RBDyn that removes scaleV

arntanguy commented 6 months ago

Yes, magnum does, but besides that I am not aware of any other that relies on it.