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update comment in :joint-dof definition #632

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update comment in :joint-dof definition #632

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8 changes: 4 additions & 4 deletions irteus/irtmodel.l
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Original file line number Diff line number Diff line change
Expand Up @@ -348,7 +348,7 @@
(send child-link :rotate (deg2rad relang) :z)
)
joint-angle))
(:joint-dof () "Returns DOF of linear joint, 2." 2)
(:joint-dof () "Returns DOF of wheel joint, 2." 2)
(:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time))
(:speed-to-angle (dv) "Returns [mm/deg] of given input in SI unit [m/rad]"
(float-vector (* 1000 (elt dv 0))
Expand Down Expand Up @@ -406,7 +406,7 @@
(send child-link :translate (float-vector (elt joint-angle 0) (elt joint-angle 1) 0))
(send child-link :rotate (deg2rad (elt joint-angle 2)) :z))
joint-angle)
(:joint-dof () "Returns DOF of linear joint, 3." 3)
(:joint-dof () "Returns DOF of omniwheel joint, 3." 3)
(:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time))
(:speed-to-angle (dv) "Returns [mm/deg] of given input in SI unit [m/rad]"
(float-vector (* 1000 (elt dv 0))
Expand Down Expand Up @@ -499,7 +499,7 @@
(map float-vector #'deg2rad v))))
(send self :joint-angle (map cons #'rad2deg (matrix-log (rpy-matrix (elt ja 0) (elt ja 1) (elt ja 2)))))))
(map float-vector #'rad2deg (car (rpy-angle (matrix-exponent (map float-vector #'deg2rad joint-angle))))))
(:joint-dof () "Returns DOF of linear joint, 3." 3)
(:joint-dof () "Returns DOF of sphere joint, 3." 3)
(:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time))
(:speed-to-angle (dv) "Returns degree of given input in radian"
(float-vector (rad2deg (elt dv 0))
Expand Down Expand Up @@ -657,7 +657,7 @@
(concatenate float-vector
(subseq joint-angle 0 3)
(map float-vector #'rad2deg (car (rpy-angle (matrix-exponent (map float-vector #'deg2rad (subseq joint-angle 3 6))))))))
(:joint-dof () "Returns DOF of linear joint, 6." 6)
(:joint-dof () "Returns DOF of 6dof joint, 6." 6)
(:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time))
(:speed-to-angle (dv) "Returns [mm/deg] of given input in SI unit [m/rad]"
(float-vector (* 1000 (elt dv 0))
Expand Down