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NxRLab / ModernRobotics

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.
http://modernrobotics.org/
MIT License
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Added correction of rotation matrix in cases of computational errors #24

Closed likerobotics closed 5 years ago

likerobotics commented 5 years ago

Added correction of rotation matrix in cases of computational errors, otherwise there is possible unrealistic values from IK.

stevenjj commented 5 years ago

I'm not sure that it's proper to run a projector that uses SVD within a core function such as MatrixLog3.

HuanWeng commented 5 years ago

I'm not sure that it's proper to run a projector that uses SVD within a core function such as MatrixLog3.

I agree. This is checking if the input of this function is valid or not. All our functions don't have input checking like this in order to keep them simple.

You can check the validity of your R matrix if necessary before invoking other functions like MatrixLog3.

likerobotics commented 5 years ago

I'm not sure that it's proper to run a projector that uses SVD within a core function such as MatrixLog3.

I agree. This is checking if the input of this function is valid or not. All our functions don't have input checking like this in order to keep them simple.

You can check the validity of your R matrix if necessary before invoking other functions like MatrixLog3.

Okay. Thanks everybody for discussion. It is very nice to understand, that people really care about this library. P/S/ The idea was to help others(like me) to avoid some possible problems.