Add AddLinkForce Function to Apply Forces in Link Frame #2816
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The CI picked up some lint issues - can you remove trailing whitespace and limit lines to 80 char? I also made some minor comments on removing empty lines. |
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| @@ -20,3 +20,4 @@ build_* | |||
| # Python cache | |||
| __pycache__ | |||
| *.pyc | |||
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src/Link.cc
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remove empty lines
src/Link.cc
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| // Apply Force using AddWorldForce method | ||
| this->AddWorldForce(_ecm, worldForce); | ||
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remove empty line
src/Link.cc
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| const math::Vector3d &_force, | ||
| const math::Vector3d &_position) const | ||
| { | ||
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src/Link.cc
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src/Link.cc
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| // so we need to compute the force expressed in world coordinates | ||
| math::Vector3d worldForce = worldPose.Rot() * _force; | ||
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src/Link.cc
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| // Apply Force using AddWorldForce method | ||
| this->AddWorldForce(_ecm, worldForce, _position); | ||
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| /// and applied at the center of mass of the link. | ||
| /// \param[in] _ecm Mutable Entity-component manager. | ||
| /// \param[in] _force Force to be applied expressed in link's center of mass coordinates | ||
| public: void AddLinkForce(EntityComponentManager &_ecm, |
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Maybe just AddForce, which is more consistent with gazebo-classic's API. Do you have any preference on the API name, @scpeters?.
Vedant87
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Signed-off-by: Vedant87 <Vedantsr3@gmail.com>
Signed-off-by: Vedant87 <Vedantsr3@gmail.com>
Signed-off-by: Vedant87 <Vedantsr3@gmail.com>
… to 80 characters Signed-off-by: Vedant87 <Vedantsr3@gmail.com>
… to 80 characters Signed-off-by: Vedant87 <Vedantsr3@gmail.com>
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| @@ -19,4 +19,4 @@ build_* | |||
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| # Python cache | |||
| __pycache__ | |||
| *.pyc | |||
| *.pyc | |||
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May I understand why this file was touched?
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I had forgotten to fetch the changes from my remote repository and merge them into my local branch, which led to merge conflicts. As a result, I had to modify this file.
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Can you just add a new line at the end of the file so that the ci tests pass and this does not show up. It seems you have removed the end of line marker on the file.
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| ////////////////////////////////////////////////// | ||
| void Link::AddLinkForce(EntityComponentManager &_ecm, |
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Can you add a unit test for this?
You can find other tests for the link class here: https://github.com/gazebosim/gz-sim/blob/gz-sim9/src/Link_TEST.cc
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Once you decide on the naming, it'll also be good to update the python API. |
🎉 New feature
Closes #2713
Summary
Function added: to apply force relative to the center of mass of the link frame, the function converts the force to a force with respect to the world coordinates. It uses the AddWorldForce method to apply force either at the center of mass of the link or at an offset from the center of mass, based on user input.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.