Unit tests for sns_ik_math_utils - Githubissues

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Unit tests for sns_ik_math_utils #72

Closed MatthewPeterKelly closed 6 years ago

MatthewPeterKelly commented 6 years ago

This commit adds unit tests for each function in the SNS-IK math utilities (sns_ik_math_util). The main purpose of this commit is to provide regression tests for future development and to improve the documentation.

Changes:

remove pinv_damped(), which was unused and had a bug
add documentation for all functions in sns_ik_math_util
add sns_ik_data_utilities, which generate repeatable test data
add unit test for sns_ik_math_util
add unit test for sns_ik_data_util

Issues: #71

robodreamer commented 6 years ago

great changes, thanks!