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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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[mc_rbdyn::Robot] Update the convex #385

Closed antodld closed 1 year ago

antodld commented 1 year ago

This PR modifies the mc_rbdyn::Robot::forwardKinematics such as the convexes attached to a robot are also updated. Otherwise, the convexes' location keeps their initial pose unless they are used in a constraint.

This allows mc_rbdyn::Robot::convex function to return an up-to-date convex.