Fix angular distance calculation in floating joint model #2538
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tylerjw
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #2538 +/- ##
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- Coverage 50.83% 50.39% -0.44%
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Files 391 390 -1
Lines 32198 32025 -173
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- Hits 16366 16136 -230
- Misses 15832 15889 +57 ☔ View full report in Codecov by Sentry. |
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(cherry picked from commit 83ff55a) # Conflicts: # moveit_core/robot_model/src/floating_joint_model.cpp # moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
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(cherry picked from commit 83ff55a) # Conflicts: # moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
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From debugging some strange trajectory tests, we found a bug in the angular distance calculation of floating joints. Eigen to the rescue!