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Investigate Continuous Joint #36

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Lexseal opened this issue Nov 21, 2023 · 1 comment
Open

Investigate Continuous Joint #36

Lexseal opened this issue Nov 21, 2023 · 1 comment
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enhancement New feature or request

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@Lexseal
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Lexseal commented Nov 21, 2023 •
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Does it work and how is represented?
@Lexseal
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Lexseal commented Dec 8, 2023

Yes, it does work in OMPL. The SO2 object correctly represents the joint rotation. If we were to support this in constrained planning, then it is indeed possible to have two numbers $u, v$ to represent the angle and make sure $arccos(u)=arcsin(v)$ as a secondary constraint.

@KolinGuo KolinGuo added the enhancement New feature or request label Mar 22, 2024
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@Lexseal @KolinGuo