From 2592a48d427deebefa7008a0f2313ebecc14e188 Mon Sep 17 00:00:00 2001 From: Tomas Lorente Date: Wed, 19 May 2021 17:00:43 -0300 Subject: [PATCH] nits Signed-off-by: Tomas Lorente --- bullet/src/KinematicsFeatures.cc | 6 ------ bullet/src/SDFFeatures_TEST.cc | 13 ------------- 2 files changed, 19 deletions(-) diff --git a/bullet/src/KinematicsFeatures.cc b/bullet/src/KinematicsFeatures.cc index 903e793de..9c73233fd 100644 --- a/bullet/src/KinematicsFeatures.cc +++ b/bullet/src/KinematicsFeatures.cc @@ -65,12 +65,6 @@ FrameData3d KinematicsFeatures::FrameDataRelativeToWorld( btVector3 omega = rigidBody->getAngularVelocity(); btVector3 vel = rigidBody->getLinearVelocity(); - // Transform to world frame - // const auto matBaseToWorld = - // btMatrix3x3(rigidBody->getWorldToBaseRot()).inverse(); - // omega = matBaseToWorld * omega; - // vel = matBaseToWorld * vel; - data.linearVelocity = convert(vel) + ignition::math::eigen3::convert( ignition::math::eigen3::convert(convert(omega)).Cross( -ignition::math::eigen3::convert(data.pose).Rot() * diff --git a/bullet/src/SDFFeatures_TEST.cc b/bullet/src/SDFFeatures_TEST.cc index 7c6003d96..3a8000f5a 100644 --- a/bullet/src/SDFFeatures_TEST.cc +++ b/bullet/src/SDFFeatures_TEST.cc @@ -120,24 +120,11 @@ TEST(SDFFeatures_TEST, WorldIsParentOrChild) CreateTestModel(world, "test0", std::nullopt, std::nullopt); EXPECT_EQ(nullptr, joint); } - /* - { - const auto &[model, joint] = CreateTestModel(world, "test1", parent, child); - EXPECT_NE(nullptr, joint); - } - */ { const auto &[model, joint] = CreateTestModel(world, "test2", std::nullopt, child); EXPECT_NE(nullptr, joint); } - /* - { - const auto &[model, joint] = - CreateTestModel(world, "test3", parent, std::nullopt); - EXPECT_EQ(nullptr, joint); - } - */ } int main(int argc, char *argv[])