Add SinCosRevolute joint type #512
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Codecov Report
@@ Coverage Diff @@
## master #512 +/- ##
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+ Coverage 99.28% 99.29% +<.01%
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Files 37 38 +1
Lines 1681 1696 +15
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+ Hits 1669 1684 +15
Misses 12 12
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Oh, awesome! I feel like we must have talked about doing that a long time ago, but it's really cool to see it actually working! |
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@rdeits, so I got the trig poly type working with RBD.jl (I'll probably create a new package for that at some point), but then I thought: you don't even need that if you just add a joint type that uses
[s, c] = [sin(theta); cos(theta)]as its configuration vector (just another overparameterized joint type, just like e.g.QuaternionSpherical). Then you can just run regular polynomials through the algorithms.Also add some missing
@boundschecks and remove some bad@inboundsannotations.