resolves RobotLocomotion#18 . woohoo!

Nguyenski91 · Sep 26, 2015 · dfd8bdc · dfd8bdc
1 parent 1cad006
commit dfd8bdc
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/drake/examples/Quadrotor/test/testCollisions.m b/drake/examples/Quadrotor/test/testCollisions.m
@@ -16,7 +16,9 @@
 x0 = Point(getStateFrame(r));  % initial conditions: all-zeros
 x0.base_y = -1.5;
 x0.base_z = .8;
-x0.base_ydot = 5;
+x0.base_qw = 1;
+x0.base_vy = 5;
+x0 = resolveConstraints(r,x0);
 u0 = double(nominalThrust(r));
 
 v = constructVisualizer(r);%,struct('use_collision_geometry',true));

diff --git a/drake/examples/ZMP/CartTable.m b/drake/examples/ZMP/CartTable.m
@@ -2,7 +2,7 @@
 
   methods
     function obj = CartTable()
-      obj = obj@TimeSteppingRigidBodyManipulator('CartTable.urdf',0.005,struct('floating',true,'terrain',RigidBodyFlatTerrain()));
+      obj = obj@TimeSteppingRigidBodyManipulator('CartTable.urdf',0.005,struct('floating','quat','terrain',RigidBodyFlatTerrain()));
 
 %      obj = addSensor(obj,FullStateFeedbackSensor());
 %      obj = addSensor(obj,ContactForceTorqueSensor(obj,'base',[0;0],0);
@@ -12,7 +12,7 @@
   methods (Static = true)
     function run
       r = CartTable;
-      xtraj = simulate(r,[0 7],[0;0;.12;0;.06;0;-.03;0;0;0;0;0;0;0;0;0]);
+      xtraj = simulate(r,[0 7],[0;0;.12;1;0;.06;0;-.03;0;0;0;0;0;0;0;0;0]);
       v = r.constructVisualizer;
       v.playback(xtraj,struct('slider',true));
     end