Coordinate frame cpp #1269
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Coordinate frame cpp #1269
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…ses. i think this might work better.
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working on this a lot now. will close and reopen soon. |
| @@ -4,7 +4,8 @@ | |||
| function obj=AtlasCoordinates(r) | |||
| typecheck(r,'TimeSteppingRigidBodyManipulator'); | |||
| nq = r.getNumPositions(); | |||
| obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasCoordinates',nq,'x',r.getStateFrame.coordinates(1:nq)); | |||
| coords = r.getStateFrame(); | |||
| obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasCoordinates',nq,'x',coords(1:nq)); | |||
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It's annoying that slicing the coordinate names can no longer be done as a one-liner. But that's unavoidable (unless Mathworks fixes https://github.com/RobotLocomotion/mathworks-requests/issues/8 😉 )
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actually, i could have written the coordinates method to (optionally) take in a matrix of indices. but the real pain is that some code was accessing it as coordinates(1:nq) and others as e.g. coordinates{1}
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another step towards being a C++ library w/ matlab wrappers. as described in #1267.