Tidying up default terrain and typechecks in frames

vcmman · Jan 14, 2015 · ba1e768 · ba1e768
1 parent bfbe70d
commit ba1e768
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Showing 5 changed files with 5 additions and 8 deletions.
diff --git a/examples/IRB140/HandInput.m b/examples/IRB140/HandInput.m
@@ -2,7 +2,7 @@
   % hand input coordinate frame
   methods
     function obj=HandInput(r, ind, name)
-      typecheck(r,'TimeSteppingRigidBodyManipulator');
+      typecheck(r,{'TimeSteppingRigidBodyManipulator','RigidBodyManipulator'});
       % Inds indicate which element of the overall state frame
       % our hand state is. 
       manipInputFrame = r.getManipulator().getInputFrame();

diff --git a/examples/IRB140/HandState.m b/examples/IRB140/HandState.m
@@ -2,7 +2,7 @@
 
   methods
     function obj=HandState(r, ind, name)
-      typecheck(r,'TimeSteppingRigidBodyManipulator');
+      typecheck(r,{'TimeSteppingRigidBodyManipulator','RigidBodyManipulator'});
       % Inds indicate which element of the overall state frame
       % our hand state is. 
       manipStateFrame = r.getManipulator().getStateFrame();

diff --git a/examples/IRB140/IRB140.m b/examples/IRB140/IRB140.m
@@ -11,10 +11,7 @@
         options.dt = 0.001;
       end
       if ~isfield(options,'floating')
-        options.floating = true;
-      end
-      if ~isfield(options,'terrain')
-        options.terrain = RigidBodyFlatTerrain;
+        options.floating = false;
       end
       if ~isfield(options,'hands')
         options.hands = 'none';

diff --git a/examples/IRB140/IRB140Input.m b/examples/IRB140/IRB140Input.m
@@ -2,7 +2,7 @@
   % irb140 input coordinate frame
   methods
     function obj=IRB140Input(r)
-      typecheck(r,'TimeSteppingRigidBodyManipulator');
+      typecheck(r,{'TimeSteppingRigidBodyManipulator','RigidBodyManipulator'});
 
       manipInputFrame = r.getManipulator().getInputFrame();
       if (r.hands > 0)

diff --git a/examples/IRB140/IRB140State.m b/examples/IRB140/IRB140State.m
@@ -2,7 +2,7 @@
 
   methods
     function obj=IRB140State(r)
-      typecheck(r,'TimeSteppingRigidBodyManipulator');
+      typecheck(r,{'TimeSteppingRigidBodyManipulator','RigidBodyManipulator'});
       manipStateFrame = r.getManipulator().getStateFrame();
       if (r.hands > 0)
         manipStateFrame = manipStateFrame.getFrameByNum(1);