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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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Develop kdl-from-csv.py #177

Closed jgvictores closed 5 years ago

jgvictores commented 5 years ago

Background

At https://github.com/roboticslab-uc3m/teo-configuration-files/blob/23703e1e29182a43c491efe04d4f5a9427d6008a/share/kinematics/leftArmKinematics.ini#L3-L4 we can see that certain transformations (namely, H0) were computed via asibot-main/example/cpp/testTinyMath.cpp. If fact, this has to become exampleYarpTinyMath.cpp. It was quite a manual process.

Proposal

Similar to roboview-from-csv.py at https://github.com/roboticslab-uc3m/kinematics-dynamics/tree/530561b45c238a6f18cffa30d20d90bb25ac587c/scripts/python, develop kdl-from-csv.py, which can directly parse files off https://github.com/roboticslab-uc3m/teo-developer-manual/tree/a83379613c4d8ccd6183375fd6916412521c205e/csv (specifically, the dh-root-*.csv files) to generate transformations (namely, H0 and HN).

jgvictores commented 5 years ago

Done. Merged at https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/cd5a144fec8a9c088b0923a4a39572db387c3b23

rsantos88 commented 5 years ago

Wow!! Amazing!! I only replaced the /home/yo/repos by /home/teo/repos (more common according to the route we usually use)

jgvictores commented 5 years ago

I only replaced the /home/yo/repos by /home/teo/repos (more common according to the route we usually use)

Hot-fix applied at https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/ebd008765a6ab49e6d87f50dab0a715f9de8decd