search

robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
10 stars 13 forks source link

tripodMotionControl not congruent to simulation model. #74

Closed ale-git closed 7 years ago

ale-git commented 7 years ago

The bool TripodSolver::ikin(const Vector &hpr, Vector &lll, int *exit_code) and bool TripodSolver::fkin(const Vector &lll, Vector &hpr) functions implicitly assume that the equivalent joint order is heave->pitch->roll, but in the simulation model the order is heave->roll->pitch instead. They make use of the dcm2rpy() and rpy2dcm() functions discarding the yaw part, usually small, but they don't give correct values for roll and pitch because they are calculated assuming that pitch comes before roll as in the usual yaw->picth->roll representation. https://github.com/robotology/cer/blob/master/cermod/tripod/tripodMotionControl.cpp

pattacini commented 7 years ago

We agreed to implement equivalent methods ypr2dcm() and dcm2ypr() in Yarp in order to then fix the problem.

pattacini commented 7 years ago

@barbalberto the new methods will be called from within fkin and ikin services, therefore, in principle, no changes are required in tripodMotionControl.

pattacini commented 7 years ago

Upon https://github.com/robotology/yarp/pull/1138 and https://github.com/robotology/cer/commit/840605aeca728a111744a48c26150223282d51d5, this issue should be fixed by now.

ale-git commented 7 years ago

Yes, let's close it.

barbalberto commented 7 years ago

Great! Thanks