Feature tam control #4
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
EverardoG
force-pushed
the
feature-tam-control
branch
from
e85c5fa to
3f12844
Compare
evan-palmer
reviewed
Mar 1, 2024
.vscode/settings.json
Outdated
| @@ -6,7 +6,83 @@ | |||
| "*.srdf": "xml", | |||
| "*.rviz": "yaml", | |||
| "*.config": "xml", | |||
| "*.sdf": "xml" | |||
| "*.sdf": "xml", | |||
There was a problem hiding this comment.
Outdated because of the rebase?
...ller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
Outdated
Show resolved
Hide resolved
...ller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
Outdated
Show resolved
Hide resolved
...ller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
Outdated
Show resolved
Hide resolved
| return controller_interface::CallbackReturn::SUCCESS; | ||
| } | ||
|
|
||
| void ThrusterAllocationMatrixController::reference_callback(std::shared_ptr<geometry_msgs::msg::Wrench> msg) |
There was a problem hiding this comment.
Don't need this. See the relevant comment in the lambda
There was a problem hiding this comment.
Not sure. Same comment as the other relevant comment.
|
|
||
| } // namespace | ||
|
|
||
| ThrusterAllocationMatrixController::CallbackReturn ThrusterAllocationMatrixController::on_init() |
There was a problem hiding this comment.
Why aren't you using update_parameters here?
thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp
Outdated
Show resolved
Hide resolved
| command_interfaces_[i].set_value(thruster_forces[i]); | ||
| } | ||
|
|
||
| // TODO: we still aren't sure if this is the correct type/way of doing this. we may need to come back and do |
There was a problem hiding this comment.
Add this back in before you submit the PR
|
|
||
| // otherwise, they are all the same length and we can pack them into an Eigen matrix | ||
| Eigen::MatrixXd tam_(dof_, num_thrusters_); | ||
| tam_ << tam_x, tam_y, tam_z, tam_rx, tam_ry, tam_rz; |
There was a problem hiding this comment.
Check this in your debugging. I think Eigen is column major so things might be inserted weird.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Changes Made
Please provide a description of all changes made in this PR and why the changes
are needed.
Associated Issues
Please provide a list of all open issues that this PR will close or contribute
toward closing.
Testing
Please provide a clear and concise description of the testing performed.