[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
Robotics Innovation Center
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Fax: +49 (0)421 178-454150
E-Mail: alexander.duda at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
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