Remove Tao from code
This is a high-pri issue. Almost all major bugs today can be traced back to tao and/or jspace. The lack of good commenting has made it hard to clean up the code.
Moreover, the intermediate jspace wrapper does not use scl's numerous data structures, which has created a lot of cruft code.
In view of the recent development of scl dynamics with all the basic algorithms, and c3d dynamics with a physically validated articulated body contact and great integrators, tao/jspace is now almost completely obsolete.
There will be a phase where scl dynamics' performance will lag. But once we implement the O(n) inertia computation, things should be fine. Moreover, this might be possible to pull from c3d anyway.
Judgment : Remove tao dependencies asap!
Comments (6)
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reporter -
reporter Issue
#97was marked as a duplicate of this issue. -
reporter Issue
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reporter - marked as critical
Upgrading this issue's priority. Numerous things are blocked because of this.
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reporter Implemented so far: T, J, Mgc, Mx, Jmuscle
The above functions have been disabled in tao.
Integrator will still use tao for now (till we get an oss dynamics 3d).
TODO : Update all applications to use scl dynamics instead of tao for dynamics matrices
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reporter - changed status to resolved
Done as of ae9baa44607052b42219ea48a0365bf33b9b83f8
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#69was marked as a duplicate of this issue.