[Rock-dev] RigidBodyState

Alexander Duda Alexander.Duda at dfki.de
Thu Jul 12 09:32:16 CEST 2012


On 07/11/2012 10:45 PM, Markus Prinzler wrote:
> 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
On branch master there is an another factory method called 
RigidBodyState::unknown() which is using the method initUnknown printed 
below.
If you want to set custom values just create an invalid RigidBodyState 
and manually set the fields you are interested in.

+        void initUnknown()
+        {
+            position.setZero();
+            velocity.setZero();
+            orientation = Eigen::Quaterniond::Identity();
+            angular_velocity.setZero();
+            cov_position = setValueUnknown();
+            cov_orientation = setValueUnknown();
+            cov_velocity = setValueUnknown();
+            cov_angular_velocity = setValueUnknown();
+        }

+        static base::Matrix3d setValueUnknown()
+        {
+            return base::Matrix3d::Ones() * base::infinity<double>();
+         }

Alex

-- 
Dipl.-Ing. Alexander Duda
Unterwasserrobotik

DFKI Bremen
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