diff --git a/bindings/matlab/matlab_mat4x4vec.i b/bindings/matlab/matlab_mat4x4vec.i index 527a48291f7..7623aed64f9 100644 --- a/bindings/matlab/matlab_mat4x4vec.i +++ b/bindings/matlab/matlab_mat4x4vec.i @@ -26,7 +26,7 @@ d[overall_index]=content[index_sequence]; } } - //free(content); //Tried to free the pointer but got error. + ++it; } diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_chest_bb_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_chest_bb_prt-binary.stl deleted file mode 100644 index ed8f19972f7..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_chest_bb_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_head_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_head_prt-binary.stl deleted file mode 100644 index 6852ebb9ada..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_head_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_ankle_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_ankle_prt-binary.stl deleted file mode 100644 index fd28a92222e..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_ankle_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt-binary.stl deleted file mode 100644 index 35178cac428..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_elbow_prosup_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_elbow_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_elbow_prt-binary.stl deleted file mode 100644 index 062217c716b..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_elbow_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_foot_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_foot_prt-binary.stl deleted file mode 100644 index 272c07333e3..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_foot_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_forearm_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_forearm_prt-binary.stl deleted file mode 100644 index 788d3e524b0..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_forearm_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hand_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hand_prt-binary.stl deleted file mode 100644 index bff96722c54..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hand_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hip_1_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hip_1_prt-binary.stl deleted file mode 100644 index 013dbd132ca..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hip_1_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hip_2_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hip_2_prt-binary.stl deleted file mode 100644 index 78b5f1d11ff..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_hip_2_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shank_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shank_prt-binary.stl deleted file mode 100644 index c867eacfd16..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shank_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shoulder_1_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shoulder_1_prt-binary.stl deleted file mode 100644 index 47f9f4bd3c0..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shoulder_1_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shoulder_2_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shoulder_2_prt-binary.stl deleted file mode 100644 index 008fa7fa0e6..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_shoulder_2_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_sole_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_sole_prt-binary.stl deleted file mode 100644 index 2d65d9d6aac..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_sole_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_thigh_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_thigh_prt-binary.stl deleted file mode 100644 index c45b96a3c24..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_thigh_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_upper_arm_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_upper_arm_prt-binary.stl deleted file mode 100644 index 268cc9122d4..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_upper_arm_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_upper_thigh_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_upper_thigh_prt-binary.stl deleted file mode 100644 index e02013059df..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_upper_thigh_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_wrist_pitch_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_wrist_pitch_prt-binary.stl deleted file mode 100644 index da3b4d6332f..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_l_wrist_pitch_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_lap_belt_1_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_lap_belt_1_prt-binary.stl deleted file mode 100644 index 7c9f46b7a79..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_lap_belt_1_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_lap_belt_2_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_lap_belt_2_prt-binary.stl deleted file mode 100644 index 07807d30054..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_lap_belt_2_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_neck_1_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_neck_1_prt-binary.stl deleted file mode 100644 index d915b3e3e25..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_neck_1_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_neck_2_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_neck_2_prt-binary.stl deleted file mode 100644 index 42ab7dfe210..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_neck_2_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_ankle_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_ankle_prt-binary.stl deleted file mode 100644 index 4abc511731a..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_ankle_prt-binary.stl and /dev/null differ diff --git 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a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_shoulder_2_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_shoulder_2_prt-binary.stl deleted file mode 100644 index 4d498564e09..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_shoulder_2_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_sole_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_sole_prt-binary.stl deleted file mode 100644 index c33705138a0..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_sole_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_thigh_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_thigh_prt-binary.stl deleted file mode 100644 index a7ab7184753..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_thigh_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_upper_arm_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_upper_arm_prt-binary.stl deleted file mode 100644 index 5d2e3404ab6..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_upper_arm_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_upper_thigh_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_upper_thigh_prt-binary.stl deleted file mode 100644 index b5f0e6cb67a..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_upper_thigh_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_wrist_pitch_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_wrist_pitch_prt-binary.stl deleted file mode 100644 index 749e691f6a0..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_r_wrist_pitch_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_root_link_prt-binary.stl b/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_root_link_prt-binary.stl deleted file mode 100644 index ed84cccbb25..00000000000 Binary files a/examples/iDynTreeWrappers/meshes/stl/sim_sea_2-5_root_link_prt-binary.stl and /dev/null differ diff --git a/examples/iDynTreeWrappers/model_uses_stl.urdf b/examples/iDynTreeWrappers/model_uses_stl.urdf deleted file mode 100644 index b0e96a0af4c..00000000000 --- a/examples/iDynTreeWrappers/model_uses_stl.urdf +++ /dev/null @@ -1,3390 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - - 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0.0 3.14 - - diff --git a/examples/iDynTreeWrappers/visualizeRobot.m b/examples/iDynTreeWrappers/visualizeRobot.m index b2c942ebac0..4903e1cb301 100644 --- a/examples/iDynTreeWrappers/visualizeRobot.m +++ b/examples/iDynTreeWrappers/visualizeRobot.m @@ -1,29 +1,26 @@ %% This script is an example on how to use the matlab iDynTree visualization -%% Launch this file from the folder it is contained -currentFolder=pwd; -% insert the path where the meshes may be found, it replaces what is required +% To use insert the path where the meshes may be found, it replaces what is required % to complete the path inside the urdf visual mesh field. % Example: -% The test model has the following mesh file in the URDF +% If a test model has the following mesh file in the URDF % 'package://stl/sim_sea_2-5_root_link_prt-binary.stl' -% The required file is inside the meshes folder in this directory, -% so to complete the path we are missing meshes as a prefix to the full -% path starting from this directory. -meshFilePrefix='meshes/'; -% The model is in this same folder -modelPath=[currentFolder '/']; -fileName='model_uses_stl.urdf'; +% The required path is what it takes to reach the stl folder. +% meshFilePrefix=; +% It basically replaces the functionality of find Package by inserting the +% path manually. +% The path to the model is also required: +% modelPath=; % REMARK : If you have installed the URDF models by https://github.com/robotology/icub-models % You could fill the required variables as follows: % % Substitute in the following the location of the install prefix of icub-models -% icubModelsInstallPrefix = ""; -% meshFilePrefix = [icubModelsInstallPrefix '/share'] -% % Select the robot using the folder name -% robotName="" -% icubModelPath = [icubModelsInstallPrefix '/share/iCub/robots/' robotName '/'] -% fileName='model.urdf'; + icubModelsInstallPrefix = [getenv('ROBOTOLOGY_SUPERBUILD_SOURCE_DIR') '/build-linux/install/']; + meshFilePrefix = [icubModelsInstallPrefix '/share']; +% Select the robot using the folder name + robotName='iCubGenova04'; + modelPath = [icubModelsInstallPrefix '/share/iCub/robots/' robotName '/']; + fileName='model.urdf'; jointOrder={ 'r_hip_pitch'; diff --git a/src/high-level/src/KinDynComputations.cpp b/src/high-level/src/KinDynComputations.cpp index a1fa3a9a5cf..f32c6836120 100644 --- a/src/high-level/src/KinDynComputations.cpp +++ b/src/high-level/src/KinDynComputations.cpp @@ -889,12 +889,12 @@ Transform KinDynComputations::getRelativeTransform(const std::string& refFrameNa { int refFrameIndex = getFrameIndex(refFrameName); int frameIndex = getFrameIndex(frameName); - if( frameIndex < 0 ) + if( frameIndex == iDynTree::FRAME_INVALID_INDEX ) { reportError("KinDynComputations","getRelativeTransform","unknown frameName"); return Transform::Identity(); } - else if( refFrameIndex < 0 ) + else if( refFrameIndex == iDynTree::FRAME_INVALID_INDEX ) { reportError("KinDynComputations","getRelativeTransform","unknown refFrameName"); return Transform::Identity(); @@ -1005,7 +1005,7 @@ Transform KinDynComputations::getRelativeTransformExplicit(const iDynTree::Frame Transform KinDynComputations::getWorldTransform(std::string frameName) { int frameIndex = getFrameIndex(frameName); - if( frameIndex < 0 ) + if( frameIndex == iDynTree::FRAME_INVALID_INDEX ) { return Transform::Identity(); } @@ -1081,10 +1081,10 @@ std::vector KinDynComputations::getWorldTransformsAsHomogen { std::string frameName=frameNames[number]; int frameIndex = getFrameIndex(frameName); - if( frameIndex < 0 ) + if( frameIndex == iDynTree::FRAME_INVALID_INDEX ) { - reportError("KinDynComputations","getWorldTransformsAsHomogeneous", "requested frameName not found in model"); - worldTransforms.push_back(Transform::Identity().asHomogeneousTransform()); + reportError("KinDynComputations","getWorldTransformsAsHomogeneous", "requested frameName not found in model. Returning empty vector."); + return {}; } else {