JointTrajectory: Don't use shortest_angular_distance for linear joints #623
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@steinmn could you please nod in agreement? ;) |
steinmn
suggested changes
Nov 13, 2023
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+786
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| if (is_linear_[joint_index]) | ||
| { | ||
| state_joint_error_.position[0] = desired_joint_state_.position[0] - current_state_.position[joint_index]; | ||
| } | ||
| else | ||
| { | ||
| state_joint_error_.position[0] = angles::shortest_angular_distance(current_state_.position[joint_index],desired_joint_state_.position[0]); | ||
| } | ||
| state_joint_error_.velocity[0] = desired_joint_state_.velocity[0] - current_state_.velocity[joint_index]; | ||
| state_joint_error_.acceleration[0] = 0.0; | ||
|
|
||
| state_error_.position[joint_index] = angles::shortest_angular_distance(current_state_.position[joint_index],desired_joint_state_.position[0]); |
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Suggested change
| if (is_linear_[joint_index]) | |
| { | |
| state_joint_error_.position[0] = desired_joint_state_.position[0] - current_state_.position[joint_index]; | |
| } | |
| else | |
| { | |
| state_joint_error_.position[0] = angles::shortest_angular_distance(current_state_.position[joint_index],desired_joint_state_.position[0]); | |
| } | |
| state_joint_error_.velocity[0] = desired_joint_state_.velocity[0] - current_state_.velocity[joint_index]; | |
| state_joint_error_.acceleration[0] = 0.0; | |
| state_error_.position[joint_index] = angles::shortest_angular_distance(current_state_.position[joint_index],desired_joint_state_.position[0]); | |
| if (is_linear_[joint_index]) | |
| { | |
| state_error_.position[joint_index] = desired_joint_state_.position[0] - current_state_.position[joint_index]; | |
| } | |
| else | |
| { | |
| state_error_.position[joint_index] = angles::shortest_angular_distance(current_state_.position[joint_index],desired_joint_state_.position[0]); | |
| } |
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Fixes #432
Port #591 to Noetic