Merge pull request #469 from JuliaRobotics/tk/more-0.7

More fixes for 0.7
JuliaRobotics · Aug 2, 2018 · 163aa89 · 163aa89
2 parents 42bf239 + 4fa9e51
commit 163aa89
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Showing 9 changed files with 19 additions and 15 deletions.
diff --git a/notebooks/Derivatives and gradients using ForwardDiff.ipynb b/notebooks/Derivatives and gradients using ForwardDiff.ipynb
@@ -17,7 +17,7 @@
     "using ForwardDiff\n",
     "using Test\n",
     "using Random\n",
-    "srand(1);"
+    "Random.seed!(1);"
    ]
   },
   {

diff --git a/notebooks/Jacobian IK and Control.ipynb b/notebooks/Jacobian IK and Control.ipynb
@@ -33,7 +33,7 @@
     "\n",
     "# Fix the random seed, so we get repeatable results\n",
     "using Random\n",
-    "srand(42)"
+    "Random.seed!(42)"
    ]
   },
   {
@@ -65,7 +65,7 @@
     }
    ],
    "source": [
-    "urdf = Pkg.dir(\"RigidBodyDynamics\", \"test\", \"urdf\", \"Acrobot.urdf\")\n",
+    "urdf = joinpath(dirname(pathof(RigidBodyDynamics)), \"..\", \"test\", \"urdf\", \"Acrobot.urdf\")\n",
     "\n",
     "mechanism = parse_urdf(Float64, urdf)\n",
     "state = MechanismState(mechanism)\n",

diff --git a/notebooks/README.md b/notebooks/README.md
@@ -11,5 +11,5 @@ You can also run the notebooks locally by performing the following steps:
 3. [install IJulia](https://github.com/JuliaLang/IJulia.jl)
 4. in the Julia REPL, run
    ```
-   using IJulia; notebook(dir=Pkg.dir("RigidBodyDynamics", "notebooks"))
+   using IJulia, RigidBodyDynamics; notebook(dir=joinpath(dirname(pathof(RigidBodyDynamics)), "..", "notebooks"))
    ```
diff --git a/notebooks/Rigorous error bounds using IntervalArithmetic.ipynb b/notebooks/Rigorous error bounds using IntervalArithmetic.ipynb
@@ -304,7 +304,7 @@
    ],
    "source": [
     "const T = Interval{Float64}\n",
-    "const mechanism = parse_urdf(T, Pkg.dir(\"RigidBodyDynamics\", \"test\", \"urdf\", \"Acrobot.urdf\"))\n",
+    "const mechanism = parse_urdf(T, joinpath(dirname(pathof(RigidBodyDynamics)), \"..\", \"test\", \"urdf\", \"Acrobot.urdf\"))\n",
     "remove_fixed_tree_joints!(mechanism)\n",
     "state = MechanismState(mechanism)"
    ]

diff --git a/notebooks/Simulation and visualization with a controller in the loop.ipynb b/notebooks/Simulation and visualization with a controller in the loop.ipynb
@@ -58,7 +58,7 @@
     }
    ],
    "source": [
-    "urdf = Pkg.dir(\"RigidBodyDynamics\", \"test\", \"urdf\", \"Acrobot.urdf\")\n",
+    "urdf = joinpath(dirname(pathof(RigidBodyDynamics)), \"..\", \"test\", \"urdf\", \"Acrobot.urdf\")\n",
     "mechanism = parse_urdf(Float64, urdf)\n",
     "remove_fixed_tree_joints!(mechanism)\n",
     "mechanism"

diff --git a/src/RigidBodyDynamics.jl b/src/RigidBodyDynamics.jl
@@ -1,4 +1,4 @@
-__precompile__()
+VERSION < v"0.7.0-beta2.199" && __precompile__()
 
 module RigidBodyDynamics
 

diff --git a/src/mechanism_algorithms.jl b/src/mechanism_algorithms.jl
@@ -35,11 +35,13 @@ function center_of_mass(state::MechanismState, itr)
     com = Point3D(frame, zero(SVector{3, T}))
     mass = zero(T)
     for body in itr
-        inertia = spatial_inertia(body)
-        if inertia.mass > 0
-            bodycom = transform_to_root(state, body, false) * center_of_mass(inertia)
-            com += inertia.mass * FreeVector3D(bodycom)
-            mass += inertia.mass
+        if body.inertia !== nothing
+            inertia = spatial_inertia(body)
+            if inertia.mass > 0
+                bodycom = transform_to_root(state, body, false) * center_of_mass(inertia)
+                com += inertia.mass * FreeVector3D(bodycom)
+                mass += inertia.mass
+            end
         end
     end
     com /= mass
@@ -51,7 +53,7 @@ $(SIGNATURES)
 
 Compute the center of mass of the whole `Mechanism` in the given state.
 """
-center_of_mass(state::MechanismState) = center_of_mass(state, non_root_bodies(state.mechanism))
+center_of_mass(state::MechanismState) = center_of_mass(state, bodies(state.mechanism))
 
 const geometric_jacobian_doc = """Compute a geometric Jacobian (also known as a
 basic, or spatial Jacobian) associated with a directed path in the `Mechanism`'s

diff --git a/test/test_mechanism_algorithms.jl b/test/test_mechanism_algorithms.jl
@@ -301,7 +301,9 @@ end
                     @test_throws ArgumentError point_jacobian!(J_point, x, p, transform(x, point, default_frame(base)))
                 end
                 point_jacobian!(J_point, x, p, point)
-                @test @allocated(point_jacobian!(J_point, x, p, point)) == 0
+                let x = x
+                    @test @allocated(point_jacobian!(J_point, x, p, point)) == 0
+                end
                 J = geometric_jacobian(x, p)
                 T = Twist(J, velocity(x))
                 point_in_world = transform(x, point, root_frame(mechanism))

diff --git a/test/test_spatial.jl b/test/test_spatial.jl
@@ -205,7 +205,7 @@ end
 
     @testset "log / exp" begin
         hat = RigidBodyDynamics.Spatial.hat
-        srand(1) # TODO: https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/135
+        Random.seed!(1) # TODO: https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/135
         for θ in [LinRange(0., 10 * eps(), 100);
                   LinRange(0., π - eps(), 100)]
             # have magnitude of parts of twist be bounded by θ to check for numerical issues