From c95ecf5f70f66024dd655262aadcc1eff71210cb Mon Sep 17 00:00:00 2001
From: Frederico Afonso <frederico.fernandes.afonso@gmail.com>
Date: Thu, 29 Aug 2024 14:58:50 +0100
Subject: [PATCH] [DQ_VrepInterface.m] Fixed error messages of
'get_center_of_mass()', 'get_mass()', and 'get_inertia_matrix()'.
---
interfaces/vrep/DQ_VrepInterface.m | 27 +++++++++++++++++++++------
1 file changed, 21 insertions(+), 6 deletions(-)
diff --git a/interfaces/vrep/DQ_VrepInterface.m b/interfaces/vrep/DQ_VrepInterface.m
index ef88bd9b..35ec3892 100644
--- 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));