Improvements to VectorFieldPlanner #184
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added 13 commits
September 15, 2015 16:26
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Also tagging @aaronjoh because I know nothing about numerical integration. |
siddhss5
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Sep 17, 2015
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Oh yikes! My daughter merged this by accident on the phone! Dammit. |
| super(JointLimitError, self).__init__( | ||
| 'Robot "{robot_name:s}" joint "{joint_name:s} axis {joint_axis:d}' | ||
| ' violates {direction:s} {description:s} limit:' | ||
| ' {dof_value:.5f} {comparison:s} {dof_limit:.5f}'.format( |
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Need to indicate which value is which in the comparison.
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This pull request makes several major improvements to
VectorFieldPlannerto address #99:scipy.integrate) instead of fixed-size Euler integration.It also adds some generally-useful functionality:
CACHE_AND_TERMINATEflag forTERMINATEing while stillCACHEing the current configurationComputeUnitTimingcomputes the arclength parameterization of a path or trajectory.GetCollisionCheckPtsgenerates a sequence of(t, q)pairs that are within DOF resolution using the same bisection method asGreedyIKComputeJointVelocityFromTwistcan optionally ignore the robot's velocity limits; e.g. to compute an answer up to scaleThere is one blocking issue: I can't figure out how to handle numerical precision in
GetCollisionCheckPtswhen starting partway through a trajectory. I don't see why this is any different than starting at zero, but it causes the bisection test to get stuck in an infinite loop. I'd appreciate another set of eyes to figure out what I"m doing wrong.This includes some major changes and has some nasty edge cases. I'd really like @jeking04, @psigen, and @siddhss5 to look at this before I merge it.