Improve Cartesian interpolation#3197
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rhaschke merged 8 commits intomoveit:masterfrom Sep 9, 2022
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## master #3197 +/- ##
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- Coverage 62.08% 62.08% -0.00%
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Files 375 376 +1
Lines 33139 33179 +40
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+ Hits 20572 20596 +24
- Misses 12567 12583 +16
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- Fixup doc comments - Add API providing the translation vector = direction * distance - Simplify implementation
This allows performing a circular motion about a non-link origin.
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simonschmeisser
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Sep 3, 2022
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Looks good but I would appreciate a test for the link_offset parameter
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Sure. I will add a short test... |
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Eventually, I added some tests, also for the original |
gtest 1.8 doesn't provide SetUpTestSuite(). Thus, we cannot share the RobotModel across tests.
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Argh! I was using gtest 1.10 features not yet available in Bionic/Melodic. |
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Thanks a lot for improving the tests as well! |
This was referenced Nov 10, 2023
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So far, Cartesian interpolation only considered link frames to move along a straight-line. This PR augments this to arbitrary frames by considering a configurable offset to the link frame. Thus, now the frame resulting from link * offset should move along a straight line towards the target. Obviously, this is only relevant for rotational motions - a fixed offset for linear motions doesn't change the resulting motion. For example, the new implementation allows for circular motions around a non-link origin.