pendulum sim works fine. just had to launch lcm-spy with the ipv4 trick.

Raptura · Aug 21, 2015 · fb550c6 · fb550c6
1 parent 2388c60
commit fb550c6
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -75,7 +75,7 @@ set(gurobi_GIT_TAG beb0a84a1bcca1eb81a1b87d9fa140f2134d97e9)
 set(iris_GIT_REPOSITORY https://github.com/rdeits/iris-distro.git)
 set(iris_GIT_TAG 13468e0ea38e72ffae030adaa31e3015ea5f3ce0)
 set(lcm_GIT_REPOSITORY https://github.com/RobotLocomotion/lcm-pod.git)
-set(lcm_GIT_TAG 31e9a3e2dd056cac749fc2879e841434181180ad) # cmake branch 
+set(lcm_GIT_TAG ff1462a688ef67227b4656ec7a10cc401c9b0069) # note: cmake branch 
 set(libbot_GIT_REPOSITORY https://github.com/RobotLocomotion/libbot.git)
 set(libbot_GIT_TAG c328b73f3b48008d04468031e26f48468a7e3cc0)
 set(meshconverters_GIT_REPOSITORY https://github.com/RobotLocomotion/meshConverters.git)

diff --git a/drake/systems/DrakeSystem.cpp b/drake/systems/DrakeSystem.cpp
@@ -4,10 +4,10 @@
 
 using namespace std;
 
-DrakeSystem::DrakeSystem(const std::string &name, std::shared_ptr<CoordinateFrame> _continuous_state_frame,
-                         std::shared_ptr<CoordinateFrame> _discrete_state_frame,
-                         std::shared_ptr<CoordinateFrame> _input_frame,
-                         std::shared_ptr<CoordinateFrame> _output_frame)
+DrakeSystem::DrakeSystem(const std::string &name, const std::shared_ptr<CoordinateFrame>& _continuous_state_frame,
+                         const std::shared_ptr<CoordinateFrame>& _discrete_state_frame,
+                         const std::shared_ptr<CoordinateFrame>& _input_frame,
+                         const std::shared_ptr<CoordinateFrame>& _output_frame)
   : continuous_state_frame(_continuous_state_frame), discrete_state_frame(_discrete_state_frame),
     input_frame(_input_frame), output_frame(_output_frame) {
   if (!continuous_state_frame) continuous_state_frame = shared_ptr<CoordinateFrame>(new CoordinateFrame(name+"ContinuousState"));

diff --git a/drake/systems/DrakeSystem.h b/drake/systems/DrakeSystem.h
@@ -28,10 +28,10 @@ class DLLEXPORT DrakeSystem {
   typedef Eigen::Matrix<double,Eigen::Dynamic,1> VectorXs;
 
   DrakeSystem(const std::string& name,
-              std::shared_ptr<CoordinateFrame> continuous_state_frame,  // should these be const? (right now, I think that we should be allowed to modify them)
-              std::shared_ptr<CoordinateFrame> discrete_state_frame,
-              std::shared_ptr<CoordinateFrame> input_frame,
-              std::shared_ptr<CoordinateFrame> output_frame);
+              const std::shared_ptr<CoordinateFrame>& continuous_state_frame,  // note: the frames are not const
+              const std::shared_ptr<CoordinateFrame>& discrete_state_frame,
+              const std::shared_ptr<CoordinateFrame>& input_frame,
+              const std::shared_ptr<CoordinateFrame>& output_frame);
 
   DrakeSystem(const std::string& name,
               unsigned int num_continuous_states,