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

Make sure acceleration limits match velocity limits #46

Merged
merged 4 commits into from
Sep 15, 2020
Merged

Make sure acceleration limits match velocity limits #46

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
ea3a7d7
Make sure acceleration limits match velocity limits
egordon Sep 3, 2020
6c2fd9d
Switched vel/acc limit size check to match arm DoF (excluding hand)
egordon Sep 14, 2020
d713d80
Removed redundant size check
egordon Sep 14, 2020
237e91b
Modify getAccelerationLimits and getVelocityLimits to only return arm…
egordon Sep 14, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 11 additions & 6 deletions include/libada/detail/Ada-impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,12 +10,17 @@ aikido::trajectory::UniqueSplinePtr Ada::postProcessPath(
const Eigen::VectorXd& velocityLimits,
const Eigen::VectorXd& accelerationLimits)
{
auto sentVelocityLimits = (velocityLimits.squaredNorm() == 0.0)
? getVelocityLimits()
: velocityLimits;
auto sentAccelerationLimits = (accelerationLimits.squaredNorm() == 0.0)
? getAccelerationLimits()
: accelerationLimits;
bool velLimitsInvalid
= (velocityLimits.squaredNorm() == 0.0)
|| velocityLimits.size() != getVelocityLimits().size();
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Nit: I wonder if getVelocityLimits().size() should instead be path->getStateSpace()->getDimension()?

auto sentVelocityLimits
= velLimitsInvalid ? getVelocityLimits() : velocityLimits;

bool accLimitsInvalid
= (accelerationLimits.squaredNorm() == 0.0)
|| accelerationLimits.size() != getAccelerationLimits().size();
auto sentAccelerationLimits
= accLimitsInvalid ? getAccelerationLimits() : accelerationLimits;

return mRobot->postProcessPath<PostProcessor>(
sentVelocityLimits,
Expand Down
4 changes: 2 additions & 2 deletions src/Ada.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -569,13 +569,13 @@ Eigen::VectorXd Ada::getCurrentConfiguration() const
//==============================================================================
Eigen::VectorXd Ada::getVelocityLimits() const
{
return mRobot->getMetaSkeleton()->getVelocityUpperLimits();
return mArm->getMetaSkeleton()->getVelocityUpperLimits();
}

//==============================================================================
Eigen::VectorXd Ada::getAccelerationLimits() const
{
return mRobot->getMetaSkeleton()->getAccelerationUpperLimits();
return mArm->getMetaSkeleton()->getAccelerationUpperLimits();
}

//==============================================================================
Expand Down