Add support to track rigid body payloads #17
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Khaledwahba1994
approved these changes
Dec 13, 2022
Khaledwahba1994
requested review from
Khaledwahba1994
and removed request for
Khaledwahba1994
|
Please review the latest commits |
whoenig
commented
Dec 14, 2022
Comment on lines
293
to
300
| c_float Ax_new[45] = { | ||
| 1, attPoint.z, -attPoint.y, n1.x, n2.x, 1, -attPoint.z, attPoint.x, n1.y, n2.y, 1, attPoint.y, attPoint.x, n1.z, n2.z, | ||
| 1, attPoint2.z, -attPoint2.y, n3.x, n4.x, 1, -attPoint2.z, attPoint2.x, n3.y, n4.y, 1, attPoint2.y, attPoint2.x, n3.z, n4.z, | ||
| 1, attPoint3.z, -attPoint3.y, n5.x, n6.x, 1, -attPoint3.z, attPoint3.x, n5.y, n6.y, 1, attPoint3.y, attPoint3.x, n5.z, n6.z, | ||
| }; | ||
| c_int Ax_new_n = 45; | ||
| c_float l_new[12] = {F_d.x, F_d.y, F_d.z, M_d.x, M_d.y, M_d.z, -INFINITY, -INFINITY, -INFINITY, -INFINITY, -INFINITY, -INFINITY,}; | ||
| c_float u_new[12] = {F_d.x, F_d.y, F_d.z, M_d.x, M_d.y, M_d.z, 0, 0, 0, 0, 0, 0}; |
There was a problem hiding this comment.
This might require us to increase the task size even more: (45+12+12)*4 = 276 Bytes for these lines alone.
There was a problem hiding this comment.
I was just making sure that we can access all of the values and the changes are correct, but we can update this later to change it in a loop as discussed before.
…es the attitude tracking of the payload much better
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Compiles, but not tested. However, it includes some logging variables, so we can check both orientation and (filtered) omega without the need to fly.