Closed gabrielenava closed 7 years ago
Fixed. I noticed that the forward kinematics instead was working fine:
>> wbm_forwardKinematics('potatoes')
Error using mexWholeBodyModel
forwardKinematics call Link ID does not exist.
Error in wbm_forwardKinematics (line 25)
vqT_lnk = mexWholeBodyModel('forward-kinematics', varargin{1});
so I copy-paste these code lines from modelforwardkinematics.cpp
into modeljacobian.cpp
:
if (com.compare(refLnk) != 0) {
if ( !robotModel->getFrameList().idToIndex(refLnk, refLnkID) ) {
mexErrMsgIdAndTxt("MATLAB:mexatexit:invalidInputs", "forwardKinematics call Link ID does not exist.");
}
}
and this solved the issue:
>> wbm_jacobian('potatoes')
Error using mexWholeBodyModel
jacobian call Link ID does not exist.
Error in wbm_jacobian (line 22)
wf_J_lnk = mexWholeBodyModel('jacobian', varargin{1});
>>
I will commit the changes in updateRepo
branch and then close this issue.
Thanks for mentioning this issue! I will add these line of code to the remaining methods which using refLnk.
Bugfixed additionally the trasformationMatrix and the dJdq function.
@gabrielenava: Can you merge my newest changes into your repository? Thx.
@gabrielenava Please do not close a bug until it is fixed in master (i.e. for all users), thanks.
got it, I will close it after merging the repo then
:+1:
As in the title. Tested in
WBM-class
branch andupdateRepo
branch. This is the CoM jacobian (e.g., for Walkman):and this is the POTATOES jacobian: