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CMM-22 / a2

CMM Assignment 2 - Kinematic walking controller
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Test of Jacobian #13

Closed AnqiaoLi closed 2 years ago

AnqiaoLi commented 2 years ago

In assignment 2, the following two functions seem only used to follow the foot trajectory, thus the rb is always the shank of the robot. Do we need to consider more general cases, like calculating the Jacobian with respect to points on other links of the robot? And in test-a2.app and further tests after the deadline, will these general cases be tested?

void estimate_linear_jacobian(const P3D &p, RB *rb, Matrix &dpdq) void compute_dpdq(const P3D &p, RB *rb, Matrix &dpdq)

eastskykang commented 2 years ago

As you mentioned, RB *rb specifies the local coordinate frame where P3D &p is expressed in.

You don't have to consider the case where p is expressed in different local coordinate system than RB *rb's coordinate frame.

AnqiaoLi commented 2 years ago

In this assignment, to make the robot walk, I think we only need to consider RB *rb is a shank of the robot and P3D &p is a point expressed in this shank frame. But do we need to consider the case like RB *rb is a thigh of the robot and P3D &p is a point expressed in the frame of this thigh?

eastskykang commented 2 years ago

Yes. Jacobian functions should return the correct Jacobian matrix regardless the p and rb.

AnqiaoLi commented 2 years ago

Okay, thanks.