[JTC] Renaming variables, reordering trajectory checks and fixing open-loop mode by adding last commanded time. #1032
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bmagyar,
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This pull request is in conflict. Could you fix it @destogl? |
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Recently merged the wraparound feature which caused some conflicts. Also, this may be interesting for @fmauch |
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christophfroehlich
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Feb 12, 2024
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👀 @destogl |
saikishor
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Feb 12, 2024
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| if (fabs(last_commanded_time_.seconds()) < std::numeric_limits<float>::epsilon()) | ||
| { | ||
| last_commanded_time_ = time; | ||
| } | ||
| current_trajectory_->set_point_before_trajectory_msg( | ||
| last_commanded_time_, last_commanded_state_, joints_angle_wraparound_); |
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In this case, the last_command_time_ would be same for the first 2 iterations. Is that okay?. If its fine, then all good.
bmagyar
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Feb 19, 2024
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Please adjust / extend the tests |
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This includes #780, which has the same failing test: test_no_jump_when_state_tracking_error_not_updated
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This PR increseas readability of the JTC by renaming trajectory varialbes to be semantically correct and self explainable.
Also it reoders checks of the trajectories done in the callback. They are grouped based on the things they are checking, i.e., 1. data available, 2. time checks; 3. trajectory point checks.
Additionally, it adds "last_commanded_time_" for the open loop mode to be more correct when setting point before trajectory.