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Calculate frame difference #93
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Calculate frame difference #93
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std::vector<double> & x_a_vec, std::vector<double> & x_b_vec, double dt, | ||
std::vector<double> & delta_x_vec); |
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Why not imbibe the size constraints?
std::vector<double> & x_a_vec, std::vector<double> & x_b_vec, double dt, | |
std::vector<double> & delta_x_vec); | |
std::array<double, 7> & x_a_vec, std::array<double, 7> & x_b_vec, double dt, | |
std::array<double, 6> & delta_x_vec); |
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I used std::vector<double>
to maintain consistency with the convert_joint_deltas_to_cartesian_deltas
method, where std::vector<double>
is used for the delta_x
parameter.
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #93 +/- ##
==========================================
- Coverage 80.20% 80.00% -0.21%
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Files 4 4
Lines 197 245 +48
Branches 35 52 +17
==========================================
+ Hits 158 196 +38
- Misses 28 34 +6
- Partials 11 15 +4
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in principle LGTM.
But afaik this is really breaking ABI in the controllers due to the new virtual method.
Do you need this in Jazzy? We can break Rolling, but want to avoid that on Jazzy.
We can either add version macros (with rclcpp/version.h for example) to add this only on rolling or create a new branch for jazzy.
@christophfroehlich I'm currently using such feature in Humble, into a custom controller. What do you mean with breaking ABI in the controllers? |
Ok we can't backport this to humble. But you always can compile the rolling development version of the ros2_control stack from source on humble distro. Disclaimer: I'm not an expert here but from what I learned: |
This PR introduces a method to compute frame differences, along with a corresponding KDL implementation.