[plugins][controlboard] Fix wrong feedback measurements for coupled joints #492
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…m_velocities m_velocities contains the feedback in the coupled-joints space, while m_motVelocities have to be used instead to close the loop as it contains the measurements in the implemented-joint space
…o close the loop in VOCAB_CM_POSITION(VOCAB_IM_COMPLIANT), VOCAB_CM_VELOCITY(VOCAB_IM_{STIFF, COMPLIANT}) and VOCAB_CM_MIXED(VOCAB_IM_COMPLIANT) modes
…close the loop in VOCAB_CM_POSITION(VOCAB_IM_COMPLIANT) and VOCAB_CM_MIXED(VOCAB_IM_{STIFF, COMPLIANT})
m_positions contains the feedback in the coupled-joints space, while m_motPositions has to be used instead to close the loop as it contains the measurements in the implemented-joint space
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traversaro
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traversaro
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May 24, 2020
xEnVrE
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Thanks @xEnVrE . |
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Within this PR, several fixes for control modes in presence of coupled joints:
m_motVelocitiesalongsidem_velocities:m_velocitiescontains the feedback in the coupled-joints space, whilem_motVelocitieshave to be used instead to close the loop as it contains the measurements in the implemented-joint spacem_motVelocitiesinstead ofm_velocitiesto close the loopm_motPositionsinstead ofm_positionsto close the loopNote: for position and mixed control modes, a variable
m_motPositionswas already present but, in some places,m_positionswas still used to close the loop.Fixes #491