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Planar Joint Properties #390

Merged
merged 13 commits into from
Mar 29, 2021
Merged

Planar Joint Properties #390

merged 13 commits into from
Mar 29, 2021

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DLu
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@DLu DLu commented Mar 18, 2021

Description

Set the joint properties (angular distance factor and motion model) for planar joint models.

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@DLu DLu requested a review from JafarAbdi March 18, 2021 14:29
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codecov bot commented Mar 18, 2021 •
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Codecov Report

Merging #390 (72fcfde) into main (3f048b3) will decrease coverage by 0.29%.
The diff coverage is 69.83%.

Impacted file tree graph

@@            Coverage Diff             @@
##             main     #390      +/-   ##
==========================================
- Coverage   53.37%   53.09%   -0.28%     
==========================================
  Files         210      212       +2     
  Lines       18816    22612    +3796     
==========================================
+ Hits        10041    12003    +1962     
- Misses       8775    10609    +1834
Impacted Files Coverage Δ
moveit_core/robot_model/src/robot_model.cpp 73.00% <21.43%> (-4.19%) ⬇️
...el/include/moveit/robot_model/planar_joint_model.h 33.34% <50.00%> (ø)
moveit_core/robot_model/src/planar_joint_model.cpp 83.13% <100.00%> (+5.56%) ⬆️
moveit_core/utils/src/robot_model_test_utils.cpp 73.46% <100.00%> (-0.57%) ⬇️
...moveit/move_group_interface/move_group_interface.h 75.00% <0.00%> (-25.00%) ⬇️
...parameterization/model_based_state_space_factory.h 75.00% <0.00%> (-25.00%) ⬇️
...moveit/ompl_interface/detail/constraints_library.h 10.00% <0.00%> (-23.33%) ⬇️
moveit_ros/moveit_servo/src/servo_calcs.cpp 64.13% <0.00%> (-15.99%) ⬇️
moveit_ros/moveit_servo/src/servo.cpp 58.07% <0.00%> (-11.93%) ⬇️
...del/include/moveit/robot_model/joint_model_group.h 89.34% <0.00%> (-10.66%) ⬇️
... and 177 more

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mamoll
mamoll approved these changes Mar 19, 2021
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I think there's one tiny bug, but otherwise this looks good to me.

moveit_core/robot_model/src/planar_joint_model.cpp Outdated Show resolved Hide resolved
@JafarAbdi JafarAbdi mentioned this pull request Mar 24, 2021
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@JafarAbdi JafarAbdi merged commit 855db9e into moveit:main Mar 29, 2021
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DLu commented Mar 30, 2021

😄

@DLu DLu deleted the planar_joint_madness branch March 30, 2021 19:03
@DLu DLu mentioned this pull request May 10, 2021
Merged
@scchow scchow mentioned this pull request Feb 6, 2023
Open
@scchow scchow mentioned this pull request Feb 28, 2023
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scchow added a commit to scchow/moveit that referenced this pull request Mar 1, 2023
@scchow
Porting diff drive to moveit1
ec8498c 
- Backporting Differential Drive implementation
  MoveIt2 (moveit/moveit2#390)
scchow added a commit to scchow/moveit that referenced this pull request Mar 1, 2023
@scchow
Porting diff drive to moveit1
162479a 
- Backporting Differential Drive implementation
  MoveIt2 (moveit/moveit2#390)
@scchow scchow mentioned this pull request Mar 3, 2023
Merged
6 tasks
scchow added a commit to scchow/moveit that referenced this pull request Apr 10, 2023
@scchow
Porting diff drive to moveit1
1e37d58 
- Backporting Differential Drive implementation
  MoveIt2 (moveit/moveit2#390)
scchow added a commit to scchow/moveit that referenced this pull request Apr 13, 2023
@scchow
Porting diff drive to moveit1
f8cc904 
- Backporting Differential Drive implementation
  MoveIt2 (moveit/moveit2#390)
rhaschke added a commit to moveit/moveit that referenced this pull request Apr 14, 2023
@scchow @rhaschke
Differential drive for planar Joints (#3359)
6c52033 
backport from moveit/moveit2#390 with several improvements:
- accessing joint properties via map of maps (moveit/srdfdom#111)
- fixing joint properties parsing, using `moveit::utils::toDouble` instead of `std::stod`
- cleanup parsing of joint properties

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
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@mamoll mamoll mamoll approved these changes

@AndyZe AndyZe AndyZe approved these changes

@JafarAbdi JafarAbdi Awaiting requested review from JafarAbdi

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@DLu @mamoll @AndyZe @JafarAbdi