Compute velocity using central difference#2080
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sjahr merged 8 commits intomoveit:mainfrom Apr 13, 2023
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Additional details and impacted files@@ Coverage Diff @@
## main #2080 +/- ##
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Coverage ? 50.90%
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Files ? 391
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Hits ? 16354
Misses ? 15777
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My first impression from testing it out in simulation is that the behavior doesn't change noticeably. That's a good sign 👍 |
AndyZe
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Apr 5, 2023
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Thanks a lot! I'll see if I can get somebody to test it on a real robot.
AndyZe
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Apr 5, 2023
Co-authored-by: AndyZe <andyz@utexas.edu>
sea-bass
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Apr 5, 2023
AndyZe
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Apr 5, 2023
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Is this still in testing? |
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Waiting for a second "maintainer" to review it. It worked well when I tried it. |
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sjahr
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Apr 13, 2023
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Description
This PR changes the calculations in
ServoCalcsto use the central difference to compute the joint velocities more accurately.Fixes #2077
Checklist