Conversation
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Closing and reopening to trigger CI. |
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@v4hn, looks like C++14 standard is not default (or downgraded by other packages?) in Melodic. I was confused because this still worked for me locally - until I noticed that you removed the C++14 standard recently (8d0f398 + 211b8c7) without filing a PR or testing it. This actually fails with clang-6.0 on Bionic! |
You lost me there, what? #386 should consistently cleanup the standard specification now. I don't like the fact that we need the workaround for 5-year old build-system bugs, but at least the macro hides it consistently. |
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Codecov ReportBase: 54.04% // Head: 54.07% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## master #380 +/- ##
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+ Coverage 54.04% 54.07% +0.04%
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Files 80 80
Lines 7692 7698 +6
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+ Hits 4156 4162 +6
Misses 3536 3536
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The twist motion performs an angular rotation about the given axis _and_ the origin of ik_frame as well as a linear translation. Both transforms are expressed w.r.t. the model frame and thus require left-multiplication to ik_frame's current pose.
The ik_frame should move in a straight-line Cartesian path. However, so far the link frame was following a Cartesian path.
When passing the root frame, getRigidlyConnectedParentLinkModel() returns a nullptr for robot_link, causing a segfault. Actually, we don't need to use that method at all. We just need to find the robot_link of an associated body.
- link_pose -> start_pose - pos_link -> pos_start
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This fixes #359. There were actually two major issues:
old:
old.mp4
new:
new.mp4