Questions about frame

[mmurooka]

This is not a issue, it is a question. I haven't been able to catch up much since the concept frame was introduced in mc_rtc, so I have a few questions.

• Should the following two still return the same pose? https://github.com/jrl-umi3218/mc_rtc/blob/c45e8e4d6164f45e9eb1a747ef5084e49dc9abcd/src/mc_rbdyn/Robot.cpp#L1026-L1029 https://github.com/jrl-umi3218/mc_rtc/blob/c45e8e4d6164f45e9eb1a747ef5084e49dc9abcd/include/mc_tasks/TransformTask.h#L104-L108

• Where in the code is the frame_->position updated each control cycle?

[gergondet]

Should the following two still return the same pose?

If the controlled frame is a surface then yes.

Where in the code is the frame_->position updated each control cycle?

There is no update mechanism. It is computed on demand here

[mmurooka]

Oh, I see. Thank you for your explanation.