Hello @rdiankov
Thanks for this wonderful library. I recently encountered a problem with IKFast, that I'll describe below. Unfortunately I can't provide a reproducible example because of the time constraints and the really specific nature of the problem, but I hope the problem and solution are easy to understand.
I am available for any information that you might require.
Best,
Rohan
Setup:
I'm using the IKFast feature of the full openrave installation (as a standalone command).
It was possible for me to use it on our robot without any issues for more than a year. Then suddenly, in a specific problem, at one instant, I had the following assertion failed (line 131):
129 inline double IKasin(double f)
130 {
131 IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
132 if( f <= -1 ) return -IKPI_2;
133 else if( f >= 1 ) return IKPI_2;
134 return asin(f);
135 }
Problem
After some digging, I found out that the problem is that the equality condition is not taken into account in the assert.
Before IKasin is called, there is a check that verifies - 1- thresh < f < 1 + thresh. But when f == -1-thresh or f==1+thresh, this check is not triggered, and the function is called regardless, which then fails
Hello @rdiankov Thanks for this wonderful library. I recently encountered a problem with IKFast, that I'll describe below. Unfortunately I can't provide a reproducible example because of the time constraints and the really specific nature of the problem, but I hope the problem and solution are easy to understand. I am available for any information that you might require. Best, Rohan
Setup: I'm using the IKFast feature of the full openrave installation (as a standalone command). It was possible for me to use it on our robot without any issues for more than a year. Then suddenly, in a specific problem, at one instant, I had the following assertion failed (line 131):
Problem After some digging, I found out that the problem is that the equality condition is not taken into account in the assert.
Before
IKasinis called, there is a check that verifies- 1- thresh < f < 1 + thresh. But whenf == -1-threshorf==1+thresh, this check is not triggered, and the function is called regardless, which then failsSolution A really simple solution is to allow equality inside the assertion at the time of code generation. For e.g., the following line in https://github.com/rdiankov/openrave/blob/a982f0ac0b757787ab4c9a9af94f69795e8281cb/python/ikfast_generator_cpp_sympy0_6.py#L286 would change to
There are a few more instances of this assert in the generator file. The same change would apply there as well.
Test I tried it on my problem and it worked.