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Environment
Select the following information.
DART version: main
OS name and version name(or number): Ubuntu 20.04
Compiler name and version number: GCC 9.4.0
Expected Behavior
Please describe the behavior you are expecting.
The potential energy of a body node is computed based on not its frame origin but its spatial position of COM.
Current Behavior
What is the current behavior?
If you have trouble in cmake or make, it would be very helpful to build DART with verbose option: $ cmake .. -DDART_VERBOSE=On $ make VERBOSE=1
and then dump the results into a gist and share the link to gist here.
BodyNode::computePotentialEnergy() considers the frame origin (i.e. this->getWorldTransform().translation()) instead of COM (i.e. this->getCOM()).
Please provide detailed steps for reproducing the issue.
Prepare a body node the frame origin and COM of which are different.
Call BodyNode::computePotentialEnergy().
Code to Reproduce
Please remember that with a working code it's easier to reproduce the bug and it's much faster to fix it.
It would be great to fork this repo and create a regression test using this template.
The text was updated successfully, but these errors were encountered:
Bug Report
Environment
Expected Behavior
The potential energy of a body node is computed based on not its frame origin but its spatial position of COM.
Current Behavior
BodyNode::computePotentialEnergy()
considers the frame origin (i.e.this->getWorldTransform().translation()
) instead of COM (i.e.this->getCOM()
).dart/dart/dynamics/BodyNode.cpp
Line 2035 in 189e24d
Steps to Reproduce
BodyNode::computePotentialEnergy()
.Code to Reproduce
The text was updated successfully, but these errors were encountered: