Merge pull request #4 from rdeits/cleanup

Cleanup
JuliaRobotics · Feb 28, 2018 · c28b261 · c28b261
2 parents 03b5cdd + 956cf86
commit c28b261
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 30 deletions.
diff --git a/src/animate.jl b/src/animate.jl
@@ -1,24 +1,3 @@
-"""
-Interpolations.jl requires that one(::Type{T}) be defined for any data
-type we want to interpolate. Rather than defining one(::Type{Vector}) here,
-which might have unforeseen consequences in other packages, we'll create
-a very simple wrapper type that just knows one() and *
-"""
-struct InterpolatableArray{A <: AbstractArray}
-    data::A
-end
-
-Base.one(::Type{InterpolatableArray{A}}) where {A} = 1
-Base.:*(n::Number, a::InterpolatableArray) = n * a.data
-
-rbd.normalize_configuration!(joint_type::JointType, q) = nothing
-function rbd.normalize_configuration!(joint_type::QuaternionFloating, q)
-    n = norm(q[1:4])
-    for i = 1:4
-        q[i] /= n
-    end
-end
-
 """
     animate(vis::MechanismVisualizer,
             times::Vector{Float64},
@@ -36,8 +15,7 @@ function animate(vis::MechanismVisualizer,
     @assert 0 < realtimerate < Inf
 
     state = vis.state
-    interp_values = [InterpolatableArray(c) for c in configurations]
-    interpolated_configurations = interpolate((times,), interp_values, Gridded(Linear()))
+    interpolated_configurations = interpolate((times,), configurations, Gridded(Linear()))
     t0, tf = first(times), last(times)
     framenum = 0
     walltime0 = time()
@@ -51,7 +29,3 @@ function animate(vis::MechanismVisualizer,
         t == tf && break
     end max_rate = fps
 end
-
-animate(mechanism::Mechanism, times::Vector{Float64},
-        configurations::Vector{Vector{Float64}}) =
-    animate(Visualizer(mechanism), mechanism, times, configurations)
diff --git a/src/visualizer.jl b/src/visualizer.jl
@@ -30,12 +30,12 @@ function _set_mechanism!(mvis::MechanismVisualizer, frame_to_visuals)
         body_ancestors = rbd.Graphs.ancestors(vertex, tree)
         for definition in rbd.frame_definitions(body)
             frame = definition.from
-            path = Symbol.(vcat(string.(reverse(body_ancestors)), string(frame)))
+            path = vcat(string.(reverse(body_ancestors)), string(frame))
             frame_vis = vis[path...]
             if frame in keys(frame_to_visuals)
                 settransform!(frame_vis, to_affine_map(definition))
                 for (i, (object, tform)) in enumerate(frame_to_visuals[frame])
-                    obj_vis = frame_vis[Symbol("geometry_", i)]
+                    obj_vis = frame_vis["geometry_$i"]
                     setobject!(obj_vis, object)
                     settransform!(obj_vis, tform)
                 end
@@ -58,7 +58,7 @@ function _render_state!(mvis::MechanismVisualizer, state::MechanismState=mvis.st
             settransform!(vis, to_affine_map(transform_to_root(state, body)))
         else
             body_ancestors = rbd.Graphs.ancestors(vertex, tree)
-            path = Symbol.(string.(reverse(body_ancestors)))
+            path = string.(reverse(body_ancestors))
             tform = relative_transform(state, default_frame(body), default_frame(body_ancestors[2]))
             settransform!(vis[path...], to_affine_map(tform))
         end