Fix twist calculation in rate_limiting_tests

frankaemika / libfranka

C++ library for Franka research robots

https://frankaemika.github.io

Apache License 2.0

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Fix twist calculation in rate_limiting_tests #94

Closed marcbone closed 3 years ago

marcbone commented 3 years ago

The calculation of the twist was wrong. The delta rotation (R_dot) was always zero due to a typo. I also fixed the equation to: S(w) = R_dot * R' from slide 9 from https://www.diag.uniroma1.it/~deluca/rob1_en/11_DifferentialKinematics.pdf

sgabl commented 3 years ago

Thanks for the fix! Please add a changelog entry for a (new) unreleased version 0.8.1 and update the version in the CMakeLists as well. Then it can be merged.