Comments (2)
The function ma::body::extract_joint_kinetics
only looks for segment poses and joint forces and moments for each ma::body::DynamicsDescriptor
found. The computation of segments and joint forces and moments are done within the function ma::body::reconstruct
. Thus, no warning are displayed because no information was found.
The problem might be deeper than the display of a warning. The way to activate the inverse dynamics is not simple (set the gravity vector). The code might be refactored. For example, a new class ma::LaboratorySettings
is in development to set the gravity direction and magnitude. This class might manage the need or not to compute the inverse dynamics. A specific option in this class might trigger the computation of the inverse dynamics. Thus, when the function ma::body::extract_joint_kinetics
is used, the inverse dynamics computation set to true
but no information was found, a warning could be displayed.
Would it be a better way?
from openma.
I like the class ma::LaboratorySettings and the proposed process
I thin ma::LaboratorySettings s the best place for stating the gravity vector.
from openma.
Related Issues (20)
- Review Doxygen properties' name
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