prefix only on matlab side

Raptura · Aug 19, 2015 · aa912e6 · aa912e6
1 parent 8c29c49
commit aa912e6
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Showing 6 changed files with 12 additions and 12 deletions.
diff --git a/drake/systems/frames/@CoordinateFrame/CoordinateFrame.m b/drake/systems/frames/@CoordinateFrame/CoordinateFrame.m
@@ -4,7 +4,8 @@
 % explicit about these coordinate systems when they make combinations of
 % systems.
 
-  properties (Access=private)
+  properties (Access=protected)
+    prefix='';
     transforms={};  % handles to CoordinateTransform objects
     poly=[];        % optional msspoly variables for this frame
   end
@@ -67,8 +68,9 @@
       end
 
       mex_ptr_args = cell(1,3);
-      [mex_ptr_args{:}] = CoordinateFrame.new(name,dim,prefix(1),coordinates);
+      [mex_ptr_args{:}] = CoordinateFrame.new(name,dim,coordinates);
       obj = obj@DrakeMexPointer(mex_ptr_args{:});
+      obj.prefix = prefix;
     end
 
     function tf = hasSamePrefix(frame1,frame2)

diff --git a/drake/systems/frames/@CoordinateFrame/new.cpp b/drake/systems/frames/@CoordinateFrame/new.cpp
@@ -9,14 +9,13 @@ void mexFunction( int nlhs, mxArray *plhs[],int nrhs, const mxArray *prhs[] ) {
     return;
   }
 
-  if (nrhs<4) mexErrMsgIdAndTxt("Drake:CoordinateFrame:BadInputs","Usage: new(name,dim,prefix,coordinates)");
+  if (nrhs<3) mexErrMsgIdAndTxt("Drake:CoordinateFrame:BadInputs","Usage: new(name,dim,coordinates)");
 
   string name = mxGetStdString(prhs[0]);
   unsigned int dim = static_cast<unsigned int>(mxGetScalar(prhs[1]));
-  string prefix = mxGetStdString(prhs[2]);
-  vector<string> coordinates = mxGetVectorOfStdStrings(prhs[3]);
+  vector<string> coordinates = mxGetVectorOfStdStrings(prhs[2]);
 
-  CoordinateFrame* frame = new CoordinateFrame(name,dim,prefix,coordinates);
+  CoordinateFrame* frame = new CoordinateFrame(name,dim,coordinates);
 
   populateDrakeMexPointerArguments(nlhs, plhs, frame, name,0,NULL,"CoordinateFrame.");
 }
diff --git a/drake/systems/frames/CoordinateFrame.h b/drake/systems/frames/CoordinateFrame.h
@@ -18,8 +18,8 @@
 
 class DLLEXPORT_FRAME CoordinateFrame {
 public:
-  CoordinateFrame(std::string& _name, unsigned int _dim, std::string& _prefix, std::vector<std::string>& _coordinates)
-          : name(_name), dim(_dim), prefix(_prefix), coordinates(_coordinates) {};
+  CoordinateFrame(std::string& _name, unsigned int _dim, std::vector<std::string>& _coordinates)
+          : name(_name), dim(_dim), coordinates(_coordinates) {};
   virtual ~CoordinateFrame(void) {};
 
   const std::string& getName() const { return name; };
@@ -40,7 +40,6 @@ class DLLEXPORT_FRAME CoordinateFrame {
 private:
   std::string name;
   unsigned int dim;
-  std::string prefix;
   std::vector<std::string> coordinates;
 };
 

diff --git a/drake/systems/plants/@Manipulator/Manipulator.m b/drake/systems/plants/@Manipulator/Manipulator.m
@@ -495,7 +495,7 @@ function num_contacts(obj)
       obj.joint_limit_max = jl_max;
 
       con = BoundingBoxConstraint(jl_min,jl_max);
-      con = setName(con,cellfun(@(a) [a,'_limit'],obj.getPositionFrame.coordinates,'UniformOutput',false));
+      con = setName(con,cellfun(@(a) [a,'_limit'],obj.getPositionFrame.getCoordinateNames(),'UniformOutput',false));
       if isempty(obj.joint_limit_constraint_id)
         if any(jl_min~=-inf) || any(jl_max~=inf)
           [obj,id] = addStateConstraint(obj,con,1:obj.getNumPositions);

diff --git a/drake/util/DrakeMexPointer.m b/drake/util/DrakeMexPointer.m
@@ -24,7 +24,7 @@
     end
 
     function delete(obj)
-      if ~isempty(obj.delete_fcn)  % useful for debugging
+      if 0 %~isempty(obj.delete_fcn)  % useful for debugging
         fprintf(1,'Calling %s(',obj.delete_fcn);
         celldisp(obj.delete_fcn_additional_inputs);
         fprintf(1,') to delete ');

diff --git a/drake/util/drakeMexUtil.cpp b/drake/util/drakeMexUtil.cpp
@@ -169,7 +169,7 @@ mxArray* stdStringToMatlab(const std::string& str)
 }
 
 mxArray* vectorOfStdStringsToMatlab(const std::vector<std::string>& strs) {
-  mxArray* cell = mxCreateCellMatrix(1,strs.size());
+  mxArray* cell = mxCreateCellMatrix(strs.size(),1);
   for (int i=0; i<strs.size(); i++) {
     mxSetCell(cell,i,mxCreateString(strs[i].c_str()));
   }