added params for getting the mesh location

WPI-AIM · Apr 28, 2022 · 7e00cd1 · 7e00cd1
1 parent 4ba76db
commit 7e00cd1
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/rbdl_model/include/rbdl_model/BodyParam.h b/rbdl_model/include/rbdl_model/BodyParam.h
@@ -15,16 +15,17 @@ class BodyParam
     ~BodyParam(void);
     inline double Mass() { return mass_; }
     inline std::string MeshName() { return mesh_name_; }
-    inline Vector3d InertialOffsetPosition() { return location_position_; }
-    inline Vector3d InertialOffsetOrientation() { return location_orientation_; }
-    inline Vector3d Position() { return inertial_offset_position_; }
-    inline Vector3d Orientation() { return inertial_offset_orientation_; }
+    inline Vector3d Position() { return location_position_; }
+    inline Vector3d Orientation() { return location_orientation_; }
+    inline Vector3d InertialOffsetPosition() { return inertial_offset_position_; }
+    inline Vector3d InertialOffsetOrientation() { return inertial_offset_orientation_; }
     inline Math::Matrix3d Inertia() { return inertia_; }
 
 private:
 
     std::string name_;
     std::string mesh_name_;
+
     double mass_{0.00000001};
     Math::Matrix3d inertia_;
     Vector3d inertial_offset_position_;

diff --git a/rbdl_model/include/rbdl_model/BuildRBDLModel.h b/rbdl_model/include/rbdl_model/BuildRBDLModel.h
@@ -68,6 +68,7 @@ class BuildRBDLModel
     bool buildMeshPath();
 
     std::string blender_namespace_;
+
     YAML::Node baseNode_;
     std::string actuator_config_file_;
     std::string baseRigidBody_;
@@ -77,6 +78,7 @@ class BuildRBDLModel
     std::string base_joint_name_;
     Model *RBDLmodel_ = NULL;
     Model *model = NULL;
+
     std::unordered_map<std::string, bodyParamPtr> bodyParamObjectMap_;
 
     //                 <parent,                       <jointname, jointParamPtr>>

diff --git a/rbdl_model/src/BodyParam.cpp b/rbdl_model/src/BodyParam.cpp
@@ -10,7 +10,7 @@ BodyParam::BodyParam(YAML::Node bodyNode)
     name_ = utilities.trimTrailingSpaces(name);
 
     YAML::Node mesh_name = bodyNode["mesh"];
-    if(!name.IsDefined()) utilities.throwExceptionMessage("mesh name in Body Params");
+    if(!mesh_name.IsDefined()) utilities.throwExceptionMessage("mesh name in Body Params");
     mesh_name_ = utilities.trimTrailingSpaces(mesh_name);
 
     YAML::Node mass = bodyNode["mass"];
@@ -34,8 +34,6 @@ BodyParam::BodyParam(YAML::Node bodyNode)
     inertial_offset_orientation_ = utilities.toRPY(&inertial_offset_orientation);
 
 
-
-
     YAML::Node location = bodyNode["location"];
     if(!location.IsDefined()) utilities.throwExceptionMessage("location in Body Params");
 

diff --git a/rbdl_model/src/BuildRBDLModel.cpp b/rbdl_model/src/BuildRBDLModel.cpp
@@ -43,7 +43,6 @@ bool BuildRBDLModel::buildMeshPath() {
 
 }
 
-
 /*
  * Parse YAML file and create instances of Body class for each body of the model
  * @return true after successful parsing
-Original file line number
+Diff line change
@@ Expand Up / @@ -43,7 +43,6 @@ bool BuildRBDLModel::buildMeshPath() { @@
     }
     /*
      * Parse YAML file and create instances of Body class for each body of the model
      * @return true after successful parsing
@@ Expand Down @@