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Fix planar joint Jacobian bug #3439
Fix planar joint Jacobian bug #3439
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## noetic-devel #3439 +/- ##
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- Coverage 61.82% 61.81% -0.00%
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Files 380 385 +5
Lines 33610 34064 +454
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+ Hits 20775 21054 +279
- Misses 12835 13010 +175
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Thanks for this fix.
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Description
While working on this I think I found a bug in Jacobian calculation for planar joints.
The fix is simple, in lines performing
joint_axis
calculation, instead ofjoint_transform
,joint_transform.linear()
should be used, like for the other joint types.I've written a simple test, I don't think it needs to be merged, but it demonstrates the bug so you can check it.
For the example in the test, current
getJacobian
implementation calculates thejoint_axis
of the first joint to be [1, 0, 0]^T when q[0] = 0, and [11, 0, 0]^T when q[0] = 10, which results in differentJacobian
values.