[JTC] Allow integration of states in goal trajectories #190
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I have here issue where uncrustify and cpplint are fighting... |
v-lopez
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May 28, 2021
joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
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can you please rebase this? |
livanov93
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Apr 11, 2022
| EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); | ||
| EXPECT_NEAR(point_before_msg.velocities[0], expected_state.velocities[0], EPS); | ||
| // is 0 because point_before_msg does not have velocity defined | ||
| EXPECT_NEAR(1.0, expected_state.accelerations[0], EPS); |
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Could you document in a comment why you expect 1.0 for the sake of future test extensions?
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joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Co-authored-by: Victor Lopez <3469405+v-lopez@users.noreply.github.com>
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) * Add allow_integration flag * Added position and velocity deduction to trajectory. * Added support for deduction of states from their derivatives. * Apply suggestions from code review Co-authored-by: Victor Lopez <3469405+v-lopez@users.noreply.github.com> * Correct warnings and formating. * Update test to use more human-readable values. * Apply reviewers comments. * Last test fixes. Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: Victor Lopez <3469405+v-lopez@users.noreply.github.com>
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Second part of #161,
Enabling integration of states in goal trajectories. This means that goal trajectories may have only velocity of acceleration defined. Then posiitions and/or velocities will be integrated from inputs.