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:calc-static-balance-point が一回目はnanが入っている #330

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mmurooka opened this issue Jan 7, 2016 · 3 comments
Closed

:calc-static-balance-point が一回目はnanが入っている #330

mmurooka opened this issue Jan 7, 2016 · 3 comments

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@mmurooka
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mmurooka commented Jan 7, 2016

1回目だけ，x,y成分が-nanになります．
2回目以降は正しい値が返って来ます．
samplerobot, HRP2, JAXON のeusモデルで起きることを確認しました．

2.irteusgl$ (samplerobot-init)
#<samplerobot-robot #X5a6aca8 SampleRobot  0.0 0.0 0.0 / 0.0 0.0 0.0>
3.irteusgl$ (send *sr* :calc-static-balance-point)
#f(-nan -nan 55.35)
4.irteusgl$ (send *sr* :calc-static-balance-point)
#f(12.913 -0.002859 55.35)
@mmurooka
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mmurooka commented Jan 7, 2016

https://github.com/euslisp/jskeus/blob/master/irteus/irtrobot.l#L1004
で，0が返って来ます．

snozawa added a commit to snozawa/jskeus that referenced this issue Jan 7, 2016
@snozawa
[irteus/test/test-irt-motion.l] Add test code to check the bug report…
dba7ca8 
…ed in euslisp#330 (comment)
@snozawa snozawa mentioned this issue Jan 7, 2016
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snozawa added a commit that referenced this issue Jan 7, 2016
@snozawa
Merge pull request #332 from snozawa/fix_bug_of_sbp
8a26a23 
Add test code to check the bug reported in #330 (comment)
@snozawa
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snozawa commented Jan 7, 2016

Solved via #332

@snozawa snozawa closed this as completed Jan 7, 2016
@mmurooka
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mmurooka commented Jan 7, 2016

Thank you.

iory pushed a commit to iory/jskeus that referenced this issue Mar 22, 2018
@snozawa @iory
[irteus/test/test-irt-motion.l] Add test code to check the bug report…
c1ddd2e 
…ed in euslisp#330 (comment)
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@snozawa @mmurooka