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<div class="moz-cite-prefix">On 07/11/2012 10:45 PM, Markus Prinzler
wrote:<br>
</div>
<blockquote
cite="mid:CALRV4Xa44vLZ35xQjqgNgwYZyt8ybFRAZeNXQA+S5jW5hdv6Pg@mail.gmail.com"
type="cite">
<pre wrap="">Hi,
in order to test some stuff I'd like to create a RigidBodyState object
with specific values. Is there another constructor except
RigidBodyState::invalid()?
Regards,
Markus Prinzler
</pre>
</blockquote>
On branch master there is an another factory method called
RigidBodyState::unknown() which is using the method initUnknown
printed below.<br>
If you want to set custom values just create an invalid
RigidBodyState and manually set the fields you are interested in.<br>
<br>
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+ void initUnknown()<br>
+ {<br>
+ position.setZero();<br>
+ velocity.setZero();<br>
+ orientation = Eigen::Quaterniond::Identity();<br>
+ angular_velocity.setZero();<br>
+ cov_position = setValueUnknown();<br>
+ cov_orientation = setValueUnknown();<br>
+ cov_velocity = setValueUnknown();<br>
+ cov_angular_velocity = setValueUnknown();<br>
+ }<br>
<br>
+ static base::Matrix3d setValueUnknown()<br>
+ {<br>
+ return base::Matrix3d::Ones() *
base::infinity<double>();<br>
+ }<br>
<br>
Alex <br>
<pre class="moz-signature" cols="72">--
Dipl.-Ing. Alexander Duda
Unterwasserrobotik
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 178-456620
Fax: +49 (0)421 178-454150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:alexander.duda@dfki.de">alexander.duda@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
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Steuernummer: 19/673/0060/3 </pre>
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