Convert interface to use Eigen #6

pac48 · 2022-08-07T22:56:57Z

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kinematics_interface/CMakeLists.txt

kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp

kinematics_interface_kdl/src/kinematics_interface_kdl.cpp

kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

destogl

I propose to keep both interfaces for two most important methods, i.e., joints_delta and cartesian_deltas. The other two methods are also OK if returning only Eigen for now since there is no use-case where one would use other things.

kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp

kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp

bmagyar · 2022-08-08T19:58:31Z

Please rebase on master

…unit

Co-authored-by: AndyZe <andyz@utexas.edu>

add pre-commit

Co-authored-by: AndyZe <andyz@utexas.edu>

AndyZe

Sorry to keep nit-picking. It's almost there, I think.

kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp

…nterface into convert-interface-to-eigen � Conflicts: � kinematics_interface/CMakeLists.txt � kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp � kinematics_interface_kdl/CMakeLists.txt � kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp � kinematics_interface_kdl/src/kinematics_interface_kdl.cpp � kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

…ics_interface into convert-interface-to-eigen � Conflicts: � kinematics_interface/CMakeLists.txt � kinematics_interface/include/kinematics_interface/kinematics_interface.hpp � kinematics_interface_kdl/CMakeLists.txt � kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp � kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

codecov-commenter · 2022-08-10T20:04:54Z

Codecov Report

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@@            Coverage Diff            @@
##             master       #6   +/-   ##
=========================================
  Coverage          ?   31.11%           
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  Files             ?        2           
  Lines             ?      180           
  Branches          ?      116           
=========================================
  Hits              ?       56           
  Misses            ?       20           
  Partials          ?      104

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destogl

Few minor changes and why not use kinematic_interface as real library with .cpp file?

kinematics_interface/CMakeLists.txt

kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp

destogl · 2022-08-15T20:09:11Z

kinematics_interface/include/kinematics_interface/kinematics_interface.hpp

+    auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size());
+    auto delta_x = Eigen::Map<const Eigen::VectorXd>(delta_x_vec.data(), delta_x_vec.size());
+    // TODO heap allocation should be removed for realtime use
+    Eigen::VectorXd delta_theta =
+      Eigen::Map<Eigen::VectorXd>(delta_theta_vec.data(), delta_theta_vec.size());
+
+    bool ret = convert_cartesian_deltas_to_joint_deltas(joint_pos, delta_x, link_name, delta_theta);
+    for (auto i = 0ul; i < delta_theta_vec.size(); i++)
+    {
+      delta_theta_vec[i] = delta_theta[i];
+    }
+    return ret;


Why not add this default implementation into a cpp file? We are anyway using this header as library. Isn't it?

This also enable those to be overloaded if this is useful from any reason.

kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp

kinematics_interface_kdl/src/kinematics_interface_kdl.cpp

kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

* bump version: changes to support rolling distro * Add virtual function to avoid compilation error. Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com> * implement inv jacobian function and tests similar to pinocchio_interface_kdl --------- Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com> Co-authored-by: Marco A. Gutierrez <marcogg@marcogg.com>

AndyZe reviewed Aug 8, 2022

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pac48 force-pushed the convert-interface-to-eigen branch 2 times, most recently from 96d7458 to c84de51 Compare August 8, 2022 14:54

destogl reviewed Aug 8, 2022

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bmagyar reviewed Aug 8, 2022

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kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp Show resolved Hide resolved

pac48 and others added 8 commits August 8, 2022 14:15

add underscore to end_effector

dd61a1c

add test to ensure inverse then forward calculation is approximately …

19e9813

…unit

use eigen interface and update tests

ba56cf4

export Eigen dependency

2a5353b

update docs

34d714d

use VectorXd type and general cleanup

46e4b46

Update kinematics_interface_kdl/src/kinematics_interface_kdl.cpp

1a1919e

Co-authored-by: AndyZe <andyz@utexas.edu>

Update kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

7288044

Co-authored-by: AndyZe <andyz@utexas.edu>

pac48 force-pushed the convert-interface-to-eigen branch from c84de51 to 7288044 Compare August 8, 2022 20:24

pac48 and others added 2 commits August 8, 2022 14:50

add pre-commit to repo (ros-controls#7)

a326900

add pre-commit

Update kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

c792ca4

Co-authored-by: AndyZe <andyz@utexas.edu>

pac48 force-pushed the convert-interface-to-eigen branch from 5904350 to fcebc37 Compare August 8, 2022 21:17

Merge branch 'master' into convert-interface-to-eigen

42af298

pac48 force-pushed the convert-interface-to-eigen branch from fcebc37 to 42af298 Compare August 8, 2022 21:19

AndyZe reviewed Aug 9, 2022

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kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp Show resolved Hide resolved

kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp Outdated Show resolved Hide resolved

use Isometry3d transform type

f2f3c50

AndyZe approved these changes Aug 9, 2022

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pac48 and others added 7 commits August 9, 2022 09:06

rename classes to match their namespaces

7e6991b

use parameter interface instead of life_cycle node

28ea0df

add interface for std::vector

060c704

Merge branch 'master' into convert-interface-to-eigen

38858c4

rename class and file names

62167bc

pac48 mentioned this pull request Aug 10, 2022

Proposals for making cleaner code #9

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destogl reviewed Aug 15, 2022

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destogl requested a review from bmagyar August 15, 2022 21:02

destogl added 3 commits August 17, 2022 19:13

Apply suggestions from code review

5c0eece

remove duplicated documentation

326c7bb

Fixup linters.

fe995d5

destogl approved these changes Aug 17, 2022

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destogl merged commit 097aa64 into ros-controls:master Aug 17, 2022

Convert interface to use Eigen #6

Convert interface to use Eigen #6

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pac48 commented Aug 7, 2022

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bmagyar commented Aug 8, 2022 •

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