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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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Bug in RigidTransform.linear_trajectory_to method #40

Closed shivamvats closed 2 years ago

shivamvats commented 2 years ago

According to the doc of RigidTransform.linear_trajectory_to method, it is supposed to return a trajectory of length traj_len. It doesn't do so and is not even consistent about the length of the returned trajectory wrt traj_len.

>>> from autolab_core import RigidTransform
>>> a = RigidTransform()
>>> for i in range(10):
...     print(i, len(a.linear_trajectory_to(a, i)))
...
0 2
1 3
2 4
3 5
4 6
5 8
6 9
7 9
8 10
9 12
mjd3 commented 2 years ago

Fixed by #41/#42. Thanks for the PR!