[Rock-dev] [rock] #183: Incorrect invalidation of RigidBodyState

[rock]

#183: Incorrect invalidation of RigidBodyState
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 Reporter:  mago02  |      Owner:  rock-dev-mailing-list
     Type:  defect  |     Status:  new
 Priority:  major   |  Milestone:
Component:  base    |   Keywords:
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 I just found that the invalidate() function of the RigidBodyState not do
 what the should do:

         void invalidate() {
             invalidateOrientation();
             invalidatePosition();
             invalidateVelocity();
             invalidateAngularVelocity();

             position.setZero();
             velocity.setZero();
             orientation = Eigen::Quaterniond::Identity();
             angular_velocity.setZero();
         }

 First it correctly invalidates the members with NAN, after that it set's
 the values to zero. I'm not shure if this is a misstake or workaround. I
 will push an fixed version tomorrow (without the setZero's).

 Matthias

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Ticket URL: <http://rock.opendfki.de/ticket/183>
rock <http://rock.opendfki.de>
rock: the robot construction kit