[WIP] [fetch] add interpolation in :angle-vector-raw #841
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knorth55
requested changes
Sep 28, 2017
| :position-list (list (send self :state :potentio-vector :wait-until-update t) av) | ||
| :time-list (list tm)) | ||
| (send minjerk :start-interpolation) | ||
| (send minjerk :pass-time (/ tm devide)) |
| @@ -23,7 +23,17 @@ | |||
| (setq moveit-robot (instance fetch-robot :init)) | |||
| (send self :set-moveit-environment (instance fetch-moveit-environment :init :robot moveit-robot)) | |||
| )) | |||
| (:angle-vector-raw (&rest args) (send-super* :angle-vector args)) | |||
| (:angle-vector-raw (av &optional (tm 3000) &key (devide 4) &rest args) | |||
knorth55
requested changes
Sep 28, 2017
| (send minjerk :start-interpolation) | ||
| (send minjerk :pass-time (/ tm devide)) | ||
| (dotimes (i devide) | ||
| (setq avs (cons (send minjerk :pass-time (/ tm devide)) avs))) |
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(setq avs (append avs (send minjerk :pas-time (/ tm divide)))
| (send minjerk :pass-time (/ tm devide)) | ||
| (dotimes (i devide) | ||
| (setq avs (cons (send minjerk :pass-time (/ tm devide)) avs))) | ||
| (setq avs (reverse avs)) |
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why do you need to reverse the list?
| (dotimes (i devide) | ||
| (setq avs (cons (send minjerk :pass-time (/ tm devide)) avs))) | ||
| (setq avs (reverse avs)) | ||
| (send* self :angle-vector-sequence-raw avs (/ tm devide) args))) |
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tms should be list of time.
Is this code tested?
knorth55
reviewed
Sep 28, 2017
| :position-list (list (send self :state :potentio-vector :wait-until-update t) av) | ||
| :time-list (list tm)) | ||
| (send minjerk :start-interpolation) | ||
| (send minjerk :pass-time (/ tm devide)) |
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if you fo (send minjerk :pass-time time) for the first time, it returns angle-vector at time 0s.
Is this a bug or a designed return? @k-okada
1.irteusgl$ (setq minjerk (instance minjerk-interpolator :init))
#<minjerk-interpolator #X591c800>
2.irteusgl$ (send minjerk :reset :position-list (list #f(0 0 0) #f(0 10 20)) :time-list (list 5000))
(#f(0.0 0.0 0.0) #f(0.0 0.0 0.0))
3.irteusgl$ (send minjerk :start-interpolation)
t
4.irteusgl$ (send minjerk :pass-time 1000)
#f(0.0 0.0 0.0)
5.irteusgl$ (send minjerk :pass-time 1000)
#f(0.0 0.5792 1.1584)
6.irteusgl$ (send minjerk :pass-time 1000)
#f(0.0 3.1744 6.3488)
7.irteusgl$ (send minjerk :pass-time 1000)
#f(0.0 6.8256 13.6512)
8.irteusgl$ (send minjerk :pass-time 1000)
#f(0.0 9.4208 18.8416)
9.irteusgl$ (send minjerk :pass-time 1000)
#f(0.0 10.0 20.0)
10.irteusgl$ (send minjerk :pass-time 1000)
nil
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knorth55
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708yamaguchi
changed the title
|
wait for #847 |
k-okada
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to k-okada/jsk_robot
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Oct 3, 2017
|
#849 |
|
#849 でいいか確認してみてください．OKだったらクローズでいいのかな． |
|
moved to #849 |
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:angle-vector-rawの中で補間点を入れると#839 のような挙動を示さなくなった。
以下の部分で、補間点が少ないと良くないことが起こるらしい。
https://github.com/fetchrobotics/robot_controllers/blob/74970680716f8af29c5ff3e1e8a76ea1089640ff/robot_controllers/src/follow_joint_trajectory.cpp#L381