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BerkeleyAutomation / autolab_core

Core utilities for Berkeley AutoLab.
https://berkeleyautomation.github.io/autolab_core
Apache License 2.0
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Scaling applied twice in SimilarityTransform? #3

Closed taku-y closed 6 years ago

taku-y commented 6 years ago

https://github.com/BerkeleyAutomation/autolab_core/blob/cd3fa85e590fa8d3e86048d172d1321493ef09f2/autolab_core/rigid_transformations.py#L1004-L1006

https://github.com/BerkeleyAutomation/autolab_core/blob/cd3fa85e590fa8d3e86048d172d1321493ef09f2/autolab_core/rigid_transformations.py#L1045

It looks that the second one should be no scaling.

jeffmahler commented 6 years ago

You are right! I found a similar bug in the previous commit but missed this... I will fix tomorrow.

mmatl commented 6 years ago

This should be fixed in this commit: https://github.com/BerkeleyAutomation/autolab_core/commit/41b6a733d7812fc28afcc70c51676be754781cc8