Closed urmahp closed 12 months ago
Patch coverage is 100.00%
of modified lines.
Files Changed | Coverage |
---|---|
include/ur_client_library/ur/ur_driver.h | ø |
src/ur/ur_driver.cpp | 100.00% |
:loudspeaker: Thoughts on this report? Let us know!.
@urmahp this is done and ready for final review? @urrsk will you review this or should I take a deeper look?
It is done and ready for final review. You are more than welcome to have a look @fmauch.
@fmauch please look as well.
Thanks for the suggestions @fmauch, I have added some changes based on the comments to make the code easier to understand, so please have a look and let me know what you think :)
Added test for spline interpolation and trajectory data as test artifacts
When spline interpolation has end points with velocities, the time is scaled such that the trajectory is followed, but we end with zero velocity.