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Compute velocity using central difference #2080

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merged 8 commits into from
Apr 13, 2023

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ibrahiminfinite
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@ibrahiminfinite ibrahiminfinite commented Apr 4, 2023

Description

This PR changes the calculations in ServoCalcs to use the central difference to compute the joint velocities more accurately.

Fixes #2077

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codecov bot commented Apr 4, 2023

Codecov Report

❗ No coverage uploaded for pull request base (main@a622fee). Click here to learn what that means.
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files
@@           Coverage Diff           @@
##             main    #2080   +/-   ##
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  Coverage        ?   50.90%           
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  Files           ?      391           
  Lines           ?    32131           
  Branches        ?        0           
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  Hits            ?    16354           
  Misses          ?    15777           
  Partials        ?        0           
Impacted Files Coverage Δ
moveit_ros/moveit_servo/src/servo_calcs.cpp 67.06% <100.00%> (ø)

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@sjahr sjahr requested a review from AndyZe April 5, 2023 06:44
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AndyZe commented Apr 5, 2023

My first impression from testing it out in simulation is that the behavior doesn't change noticeably. That's a good sign 👍

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Thanks a lot! I'll see if I can get somebody to test it on a real robot.

moveit_ros/moveit_servo/src/servo_calcs.cpp Outdated Show resolved Hide resolved
moveit_ros/moveit_servo/src/servo_calcs.cpp Show resolved Hide resolved
moveit_ros/moveit_servo/src/servo_calcs.cpp Outdated Show resolved Hide resolved
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Is this still in testing?

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AndyZe commented Apr 11, 2023

Waiting for a second "maintainer" to review it. It worked well when I tried it.

@sjahr sjahr merged commit d53f785 into moveit:main Apr 13, 2023
@ibrahiminfinite ibrahiminfinite deleted the ibrahim/central_difference branch June 3, 2023 14:16
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Use a "central difference" when calculating velocities in Servo
4 participants