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Cleanup #4

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merged 5 commits into from
Feb 28, 2018
Merged

Cleanup #4

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18b5e61
remove unused methods
rdeits Feb 28, 2018
3b2465f
conversion to Symbol is unnecessary
rdeits Feb 28, 2018
d675639
fix typo
rdeits Feb 28, 2018
c61c146
InterpolatableArray is no longer necessary!
rdeits Feb 28, 2018
956cf86
remove unused method
rdeits Feb 28, 2018
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28 changes: 3 additions & 25 deletions src/animate.jl
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Original file line number Diff line number Diff line change
@@ -1,24 +1,3 @@
"""
Interpolations.jl requires that one(::Type{T}) be defined for any data
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It looks like Interpolations.jl has fixed this issue, so this entire type is no longer required. Hooray!

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},
Expand All @@ -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()
Expand All @@ -53,5 +31,5 @@ function animate(vis::MechanismVisualizer,
end

animate(mechanism::Mechanism, times::Vector{Float64},
configurations::Vector{Vector{Float64}}) =
animate(Visualizer(mechanism), mechanism, times, configurations)
configurations::Vector{Vector{Float64}}; kw...) =
animate(MechanismVisualizer(mechanism), times, configurations; kw...)
6 changes: 3 additions & 3 deletions src/visualizer.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
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