[Rock-dev] Bug in control/kdl in copy constructor

[Sylvain Joyeux]

Seems legit to me ... I would suggest reporting this to the KDL
developers (preferably with a correcting pull request ;-))

https://github.com/orocos/orocos_kinematics_dynamics.git

Sylvain

On Thu, Feb 15, 2018 at 9:06 AM, Anna Born <anna.born at dfki.de> wrote:
> Hi,
>
> by copying or assigning the KDL::Tree the inertia information of the root
> segment is not copied and is restored to zero.
>
> The inertia information:
>
> segment.getInertia().getMass() segment.getInertia().getCOG()
> segment.getInertia().getRotationalInertia()
>
>
> Hier is the code:
>
> bool is_success = kdl_parser::treeFromFile(file, this->kdlTree);
> printOutTree(this->kdlTree);
> KDL::Tree treeTest(kdlTree);
> printOutTree(treeTest);
>
> For test the urdf model of asguard was used:
> https://git.hb.dfki.de/models-robots/asguard_v4/blob/master/urdf/asguard_v4.urdf
>
> The original, kdlTree:
>
> ---body
> Mass: 2
> COG: 0.035 0 0.07825
> RotationalInertia: 0.0281261 0 -0.0054775 0 0.0641161 0 -0.0054775 0 0.05125
> .......
> ---wheel_front_right_motor
> Mass: 0.1
> COG: -0.00031 -0.00016 0.00047
> RotationalInertia: 0.00176002 -4.96e-09 1.457e-08 -4.96e-09 0.00346003
> 7.52e-09 1.457e-08 7.52e-09 0.00176001
>
>
> Its copy, treeTest:
>
> ---body
> Mass: 0
> COG: 0 0 0
> RotationalInertia: 0 0 0 0 0 0 0 0 0
> ........
> ---wheel_front_right_motor
> Mass: 0.1
> COG: -0.00031 -0.00016 0.00047
> RotationalInertia: 0.00176002 -4.96e-09 1.457e-08 -4.96e-09 0.00346003
> 7.52e-09 1.457e-08 7.52e-09 0.00176001
>
>
> Has someone know more about this issue?
>
> I tried with our kdl version (commit:
> 264ef3f7c4ad553e7a391e0f104fda1ec5051925) and with the newest kdl version
> (commit: d798f594552cb6f6223981b9c304d3db2b6a7d18). Both versions give the
> same result.
>
>
> With best regards,
>
> Anna
>
>
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