Commit d1c360de authored by Olivier Lantsoght's avatar Olivier Lantsoght 🏁
Browse files

Merge branch 'msg_close_geo_anim_' into 'dev'

[close_anim] verbose changed during close loops

See merge request robotran/mbsysc!402
parents 9c221bfd 7c33a21f
...@@ -108,6 +108,7 @@ int mbs_step_close_geo(MbsData *s, MbsAux *mbs_aux) { ...@@ -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 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"); mbs_msg("\t \t > Attempting to generate animation of the failed loop closing procedure.\n");
// Restoring qv // Restoring qv
copy_dvec_1(mbs_aux->q_save, mbs_data->q); 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) { ...@@ -116,12 +117,21 @@ int mbs_anim_close_geo(MbsData *mbs_data, MbsAux *mbs_aux) {
mbs_solvekin = mbs_new_solvekin(mbs_data); mbs_solvekin = mbs_new_solvekin(mbs_data);
mbs_solvekin->options->motion = closeloop; mbs_solvekin->options->motion = closeloop;
mbs_solvekin->options->framerate = 1; mbs_solvekin->options->framerate = 1;
mbs_solvekin->options->verbose = 0;
mbs_solvekin->options->resfilename = "Failed_loop_closing_procedure"; 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 mbs_solvekin->mbs_aux->MAX_NR_ITER = mbs_aux->MAX_NR_ITER; // Retrieve max iteration from previous module
// Run the solvekin 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_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; return 1;
} }
......
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