Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[effort_controllers] JointGroupPositionController: Check output of angles::shortest_angular_distance_with_large_limits #509

Open
wants to merge 1 commit into
base: noetic-devel
Choose a base branch
from
Open

[effort_controllers] JointGroupPositionController: Check output of angles::shortest_angular_distance_with_large_limits #509

wants to merge 1 commit into from

Commits on Sep 4, 2020

  1. [effort_controllers] JointGroupPositionController: Check output of an… 

    …gles::shortest_angular_distance_with_large_limits

The current implementation does not check the output of
angles::shortest_angular_distance_with_large_limits which indicates if
the returned distance is an unspecified (and potentially wrong) case.

This commit checks the return statement and adds a detailed warning.

Secondly, the implementation in
angles::shortest_angular_distance_with_large_limits is only valid if the
`from` argument is within the range given by the upper and lower joint
limit. As thus, the current_position is now enforced/clamped to the
joint limits.
    @wxmerkt
    wxmerkt committed Sep 4, 2020
    Configuration menu
    Copy the full SHA
    d732920 View commit details
    Browse the repository at this point in the history