Revision: 2340
http://smartbody.svn.sourceforge.net/smartbody/?rev=2340&view=rev
Author: fengww
Date: 2011-07-29 23:49:50 +0000 (Fri, 29 Jul 2011)
Log Message:
-----------
Update the pose interpolation for reach controller. Now adapt the example
motion to the target configuration directly, instead of using velocity profile
to guide the pose interpolation. The results are better (closer to example
motions), but still with issues. Need to figure out a method for re-timing the
motion so the result will not look abrupt when adapting a long reach to a short
reach.
Modified Paths:
--------------
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtBodyReachState.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtReachEngine.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/mcontrol_callbacks.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_example.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_example.hpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_profile.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_profile.h
trunk/core/smartbody/smartbody-lib/src/sr/sr_quat.cpp
trunk/core/smartbody/smartbody-lib/src/sr/sr_quat.h
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