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roboticslab-uc3m / kinematics-dynamics

Kinematics and dynamics solvers and controllers.
https://robots.uc3m.es/kinematics-dynamics/
GNU Lesser General Public License v2.1
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Design and run more complex trajectories in BasicCartesianControl #135

Closed jgvictores closed 3 years ago

jgvictores commented 6 years ago

Improve BasicCartesianControl, adding methods to design and run more complex trajectories. For example, start with MoveC. Blocked by #134. Blocks #133.

Note: Slight possiblity of having to add a new trajectory generation layer, but for now want to try to do within BasicCartesianControl.

jgvictores commented 6 years ago

Lots of improvements at f02a0d8283c063eddd347f1ed10ca0221c01ef2d as commented at https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/134#issuecomment-359099379

jgvictores commented 6 years ago

Removed blocked label, WIP in parallel with #134.

PeterBowman commented 6 years ago

Idea: perform a dry run on the desired trajectory (usually movl) and check for any limit violations, e.g. maximum joint velocity might be exceeded at some point or the operation would take too long (the latter does not apply to current strategies since trajectory duration is one of our input parameters). On success, perform the trajectory; on failure, return immediately and notify callers.

PeterBowman commented 6 years ago

Idea: perform a dry run on the desired trajectory (usually movl) and check for any limit violations, e.g. maximum joint velocity might be exceeded at some point or the operation would take too long (the latter does not apply to current strategies since trajectory duration is one of our input parameters). On success, perform the trajectory; on failure, return immediately and notify callers.

Moved to #156.

jgvictores commented 5 years ago

Not a big fan of doing things for 2 issues anymore. I'm considering this blocked by #134 as it was originally.

PeterBowman commented 3 years ago

Given the outcome of https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/134 and https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/168#issuecomment-801017414, we are steering towards the externalization of trajectory generation in BasicCartesianControl. In other words, clients should take care of providing new setpoints (movi) to the controller. For instance, one can implement the MoveC thing with KDL::Path_Circle, iterate over time and send the usual commands.

@jgvictores are you OK with closing this as WONTFIX, too?

jgvictores commented 3 years ago

@jgvictores are you OK with closing this as WONTFIX, too?

Yep!