change the behaviour of exported links to match the RBS and RBA documentations #15
Conversation
The specification of the target frame, when the link is exported, did not have any effect on the acceleration/velocity frame. This is obviously very inconsistent. However, this is a VERY breaking change. It's hidden behind a flag (link_export_use_proper_references) which is currently false.
This is too breaking a change to be left alone like this.
|
@alexfneves could you check this out ? |
|
Shouldn't the exported links' RBS follow the same pattern as the output model's RBS? |
They should match for sure. I (very wrongly) assumed that the model would be exported using the same codepath.
I actually should have checked that first ... This at least explains the current behavior. @alexfneves .... sorry for the mixup, but I think what @joaobrittoneto says makes sense (the RBS definition does not, but that's a wee bit to late to change). |
|
RBS definitions are not really clear. |
The documentation is clear (even if confusing), so make sure that we're following that unconditionally
doudou
changed the title
|
@alexfneves updated to follow @joaobrittoneto remarks |
|
Closed in favor of #16 |
The velocities and accelerations were always output in the body frame, while the pose is output w.r.t. the expected target frame. Fix this to express everything in the target frame.
Hide the new behavior under the
use_proper_reference_framesproperty, to avoid breaking systems that expect the old behavior.Tests updated in rock-gazebo/simulation-rock_gazebo#21