search

TriPed-Robot / trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots
https://trip-kinematics.readthedocs.io/en/main/
MIT License
29 stars 5 forks source link

set_virtual_state allows changing the structure of the Transformation state #35

Closed liquidcronos closed 3 years ago

liquidcronos commented 3 years ago

The lines:

if KinematicGroup.object_list_to_key_lists(self.__virtual_state) == KinematicGroup.object_list_to_key_lists(state): for key in state.keys(): self.__virtual_state[key] = state[key]

Allow the contents of a virtual_state to be changed in such a way that it is no longer a valid transformation state.

This should not be possible

liquidcronos commented 3 years ago

this should be resolved by the Transformation objects having their own set_state function that checks whether the keys are valid.

liquidcronos commented 3 years ago

fixed between commits 51a8bc8 and 0da19fb