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[DQ_VrepInterface.m] Fixed bug when trying to use 'BODY_FRAME' in 'ge…
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…t_inertia_matrix()' and 'get_center_of_mass()' methods.
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@ffasilva
ffasilva committed Sep 27, 2024
1 parent c95ecf5 commit d29125d
Showing 1 changed file with 18 additions and 6 deletions.
24 changes: 18 additions & 6 deletions interfaces/vrep/DQ_VrepInterface.m
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Original file line number Diff line number Diff line change
Expand Up @@ -780,22 +780,28 @@ function set_object_pose(obj,objectname,pose,reference_frame,opmode)
if nargin == 2 % the call was: center_of_mass = get_center_of_mass(objectname)
[return_code, ~, center_of_mass, ~] = obj.call_script_function('get_center_of_mass', obj.DF_LUA_SCRIPT_API, obj_handle, [], [], obj.ST_CHILD);
elseif nargin == 3 % the call was: center_of_mass = get_center_of_mass(objectname, reference_frame)
if(reference_frame == obj.ABSOLUTE_FRAME)
if(strcmp(reference_frame, obj.ABSOLUTE_FRAME))
[return_code, ~, center_of_mass, ~] = obj.call_script_function('get_center_of_mass', obj.DF_LUA_SCRIPT_API, obj_handle, [], obj.ABSOLUTE_FRAME, obj.ST_CHILD);
elseif(strcmp(reference_frame, obj.BODY_FRAME))
[return_code, ~, center_of_mass, ~] = obj.call_script_function('get_center_of_mass', obj.DF_LUA_SCRIPT_API, [obj_handle, obj_handle], [], [], obj.ST_CHILD);
else
ref_frame_handle = obj.handle_from_string_or_handle(reference_frame);
[return_code, ~, center_of_mass, ~] = obj.call_script_function('get_center_of_mass', obj.DF_LUA_SCRIPT_API, [obj_handle, ref_frame_handle], [], [], obj.ST_CHILD);
end
elseif nargin == 4 % the call was: center_of_mass = get_center_of_mass(objectname, reference_frame, function_name)
if(reference_frame == obj.ABSOLUTE_FRAME)
if(strcmp(reference_frame, obj.ABSOLUTE_FRAME))
[return_code, ~, center_of_mass, ~] = obj.call_script_function(function_name, obj.DF_LUA_SCRIPT_API, obj_handle, [], obj.ABSOLUTE_FRAME, obj.ST_CHILD);
elseif(strcmp(reference_frame, obj.BODY_FRAME))
[return_code, ~, center_of_mass, ~] = obj.call_script_function(function_name, obj.DF_LUA_SCRIPT_API, [obj_handle, obj_handle], [], [], obj.ST_CHILD);
else
ref_frame_handle = obj.handle_from_string_or_handle(reference_frame);
[return_code, ~, center_of_mass, ~] = obj.call_script_function(function_name, obj.DF_LUA_SCRIPT_API, [obj_handle, ref_frame_handle], [], [], obj.ST_CHILD);
end
else % the call was: center_of_mass = get_center_of_mass(objectname, reference_frame, function_name, obj_name)
if(reference_frame == obj.ABSOLUTE_FRAME)
if(strcmp(reference_frame, obj.ABSOLUTE_FRAME))
[return_code, ~, center_of_mass, ~] = obj.call_script_function(function_name, obj_script_name, obj_handle, [], obj.ABSOLUTE_FRAME, obj.ST_CHILD);
elseif(strcmp(reference_frame, obj.BODY_FRAME))
[return_code, ~, center_of_mass, ~] = obj.call_script_function(function_name, obj_script_name, [obj_handle, obj_handle], [], [], obj.ST_CHILD);
else
ref_frame_handle = obj.handle_from_string_or_handle(reference_frame);
[return_code, ~, center_of_mass, ~] = obj.call_script_function(function_name, obj_script_name, [obj_handle, ref_frame_handle], [], [], obj.ST_CHILD);
Expand Down Expand Up @@ -900,22 +906,28 @@ function set_object_pose(obj,objectname,pose,reference_frame,opmode)
if nargin == 2 % the call was: inertia_tensor = get_inertia_matrix(objectname)
[return_code, ~, inertia_tensor, ~] = obj.call_script_function('get_inertia', obj.DF_LUA_SCRIPT_API, obj_handle, [], [], obj.ST_CHILD);
elseif nargin == 3 % the call was: inertia_tensor = get_inertia_matrix(objectname, reference_frame)
if(reference_frame == obj.ABSOLUTE_FRAME)
if(strcmp(reference_frame, obj.ABSOLUTE_FRAME))
[return_code, ~, inertia_tensor, ~] = obj.call_script_function('get_inertia', obj.DF_LUA_SCRIPT_API, obj_handle, [], obj.ABSOLUTE_FRAME, obj.ST_CHILD);
elseif(strcmp(reference_frame, obj.BODY_FRAME))
[return_code, ~, inertia_tensor, ~] = obj.call_script_function('get_inertia', obj.DF_LUA_SCRIPT_API, [obj_handle, obj_handle], [], [], obj.ST_CHILD);
else
ref_frame_handle = obj.handle_from_string_or_handle(reference_frame);
[return_code, ~, inertia_tensor, ~] = obj.call_script_function('get_inertia', obj.DF_LUA_SCRIPT_API, [obj_handle, ref_frame_handle], [], [], obj.ST_CHILD);
end
elseif nargin == 4 % the call was: inertia_tensor = get_inertia_matrix(objectname, reference_frame, function_name)
if(reference_frame == obj.ABSOLUTE_FRAME)
if(strcmp(reference_frame, obj.ABSOLUTE_FRAME))
[return_code, ~, inertia_tensor, ~] = obj.call_script_function(function_name, obj.DF_LUA_SCRIPT_API, obj_handle, [], obj.ABSOLUTE_FRAME, obj.ST_CHILD);
elseif(strcmp(reference_frame, obj.BODY_FRAME))
[return_code, ~, inertia_tensor, ~] = obj.call_script_function(function_name, obj.DF_LUA_SCRIPT_API, [obj_handle, obj_handle], [], [], obj.ST_CHILD);
else
ref_frame_handle = obj.handle_from_string_or_handle(reference_frame);
[return_code, ~, inertia_tensor, ~] = obj.call_script_function(function_name, obj.DF_LUA_SCRIPT_API, [obj_handle, ref_frame_handle], [], [], obj.ST_CHILD);
end
else % the call was: inertia_tensor = get_inertia_matrix(objectname, reference_frame, function_name, obj_name)
if(reference_frame == obj.ABSOLUTE_FRAME)
if(strcmp(reference_frame, obj.ABSOLUTE_FRAME))
[return_code, ~, inertia_tensor, ~] = obj.call_script_function(function_name, obj_script_name, obj_handle, [], obj.ABSOLUTE_FRAME, obj.ST_CHILD);
elseif(strcmp(reference_frame, obj.BODY_FRAME))
[return_code, ~, inertia_tensor, ~] = obj.call_script_function(function_name, obj_script_name, [obj_handle, obj_handle], [], [], obj.ST_CHILD);
else
ref_frame_handle = obj.handle_from_string_or_handle(reference_frame);
[return_code, ~, inertia_tensor, ~] = obj.call_script_function(function_name, obj_script_name, [obj_handle, ref_frame_handle], [], [], obj.ST_CHILD);
Expand Down

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