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stack-of-tasks / sot-core

Hierarchical task solver plug-in for dynamic-graph
BSD 2-Clause "Simplified" License
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[operator] Add HomogeneousMatrixToSE3Vector & SE3VectorToHomogeneousMatrix #154

Closed NoelieRamuzat closed 4 years ago

NoelieRamuzat commented 4 years ago

Allows to convert a vector of size 12 (which represents an Homogeneous Matrix) to a 'real' Homogeneous Matrix (dg type). And the opposite. Add comparison test in test_operator.cpp.

@nim65s I don't know if you already rewrite the master & devel history; if so what should I do ? A git rebase -i v4.10.0 first ?

jmirabel commented 4 years ago

May I ask where you need this ?

Although this may be useful is certain particular circumstances, this can generally be avoided in favor of another solution.

NoelieRamuzat commented 4 years ago

I need this conversion to use some signals from the PG and the SoT in sot-torque-control and TSID. Indeed, in TSID the tasks are using vectors as references (size 3 for the CoM and 12 for the feet for instance). TSID is not using the dynamic-graph matrix types, so I have to convert my signals to plug them.

jmirabel commented 4 years ago

Can you point me to the code that bridges SoT and TSID please.

nim65s commented 4 years ago

Hi @NoelieRamuzat,

I rewrote the history. Could you check that the commit a8be0231b530282f6b1e8263296b02ebd39fbee9 is what you want to do in this PR ? If so, you can use git reset --hard a8be0231b530282f6b1e8263296b02ebd39fbee9 && git push -f origin devel (if origin is your remote for your fork)

jmirabel commented 4 years ago

After a private discussion with @NoelieRamuzat, one of the particular case has been reached indeed.

NoelieRamuzat commented 4 years ago

Hi @nim65s ! Yes this commit is what I need in my PR thanks :) I did the command on my fork thanks ! And thank you @jmirabel for the discussion !