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robotran
mbsysc
Commits
7c33a21f
Commit
7c33a21f
authored
Jan 28, 2021
by
Sébastien Timmermans
Browse files
[close_anim] verbose changed during close loops
parent
9aab65af
Changes
1
Hide whitespace changes
Inline
Side-by-side
MBsysC/mbs_common/mbs_module/mbs_close_loops.c
View file @
7c33a21f
...
...
@@ -108,6 +108,7 @@ int mbs_step_close_geo(MbsData *s, MbsAux *mbs_aux) {
}
int
mbs_anim_close_geo
(
MbsData
*
mbs_data
,
MbsAux
*
mbs_aux
)
{
int
err
=
0
;
mbs_msg
(
"
\t
\t
> Attempting to generate animation of the failed loop closing procedure.
\n
"
);
// Restoring qv
copy_dvec_1
(
mbs_aux
->
q_save
,
mbs_data
->
q
);
...
...
@@ -116,12 +117,21 @@ int mbs_anim_close_geo(MbsData *mbs_data, MbsAux *mbs_aux) {
mbs_solvekin
=
mbs_new_solvekin
(
mbs_data
);
mbs_solvekin
->
options
->
motion
=
closeloop
;
mbs_solvekin
->
options
->
framerate
=
1
;
mbs_solvekin
->
options
->
verbose
=
0
;
mbs_solvekin
->
options
->
resfilename
=
"Failed_loop_closing_procedure"
;
mbs_solvekin
->
mbs_aux
->
MAX_NR_ITER
=
mbs_aux
->
MAX_NR_ITER
;
// Retrieve max iteration from previous module
// Run the solvekin module
mbs_run_solvekin
(
mbs_solvekin
,
mbs_data
);
err
=
mbs_run_solvekin
(
mbs_solvekin
,
mbs_data
);
mbs_delete_solvekin
(
mbs_solvekin
,
mbs_data
);
mbs_msg
(
"
\t
\t
> Loop closure procedure animated in file
\"
Failed_loop_closing_procedure_q.anim
\"
.
\n
"
);
if
(
err
<
0
)
{
mbs_msg
(
"
\t
> Loop closure procedure: Error during Solvekin module [%d]!
\n
"
,
err
);
return
err
;
}
else
{
mbs_msg
(
"
\t
\t
> Loop closure procedure saved in the animation file
\"
Failed_loop_closing_procedure_q.anim
\"
.
\n
"
);
}
return
1
;
}
...
...
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