Merge pull request #24 from JuliaRobotics/rd/new-interp

Support new Interpolations.jl behavior
JuliaRobotics · Nov 18, 2018 · a215565 · a215565
2 parents 0295e98 + d85c17d
commit a215565
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/REQUIRE b/REQUIRE
@@ -3,9 +3,9 @@ ColorTypes 0.2.0
 CoordinateTransformations 0.4.1
 OrderedCollections 1.0
 GeometryTypes 0.4
-Interpolations 0.3.6
+Interpolations 0.9
 InteractBase 0.8
 LoopThrottle 0.0.1
-MechanismGeometries 0.0.1
+MechanismGeometries 0.1.2
 MeshCat 0.2.1
 RigidBodyDynamics 0.4
diff --git a/src/animate.jl b/src/animate.jl
@@ -21,7 +21,7 @@ function animate(vis::MechanismVisualizer,
     walltime0 = time()
     @throttle framenum while true
         t = min(tf, t0 + (time() - walltime0) * realtimerate)
-        q = interpolated_configurations[t]
+        q = interpolated_configurations(t)
         set_configuration!(state, q)
         rbd.normalize_configuration!(state)
         _render_state!(vis)
@@ -43,7 +43,7 @@ function MeshCat.setanimation!(mvis::MechanismVisualizer,
     num_frames = floor(Int, (times[end] - first(times)) * fps)
     for frame in 0:num_frames
         time = first(times) + frame / fps
-        set_configuration!(state(mvis), interpolated_configurations[time])
+        set_configuration!(state(mvis), interpolated_configurations(time))
         atframe(animation, visualizer(mvis), frame) do frame_visualizer
             _render_state!(MechanismVisualizer(state(mvis), frame_visualizer))
         end