Small improvement in remapping#393
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bmagyar merged 2 commits intoros-controls:masterfrom Jul 31, 2023
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AndyZe
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Jul 27, 2022
| } | ||
| std::vector<double> output; | ||
| output.resize(mapping.size(), 0.0); | ||
| static std::vector<double> output(dof_, 0.0); |
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If it's safe to assume dof_ never changes, this can get simpler.
dof_ changes here:
controller_interface::CallbackReturn JointTrajectoryController::on_configure(
const rclcpp_lifecycle::State &)
{
const auto logger = get_node()->get_logger();
// update parameters
joint_names_ = get_node()->get_parameter("joints").as_string_array();
if ((dof_ > 0) && (joint_names_.size() != dof_))
{
RCLCPP_ERROR(
logger,
"The JointTrajectoryController does not support restarting with a different number of DOF");
// TODO(andyz): update vector lengths if num. joints did change and re-initialize them so we
// can continue
return CallbackReturn::FAILURE;
}
dof_ = joint_names_.size();
So it could hypothetically change but that would be really unusual
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I think it doesn't make any sense to allow dof_ to change since the yaml config file contains a list of joint names to control. Example config file here: https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/ros2_controllers.yaml
destogl
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Jul 27, 2022
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destogl
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I agree, although here it is not necessary to have great performance since this is (or at least should be) a non-realtime method.
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|
well, this method is actually called in the |
bmagyar
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Jul 31, 2023
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Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> (cherry picked from commit cc4c221)
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* Small improvement in remapping (#393) (#724) * Fix file name for include guard (backport #681) (cherry picked from commit c619aac) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> * Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733) * [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706) * Add state_publish_rate parameter --------- Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
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Resizing this output vector with every iteration isn't necessary.
The idea here is, make the variable
staticso it retains its value between iterations. Only remap if the dimension of the vector changes.Partial fix to #392