[DQ_VrepInterface.m] Fixed error messages of 'get_center_of_mass()', …

…'get_mass()', and 'get_inertia_matrix()'.
dqrobotics · Aug 29, 2024 · c95ecf5 · c95ecf5
1 parent 241d3dc
commit c95ecf5
Showing 1 changed file with 21 additions and 6 deletions.
diff --git a/interfaces/vrep/DQ_VrepInterface.m b/interfaces/vrep/DQ_VrepInterface.m
@@ -803,8 +803,13 @@ function set_object_pose(obj,objectname,pose,reference_frame,opmode)
             end
 
             if(return_code ~= 0)
-                formatSpec = 'Script function `get_center_of_mass` returned with error code %i.\n';
-                fprintf(formatSpec, return_code);
+                if nargin <= 3
+                    formatSpec = 'Script function `get_center_of_mass` returned with error code %i.\n';
+                    fprintf(formatSpec, return_code);
+                else
+                    formatSpec = 'Script function %s returned with error code %i.\n';
+                    fprintf(formatSpec, function_name, return_code);
+                end
                 error('Failed calling script function!');
             else % ensure cast to double
                 center_of_mass = double(center_of_mass);
@@ -849,8 +854,13 @@ function set_object_pose(obj,objectname,pose,reference_frame,opmode)
             end
 
             if(return_code ~= 0)
-                formatSpec = 'Script function %s returned with error code %i.\n';
-                fprintf(formatSpec, function_name, return_code);
+                if nargin == 2
+                    formatSpec = 'Script function `get_mass` returned with error code %i.\n';
+                    fprintf(formatSpec, return_code);
+                else
+                    formatSpec = 'Script function %s returned with error code %i.\n';
+                    fprintf(formatSpec, function_name, return_code);
+                end
                 error('Failed calling script function!');
             else % ensure cast to double
                 mass = double(mass);
@@ -913,8 +923,13 @@ function set_object_pose(obj,objectname,pose,reference_frame,opmode)
             end
 
             if(return_code ~= 0)
-                formatSpec = 'Script function %s returned with error code %i.\n';
-                fprintf(formatSpec, function_name, return_code);
+                if nargin <= 3
+                    formatSpec = 'Script function `get_inertia` returned with error code %i.\n';
+                    fprintf(formatSpec, return_code);
+                else
+                    formatSpec = 'Script function %s returned with error code %i.\n';
+                    fprintf(formatSpec, function_name, return_code);
+                end
                 error('Failed calling script function!');
             else % ensure cast to double and reshape the 1x9 vector to a 3x3 matrix
                 inertia_tensor = double(reshape(inertia_tensor,3,3));