kouretes / NAOKinematics

Forward and Inverse Kinematics for the NAO robot in c++
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Fix for Issue #2 the HandOffsetZ value is negative in Z axis #3

Closed jupbarrera closed 10 years ago

jupbarrera commented 10 years ago

When comparing the nao forward kinematics results of this library and those from naoqi, I noticed an error in the Z axis value. According to the aldebaran documentation HandOffsetZ is negative in the z axis. So I changed the code accordingly, and the bug was fixed.

After fixing the bug:

x = 218.7 y = 113 z = 87.69 x = 218.7 y = -113 z = 87.69

Naoqi output for the Left arm in the same configuration in meters:

x = 0.21852196753025055, y = 0.11063870042562485, z = 0.08774302154779434,