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UniversalRobots / Universal_Robots_Client_Library

A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications.
Apache License 2.0
117 stars 86 forks source link

Changed spline interpolation to use the last commanded joint velocity… #195

Closed urmahp closed 5 months ago

urmahp commented 6 months ago

… when calculating the next spline in the trajectory

Also limited the acceleration to the maximum joint acceleration of the target accelerations calculated from the spline. But still added a constant acceleration when slowing down is active, as the acceleration in the trajectory no longer can be used.

This will fix the issue with discontinuous motion when speed scaling is active

This will fix issue #194

codecov[bot] commented 6 months ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 72.09%. Comparing base (4997115) to head (e6e12bd).

Additional details and impacted files ```diff @@ Coverage Diff @@ ## master #195 +/- ## ======================================= Coverage 72.09% 72.09% ======================================= Files 71 71 Lines 2652 2652 Branches 337 337 ======================================= Hits 1912 1912 Misses 554 554 Partials 186 186 ```

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