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    • Le Quang Anh's avatar
      Add tests for new APIs · 64005f0a
      Le Quang Anh authored
    • Le Quang Anh's avatar
      [API] Get joints in fn and joints constrained · ca39cf3e
      Le Quang Anh authored
      Get pair of joints involved in differentiable fn
      Get locked joint for explicit constraint
      Add method to retrieve a joint whose whole or partial configuration will
      decide the value of the implicit function in an explicit constraint.
      This is currently done by inspecting the set of configuration input and output
      intervals: if input has size 0 and output falls into interval of a joint,
      then the joint is "locked" its config alone will affect the fn value.
      Fix bug comparing joints from their pointers
      Fix: locked joint should be locked wrt parent joint
      Previous implementation misunderstands the locked joint, and assumes
      that locked joint is locked wrt the world joint. The correct
      understanding is that locked joints are locked wrt the parent joint,
      which may or may not be the world joint.
      Edit documentation based on comments
      Clearer documentation on how the method works and what the arguments are
      Add API check if all rows in constraint are active
      Add API to find joint pair constrained
      Return a pair of joints whose relative pose is fully constrained because
      of constraint.
      Clearer name for API to get joints involved
      Add API for convex shape contact complement and hold
      For now, it only works if the all convex shapes in floorConvexShapes_
      are on the same joint an all the convex shapes in objectConvexShapes_
      are on the same joint.
      Refactor APIs and fix minor bugs