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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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add functions to map param or dof indices to joint indices #39

Closed barcode closed 6 years ago

barcode commented 7 years ago

i wrote the function since i needed it in some cases, but i don't need it any more.
but maybe someone else does need it.

haudren commented 7 years ago

I'm not sure that this is really useful in general, what was your use-case? I don't see anything wrong but I'd rather not add too many functions to RBDyn as it might get confusing for end-users.

As a side-note, std::upper_bound is not O(1), contrarily to other functions like jointPosInParam and the likes. Should those functions be added, we would need to mention it in the documentation.

barcode commented 7 years ago

it was some debugging code where i had all pos values/velocities in one big vector (which was a stupid idea) and hat do do this mapping.

haudren commented 7 years ago

Ok, but wouldn't this be alleviated by using rbd::paramToVector and the likes? They translate from the Eigen::VectorXd into a std::vector<std::vector<double>>, and you then index by joint.

barcode commented 7 years ago

it would have if i had known these functions (they are not in the mb interface so i did not see them).
since i only needed it temporarily i went for the quick version and wrote this.
i do not need these functions, but thought maybe they could be of use to someone.