search

SemRoCo / giskard_core

This package provides the core C++ library of giskard, a constraint and optimization-based framework for robot motion control.
GNU General Public License v2.0
1 stars 8 forks source link

throw exception from axis-angle if axis is zero #15

Open airballking opened 7 years ago

airballking commented 7 years ago

Adrian passed ((0, 0, 0), 0) and receives a matrix of NaNs. Throw a runtime exception when the rotation axis has length zero.

airballking commented 7 years ago

Update: The NaNs were caused because the old axis-angle did not support variable axes, which Adrian used. That is fixed. However, checking for a zero-axis is not yet covered, and might be hard because it would have to happen at runtime.

I still have to think about a possible fix.