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robotology / sdf-modelica

URDF/SDF to to Modelica model converter.
GNU Lesser General Public License v3.0
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Unused variabiles #11

Open triccyx opened 6 years ago

triccyx commented 6 years ago

The URDF to MO process creates some unused variables and equations. For example for AK_R

SI.Angle q_L_AK_R "Joint angle for joint L_AK_R";
SI.AngularVelocity qd_L_AK_R "Joint speed for joint L_AK_R";
SI.AngularAcceleration qdd_L_AK_R "Joint acceleration for joint L_AK_R";
SI.Torque tau_L_AK_R "Joint torque for joint L_AK_R";

Are not used, together with the corresponding equations:

q_L_AK_R = L_AK_R.phi;
qd_L_AK_R = der(q_L_AK_R);
qdd_L_AK_R = der(qd_L_AK_R);
tau_L_AK_R = L_AK_R.tau;